JP7471163B2 - Work machine, program, and work machine control method - Google Patents

Description

The present invention relates to a work machine such as a construction machine, a program, and a method for controlling the work machine, and in particular to a work machine, a program, and a method for controlling the work machine that transmits attachment information from a communication device arranged on an interchangeable attachment to a communication device arranged on the main body.

Working machines such as construction machines have been put into practical use, and are equipped with a main body having a lower traveling body and an upper rotating body, and a working device to which an interchangeable attachment is attached and whose attitude can be changed relative to the main body. In recent years, there has been a demand to identify the attachment attached to the working device in real time in order to properly control the working machine and properly manage its operating status.

According to the work machine disclosed in the following Patent Document 1, a two-dimensional barcode indicating attachment information is affixed to the attachment. The worker acquires the attachment information by reading the two-dimensional barcode using a mobile terminal. The acquired attachment information is wirelessly transmitted from the mobile terminal to a control unit of the work machine. The control unit controls the maximum flow rate of hydraulic oil supplied to the attachment based on the received attachment information.

According to the work machine disclosed in the following Patent Document 2, a plurality of correlation data indicating the relationship between the cylinder speed of the hydraulic cylinder and the operation command value for operating the hydraulic cylinder according to the type of bucket is stored in advance in a storage unit. The acquisition unit acquires type data indicating the type of bucket. The control unit selects one correlation data corresponding to the type data acquired by the acquisition unit from the plurality of correlation data stored in the storage unit, and controls the operation command value based on the selected correlation data.

JP 2016-70004 A Japanese Patent No. 5990642

However, with the work machine disclosed in the above-mentioned Patent Document 1, in order to obtain the attachment information, the worker must dismount from the work machine and perform the work of reading the two-dimensional barcode, resulting in low work efficiency.

In addition, with the work machine disclosed in Patent Document 2, it is necessary to create in advance multiple correlation data that indicate the relationship between the cylinder speed of the hydraulic cylinder and the operation command value that operates the hydraulic cylinder according to the type of bucket, which makes the creation work complicated and inefficient.

The present invention was made in consideration of these circumstances, and aims to provide a work machine, a program, and a method for controlling a work machine that can efficiently and accurately obtain attachment information about replaceable attachments.

A work machine according to one aspect of the present invention comprises a main body, a work device to which an interchangeable attachment is attached and which is attached to the main body in such a way that its attitude can be changed, an angle detection means for detecting the drive angle of the work device and outputting angle data, a first communication device disposed on the attachment, a second communication device disposed on the main body, and a determination unit, the first communication device having an inertial sensor for detecting the direction of the attachment relative to a predetermined reference direction and outputting first direction data, and a transmitter for transmitting attachment information including the first direction data as a wireless signal, and the second communication device has a determination unit. The apparatus has a receiver that receives the attachment information transmitted from a transmitter, and the determination unit has a direction determination unit that determines the direction of the attachment relative to the reference direction based on the angle data input from the angle detection means and outputs second direction data, and a difference determination unit that determines whether the attachment that transmitted the attachment information is the same as the attachment attached to the work device based on the first direction data included in the attachment information input from the receiver and the second direction data input from the direction determination unit.

According to the working machine of this aspect, the transmitter of the first communication device transmits the attachment information including the first direction data as a wireless signal, and the receiver of the second communication device receives the attachment information. The direction identification unit identifies the direction of the attachment relative to the reference direction based on the angle data input from the angle detection means, and outputs the second direction data. The difference/sameness determination unit determines whether the attachment that transmitted the attachment information is different from the attachment attached to the working device based on the first direction data included in the attachment information input from the receiver and the second direction data input from the direction identification unit. Therefore, the determination unit can permit the input of the attachment information to the control unit that controls the working device, on the condition that the difference/sameness determination unit determines that the attachment that transmitted the attachment information is the same as the attachment attached to the working device. As a result, the control unit can efficiently and accurately obtain the attachment information of the interchangeable attachment. For example, even in a situation where multiple work machines are parked side by side in a parking area, it is possible to avoid a situation where attachment information transmitted from an attachment attached to a nearby work machine is mistakenly acquired as attachment information for the attachment attached to the machine itself.

In the work machine according to the above aspect, it is preferable that the work machine further includes a control unit that controls the work device, the first communication device further includes a storage unit that stores control information related to the attachment on which the first communication device is placed, the transmitter transmits the attachment information further including the control information read from the storage unit, and the control unit updates the control parameters of the work device based on the control information included in the attachment information input from the receiver, on condition that the difference/sameness determination unit determines that the attachment that transmitted the attachment information is the same as the attachment attached to the work device.

According to the working machine of this aspect, the transmitter transmits attachment information including control information. The control unit updates the control parameters of the working device based on the control information included in the attachment information input from the receiver, on the condition that the difference determination unit determines that the attachment that transmitted the attachment information is the same as the attachment attached to the working device. As a result, it becomes possible to efficiently and accurately update the control parameters of the working device to which an interchangeable attachment is attached.

In the work machine according to the above aspect, it is desirable that the attachment is hydraulically controlled, and the control information includes at least one of pressure information of hydraulic oil supplied to the attachment, flow rate information of the hydraulic oil, and dimensional information of the attachment.

According to the work machine of this aspect, the control information transmitted from the first communication device to the second communication device includes at least one of pressure information of the hydraulic oil supplied to the attachment, flow rate information of the hydraulic oil, and dimensional information of the attachment. By including hydraulic oil pressure information, it is possible to perform optimal relief pressure control and overload warning control for each attachment. By including hydraulic oil flow rate information, it is possible to perform optimal pump flow rate control and pilot pressure control for each attachment. By including attachment dimensional information, it is possible to perform optimal interference prevention control and overturning warning control for each attachment.

In the working machine according to the above aspect, it is preferable that the control unit has a replacement detection unit that detects that the attachment has been replaced, and when the replacement detection unit detects that the attachment has been replaced, the control unit receives the attachment information from the new attachment after replacement and performs an update process of the control parameters of the working device based on the attachment information.

In the work machine according to this aspect, when the replacement detection unit detects that the attachment has been replaced, the control unit receives attachment information from the new replaced attachment and executes an update process for the control parameters of the work device based on the attachment information. This makes it possible to realize optimal drive control for the new replaced attachment.

In the work machine according to the above aspect, it is desirable that the difference/sameness determination unit determines that the attachment that transmitted the attachment information is the same as the attachment attached to the work device, provided that the difference between the first direction data included in the attachment information input from the receiver and the second direction data input from the direction identification unit is equal to or less than a first threshold value.

In the work machine according to this aspect, the difference/sameness determination unit determines that the attachment that transmitted the attachment information is the same as the attachment attached to the work device, provided that the difference between the first direction data included in the attachment information input from the receiver and the second direction data input from the direction identification unit is equal to or less than a first threshold value. Therefore, it is possible to accurately determine whether the two attachments are the same by the simple process of comparing the difference between the first direction data and the second direction data with the first threshold value.

In the work machine according to the above aspect, it is preferable that the difference/sameness determination unit further determines that the attachment that transmitted the attachment information is the same as the attachment attached to the work device, provided that the reception signal strength of the attachment information received by the receiver is equal to or greater than a second threshold value.

According to the working machine of this aspect, the difference/sameness determination unit further determines that the attachment that transmitted the attachment information is the same as the attachment attached to the working machine, provided that the reception signal strength of the attachment information received by the receiver is equal to or greater than the second threshold value. Therefore, even if the difference between the first direction data and the second direction data is equal to or less than the first threshold value, if the reception signal strength of the attachment information received by the receiver is less than the second threshold value, the difference/sameness determination unit determines that the two attachments are different. The second threshold value is set so that the reception signal strength when the attachment information transmitted from the attachment attached to the working machine (hereinafter referred to as the "own attachment") is received by the receiver of the working machine is equal to or greater than the second threshold value, and the reception signal strength when the attachment information transmitted from the attachment attached to the working machine parked near the working machine (hereinafter referred to as the "neighboring attachment") is received by the receiver of the working machine is less than the second threshold value. This makes it possible to more reliably avoid situations where attachment information sent from a nearby attachment is mistakenly acquired as attachment information for the player's attachment when the attitude of the nearby attachment is the same as or similar to the attitude of the player's attachment.

In the work machine according to the above aspect, it is preferable that the second communication device further has a transfer processing unit that determines whether or not to input the attachment information received by the receiver to the determination unit based on a predetermined transfer condition.

In the work machine according to this aspect, the transfer processing unit determines whether or not to input the attachment information received by the receiver to the determination unit based on a predetermined transfer condition. Therefore, if the transfer condition is not met, the attachment information is not transferred to the determination unit, so whether or not to transfer the attachment information from the receiver to the determination unit can be selected according to the type or manufacturer of the attachment, etc.

In the working machine according to the above aspect, the working device has a boom having one end rotatably connected to the main body, an arm having one end rotatably connected to the other end of the boom, and the attachment rotatably attached to the other end of the arm, and the angle detection means has a boom angle sensor that detects the boom angle, which is the angle of the boom relative to the main body, and outputs boom angle data, an arm angle sensor that detects the arm angle, which is the angle of the arm relative to the boom, and outputs arm angle data, an attachment angle sensor that detects the attachment angle, which is the angle of the attachment relative to the arm, and outputs attachment angle data, and an inclination angle sensor that detects the inclination angle of the main body relative to the horizontal direction and outputs inclination angle data, and it is preferable that the direction identification unit identifies the direction of the attachment relative to the reference direction based on the boom angle data, the arm angle data, the attachment angle data, and the inclination angle data.

In the work machine according to this aspect, the direction identification unit identifies the direction of the attachment relative to the reference direction based on the boom angle data, arm angle data, attachment angle data, and tilt angle data. This makes it possible to apply the invention to construction machines having a working arm including a boom, arm, and attachment. Furthermore, since not only the boom angle data, arm angle data, and attachment angle data but also the tilt angle data indicating the tilt angle of the main body are referenced, the direction of the attachment relative to the reference direction can be accurately identified even when the work machine is parked on a slope, and as a result, it becomes possible to improve the accuracy of the difference/sameness determination process performed by the difference/sameness determination unit.

A program according to one aspect of the present invention includes a main body, a working device to which an interchangeable attachment is attached and which is attached to the main body in such a way that its posture can be changed, an angle detection means for detecting the drive angle of the working device and outputting angle data, a first communication device disposed on the attachment, and a second communication device disposed on the main body, the first communication device having an inertial sensor for detecting the direction of the attachment relative to a predetermined reference direction and outputting first direction data, and a transmitter for transmitting attachment information including the first direction data as a wireless signal, and the second communication device has the This is a program for causing an information processing device mounted on a work machine, which has a receiver that receives attachment information, to function as a direction identification means that identifies the direction of the attachment relative to the reference direction based on the angle data input from the angle detection means and outputs second direction data, and a difference/similarity determination means that determines whether the attachment that transmitted the attachment information is the same as the attachment attached to the work machine based on the first direction data included in the attachment information input from the receiver and the second direction data input from the direction identification means.

According to the program of this aspect, the transmitter of the first communication device transmits attachment information including the first direction data as a wireless signal, and the receiver of the second communication device receives the attachment information. The direction identification means identifies the direction of the attachment relative to the reference direction based on the angle data input from the angle detection means, and outputs the second direction data. The difference/sameness determination means determines whether the attachment that transmitted the attachment information is different from the attachment attached to the working device based on the first direction data included in the attachment information input from the receiver and the second direction data input from the direction identification means. Therefore, the information processing device can permit the input of the attachment information to the control unit that controls the working device, on the condition that the difference/sameness determination means determines that the attachment that transmitted the attachment information is the same as the attachment attached to the working device. As a result, the control unit can efficiently and accurately obtain the attachment information of the replaceable attachment. For example, even in a situation where multiple work machines are parked side by side in a parking area, it is possible to avoid a situation where attachment information transmitted from an attachment attached to a nearby work machine is mistakenly acquired as attachment information for the attachment attached to the machine itself.

A method for controlling a work machine according to one aspect of the present invention includes a main body, a work device to which an interchangeable attachment is attached and which is attached to the main body in such a manner that its attitude can be changed, an angle detection means for detecting the drive angle of the work device and outputting angle data, a first communication device disposed on the attachment, and a second communication device disposed on the main body, the first communication device having an inertial sensor for detecting the direction of the attachment relative to a predetermined reference direction and outputting first direction data, and a transmitter for transmitting attachment information including the first direction data as a wireless signal, and the second communication device has a signal transmitted from the transmitter. A control method for a work machine having a receiver that receives the attachment information, the method comprising: (A) a step of identifying the direction of the attachment relative to the reference direction based on the angle data input from the angle detection means, and generating second direction data; and (B) a step of determining whether the attachment that transmitted the attachment information is the same as the attachment attached to the work device based on the first direction data included in the attachment information input from the receiver and the second direction data generated by step (A).

According to the method for controlling a work machine according to this aspect, the transmitter of the first communication device transmits attachment information including the first direction data as a wireless signal, and the receiver of the second communication device receives the attachment information. In step (A), the direction of the attachment relative to the reference direction is identified based on the angle data input from the angle detection means, and the second direction data is generated. In step (B), the attachment that transmitted the attachment information is determined to be different from the attachment attached to the work device based on the first direction data included in the attachment information input from the receiver and the second direction data generated by step (A). Therefore, on the condition that it is determined in step (B) that the attachment that transmitted the attachment information is the same as the attachment attached to the work device, the input of the attachment information to the control unit that controls the work device can be permitted. As a result, the control unit can efficiently and accurately obtain the attachment information of the interchangeable attachment. For example, even in a situation where multiple work machines are parked side by side in a parking area, it is possible to avoid a situation where attachment information transmitted from an attachment attached to a nearby work machine is mistakenly acquired as attachment information for the attachment attached to the machine itself.

According to the present invention, it is possible to efficiently and accurately obtain attachment information for replaceable attachments.

1 is a diagram showing a schematic configuration of a work machine according to an embodiment of the present invention; FIG. 2 is a simplified block diagram showing a configuration for operating the working device. FIG. 2 is a diagram showing a part of the configuration of the working device. FIG. 2 is a block diagram showing the configuration of a slave unit. 13 is a flowchart showing an operation flow of the child device. FIG. 2 is a block diagram showing the configuration of a parent unit. FIG. 2 is a block diagram showing a configuration of a controller. FIG. 4 is a block diagram showing a functional configuration of a determination unit. A diagram showing the relationship between angles θ1 to θ4 and angle α2. 13 is a flowchart showing a process flow of a determination unit. FIG. 13 is a block diagram showing a configuration of a controller according to a modified example.

Figure 1 is a diagram showing a schematic configuration of a work machine 1 according to an embodiment of the present invention. In this embodiment, the work machine 1 is a construction machine equipped with a nibbler as an exchangeable attachment 33. However, the work machine 1 is not limited to a nibbler, and may be equipped with other attachments 33 such as a bucket or breaker. The work machine is also not limited to a construction machine, and may be equipped with any exchangeable and posture-changeable attachment, such as an agricultural machine or an industrial machine.

As shown in FIG. 1, the work machine 1 includes a crawler-type lower track body 21, an upper rotating body 22 rotatably arranged on the lower track body 21, and a working device 3 attached to the upper rotating body 22. The lower track body 21 and the upper rotating body 22 constitute the main body 2 of the work machine 1.

The working device 3 includes a boom 31 that is attached to the upper rotating body 22 so that it can be raised and lowered, an arm 32 that is attached to the tip of the boom 31 so that it can swing, and an attachment 33 that is attached to the tip of the arm 32 so that it can swing. Although not shown in the figures, the working device 3 also includes an actuator such as a boom cylinder that raises and lowers the boom 31 relative to the upper rotating body 22, an actuator such as an arm cylinder that swings the arm 32 relative to the boom 31, and an actuator such as an attachment cylinder that swings the attachment 33 relative to the arm 32.

A controller 7 that is responsible for overall control of the work machine 1 is disposed inside the upper rotating body 22. The attitude of the work device 3 is changed by hydraulic control of the controller 7 in response to lever operation by the operator of the work machine 1, which changes the angle of the boom 31 relative to the upper rotating body 22 (boom angle), the angle of the arm 32 relative to the boom 31 (arm angle), and the angle of the attachment 33 relative to the arm 32 (attachment angle).

The work machine 1 is also equipped with angle sensors 41 to 43, each of which is constituted by a potentiometer or a rotary encoder. The angle sensor 41 (boom angle sensor) detects the boom angle θ1 (see FIG. 9) by detecting the rotation angle of the rotating shaft 81 (also called the "boom foot pin") that connects the upper rotating body 22 and the boom 31, and outputs boom angle data indicating the boom angle θ1. The angle sensor 42 (arm angle sensor) detects the arm angle θ2 (see FIG. 9) by detecting the rotation angle of the rotating shaft 82 (also called the "boom top pin" or "arm foot pin") that connects the boom 31 and the arm 32, and outputs arm angle data indicating the arm angle θ2. The angle sensor 43 (attachment angle sensor) detects the attachment angle θ3 (see FIG. 9) by detecting the rotation angle of the rotating shaft 83 (also called the "arm top pin") that connects the arm 32 and the attachment 33, and outputs attachment angle data indicating the attachment angle θ3. The angle sensors 41 to 43 are connected to the controller 7 by wires, and the boom angle data, arm angle data, and attachment angle data are input from the angle sensors 41 to 43 to the controller 7.

The work machine 1 also includes a tilt sensor 5 configured with an inertial sensor such as an acceleration sensor or a gyro sensor. The tilt sensor 5 is disposed within the upper rotating body 22. The tilt sensor 5 detects the tilt angle θ4 (see FIG. 9 ) of the rotation plane L1 of the upper rotating body 22 relative to the horizontal direction X, and outputs tilt angle data indicating the tilt angle θ4. The tilt sensor 5 is connected to the controller 7 by a wire, and the tilt angle data is input from the tilt sensor 5 to the controller 7.

The work machine 1 also includes a slave unit 61 as a first communication device and a master unit 62 as a second communication device. The slave unit 61 and the master unit 62 can communicate wirelessly with each other by any communication method such as Wi-Fi, Bluetooth (registered trademark), or LPWA (Low Power Wide Area). The slave unit 61 is disposed on the attachment 33, and the master unit 62 is disposed on the upper rotating body 22. When there are multiple attachments 33, a slave unit 61 is disposed for each of the multiple attachments 33. In order to ensure good communication between the slave unit 61 and the master unit 62, the slave unit 61 is disposed on the rear surface 30 of the attachment 33 (the surface facing the upper rotating body 22), and the master unit 62 is disposed on the front surface of the upper rotating body 22 (the surface facing the attachment 33). The master unit 62 and the controller 7 can communicate with each other by wire or wirelessly by any communication method such as CAN (Controller Area Network).

Figure 2 is a simplified block diagram showing the configuration for operating the working device 3. The controller 7 controls the actuator drive circuit 78 by control information S19, and the actuator drive circuit 78 controls the actuator 79 by control information S20. The actuator 79 includes the boom cylinder, arm cylinder, and attachment cylinder described above. The actuator drive circuit 78 includes a hydraulic pump driven by an engine as a power source, a control valve for adjusting the amount of hydraulic oil supplied from the hydraulic pump to each actuator 79, and an operating lever for generating pilot pressure for controlling the control valve. When the operating lever is operated by the operator of the working machine 1, the control valve is controlled by the pilot pressure that varies according to the amount of operation, a discharge amount of hydraulic oil according to the pilot pressure is supplied to the actuator 79, and the actuator 79 is operated by the hydraulic pressure of the hydraulic oil. As a result, the working device 3 performs the desired operation according to the lever operation by the operator.

Figure 3 shows a part of the configuration of the working device 3. The attachment 33 is rotatably fixed to the tip of the arm 32 by an arm top pin 83 that can be attached and detached when replacing the attachment 33. One end of an idler link 89 is rotatably fixed to the arm 32 by an idler link pin 85. One end of an attachment link 90 is rotatably fixed to the attachment 33 by an attachment link pin 84 that can be attached and detached when replacing the attachment 33. The other end of the idler link 89 and the other end of the attachment link 90 are rotatably fixed to the tip of the rod 88 of the attachment cylinder 87 by an attachment rod pin 86. In this embodiment, the extension direction of the straight line connecting the arm top pin 83 and the attachment link pin 84 is perpendicular to the rear surface 30 of the attachment 33 on which the child unit 61 is arranged.

Figure 4 is a block diagram showing the configuration of the child device 61. As shown by the connections in Figure 4, the child device 61 includes an inertial sensor 611 such as an acceleration sensor or a gyro sensor, a signal processing unit 612, a non-volatile storage unit 613 such as a ROM, a wireless communication transmitter 614, and a counter 615 that counts the number of clocks of a predetermined operating clock.

The inertial sensor 611 detects the angle α1 (see FIG. 9) of the normal direction of the main surface of the sub-unit 61 relative to a predetermined reference direction, and outputs a signal S11 including first direction data D1 indicating the angle α1. As shown in FIG. 9, in this embodiment, the predetermined reference direction is the vertical downward direction Y, and the normal direction of the main surface of the sub-unit 61 is equal to the direction in which the normal H of the rear surface 30 of the attachment 33 extends.

The memory unit 613 stores control information S12 related to the attachment 33 on which its child unit 61 is placed. The control information S12 includes, for example, type information, unique identification information, manufacturer information, and control parameters of the attachment 33. The control parameters include pressure information of the hydraulic oil supplied to the attachment 33 (such as the relief pressure and the allowable upper limit of the cylinder pressure), flow rate information of the hydraulic oil supplied to the attachment 33 (such as the pump flow rate and pilot pressure), and dimensional information of the attachment (such as the external dimensions and center of gravity position information).

The signal processing unit 612 generates attachment information S13 including the first direction data D1 input from the inertial sensor 611 and the control information S12 read from the storage unit 613, and transfers the generated attachment information S13 to the transmitter 614. The signal processing unit 612 repeatedly executes the generation process and transfer process of the attachment information S13 at a predetermined transmission time interval defined by the counter 615. The transmission time interval can be set to any value within the range of, for example, several seconds to several minutes.

The transmitter 614 modulates the attachment information S13 input from the signal processing unit 612 and transmits it as attachment information S14 of a wireless signal at a predetermined transmission signal strength.

Figure 5 is a flowchart showing the operation flow of the handset 61. The power source for the handset 61 is supplied from a button battery or the like built into the handset 61. When power supply to the handset 61 starts, first in step SP21, the counter 615 clears its counter value.

Next, in step SP22, counter 615 increments the counter value by counting the number of clocks of a specified operating clock.

Next, in step SP23, the signal processing unit 612 determines whether the counter value of the counter 615 has reached a predetermined set value (corresponding to the transmission time interval described above).

If the counter value has not reached the set value (step SP23: NO), the operations of steps SP22 and SP23 are repeated.

If the counter value reaches the set value (step SP23: YES), then in step SP24, the signal processing unit 612 generates attachment information S13 based on the first direction data D1 and the control information S12, and inputs the generated attachment information S13 to the transmitter 614. As a result, the attachment information S14 is transmitted as a wireless signal from the transmitter 614.

Next, in step SP25, the signal processing unit 612 determines whether to stop the power supply to the handset 61 due to a lack of remaining battery power in the button battery, etc.

If the power supply to the child device 61 is not stopped (step SP25: NO), the operations from step SP21 onwards are repeated.

If the power supply to the handset 61 is to be stopped (step SP25: YES), the signal processing unit 612 ends the operation of each part of the handset 61 and stops the power supply to the handset 61.

Figure 6 is a block diagram showing the configuration of the parent device 62. As shown in the connection relationship in Figure 6, the parent device 62 includes a wireless communication receiver 621, a signal processing unit 622, and a transfer processing unit 623.

The receiver 621 receives the attachment information S14 of the wireless signal transmitted from the transmitter 614 of the child device 61 and demodulates the attachment information S13. The receiver 621 generates the attachment information S15 including the RSSI value by adding the RSSI value indicating the received signal strength of the attachment information S14 to the attachment information S13.

The signal processing unit 622 performs error detection and error correction processing using an arbitrary algorithm on the attachment information S15 input from the receiver 621, and outputs attachment information S16 in which any code errors associated with wireless communication have been corrected.

The transfer processing unit 623 transfers the attachment information S16 input from the signal processing unit 622 to the controller 7 according to predetermined transfer conditions. The transfer conditions are, for example, to transfer if the attachment type is a nibbler and not to transfer otherwise, or to transfer if the attachment manufacturer is an official manufacturer and not to transfer otherwise, etc. The transfer processing unit 623 may be omitted.

Figure 7 is a block diagram showing the configuration of the controller 7. As shown by the connections in Figure 7, the controller 7 includes a determination unit 71 realized as a function of an information processing device such as a CPU, a control unit 72, and a non-volatile storage unit 73 such as a ROM. A program 100 is stored in the storage unit 73.

Figure 8 is a block diagram showing the functional configuration of the determination unit 71. When the information processing device reads out the program 100 shown in Figure 7 from the storage unit 73 and executes it, the determination unit 71 functions as a direction identification unit 711 and a difference/sameness determination unit 712. In other words, the program 100 is a program for causing the information processing device mounted on the work machine 1 to function as the direction identification unit 711 and the difference/sameness determination unit 712.

The direction identification unit 711 identifies the direction of the attachment 33 relative to the reference direction (vertical downward direction Y) based on the angle data S17 (first to fourth angle data) input from the angle detection means (angle sensors 41 to 43 and tilt sensor 5), and outputs second direction data D2 indicating that direction. In this embodiment, the direction of the attachment 33 is the angle α2 (see FIG. 9) of the normal direction to the main surface of the child unit 61.

9 is a diagram showing the relationship between the boom angle θ1, the arm angle θ2, the attachment angle θ3, and the tilt angle θ4 and the angle α2. As shown in FIG. 9, the boom angle θ1 is the angle between the rotation plane L1 of the upper rotating body 22 and a straight line L2 passing through the boom foot pin 81 and the boom top pin 82. The arm angle θ2 is the angle between the straight line L2 and a straight line L3 passing through the arm foot pin 82 and the arm top pin 83. The attachment angle θ3 is the angle between the straight line L3 and a straight line L4 passing through the arm top pin 83 and the attachment link pin 84. The tilt angle θ4 is the angle between the horizontal direction X and the rotation plane L1 of the upper rotating body 22. The angle α2 is the angle between the vertical downward direction Y and the straight line L4. If the boom angle θ1, arm angle θ2, attachment angle θ3, tilt angle θ4, and angle α2 are defined as above, angle α2 is expressed as the following formula (1) using the boom angle θ1, arm angle θ2, attachment angle θ3, and tilt angle θ4.

α2 = θ3 + θ2 - θ1 + θ4 - 90 ... (1)

The direction identification unit 711 calculates the angle α2 by performing the calculation of equation (1) based on the angle data S17, and outputs the second direction data D2 indicating the angle α2.

The difference/sameness determination unit 712 determines whether or not the attachment that transmitted the attachment information S14 (hereinafter referred to as the "transmitter attachment") is different from the attachment attached to the work device 3 of the host machine (hereinafter referred to as the "host machine attachment") based on the attachment information S16 input from the parent machine 62 and the second direction data D2 input from the direction identification unit 711.

Figure 10 is a flowchart showing the processing flow of the determination unit 71. First, in step SP11, the difference determination unit 712 acquires attachment information S16 from the parent device 62. The attachment information S16 includes the first direction data D1, the control information S12, and the RSSI value.

Next, in step SP12, the difference/sameness determination unit 712 determines whether the RSSI value included in the attachment information S16 is equal to or greater than a predetermined threshold value Vth2 that has been set in advance. The threshold value Vth2 is set so that the RSSI value when the attachment information S14 transmitted from the host attachment is received by the host receiver 621 is equal to or greater than the threshold value Vth2, and the RSSI value when the attachment information S14 transmitted from an attachment mounted on a work machine parked near the host (hereinafter referred to as a "neighboring attachment") is received by the host receiver 621 is less than the threshold value Vth2.

If the RSSI value included in the attachment information S16 is less than the threshold value Vth2 (step SP12: NO), then in step SP17, the difference/sameness determination unit 712 determines that the source attachment and the host attachment are different, and ends the process.

If the RSSI value included in the attachment information S16 is equal to or greater than the threshold value Vth2 (step SP12: YES), then in step SP13, the direction identification unit 711 acquires angle data S17 (boom angle data, arm angle data, attachment angle data, and tilt angle data) from the angle sensors 41 to 43 and the tilt sensor 5.

Next, in step SP14, the direction identification unit 711 calculates the angle α2 by performing the calculation of the above formula (1) based on the angle data S17, and outputs second direction data D2 indicating the angle α2. The second direction data D2 is input to the difference/sameness determination unit 712.

Next, in step SP15, the difference determination unit 712 calculates the absolute value of the difference between the angle α1 indicated by the first direction data D1 included in the attachment information S16 and the angle α2 indicated by the second direction data D2 input from the direction identification unit 711, and determines whether this value is equal to or smaller than a predetermined threshold value Vth1.

If the absolute value of the difference between angles α1 and α2 is greater than threshold value Vth1 (step SP15: NO), then in step SP17, the difference/sameness determination unit 712 determines that the source attachment and the host attachment are different, and ends the process.

If the absolute value of the difference between angles α1 and α2 is equal to or less than threshold value Vth1 (step SP15: YES), then in step SP16, the difference/sameness determination unit 712 determines that the source attachment and the host attachment are the same, inputs control information S12 contained in attachment information S16 to control information S18 in the control unit 72, and ends the process.

As shown in FIG. 7, the control unit 72 updates the control information S19 for controlling the actuator drive circuit 78 with the control information S18 input from the determination unit 71. For example, the control unit 72 updates the drive start pressure value of the electromagnetic relief valve based on the hydraulic oil pressure information included in the control information S18. Alternatively, the control unit 72 updates the flow rate of the hydraulic pump or the pilot pressure of the control valve based on the hydraulic oil flow rate information included in the control information S18. Alternatively, the control unit 72 updates the control parameters of the interference prevention control between the main body unit 2 and the attachment 33 or the control parameters of the overturning warning control of the work machine 1 based on the dimensional information included in the control information S18.

Instead of the above configuration in which the control unit 72 unconditionally updates the control information S19 based on the control information S18, a configuration in which, when the control information S18 is input from the determination unit 71, the control unit 72 displays a confirmation message on a display device (not shown) in the main body unit 2 inquiring of the operator as to whether or not the control information S19 needs to be updated, and executes the update process for the control information S19 on the condition that an update command is input from the operator, can be used. This makes it possible to avoid a situation in which the control information S19 is unintentionally updated when updating the control information S19 is not necessary.

Instead of the above configuration in which the control information S12 including the specification information of each attachment 33 is transmitted from the child device 61 to the parent device 62, the specification information of each attachment 33 may be stored in a non-volatile memory unit that can be referenced by the control unit 72 in association with the unique identification information, and only the first direction data D1 and the unique identification information may be transmitted from the child device 61 to the parent device 62. In this case, when the determination unit 71 determines that the transmission source attachment and the host attachment are the same, the unique identification information received from the child device 61 is input to the control unit 72, and the control unit 72 reads out the specification information corresponding to the input unique identification information from the non-volatile memory unit as control information S18. This makes it possible to reduce the amount of data transmitted from the child device 61 to the parent device 62.

Furthermore, instead of the above-mentioned configuration in which the determination unit 71 is implemented in the controller 7, the determination unit 71 may be implemented in the parent device 62. This can reduce the processing load on the controller 7.

In addition, if the contents of the attachment information S16 acquired this time in step SP11 are identical to the contents of the attachment information S16 acquired last time, the controller 7 or parent unit 62 may omit the processing from step SP12 onwards for the attachment information S16 acquired this time. Specifically, when the difference determination unit 712 acquires the attachment information S16 in step SP11, it compares the control information S12 included in the attachment information S16 acquired this time with the control information S12 included in the attachment information S16 acquired last time, and if the contents (particularly the unique identification information and control parameters) of both are identical, it determines that the attachment information S16 acquired this time and the attachment information S16 acquired last time are identical.

According to the working machine 1 of this embodiment, the transmitter 614 of the child unit 61 (first communication device) transmits the attachment information S14 including the first direction data D1 as a wireless signal, and the receiver 621 of the parent unit 62 (second communication device) receives the attachment information S14. The direction identification unit 711 identifies the direction of the attachment 33 relative to the reference direction based on the angle data S17 input from the angle detection means (angle sensors 41-43 and tilt sensor 5) and outputs the second direction data D2. The difference/sameness determination unit 712 then determines whether the transmission source attachment is different from the host attachment based on the first direction data D1 included in the attachment information S16 input from the receiver 621 and the second direction data D2 input from the direction identification unit 711. Therefore, the determination unit 71 can permit the input of attachment information (control information S18) to the control unit 72 on the condition that the difference determination unit 712 has determined that the transmission source attachment and the host attachment are the same. As a result, the control unit 72 can efficiently and accurately acquire the attachment information (control information S18) of the interchangeable attachment 33. For example, even in a situation where multiple work machines 1 are parked side by side in a parking area, it is possible to avoid a situation where the attachment information transmitted from the attachment 33 attached to a nearby work machine 1 is mistakenly acquired as the attachment information of the attachment 33 attached to the host.

Furthermore, according to the work machine 1 of this embodiment, the transmitter 614 transmits attachment information S14 including control information S12. The control unit 72 updates the control parameters (control information S19) of the work device 3 based on the control information S12 included in the attachment information S16 input from the receiver 621, on the condition that the difference determination unit 712 has determined that the transmission source attachment and the own attachment are the same. As a result, it becomes possible to efficiently and accurately update the control parameters (control information S19) of the work device 3 to which the replaceable attachment 33 is attached.

Furthermore, according to the work machine 1 of this embodiment, the control information S12 transmitted from the child unit 61 to the parent unit 62 includes at least one of pressure information of the hydraulic oil supplied to the attachment 33, flow rate information of the hydraulic oil, and dimensional information of the attachment 33. By including the hydraulic oil pressure information, it is possible to perform optimal relief pressure control and overload warning control, etc. for each attachment 33. By including the hydraulic oil flow rate information, it is possible to perform optimal pump flow rate control and pilot pressure control, etc. for each attachment 33. By including the dimensional information of the attachment 33, it is possible to perform optimal interference prevention control and overturning warning control, etc. for each attachment 33.

Furthermore, according to the work machine 1 of this embodiment, the difference/sameness determination unit 712 determines that the source attachment and the host attachment are the same, provided that the difference between the first direction data D1 included in the attachment information S16 input from the receiver 621 and the second direction data D2 input from the direction identification unit 711 is equal to or less than the first threshold value Vth1. Therefore, it is possible to accurately determine whether the two attachments are the same by the simple process of comparing the difference between the first direction data D1 and the second direction data D2 with the first threshold value Vth1.

Furthermore, according to the work machine 1 of this embodiment, the difference/sameness determination unit 712 further determines that the source attachment and the host attachment are the same, provided that the RSSI value (received signal strength) of the attachment information S14 received by the receiver 621 is equal to or greater than the second threshold value Vth2. Therefore, even if the difference between the first direction data D1 and the second direction data D2 is equal to or less than the first threshold value Vth1, if the RSSI value of the attachment information S14 received by the receiver 621 is less than the second threshold value Vth2, the difference/sameness determination unit 712 determines that the two attachments are different. The second threshold value Vth2 is set so that the RSSI value when the attachment information S14 transmitted from the host attachment is received by the host receiver 621 is equal to or greater than the second threshold value Vth2, and the RSSI value when the attachment information S14 transmitted from a nearby attachment is received by the host receiver 621 is less than the second threshold value Vth2. This makes it possible to more reliably avoid a situation in which the attachment information S14 transmitted from a nearby attachment is erroneously acquired as the attachment information S14 of the host attachment when the attitude of the nearby attachment is the same as or similar to the attitude of the host attachment.

In addition, according to the work machine 1 of this embodiment, the transfer processing unit 623 determines whether or not to transfer the attachment information S16 input from the signal processing unit 622 to the controller 7 based on a predetermined transfer condition. Therefore, if the transfer condition is not met, the attachment information S16 is not transferred to the controller 7, so whether or not to transfer the attachment information S16 to the controller 7 can be selected depending on the type or manufacturer of the attachment 33, etc.

In addition, according to the working machine 1 of this embodiment, the direction identification unit 711 identifies the direction of the attachment 33 relative to the reference direction based on the boom angle data indicating the boom angle θ1, the arm angle data indicating the arm angle θ2, the attachment angle data indicating the attachment angle θ3, and the tilt angle data indicating the tilt angle θ4 of the main body 2. This makes it possible to apply the present invention to a construction machine having a working arm including the boom 31, the arm 32, and the attachment 33. In addition, since not only the boom angle data, the arm angle data, and the attachment angle data but also the tilt angle data indicating the tilt angle θ4 of the main body 2 are referenced, even if the working machine 1 is parked on a slope, the direction of the attachment 33 relative to the reference direction can be accurately identified, and as a result, it becomes possible to improve the accuracy of the difference/sameness determination process by the difference/sameness determination unit 712.

<Modification>
11 is a block diagram showing the configuration of the controller 7 according to a modified example. The controller 7 includes an exchange detection unit 74 in addition to the configuration shown in FIG.

The replacement detection unit 74 measures the weight of the attachment 33 attached to the arm 32 using a weight sensor located at the tip of the arm 32, or measures the pressure inside the piping of the attachment 33 attached to the arm 32 using a pressure sensor located at the tip of the piping inside the arm 32. The replacement detection unit 74 then detects a change in these measurement results to detect that the attachment 33 has been replaced.

When the replacement detection unit 74 detects that the attachment 33 has been replaced, it inputs a replacement detection signal S30 to the control unit 72. When the replacement detection signal S30 is input, the control unit 72 inputs an attachment information request signal S31 to the parent unit 62, which requests the new replaced attachment 33 to send attachment information. The parent unit 62 transmits the input attachment information request signal S31 to the child unit 61 as a wireless signal. When the child unit 61 receives the attachment information request signal S31, it generates attachment information S14 in the same manner as in the above embodiment and transmits it wirelessly to the parent unit 62.

As in the above embodiment, the control unit 72 updates the control parameters (control information S19) of the working device 3 based on the control information S12 included in the attachment information S14 received from the child device 61, provided that the difference determination unit 712 has determined that the source attachment and the host attachment are the same.

According to the work machine 1 of this modified example, when the replacement detection unit 74 detects that the attachment 33 has been replaced, the control unit 72 receives attachment information S14 from the slave unit 61 that is placed on the new replaced attachment 33, and executes an update process of the control parameters (control information S19) of the work device 3 based on the attachment information S14. This makes it possible to realize optimal drive control for the new replaced attachment 33.

REFERENCE SIGNS LIST 1 Work machine 2 Main body 3 Work device 31 Boom 32 Arm 33 Attachment 41, 42, 43 Angle sensor 5 Inclination sensor 61 Child unit 611 Inertial sensor 613 Storage unit 614 Transmitter 62 Parent unit 621 Receiver 623 Transfer processing unit 7 Controller 71 Determination unit 711 Direction identification unit 712 Difference/sameness determination unit 72 Control unit 74 Replacement detection unit 100 Program

Claims (10)

A main body portion,
A working device having a replaceable attachment attached thereto and attached to the main body in a position changeable manner;
An angle detection means for detecting a drive angle of the working device and outputting angle data;
a first communication device disposed on the attachment;
A second communication device disposed in the main body portion;
A determination unit;
Equipped with
The first communication device is
an inertial sensor that detects a direction of the attachment relative to a predetermined reference direction and outputs first direction data;
a transmitter configured to transmit attachment information including the first direction data as a wireless signal;
having
The second communication device is
a receiver for receiving the attachment information transmitted from the transmitter;
The determination unit is
a direction identification unit that identifies a direction of the attachment with respect to the reference direction based on the angle data input from the angle detection means and outputs second direction data;
a difference/similarity determination unit that determines whether an attachment that is a transmission source of the attachment information and the attachment attached to the working apparatus are different or similar, based on the first direction data included in the attachment information input from the receiver and the second direction data input from the direction identification unit;
A work machine having the above structure. A control unit for controlling the working device is further provided.
The first communication device is
Further comprising a storage unit for storing control information relating to the attachment in which the attachment is placed,
The transmitter transmits the attachment information further including the control information read from the storage unit;
2. The work machine according to claim 1, wherein the control unit updates a control parameter of the work device based on the control information included in the attachment information input from the receiver, on condition that the difference/sameness determination unit determines that the attachment that transmitted the attachment information is the same as the attachment attached to the work device. The attachment is hydraulically controlled;
The work machine according to claim 2 , wherein the control information includes at least one of pressure information of hydraulic oil supplied to the attachment, flow rate information of the hydraulic oil, and dimensional information of the attachment. The control unit is
A replacement detection unit detects that the attachment has been replaced,
4. The work machine according to claim 2 or 3, wherein, when the replacement detection unit detects that the attachment has been replaced, the attachment information is received from the new attachment after the replacement, and an update process for the control parameters of the work device is performed based on the attachment information. The work machine according to any one of claims 1 to 4, wherein the difference/sameness determination unit determines that the attachment that transmitted the attachment information is the same as the attachment attached to the work device, on the condition that the difference between the first direction data included in the attachment information input from the receiver and the second direction data input from the direction identification unit is equal to or less than a first threshold value. The work machine according to claim 5, wherein the difference/sameness determination unit further determines that the attachment that transmitted the attachment information is the same as the attachment attached to the work device, provided that the reception signal strength of the attachment information received by the receiver is equal to or greater than a second threshold value. The second communication device is
The work machine according to any one of claims 1 to 6, further comprising a transfer processing unit that determines whether or not to input the attachment information received by the receiver to the determination unit based on predetermined transfer conditions. The working device is
A boom having one end pivotably connected to the main body;
an arm having one end pivotally connected to the other end of the boom;
the attachment rotatably mounted on the other end of the arm;
having
The angle detection means
a boom angle sensor that detects a boom angle, which is an angle of the boom with respect to the main body, and outputs boom angle data;
an arm angle sensor that detects an arm angle, which is an angle of the arm with respect to the boom, and outputs arm angle data;
an attachment angle sensor that detects an attachment angle, which is an angle of the attachment relative to the arm, and outputs attachment angle data;
an inclination angle sensor that detects an inclination angle of the main body with respect to a horizontal direction and outputs inclination angle data;
having
The work machine according to any one of claims 1 to 7, wherein the direction identification unit identifies a direction of the attachment relative to the reference direction based on the boom angle data, the arm angle data, the attachment angle data, and the tilt angle data. a main body, a working device having a replaceable attachment attached thereto and attached to the main body in such a manner that its attitude can be changed, an angle detection means for detecting a drive angle of the working device and outputting angle data, a first communication device disposed on the attachment, and a second communication device disposed on the main body,
The first communication device has an inertial sensor that detects a direction of the attachment relative to a predetermined reference direction and outputs first direction data, and a transmitter that transmits attachment information including the first direction data as a wireless signal,
The second communication device has a receiver that receives the attachment information transmitted from the transmitter.
An information processing device mounted on a work machine,
a direction specifying means for specifying a direction of the attachment with respect to the reference direction based on the angle data input from the angle detection means, and outputting second direction data;
a difference/similarity determination means for determining whether an attachment that is a source of transmission of the attachment information is different or similar between the attachment attached to the working apparatus, based on the first direction data included in the attachment information input from the receiver and the second direction data input from the direction identification means;
A program to function as a a main body, a working device having a replaceable attachment attached thereto and attached to the main body in such a manner that its attitude can be changed, an angle detection means for detecting a drive angle of the working device and outputting angle data, a first communication device disposed on the attachment, and a second communication device disposed on the main body,
The first communication device has an inertial sensor that detects a direction of the attachment relative to a predetermined reference direction and outputs first direction data, and a transmitter that transmits attachment information including the first direction data as a wireless signal,
The second communication device has a receiver that receives the attachment information transmitted from the transmitter.
A method for controlling a work machine, comprising:
(A) specifying a direction of the attachment relative to the reference direction based on the angle data input from the angle detection means, and generating second direction data;
(B) determining whether an attachment that is a source of the attachment information and the attachment attached to the working device are different or the same based on the first direction data included in the attachment information input from the receiver and the second direction data generated by the step (A);
A method for controlling a work machine comprising:

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