JP6731365B2 - Work machine operation support device - Google Patents

Description

The present invention relates to a work machine operation support device.

When loading earth and sand excavated by a work machine such as a hydraulic excavator into a transport machine such as a dump truck, it is desirable to load the earth and sand and the like in a weight as close as possible to the limit load capacity of the transport machine from the viewpoint of work efficiency.

For the purpose of providing a device capable of automatically weighing, accumulating and displaying loads such as excavator loaders (hydraulic excavators), in excavator loaders etc., the elevation/depression angle detector provided at the pivot point of the excavator arm and for lifts Detecting the elevation angle and supporting force from the supporting force detector installed on the hydraulic cylinder, inputting the conditions according to the angle of the arm into the pre-stored computing unit, weighing the load, and loading the dump truck etc. There is a work control device for a loading machine that prevents overloading (see, for example, Patent Document 1).

JP 57-21637 A

The work control device of the loading machine described above allows an operator who operates the working machine to automatically load a load such as a hydraulic excavator that is weighed, accumulated, and displayed on a dump truck. In this case, the operator loads a load having a weight determined by skill and experience based on the display of the work control device (a load having a weight not exceeding the limit load capacity of the dump truck) into the dump truck.

However, the weighing display of the load of the work control device of the loading machine described above has an error for the following reason.
(1) The work front device, which is a shovel arm, is a multi-joint type, and each joint is provided with an elevation/depression angle detector. Since the load load is calculated using the elevation/depression angle value and the bearing force value obtained by accumulating the measurement error of the elevation/depression angle detector, the calculated weighing value and the earth and sand stored in the actual work implement, etc. There is a difference (error) in the weight values of the above.
(2) In the calculation of the weighing of the load, the calculation result depends on the difference in the posture of the work front device (specifically, the difference in the front-back direction distance from the pivot point of the work front device to the work implement such as a bucket). Error is different. This is because the calculation content includes the moment element around the swing center of the work front device in the case where the work front device is weighed in the maximum extended state and in the case where the work front device is weighed in other states. Occurs.

Since such error information is not notified to the operator, if the loading work is performed based on the loading amount of the hydraulic excavator etc. displayed by the work control device of the loading machine, the limit loading amount of the transport machine is However, there is a possibility that excess or deficiency of the weighing may occur due to calculation error or the like. Since errors such as those described above due to differences in the posture of the work front device are not generally specified, when work is performed in a special posture with high errors, the operator may be unaware of excess or deficiency in weighing. Sexuality increases. Then, in the worst case of overloading of the transporting machine, there is a possibility that the work efficiency may be lowered due to the necessity of redoing the loading work.

The present invention has been made based on the above-mentioned matters, and an object thereof is to provide an operation support device for a work machine capable of performing a loading work more accurately with respect to a limited load capacity of a transport machine. Especially.

In order to solve the above problems, for example, the configurations described in the claims are adopted. The present application includes a plurality of means for solving the above problems. To give an example thereof, a vehicle body, a work front device that can be used for loading work objects, and a posture of the work front device, A posture detection device that detects the work front device as a distance in the front-rear direction with respect to the vehicle body; The measurement accuracy of the loading weight of the work object is determined based on the data of the measurement accuracy of the loading weight which is measured in advance according to the distance in the front-rear direction of the work front device with respect to the vehicle body detected by the detection device. It is characterized by comprising a weight measurement accuracy determination device, an informing device for informing a calculation result of the weight calculation device, and a determination result of the weight measurement accuracy determination device.

According to the present invention, since the operator can simultaneously grasp the measurement accuracy according to the loading weight and the posture of the work front device, it is easy to carry out the loading work more accurately with respect to the limited load amount of the transport machine. become. As a result, work efficiency and productivity can be improved.

1 is a side view showing a hydraulic excavator including a first embodiment of an operation support device for a work machine according to the present invention. It is a schematic diagram showing a control circuit of a hydraulic excavator provided with a 1st embodiment of an operation supporting device for a working machine of the present invention. It is a schematic diagram showing composition of a control system of a 1st embodiment of an operation supporting device of a working machine of the present invention. It is a side surface schematic diagram of a work front explaining a part of operation of a control system which constitutes a 1st embodiment of an operation supporting device of a working machine of the present invention. It is a side surface schematic diagram of a work front explaining other parts of an operation of a control system which constitutes a 1st embodiment of an operation supporting device for a working machine of the present invention. It is a side surface schematic diagram of a work front explaining other parts of operation of a control system which constitutes a 1st embodiment of a work machine operation supporting device of the present invention. It is a flowchart figure which shows the processing content of the weight measurement precision determination part which comprises 1st Embodiment of the operation assistance device of the working machine of this invention. It is a table figure which shows an example of the weight measurement precision map which comprises 1st Embodiment of the operation assistance device of the working machine of this invention. FIG. 1 is a schematic diagram showing a display screen of a display device that constitutes a first embodiment of a work machine operation support device of the present invention. It is the schematic which shows the structure of the control system of 2nd Embodiment of the operation assistance device of the working machine of this invention. It is a table figure which shows an example of the posture range map set to the posture range setting part which comprises 2nd Embodiment of the operation assistance device of the working machine of this invention. It is a flowchart figure which shows the processing content of the attitude|position determination part which comprises 2nd Embodiment of the operation assistance apparatus of the working machine of this invention. It is the schematic which shows the display screen of the display apparatus which comprises 2nd Embodiment of the operation assistance apparatus of the working machine of this invention. It is the schematic which shows the control circuit of the hydraulic excavator provided with the 3rd Embodiment of the operation assistance device of the working machine of this invention. It is the schematic which shows the structure of the control system of 3rd Embodiment of the operation assistance device of the working machine of this invention. It is a flowchart figure which shows the processing content of the integrated weight calculation part and integrated accuracy calculation part which comprise 3rd Embodiment of the operation assistance device of the working machine of this invention. It is the schematic which shows the display screen of the display apparatus which comprises 3rd Embodiment of the operation assistance apparatus of the working machine of this invention.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings by taking a hydraulic excavator as an example of a work machine. The present invention can be applied to all work machines including a work front device, and the application of the present invention is not limited to hydraulic excavators.

FIG. 1 is a side view showing a hydraulic excavator provided with a first embodiment of a work machine operation support device of the present invention.
A hydraulic excavator 100, which is a work machine, has a lower vehicle body 11 having left and right traveling bodies, and an upper revolving body 12 rotatably mounted on the lower vehicle body 11, and a front portion of the upper revolving body 12 is provided. A work front device 101 is attached so as to be vertically swingable.

The work front device 101 includes a boom 14 vertically swingably attached to the upper swing body 12, an arm 15 vertically swingably attached to a tip end side of the boom 14, and an arm 15 vertically attached to the tip end side of the arm 15. Ends are connected to the work implement 102 that is swingably attached, the upper swing body 12 and the boom 14, respectively, and the boom cylinder 16 that swings the boom 14 in the vertical direction, and the end that is connected to the boom 14 and the arm 15. An arm cylinder 17 for connecting the parts to each other and swinging the arm 15 in the vertical direction; and a work tool cylinder 18 for connecting the ends of the arm 14 and the work tool 102 to swing the work tool 102 in the vertical direction. Equipped with.

Further, in order to detect the posture of the work front device 101, a boom tilt sensor 31 provided on the boom 14, an arm tilt sensor 32 provided on the arm 15, and a work tool tilt sensor 33 provided on the work tool 102. It has and. Although the case where the work implement 102 is a bucket is illustrated in the present embodiment, it is possible to replace it with any work implement such as a magnet or a grapple that can carry a work target according to the work content of the work machine. ..

In addition, a driver's cab 13 in which an operator gets in is arranged in the front part of the upper swing body 12.

FIG. 2 is a schematic diagram showing a control circuit of a hydraulic excavator provided with the first embodiment of the operation support device for a working machine of the present invention.
In FIG. 2, the control circuit drives the boom 14 (see FIG. 1) of the hydraulic excavator 100, which is supplied with pressure oil from the main pump 22 driven by an engine (not shown), the hydraulic oil tank 23, and the main pump 22. A boom cylinder 16, an arm cylinder 17 that similarly drives the arm 15 (see FIG. 1) of the hydraulic excavator, a work tool cylinder 18 that similarly drives a work implement 102 (see FIG. 1) of the hydraulic excavator, and a main pump 22. The boom control valve 24a for controlling the flow (flow rate and direction) of the pressure oil supplied from to the boom cylinder 16 and the flow (flow rate and direction) of the pressure oil supplied from the main pump 22 to the arm cylinder 17 are controlled. Arm control valve 24b, a work implement control valve 24c that controls the flow (flow rate and direction) of pressure oil supplied from the main pump 22 to the work implement cylinder 18, and a boom operation lever that outputs an operation command for the boom 14. 50, an arm operation lever 51 that outputs an operation command of the arm 15, a work tool operation lever 52 that outputs an operation command of the work tool 102, and operation signals from the operation levers 50, 51, and 52, respectively, and take in them. The main controller 200 which outputs a current signal to the operation part of control valve 24a, 24b, 24c, and the weight measurement controller 210 are provided.

The boom control valve 24a, the arm control valve 24b, and the work implement control valve 24c are respectively connected to the bottom side oil chambers 16a, 17a, 18a of the boom cylinder 16, the arm cylinder 17, and the work implement cylinder 18 or the rod side via pipe lines. Oil discharged from the main pump 22 is connected to the oil chambers 16b, 17b, 18b, and the discharge oil of the main pump 22 is supplied to the oil chambers of the cylinders according to the switching positions of the control valves 24a, 24b, 24c by the current signal from the main controller 200. To be done.

The bottom side oil chamber 16a of the boom cylinder 16 is provided with a boom bottom pressure sensor 34 that detects the pressure, and the rod side oil chamber 16b is provided with a boom rod pressure sensor 35 that detects the pressure. The measurement signals detected by the pressure sensors 34 and 35 are input to the weight measurement controller 210.

The weight measurement controller 210 receives the measurement signals detected by the boom tilt sensor 31, the arm tilt sensor 32, and the work implement tilt sensor 33, and the signal from the weight calculation switch 41 provided in the operator's cab 13. ing. The weight measurement controller 210 also calculates the loaded weight and the error in accordance with these input signals, and outputs the calculation result to the display device 304. The operation of the weight measurement controller 210 will be described later.

When the pressure oil is supplied to the bottom side oil chamber 16a of the boom cylinder 16, the boom 14 is driven to swing upward with respect to the upper swing body 12, and the pressure oil is supplied to the rod side oil chamber 16b. In this case, the boom 14 is driven to swing downward with respect to the upper swing body 12. When the pressure oil is supplied to the bottom side oil chamber 17a of the arm cylinder 17, the arm 15 is driven to swing downward with respect to the boom 14, and the pressure oil is supplied to the rod side oil chamber 17b. In this case, the arm 15 is swingably driven in the upward direction with respect to the boom 14. Further, when the pressure oil is supplied to the bottom side oil chamber 18a of the work tool cylinder 18, the work tool 102 is rotationally driven downward with respect to the arm 15, and the pressure oil is supplied to the rod side oil chamber 18b. In this case, the work implement 102 is rotationally driven upward with respect to the arm 15.

Next, the configuration of the weight measurement controller 210 will be described with reference to FIG. FIG. 3 is a schematic diagram showing the configuration of the control system of the first embodiment of the operation support device for a work machine according to the present invention. In FIG. 3, the same reference numerals as those shown in FIGS. 1 and 2 represent the same parts, and thus detailed description thereof will be omitted.

The weight measurement controller 210 includes a boom bottom pressure signal 34S detected by the boom bottom pressure sensor 34, a boom rod pressure signal 35S detected by the boom rod pressure sensor 35, and a boom tilt signal 31S detected by the boom tilt sensor 31. An arm tilt signal 32S detected by the arm tilt sensor 32, a work tool tilt signal 33S detected by the work tool tilt sensor 33, and an incoming signal 41S from the weight calculation switch 41 are input. The weight measurement controller 210 calculates the weight of the work object and its accuracy based on these input signals, and outputs it to the display device 304 as a display device output signal 304S.

The weight measurement controller 210 calculates the posture of the work front apparatus 101 as a posture detection unit 301 that detects the posture of the work front apparatus 101 as a distance in the front-rear direction with respect to the vehicle body, and calculates the weight of the work target carried by the work front apparatus 101. The weight calculation unit 302 and the weight measurement accuracy map 310 in which the weight measurement accuracy (weight measurement accuracy at an arbitrary front-back distance with respect to the vehicle body of the work front apparatus 101) preset according to the posture of the work front apparatus 101 is stored. And a weight measurement accuracy determination unit 303 that determines the weight measurement accuracy based on the attitude signal detected by the attitude detection unit 301 (the distance in the front-rear direction with respect to the vehicle body of the work front device 101) and the signal from the weight measurement accuracy map 310. And a display signal output unit 305 that outputs the calculation result of the weight calculation unit 302 and the determination result of the weight measurement accuracy determination unit 303 to the display device 304. The weight measurement controller 210 repeatedly executes a series of calculations and input/output at a preset control cycle.

Next, the functions and actions of the posture detection unit 301 and the weight calculation unit 302 will be described with reference to FIGS. 4 to 6. FIG. 4 is a schematic side view of a work front explaining a part of the operation of the control system constituting the first embodiment of the work machine operation support device of the present invention, and FIG. 5 is the work machine operation support of the present invention. 6 is a schematic side view of a work front for explaining another part of the operation of the control system that constitutes the first embodiment of the apparatus, and FIG. 6 shows the first embodiment of the operation support apparatus for the working machine of the present invention. It is a side surface schematic diagram of a work front explaining other parts of an operation of a control system which operates. 4 to 6, the same reference numerals as those shown in FIGS. 1 to 3 denote the same parts, and thus detailed description thereof will be omitted.

W in FIG. 4 indicates the weight of the work target, and W _{1 in} FIG. 5 indicates the weight of the work front apparatus 101. Returning to FIG. 3, the posture detection unit 301 uses the boom tilt signal 31S, the arm tilt signal 32S, and the work implement tilt signal 33S, which are input signals, for the horizontal planes of the boom 14, the arm 15, and the work implement 102 shown in FIG. The inclinations ∠α, ∠β and ∠γ are calculated and output to the weight calculation unit 302.

The weight calculator 302 calculates the weight according to the following procedure.
As shown in FIG. 4, with the horizontal length between the swing center of the boom 14 and the position of the work object being L, the length of the boom 14 is Lboom, the length of the arm 15 is Larm, and the work implement 102. When the length is Latt, the horizontal length L between the swing center of the boom and the position of the work object is determined by the following equation (1).
L=Lboom・cosα+Larm・cosβ+Latt・cosγ・・・・(1)
Since Lboom, Larm, and Latt are known values determined by the design, L can be calculated using the detection result of the posture detection unit 301.

Next, the horizontal length L ₁ between the swing center of the boom 14 and the position where the own weight W ₁ of the work front apparatus 101 acts is calculated as follows. As shown in FIG. 5, for each structure constituting the work front apparatus 101, the horizontal length between the swing center of the boom 14 and the center of gravity of the boom 14 is La, and the swing center of the boom 14 and the arm. Let Lb be the horizontal length between the center of gravity positions of 15 and Lc be the horizontal length between the swing center of the boom 14 and the center of gravity of the work implement 102, and let the weight of each structure be Wa, Wb, Assuming Wc, W ₁ is the dead weight of the work front apparatus 101, and therefore W ₁ is determined by the following equation (2).
W ₁ =Wa+Wb+Wc+... (2)
Since Wa, Wb, Wc,... Are known values determined by design, W ₁ is also known. Further, since the position of the center of gravity of each structure is a known value determined by the design, La, Lb, Lc,... Are calculated from the detection result of the posture detection unit 301 and the position of the center of gravity of each structure. can do.
Since the sum of the moments around the swing center of the boom 14 of each structure is equal to the moment around the swing center of the boom 14 due to the front weight W ₁ , the following equations (3) and (4) are derived.
W ₁・L ₁ =Wa・La+Wb・Lb+Wc・Lc+... (3)
∴L ₁ =(Wa・La+Wb・Lb+Wc・Lc+……)/W ₁・・・(4)
From the equation (4), the horizontal length L ₁ between the swing center of the boom 14 and the position where the own weight W ₁ of the work front apparatus 101 acts is calculated by the detection result of the posture detection unit 301 and a known value. it can.

Next, the weight W of the work target is calculated as follows based on the above-described calculation result and the moment around the swing center of the boom 14. In FIG. 6, assuming that the support force of the boom cylinder 16 is F, a triangle surrounded by both ends of the boom cylinder 16 (points A and B) and the swing center of the boom 14 (point C) is ΔABC. If the length of each side of ΔABC is set to L _AB, L _{BC, and} L _CA , L _{BC and} L _CA are known to be determined by design. Further, ∠ACB can be calculated from the detection result of the posture detection unit 301, similarly to ∠α shown in FIG. L _AB using the cosine theorem from these it is determined by the following equation (5).
^{_{L AB = √ (L BC 2}} + L CA 2 -2L BC · L CA · cos∠ACB) ··· (5)
_{L AB} from equation (5) can be calculated by the detection result and known value of the posture detection section 301. Next, the two ends (point A, B) of the boom cylinder 16 from the center of swinging of the boom 14 (point C) the length of the perpendicular line drawn to the side _{L AB} is an h, △ ABC of area S , Is determined by the following equation (6).
S=( _LAB ·h)/2 (6)
Further, the area S of ΔABC is determined by the following formula (7) from ∠ACB, L _{BC, and} L _{CA.
S = (L CA · L BC} · sin∠ACB) / 2 ··· (7)
Formula (6) and formula (7) are rearranged to derive formula (8) below, and h is determined.
h=(L _CA・L _BC・sin ∠ ACB)/L _AB・・・(8)
From Equations (5) and (8), h can be calculated by the detection result of the posture detection unit 301 and a known value.

Returning to FIG. 3, the boom bottom pressure signal 34S detected by the boom bottom pressure sensor 34 is P _1b, and the boom rod pressure signal 35S detected by the boom rod pressure sensor 35 is P _{1r. Let} A _{b be} the rod-side pressure-receiving area be Ar. The supporting force F of the boom cylinder 16 shown in FIG. 6 is determined by the following formula (9), when the extending direction of the boom cylinder 16 is a positive direction.
_{F = P 1b · A b -P} 1r · A r ··· (9)
The moment around the swing center of the boom 14 due to the supporting force F is balanced with the sum of the weight W and the moment around the swing center of the boom 14 due to the own weight W ₁ of the work front apparatus 101. Therefore, the following equation (10) is used. And (11) are determined.
F・h=W・L+W ₁・L ₁ ...(10)
∴W=(F·h−W ₁ ·L ₁ )/L... (11)
The right side of Expression (11) can be calculated from Expressions (1), (2), (4), (8), and (9). From the above, the weight W of the work target can be calculated from the balance formula of the moment of the swing center of the boom 14.

Next, the function and action of the weight measurement accuracy determination unit 303 will be described with reference to FIGS. 7 and 8. FIG. 7 is a flow chart showing the processing contents of the weight measurement accuracy determination unit that constitutes the first embodiment of the work machine operation support apparatus of the present invention. FIG. 8 is the first of the work machine operation support apparatus of the present invention. It is a table figure which shows an example of the weight measurement precision map which comprises embodiment of FIG.

The processing content of the weight measurement accuracy determination unit 303 will be described with reference to FIG. 7.
The weight measurement accuracy determination unit 303 determines whether or not the weight calculation switch 41 is turned on (step S401). Specifically, the presence or absence of the incoming signal 41S is determined. If the weight calculation switch 41 is ON, the process proceeds to step S402, and if not, the process proceeds to END and the flow ends.

When the weight calculation switch 41 is ON, the weight measurement accuracy determination unit 303 acquires posture information (step S402). Specifically, the position information of the work implement 102 calculated by the weight calculation unit 302 in response to the posture signal of the work front apparatus 101 detected by the posture detection unit 301 is acquired.

The weight measurement accuracy determination unit 303 reads the weight measurement accuracy map (step S403). Specifically, the weight measurement accuracy map 310 in which the weight measurement accuracy set in advance according to the posture of the work front apparatus 101 is stored is read.

The weight measurement accuracy determination unit 303 determines the weight measurement accuracy (step S404). Specifically, the weight measurement accuracy is determined by collating the position information of the work implement 102 acquired in step S402 with the weight measurement accuracy map read in step S403.

In the example of the weight measurement accuracy map shown in FIG. 8, the work implement horizontal position indicates the horizontal distance from the swing center of the boom 14 to the work implement 102 (corresponding to Lc in FIG. 5 ). The work tool vertical position indicates the vertical distance from the ground plane of the work tool 102. This vertical distance can be easily calculated from a known value determined by design and the detection result of the posture detection unit 301. Each numerical value in the table indicates the weight measurement accuracy of the work tool 102 at that position. In the present embodiment, the expression of measurement accuracy is a full scale (%FS) with respect to the payload. The example of the weight measurement accuracy map of FIG. 8 shows that the weight calculation can be performed most accurately in the posture in which the horizontal distance is 2 to 4 [m].
The weight measurement accuracy map can be created, for example, by loading a work target object whose true value is known on the work tool 102, changing the horizontal position and the vertical position of the work tool, and measuring the weight.

Returning to FIG. 7, the weight measurement accuracy determination unit 303 outputs the weight measurement accuracy (step S405). Specifically, a process of outputting the weight measurement accuracy, which is the determination result of step S404, to the display signal output unit 305 is performed.

Next, the display screen of the display device 304 will be described with reference to FIG. FIG. 9 is a schematic view showing a display screen of a display device which constitutes the first embodiment of the operation support device for a working machine of the present invention.

The display screen of FIG. 9 shows a weight display area 601 for displaying the weight of the work object calculated by the weight calculation section 302 and a weight measurement accuracy display area for displaying the weight measurement accuracy which is the determination result of the weight measurement accuracy determination section 303. 602 and a weight measurement accuracy map display area 603 for displaying the weight measurement accuracy of the weight measurement accuracy map 310 used in the weight measurement accuracy determination unit 303.

In FIG. 9, the display device 304 displays the weight of the work object as 1.0 t in the weight display area 601 and the weight measurement accuracy as 5% in the weight measurement accuracy display area 602. In the weight measurement accuracy map display area 603, the accuracy is low, high, or medium depending on the distance on the horizontal axis indicating the horizontal distance from the swing center of the boom 14 to the work implement 102 on the horizontal axis. At the same time, the current position of the work implement 102 is displayed by the work implement marker 604. In the present embodiment, the case where the weight measurement accuracy of weight measurement accuracy display area 602 is displayed as (~[%]) has been described as an example, but the present invention is not limited to this. It is also possible to use a qualitative expression such as (high, medium, low).

According to the first embodiment of the operation support device for a work machine of the present invention described above, the operator can simultaneously grasp the measurement accuracy according to the loading weight and the posture of the work front device, and therefore the limitation of the transport machine. It becomes easier to carry out the loading work more accurately with respect to the loaded amount. As a result, work efficiency and productivity can be improved.

Further, according to the first embodiment of the work machine operation support device of the present invention described above, since the weight measurement accuracy map is also displayed, the operator selects a posture of the work front device with higher accuracy. Then, it becomes possible to measure the weight. This can be expected to further improve work efficiency.

Hereinafter, a second embodiment of a work machine operation support device according to the present invention will be described with reference to the drawings. FIG. 10 is a schematic diagram showing a configuration of a control system of a second embodiment of a work machine operation support device of the present invention, and FIG. 11 is a configuration of a second embodiment of a work machine operation support device of the present invention. FIG. 12 is a table showing an example of the posture range map set in the posture range setting unit, and FIG. 12 shows the processing contents of the posture determination unit constituting the second embodiment of the work machine operation support device of the present invention. FIG. 13 is a flow chart, and FIG. 13 is a schematic view showing a display screen of a display device which constitutes a second embodiment of the work machine operation support device of the present invention. 10 to 13, the same reference numerals as those shown in FIGS. 1 to 9 denote the same parts, and thus detailed description thereof will be omitted.

In the second embodiment of the work machine operation support device of the present invention, as compared with the configuration of the weight measurement controller 210 of the first embodiment shown in FIG. 3, an attitude range setting unit as shown in FIG. The difference is that 320 and the posture determination unit 321 are additionally configured.

The posture range setting unit 320 inputs a signal of the weight measurement accuracy preset from the weight measurement accuracy map 310 according to the stored attitude of the work front apparatus 101 (distance in the front-rear direction of the work front apparatus 101 with respect to the vehicle body). After setting a predetermined range, a signal of the set weight measurement accuracy is output to the posture determination unit 321.

The table of FIG. 11 shows an example of the posture range map set in the posture range setting unit 320. In the present embodiment, the case where the horizontal position of the work implement 102, which has relatively good weight measurement accuracy, is 2 to 4 [m] is set to be within the predetermined range, and the other cases are set to be outside the predetermined range. There is.

Returning to FIG. 10, the posture determination unit 321 inputs the posture information of the work front apparatus 101 (position information of the work implement 102) calculated by the weight calculation unit 302 and the posture range setting information set by the posture range setting unit 320. Then, when these pieces of information are collated and the position of the work implement 102 is outside the predetermined range, a signal for warning display is output to the display signal output unit 305.

The processing contents of the posture determination unit 321 will be described with reference to FIG.
The posture determination unit 321 acquires posture information (step S411). Specifically, the posture information of the work front apparatus 101 (positional information of the work implement 102) calculated by the weight calculator 302 is acquired.

The posture determination unit 321 acquires posture range setting information (step S412). Specifically, the posture range setting information set by the posture range setting unit 320 is acquired.

The posture determination unit 321 determines whether the posture is within the set range (step S413). Specifically, the posture range is determined by comparing the position information of the work implement 102 acquired in step S411 with the posture range setting information acquired in step S412. When the actual horizontal position of the work implement 102 is 2 to 4 [m], it is determined to be within the predetermined range, and in other cases, it is determined to be outside the predetermined range. If it is outside the predetermined range, the process proceeds to step S414, and if it is within the predetermined range, the process proceeds to END and the flow ends.

The posture determination unit 321 outputs a posture outside range warning (step S414). Specifically, a signal for displaying a warning outside the posture range is output to the display signal output unit 305. After that, the process proceeds to END, and the flow ends.

Next, the display screen of display device 304A in the present embodiment will be described with reference to FIG.
The difference between the display screen of FIG. 13 and the display screen of the first embodiment shown in FIG. 9 is that a posture outside range warning lamp 610 is provided and the posture range setting in the weight measurement accuracy map display area 613. The point is that the posture range setting information set in the section 320 is displayed (displayed bright within the set range, and displayed dark otherwise).

In the process flow of FIG. 12, when the signal for displaying the warning outside the posture range is output by the process of step S414, the posture outside range warning lamp 610 is turned on, and the desired weight measurement accuracy is obtained in the posture. The operator is notified that the information cannot be obtained.

Since the posture range setting information is displayed in the weight measurement precision map display area 613, when the posture outside range warning lamp 610 is turned on, what kind of posture should the operator change to obtain good precision (posture? Whether the out-of-range warning lamp 610 can be turned off) can be easily grasped.

By operating the work front apparatus 101 so that the operator does not turn on the posture outside range warning lamp 610, the weight measurement accuracy can be set within a desired range. This improves work productivity. The warning outside the posture range is not limited to the posture outside warning lamp 610. It may be performed by any means capable of notifying the operator such as an alarm.

According to the second embodiment of the operation support device for a working machine of the present invention described above, it is possible to obtain the same effect as that of the first embodiment described above.

Further, according to the second embodiment of the operation support device for a work machine of the present invention described above, the operator can easily determine whether or not a desired weight measurement accuracy can be obtained with the current posture of the work front device 101. It becomes possible to grasp. As a result, the operator can operate the work front device 101 so as not to turn on the posture-outside-range warning lamp 610, so that the weight measurement accuracy can be set within a desired range. As a result, work productivity is improved.

Hereinafter, a third embodiment of a work machine operation support device of the present invention will be described with reference to the drawings. FIG. 14 is a schematic diagram showing a control circuit of a hydraulic excavator having a third embodiment of a work machine operation support device according to the present invention, and FIG. 15 is a third embodiment of a work machine operation support device according to the present invention. FIG. 16 is a schematic diagram showing the configuration of the control system of the embodiment, FIG. 16 is a flow chart diagram showing the processing contents of the integrated weight calculation unit and the integrated accuracy calculation unit that constitute the third embodiment of the work machine operation support device of the present invention, FIG. 17 is a schematic view showing a display screen of a display device which constitutes a third embodiment of the work machine operation support device of the present invention.
14 to 17, the same reference numerals as those shown in FIGS. 1 to 13 denote the same parts, and thus detailed description thereof will be omitted.

In the third embodiment of the work machine operation support apparatus of the present invention, as shown in FIG. 14, the integration confirming switch is added to the configuration of the control circuit of the hydraulic excavator of the first embodiment shown in FIG. 42 and an integration reset switch 43, which is different in that the integration confirmation signal 42S from the integration confirmation switch 42 and the integration reset signal 43S from the integration reset switch 43 are input to the weight measurement controller 210.

The feature of the present embodiment is that, for example, when the work machine transports the work object in several steps and also loads one dump truck after the weight measurement, the work object carried by the work machine is transported. The point is that the weight and error can be integrated. As a result, the loaded weight and error of one dump truck can be easily grasped. Specifically, with respect to the configuration of the weight measurement controller 210 of the first embodiment shown in FIG. 3, as shown in FIG. 15, the integrated weight calculation unit 330, the integrated accuracy calculation unit 331, the integrated weight and accuracy storage unit. And 332 are added.

The accumulated weight calculation unit 330 calculates the accumulated confirmation signal 42S from the accumulation confirmation switch 42, the weight of the work object, which is the calculation result from the weight calculation unit 302, and the accumulated weight stored in the accuracy storage unit 332. When the input and the integration confirmation signal 42S are ON, a process of adding the weight of the work object and the integration weight is performed, and the calculation result is displayed signal output unit 305, integration accuracy calculation unit 331, integration weight and accuracy storage. It is output to the unit 332.

The integration accuracy calculation unit 331 calculates the integration confirmation signal 42S from the integration confirmation switch 42, the integration weight from the integration weight calculation unit 330, and the calculation result from the weight measurement accuracy determination unit 303. And the integration accuracy stored in the accuracy storage unit 332 are input, and when the integration confirmation signal 42S is ON, a process of updating the measurement accuracy and the integration accuracy of the work object is performed, and the operation result is displayed. The signal is output to the signal output unit 305 and the integrated weight/accuracy storage unit 332.

The integrated weight and accuracy storage unit 332 inputs the integrated reset signal 43S from the integrated reset switch 43, the integrated weight from the integrated weight calculation unit 330, and the integrated accuracy from the integrated accuracy calculation unit 331, and the integrated reset signal 43S is turned on. If not, the input accumulated weight and accumulated accuracy are stored, and the stored values are output to the accumulated weight calculator 330 and the accumulated accuracy calculator 331. When the accumulated reset signal 43S is ON, the stored accumulated weight and accumulated accuracy are reset to zero.

As the calculation method of the integration accuracy calculation unit 331, the square sum of squares is used in the present embodiment, but the calculation method is not limited to this. For example, it may be a simple sum. In the present embodiment, if the first measurement result is A±a[t], the first measurement result is B±b[t], and the third measurement result is C±c[t], a total of 3 ±p [%], which is the accumulative accuracy of the times, is determined by the following formula (12).
p=[√(a ² +b ² +c ² )]100/(A+B+C) (12)
Next, processing contents of the integrated weight calculation unit 330, the integrated accuracy calculation unit 331, and the integrated weight and accuracy storage unit 332 will be described with reference to FIG.
The accumulated weight and accuracy storage unit 332 determines whether the accumulated reset switch 43 is turned on (step S421). Specifically, the presence or absence of the reset signal 43S is determined. If the integration reset switch 43 is ON, the process proceeds to step S422, and if not, the process proceeds to step S423.

When the cumulative reset switch 43 is turned on in step S421, the cumulative weight and accuracy storage unit 332 resets the stored value to zero (step S422).

When the integration reset switch 43 is not turned on in step S421, the weight measurement accuracy determination unit 303 determines whether the weight calculation switch 41 is turned on (step S423). Specifically, the presence or absence of the incoming signal 41S is determined. If the weight calculation switch 41 is ON, the process proceeds to step S424, and if not, the process proceeds to step S429.

When the weight calculation switch 41 is ON in step S423, the integrated weight calculation unit 330 and the integration accuracy calculation unit 331 respectively read the stored values (integrated weight and integration accuracy) of the integrated weight and accuracy storage unit 332 (step S424). ..

The total weight calculation unit 330 and the total accuracy calculation unit 331 acquire the weight calculation result and the reception measurement accuracy determination result (step S425). Specifically, the integrated weight calculation unit 330 acquires the calculation result of the weight calculation unit 302, and the integration accuracy calculation unit 331 acquires the determination result of the weight measurement accuracy determination unit 303.

The integrated weight calculation unit 330 performs integrated weight calculation (step S426). Specifically, in the integrated weight calculation unit 330, the integrated weight read in step S424 and the integrated weight from the accuracy storage unit 332 are compared with the weight calculation result from the weight calculation unit 302 acquired in step S425. A calculation process of adding is performed.

The integration accuracy calculation unit 331 performs integration accuracy calculation (step S427). Specifically, in the integration accuracy calculation unit 331, the integration accuracy read from step S424 from the integration weight and accuracy storage unit 332, the weight measurement accuracy of the weight measurement accuracy determination unit 303 acquired in step S425, and the step Based on the integrated weight which is the calculation result of S426, the calculation calculation of the integration accuracy is performed using the equation (12).

The total weight calculation unit 330 and the total accuracy calculation unit 331 output the total weight and accuracy (step S428). Specifically, a process of outputting the calculation results of steps S426 and S427 to display signal output unit 305 is performed.

The total weight calculation unit 330 and the total accuracy calculation unit 331 determine whether or not the totalization confirmation switch 42 is turned on (step S429). Specifically, the presence or absence of the integration confirmation signal 42S is determined. If the integration confirmation switch 42 is ON, the process proceeds to step S430, and if not, the process proceeds to END and the flow ends.

When the totalization confirmation switch 42 is turned on in step S429, the total weight and accuracy storage unit 332 stores the total weight and the total accuracy (step S430). Specifically, the calculation results (integrated weight and integrated accuracy) of steps S426 and S427 are sent to the integrated weight and accuracy storage unit 332, and the integrated weight and accuracy storage unit 332 stores these values. After that, the process proceeds to END, and the flow ends.

Next, a display screen of the display device 304B in this embodiment will be described with reference to FIG.
The difference between the display screen of FIG. 17 and the display screen of the first embodiment shown in FIG. 9 is that an accumulated weight display area 620 for displaying the accumulated weight calculated by the accumulated weight calculator 330 is provided. The point is that an integration accuracy display area 621 for displaying the integration accuracy calculated by the integration accuracy calculation unit 331 is provided.

In FIG. 17, the display device 304B displays the integrated weight of the work object as 3.0 t in the integrated weight display area 620 and displays the integrated accuracy as 10% in the integrated accuracy display area 621. The other display is the same as that of the first embodiment of the present invention.

Here, the operation in the present embodiment will be described. For example, the dump truck, which is a transport machine, has a limited load weight of 4t±5%, and the work machine has already loaded the work target on the dump truck several times, and the work machine currently measures the work target. It is assumed that the display screen of the display device 304B when the display is in FIG.

At this time, the operator can recognize the following from the display screen of the display device 304B.
(1) The weight of the work object loaded on the dump truck (total weight and total accuracy) is 3t±10%.
(2) At present, the weight (weight and accuracy) of the work object carried by the work implement of the work machine is 1t±5%.
(3) The current posture of the work implement is such that high measurement accuracy can be obtained.

From these things, it is clear to the operator that if the work object currently being carried by the work implement is loaded on the dump truck as it is, the limit loading weight of 4t±5% may be exceeded. As a result, the operator performs an operation of reducing the work target of the work implement to within the allowable range of the limit load weight of the dump truck, and then loads the work target on the dump truck. As a result, it becomes easier to carry out the loading work more accurately with respect to the limited load capacity of the transport machine. As a result, work efficiency and productivity can be improved.

According to the third embodiment of the operation support device for a working machine of the present invention described above, the same effect as that of the first embodiment described above can be obtained.

Further, according to the third embodiment of the operation support device for a working machine of the present invention described above, the operator can easily grasp the integrated weight of one carrying machine and its accuracy. The efficiency and productivity of the entire work including the weight measurement work can be improved.

In the embodiment of the present invention, the case where the work implement is a bucket has been described as an example, but the present invention is not limited to this. It can be applied to any work implement as long as it can carry a work object.

Further, the case where the pressure of the boom cylinder 16 is used as the weight calculation method has been described as an example, but the present invention is not limited to this, and the pressure of another cylinder may be used.

Similarly, the case where each inclination sensor is used to detect the posture of the work front apparatus 101 has been described as an example, but the present invention is not limited to this, and for example, a potentiometer may be used.

Further, as the method for determining the weight measurement accuracy, any means that can refer to the accuracy information in the movable range of the work front apparatus 101 can be used. For example, instead of the weight measurement accuracy map shown in FIG. 8, a method of converting the relationship between the horizontal distance and the measurement accuracy into a function and storing it in the controller may be used.

Further, although cases have been described with the embodiments of the present invention as examples where various switches are used as measurement triggers, the present invention is not limited to this. For example, each operation signal of the boom operation lever 50, the arm operation lever 51, and the work implement operation lever 52 is monitored, and the situation in which none of the operation levers is operated (the situation in which the work front device 101 is stopped) continues for a predetermined time. In this case, the measurement result may be output to the display device. With such a configuration, the operator can save the trouble of pressing the switch.

In the embodiment of the present invention, the configuration in which the weight measurement accuracy map is preset in the controller has been described as an example, but the present invention is not limited to this. For example, a setting device connected to the weight measurement controller 210 may be newly provided in the driver's cab 13 so that the operator can appropriately correct the map in the driver's cab. With such a configuration, it is easy to change the weight measurement accuracy map when the measurement accuracy changes due to deterioration of each sensor over time. As a result, work efficiency and productivity can be improved over a long period of time.

11: Lower vehicle body, 12: Upper revolving structure, 13: Driver's cab, 14: Boom, 15: Arm, 16: Boom cylinder, 17: Arm cylinder, 18: Work implement cylinder, 22: Main pump, 23: Hydraulic oil tank , 31: boom tilt sensor, 32: arm tilt sensor, 33: work tool tilt sensor, 34: boom bottom pressure sensor, 35: boom rod pressure sensor, 41: weight calculation switch, 42: totalization confirmation switch, 43: totalization reset Switch, 100: Hydraulic excavator, 101: Work front device, 200: Main controller, 210: Weight measurement controller, 301: Posture detection unit, 302: Weight calculation unit, 303: Weight measurement accuracy determination unit, 304, 304A, 304B: Display device, 305: display signal output unit, 310: weight measurement accuracy map, 320: posture range setting unit, 321: posture determination unit, 330: accumulated weight calculation unit, 331: accumulated precision calculation unit, 332: accumulated weight and precision Storage unit, 601: weight display area, 602: weight measurement accuracy display area, 603: weight measurement accuracy map display area, 604: work implement marker, 610: posture outside range warning lamp, 620: accumulated weight display area, 621: accumulated Precision display area

Claims (5)

A vehicle body and a work front device that can be used for loading work objects,
A posture detection device that detects the posture of the work front device as a distance in the front-rear direction of the work front device with respect to the vehicle body;
A weight calculation device capable of measuring the loading weight of the work object in the loading work using the work front device,
The measurement accuracy of the loading weight of the work target is determined based on the data of the measurement accuracy of the loading weight measured in advance according to the distance in the front-rear direction of the work front device with respect to the vehicle body detected by the posture detection device. A weight measurement accuracy determination device for determining;
An operation support device for a work machine, comprising: an informing device for informing a calculation result of the weight calculation device and a determination result of the weight measurement accuracy determination device. The operation support device for a work machine according to claim 1,
A weight measurement accuracy map is further created, which is created based on the measurement accuracy data of the loaded weight that is measured in advance, and is capable of referring to the weight measurement accuracy at any distance in the front-rear direction with respect to the vehicle body of the work front device,
The weight measurement accuracy determination device compares the distance in the front-rear direction of the work front device with respect to the vehicle body detected by the posture detection device and the weight measurement accuracy of the weight measurement accuracy map to load the work object. An operation support device for a work machine, which is characterized by determining the accuracy of weight measurement. The operation support device for a work machine according to claim 2,
The operation support device for a work machine, wherein the notification device notifies the calculation result of the weight calculation device, the determination result of the weight measurement accuracy determination device, and the weight measurement accuracy map together. The operation support device for a work machine according to claim 3,
An attitude range setting device that sets a predetermined range with respect to the distance in the front-rear direction with respect to the vehicle body of the work front device,
A distance in the front-rear direction of the work front device detected by the posture detection device further includes a posture determination device that determines whether or not the distance is outside a predetermined range set by the posture range setting device,
The operation support device for a work machine, wherein the notification device outputs a determination result of the posture determination device. The operation support device for a work machine according to claim 1,
An integrated weight calculation device for calculating the integrated weight of the work object by integrating the calculation results of the weight calculation device performed each time the loading work is performed using the work front device;
Further comprising an integrated accuracy calculation device for calculating the accuracy of the integrated weight,
An operation support device for a work machine, wherein the integrated weight of the work object calculated by the integrated weight calculation device and the integrated accuracy calculated by the integration accuracy calculation device are notified by the notification device.

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