US20130185019A1 - Apparatus for measuring load of construction machine - Google Patents
Apparatus for measuring load of construction machine Download PDFInfo
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- US20130185019A1 US20130185019A1 US13/666,491 US201213666491A US2013185019A1 US 20130185019 A1 US20130185019 A1 US 20130185019A1 US 201213666491 A US201213666491 A US 201213666491A US 2013185019 A1 US2013185019 A1 US 2013185019A1
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- load
- construction machine
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- loading
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
- G01G19/10—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles having fluid weight-sensitive devices
Definitions
- the present invention relates to an apparatus for measuring a load of a construction machine. More particularly, the invention concerns a load measuring apparatus for a construction machine suitable for improving measurement accuracy of a load being carried by a dump truck.
- the present invention has been made on the basis of the foregoing, and an object of the invention is to provide a load measuring apparatus for a construction machine, adapted so that when the construction machine is traveling on a curvilinear route, the construction machine makes ineffective output of a weight value of a load measured during the travel.
- a load measuring apparatus for a construction machine that comprises a processing unit for acquiring signals indicative of cylinder pressure of front and rear suspension cylinders via pressure sensors and computing a weight value of a load put on a dump body of the construction machine, further comprises: rear-wheel speed detectors for detecting speeds of left and right rear wheels, respectively, of the construction machine; a speed difference detector for detecting a difference between the speed values sent from the rear-wheel speed detectors; and final loading-weight confirmation means with a final-confirmation arithmetic unit adapted so that when the differential speed value between the rear wheels, received from the speed difference detector, is equal to or less than a preset value, the arithmetic unit outputs the loading weight W computed by the processing unit, as final loading weight, and so that when the differential speed exceeds the preset value, the arithmetic unit makes ineffective the computed loading weight W as the final loading weight output.
- a second aspect of the present invention is that the load measuring apparatus for a construction machine, described above as the first aspect of the invention, further comprises: a vehicle chassis speed detector for detecting a speed of the vehicle chassis; a loading-weight fluctuation range measuring unit for measuring a fluctuation range of the loading weight value W sent from the processing unit, by repeating a sampling measurement operation several times within a definite time; and a loading-weight minimum fluctuation range confirmation unit for calculating an average value of the data measurements sent from the loading-weight fluctuation range measuring unit, and then confirming whether or not a difference between a maximum measured value and a minimum measured value has become a minimum allowed for the average value.
- the final-confirmation arithmetic unit of the final loading-weight confirmation means in the first aspect of the invention is configured such that: when condition 1 under which the speed of the vehicle chassis from the vehicle chassis speed detector exceeds a preset value, condition 2 under which the loading weight value from the loading-weight minimum fluctuation range confirmation unit is within a minimum fluctuation range, and condition 3 under which the rear-wheel differential speed value from the speed difference detector is below a preset value, are all satisfied, the arithmetic unit outputs the loading weight W computed by the processing unit, as final loading weight; and when at least one of the above three conditions is not satisfied, the arithmetic unit makes ineffective the computed loading weight W as the final loading weight output.
- a third aspect of the present invention is that the final-confirmation arithmetic unit in the final loading-weight confirmation means in the second aspect of the invention further includes the procedure of sampling the vehicle chassis speed from the vehicle chassis speed detector several times and then after processing an average value of the samplings, when any speed changes occurring within several seconds are equal to or less than the preset value, handling condition 1 as satisfied.
- a fourth aspect of the present invention is that the final-confirmation arithmetic unit in the final loading-weight confirmation means in the second aspect of the invention further includes a procedure in which, when the rear-wheel differential speed value from the speed difference detector is smaller than the preset value and also conditions 1 and 2 are satisfied after several seconds, the final loading-weight confirmation means outputs the loading weight value W received from the processing unit, as the final loading weight.
- the present invention provides, as a fifth aspect thereof, a load measuring apparatus for a construction machine that comprises a processing unit for acquiring signals indicative of cylinder pressure of front and rear suspension cylinders via pressure sensors and computing a weight value of a load put on a dump body of the construction machine, further comprises: steering angle detectors each for detecting a steering angle of a left or right front wheel on the construction machine; and final loading-weight confirmation means with a final-confirmation arithmetic unit adapted so that when the steering angle values from the steering angle detectors are the same as a preset value, the arithmetic unit outputs the loading weight W computed by the processing unit, as final loading weight, and so that when the steering angle values exceed the preset value, the arithmetic unit makes ineffective the computed loading weight W as the final loading weight output.
- a sixth aspect of the present invention is that the construction machine in any one of above items 1 to 5 is a dump truck for transporting the load on the dump body from one place to another.
- the construction machine when the construction machine is traveling on a curvilinear route, measuring accuracy of the loading weight under a traveling state of the construction machine improves since output of the loading weight measured during the travel is made ineffective. Management of productivity of the construction machine improves as a result.
- FIG. 1 is a side view of a dump truck that shows an example of a construction machine to which a load measuring apparatus for the present invention is applied;
- FIG. 2 is a configuration diagram showing a load measuring apparatus for a construction machine that is an embodiment of the present invention
- FIG. 3 is a functional configuration diagram showing the load measuring apparatus for a construction machine that is the embodiment of the present invention
- FIG. 4 is a process flow diagram showing the load measuring apparatus for a construction machine that is the embodiment of the present invention.
- FIG. 5 is a functional configuration diagram showing the load measuring apparatus for a construction machine according to another embodiment of the present invention.
- FIG. 6 is a functional configuration diagram showing the load measuring apparatus for a construction machine according to another embodiment of the present invention.
- FIGS. 1 to 4 each show the embodiment of the present invention that is the load measuring apparatus for a construction machine.
- FIG. 1 is a side view of a dump truck that shows an example of the load measuring apparatus
- FIG. 2 a configuration diagram of the load measuring apparatus
- FIG. 3 a functional configuration diagram of the load measuring apparatus
- FIG. 4 a process flow diagram of the load measuring apparatus.
- the dump truck applying the load measuring apparatus of the present invention includes: a vehicle chassis 1 ; an operator cab 2 provided on a front section of the vehicle chassis 1 ; a dump body 3 retained by the vehicle chassis 1 and used for loading the truck; a dump body actuating cylinder 4 for moving the dump body 3 in upward and downward directions as indicated by a single-dotted line; front left and right suspension cylinders 5 a arranged on front left and right wheels, respectively, to support the vehicle chassis 1 , the dump body 3 , and a heavy object including the load put on the dump body 3 ; and rear left and right suspension cylinders 5 b arranged on rear left and right wheels, respectively, to support the vehicle chassis 1 , the dump body 3 , and the heavy object including the load put on the dump body 3 .
- a pressure sensor 6 a or 6 b for measuring a suspension cylinder pressure is mounted on each suspension cylinder 5 a and 5 b, as a device for measuring weight of the load.
- the cab 2 on the vehicle chassis 1 contains an inclination sensor 7 to detect a longitudinal inclination angle of the vehicle chassis 1 .
- the left/right rear wheels have rear-wheel speed detectors 8 a and 8 b to detect respective rotational speeds.
- the vehicle chassis 1 is provided with a vehicle chassis speed detector 9 for detecting a speed of the vehicle chassis 1 . Measurement signals from these sensors are sent to a processing unit for load measurement and calculation. The processing unit is described later herein.
- FIGS. 2 and 3 A configuration and functional blocks of the processing unit for load measurement are next described with reference to FIGS. 2 and 3 .
- FIG. 2 is a configuration diagram showing the configuration of the processing unit used in the present embodiment of the load measuring apparatus of the invention.
- FIG. 3 is a block diagram showing a functional configuration of the processing unit used in the present embodiment of the load measuring apparatus of the invention.
- constituent elements each assigned the same reference number as in FIG. 1 are identical. Detailed description of these elements is therefore omitted hereinafter.
- detection signals from the pressure sensors 6 a and 6 b for measuring the cylinder pressures of the front left and right suspension cylinders 5 a and the rear left and right suspension cylinders 5 b are input to the processing unit 10 of the load measuring apparatus.
- Detection signals from the rear-wheel speed detectors 8 a and 8 b for detecting the rotational speeds of the left and right rear wheels 6 , and a detection signal from the vehicle chassis speed detector 9 for detecting a speed of the vehicle chassis 1 are also input to the processing unit 10 .
- the processing unit 10 includes, as shown in FIG. 2 , an arithmetic unit 11 for arithmetic processing, a timer 12 for driving the arithmetic unit 11 , a clock 13 for acquiring time of the day, a read-only memory (ROM) 14 to save various processes (programs) therein, a random-access memory (RAM) 15 save variables and measured load data therein, an input interface 16 for communication as well as for sensor input, and an output interface 17 for transmitting arithmetic results from the arithmetic unit 11 to a display unit and an external unit. Also, the processing unit 10 can display the weight of the load on the display unit 20 installed in a management center or in the cab of the vehicle chassis 1 , via the output interface 17 .
- the arithmetic unit 11 includes a loading-weight computing element 110 for computing the weight of the load put on the dump body 3 , and a final loading-weight confirmation element 130 for confirming final load weight.
- the loading-weight computing element 110 includes: multipliers 111 that each compute the load acting upon either the left or right front suspension cylinder 5 a, by multiplying the memory-stored value D of the cross-sectional area of the particular suspension cylinder 5 a by the cylinder pressure value from the corresponding pressure sensor 6 a for measuring the cylinder pressure of the cylinder 5 a; multipliers 112 that each compute the load acting upon either the left or right rear suspension cylinder 5 b, by multiplying the memory-stored value D of the cross-sectional area of the particular suspension cylinder 5 b by the cylinder pressure value from the corresponding pressure sensor 6 b for measuring the cylinder pressure of the cylinder 5 b; an adder 113 that adds the load values of the rear left and right suspension cylinders 5 a, sent from the multipliers 111 , and computes the front load PF acting upon the front suspension cylinders 5 a; an adder 114 that computes the value sent from the multipliers 112 as the rear load PR acting upon the rear left and right suspension cylinders
- the final loading-weight confirmation element 130 includes: a loading-weight-W fluctuation range measuring unit 131 for measuring a fluctuation range of the loading weight value W sent from the loading-weight computing element 110 , by repeating a sampling measurement operation several times within a definite time; a loading-weight minimum fluctuation range confirmation unit 132 for calculating an average value of the data measurements sent from the loading-weight-W fluctuation range measuring unit 131 , and then confirming that a difference between a maximum measured value and a minimum measured value has become a minimum allowed for the average value; a speed difference detector 133 for computing a difference between the speed values from the rear-wheel speed detectors 8 a and 8 b for detecting the rotational speeds of the left and right rear wheels; and a final-confirmation arithmetic unit (logical product computing unit) 134 adapted so that when condition 1 under which the speed of the vehicle chassis 1 from the vehicle chassis speed detector 9 exceeds a preset value (e.g., several kilometers per hour), that is, under which the vehicle is in
- FIG. 4 is a process flow diagram showing the embodiment of the present invention that is the load measuring apparatus of a construction machine.
- Each multiplier 111 in the loading-weight computing element 110 of the arithmetic unit 11 (shown in FIG. 3 ) in the processing unit 10 multiplies the memory-stored value D of the cross-sectional area of the front left or right suspension cylinder 5 a by the cylinder pressure thereof that has been acquired by the loading-weight computing element 110 after being detected by the corresponding pressure sensor 6 a (step S 1 in FIG. 4 ).
- the multiplier 111 thus computes the load upon the front left or right suspension cylinder 5 a (step S 2 in FIG. 4 ).
- each multiplier 112 multiplies the memory-stored value D of the cross-sectional area of the rear left or right suspension cylinder 5 b by the cylinder pressure thereof that has been acquired by the loading-weight computing element 110 after being detected by the corresponding pressure sensor 6 b (step S 1 in FIG. 4 ).
- the multiplier 112 thus computes the load upon the rear left or right suspension cylinder 5 b (step S 2 in FIG. 4 ).
- the adder 113 adds the load values of the front left and right suspension cylinders 5 a, sent from each multiplier 111 , and computes the front load PF acting upon the front suspension cylinders 5 a.
- the adder 114 adds the load values of the rear left and right suspension cylinders 5 b, sent from each multiplier 112 , and computes the rear load PR acting upon the rear suspension cylinders 5 b.
- the adder 115 adds the front load value PF sent from the adder 113 and the rear load value PR sent from the adder 114 , and computes the total load Pta of the suspension cylinders 5 a and 5 b (step S 3 in FIG. 4 ).
- the total-load correction computing section 116 computes the total load value Pta of the suspension cylinders 5 a and 5 b from the adder 115 , as the total load correction value Pt obtained when the vehicle chassis 1 is not inclining (step S 6 in FIG. 4 ).
- the front/rear load ratio correction computing section 118 computes the front/rear load ratio value Xt from the divider 117 as the front/rear load ratio X obtained when the vehicle chassis 1 is not inclining (step S 6 in FIG. 4 ).
- the total-load correction ratio computing section 119 computes the loading-eccentricity correction ratio Xa of the total load Pt, based upon the front/rear load correction ratio X from the front/rear load ratio correction computing section 118 and upon the loading-eccentricity correction ratio characteristic C of the total load Pt (step S 6 in FIG. 4 ).
- the divider 120 divides the total load correction value Pt from the total-load correction computing section 116 , by the loading-eccentricity correction ratio Y of the total load Pt from the total-load correction ratio computing section 119 (step S 6 in FIG. 4 ).
- the subtractor 121 computes the loading weight W by subtracting the weight G of the vehicle chassis 1 supported by the front left/right suspension cylinders 5 a and the rear left/right suspension cylinders 5 b (step S 6 in FIG. 4 ).
- the loading-weight-W fluctuation range measuring unit 131 in the final loading-weight confirmation element 130 measures a fluctuation range of the loading weight value W sent from the loading-weight computing element 110 , by repeating a sampling measurement operation several times within a definite time.
- the loading-weight minimum fluctuation range confirmation unit 132 calculates the average value of the data measurements sent from the loading-weight-W fluctuation range measuring unit 131 , and then confirms that the difference between the maximum measured value and the minimum measured value has become the minimum allowed for the average value (step S 7 in FIG. 4 ).
- the speed difference detector 133 computes the difference between the rear-wheel speed values (measured in step S 8 of FIG. 4 ) from the rear-wheel speed detectors 8 a and 8 b for the detection of the left/right rear wheel speeds (step S 9 in FIG. 4 ).
- the final-confirmation arithmetic unit 134 is configured so that when three predetermined conditions are all satisfied in step S 10 of FIG. 4 , the arithmetic unit 134 outputs the loading weight W computed by the subtractor 121 , as final loading weight, in step S 11 of FIG. 4 .
- condition 1 under which the speed of the vehicle chassis 1 from the vehicle chassis speed detector 9 exceeds the preset value (e.g., several kilometers per hour), that is, under which the vehicle is in a traveling state that enables load measurement
- condition 2 under which the loading weight value from the loading-weight minimum fluctuation range confirmation unit 132 is within the minimum fluctuation range
- condition 3 under which the rear-wheel differential speed value from the speed difference detector 133 , which is based on the speed values from the rear-wheel speed detectors 8 a and 8 b, is below the preset value, that is, under which the vehicle is judged to be traveling on a rectilinear route, not a curvilinear route.
- the final-confirmation arithmetic unit 134 makes ineffective output of the subtractor-computed loading weight W as the final loading weight.
- condition 1 under which the speed of the vehicle chassis 1 from the vehicle chassis speed detector 9 exceeds the preset value (e.g., several kilometers per hour), that is, under which the vehicle is in a traveling state that enables load measurement
- condition 2 under which the loading weight value from the loading-weight minimum fluctuation range confirmation unit 132 is within the minimum fluctuation range
- condition 3 under which the rear-wheel differential speed value from the speed difference detector 133 , which is based on the speed values from the rear-wheel speed detectors 8 a and 8 b, is below the preset value, that is, under which the vehicle is judged to be traveling on a rectilinear route, not a curvilinear route, are all satisfied
- the final-confirmation arithmetic unit 134 outputs the loading weight W computed by the subtractor 121 , as the final loading weight.
- the final-confirmation arithmetic unit 134 can also output the loading weight W computed by the subtractor 121
- condition 1 refers to a case in which the speed of the vehicle chassis 1 from the vehicle chassis speed detector 9 exceeds the preset value (e.g., several kilometers per hour), that is, a case in which the vehicle is in a traveling state that enables load measurement.
- the arithmetic unit 134 samples the vehicle chassis speed several times and then processes the average value of the samplings, when any speed changes occurring within several seconds are equal to or less than the preset value, the arithmetic unit can also handle condition 1 as satisfied.
- the final-confirmation arithmetic unit 134 makes ineffective output since condition 3 is not satisfied.
- the loading weight value W from the subtractor 121 can also be output as the final loading weight.
- steering angles of the left and right front wheels on the construction machine can likewise be obtained with steering angle detectors for the right and left front wheels, as shown in FIG. 5 , or for the front wheels, as shown in FIG. 6 , that detect the steering angles.
- the final-confirmation arithmetic unit 134 in the final loading-weight confirmation element 130 outputs the loading weight W computed by the processing unit, as the final loading weight.
- the arithmetic unit 134 executes a sequence of deactivating the loading weight W computed by the processing unit, as the final loading weight output.
Abstract
A load measuring device for a construction machine includes a processing unit for acquiring signals indicative of cylinder pressure of front and rear suspension cylinders via pressure sensors and computing a weight value of a load put on a dump body of the construction machine. When the construction machine is traveling on a curvilinear route, the construction machine makes the output of the weight value ineffective. In particular, when the differential speed value between the rear wheels, received from a speed difference detector, is below a preset value, the arithmetic unit outputs a loading weight W computed by the processing unit, as final loading weight, and so that when the differential speed exceeds the preset value, the arithmetic unit makes ineffective the computed loading weight W as the final loading weight output.
Description
- This application is a divisional of U.S. patent application Ser. No. 12/699,233, filed Feb. 3, 2010.
- 1. Field of the Invention
- The present invention relates to an apparatus for measuring a load of a construction machine. More particularly, the invention concerns a load measuring apparatus for a construction machine suitable for improving measurement accuracy of a load being carried by a dump truck.
- 2. Description of the Related Art
- During load measurement of such a construction machine as described above, it depends greatly upon the route whether an appropriate load measurement condition can be obtained under normal loaded-traveling conditions of the machine. At the rock-quarrying sites where the natural ground is cut through to extract stones, dump trucks and the like usually descend a slope as they are after being loaded with extracted stones on an upper section of the mountain. In these cases, there has been the problem that since a flat location is absent on the traveling route, the load cannot be accurately measured.
- In order to remedy this problem, a load measuring apparatus for a construction machine measures and records a load in appropriate timing essentially free from impacts of a traveling state of the machine and a state of the ground surface, for example, when the machine travels in reverse for unloading. Such an apparatus is described in JP-2005-43267-A, for example.
- During load measurement of the above construction machine, acquiring load measurement data at an earlier phase is desired for better results of data management. It is therefore effective to measure the load during normal loaded-traveling conditions.
- However, since the construction machine may lose the left-right balance during loaded traveling on a curvilinear route, load measurement should not to be performed when the machine is traveling on such a curvilinear route.
- The construction machine in the invention described in above JP-2005-43267-A is also likely to take a curvilinear route to move in reverse for unloading. Also in this case, load measurement also needs to be withheld for the same reason. However, no appropriate measure for remedying such a measuring environment has heretofore been taken.
- The present invention has been made on the basis of the foregoing, and an object of the invention is to provide a load measuring apparatus for a construction machine, adapted so that when the construction machine is traveling on a curvilinear route, the construction machine makes ineffective output of a weight value of a load measured during the travel.
- In order to attain the above object, the present invention provides, as a first aspect thereof, a load measuring apparatus for a construction machine that comprises a processing unit for acquiring signals indicative of cylinder pressure of front and rear suspension cylinders via pressure sensors and computing a weight value of a load put on a dump body of the construction machine, further comprises: rear-wheel speed detectors for detecting speeds of left and right rear wheels, respectively, of the construction machine; a speed difference detector for detecting a difference between the speed values sent from the rear-wheel speed detectors; and final loading-weight confirmation means with a final-confirmation arithmetic unit adapted so that when the differential speed value between the rear wheels, received from the speed difference detector, is equal to or less than a preset value, the arithmetic unit outputs the loading weight W computed by the processing unit, as final loading weight, and so that when the differential speed exceeds the preset value, the arithmetic unit makes ineffective the computed loading weight W as the final loading weight output.
- A second aspect of the present invention is that the load measuring apparatus for a construction machine, described above as the first aspect of the invention, further comprises: a vehicle chassis speed detector for detecting a speed of the vehicle chassis; a loading-weight fluctuation range measuring unit for measuring a fluctuation range of the loading weight value W sent from the processing unit, by repeating a sampling measurement operation several times within a definite time; and a loading-weight minimum fluctuation range confirmation unit for calculating an average value of the data measurements sent from the loading-weight fluctuation range measuring unit, and then confirming whether or not a difference between a maximum measured value and a minimum measured value has become a minimum allowed for the average value. In the second aspect of the present invention, the final-confirmation arithmetic unit of the final loading-weight confirmation means in the first aspect of the invention is configured such that: when
condition 1 under which the speed of the vehicle chassis from the vehicle chassis speed detector exceeds a preset value,condition 2 under which the loading weight value from the loading-weight minimum fluctuation range confirmation unit is within a minimum fluctuation range, andcondition 3 under which the rear-wheel differential speed value from the speed difference detector is below a preset value, are all satisfied, the arithmetic unit outputs the loading weight W computed by the processing unit, as final loading weight; and when at least one of the above three conditions is not satisfied, the arithmetic unit makes ineffective the computed loading weight W as the final loading weight output. - A third aspect of the present invention is that the final-confirmation arithmetic unit in the final loading-weight confirmation means in the second aspect of the invention further includes the procedure of sampling the vehicle chassis speed from the vehicle chassis speed detector several times and then after processing an average value of the samplings, when any speed changes occurring within several seconds are equal to or less than the preset value, handling
condition 1 as satisfied. - A fourth aspect of the present invention is that the final-confirmation arithmetic unit in the final loading-weight confirmation means in the second aspect of the invention further includes a procedure in which, when the rear-wheel differential speed value from the speed difference detector is smaller than the preset value and also
conditions - The present invention provides, as a fifth aspect thereof, a load measuring apparatus for a construction machine that comprises a processing unit for acquiring signals indicative of cylinder pressure of front and rear suspension cylinders via pressure sensors and computing a weight value of a load put on a dump body of the construction machine, further comprises: steering angle detectors each for detecting a steering angle of a left or right front wheel on the construction machine; and final loading-weight confirmation means with a final-confirmation arithmetic unit adapted so that when the steering angle values from the steering angle detectors are the same as a preset value, the arithmetic unit outputs the loading weight W computed by the processing unit, as final loading weight, and so that when the steering angle values exceed the preset value, the arithmetic unit makes ineffective the computed loading weight W as the final loading weight output.
- A sixth aspect of the present invention is that the construction machine in any one of
above items 1 to 5 is a dump truck for transporting the load on the dump body from one place to another. - According to the present invention, when the construction machine is traveling on a curvilinear route, measuring accuracy of the loading weight under a traveling state of the construction machine improves since output of the loading weight measured during the travel is made ineffective. Management of productivity of the construction machine improves as a result.
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FIG. 1 is a side view of a dump truck that shows an example of a construction machine to which a load measuring apparatus for the present invention is applied; -
FIG. 2 is a configuration diagram showing a load measuring apparatus for a construction machine that is an embodiment of the present invention; -
FIG. 3 is a functional configuration diagram showing the load measuring apparatus for a construction machine that is the embodiment of the present invention; -
FIG. 4 is a process flow diagram showing the load measuring apparatus for a construction machine that is the embodiment of the present invention; -
FIG. 5 is a functional configuration diagram showing the load measuring apparatus for a construction machine according to another embodiment of the present invention; and -
FIG. 6 is a functional configuration diagram showing the load measuring apparatus for a construction machine according to another embodiment of the present invention. - Hereunder, a load measuring apparatus for a construction machine that is an embodiment of the present invention will be described with reference to the accompanying drawings.
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FIGS. 1 to 4 each show the embodiment of the present invention that is the load measuring apparatus for a construction machine.FIG. 1 is a side view of a dump truck that shows an example of the load measuring apparatus,FIG. 2 a configuration diagram of the load measuring apparatus,FIG. 3 a functional configuration diagram of the load measuring apparatus, andFIG. 4 a process flow diagram of the load measuring apparatus. - As shown in
FIG. 1 , the dump truck applying the load measuring apparatus of the present invention includes: avehicle chassis 1; anoperator cab 2 provided on a front section of thevehicle chassis 1; adump body 3 retained by thevehicle chassis 1 and used for loading the truck; a dump body actuatingcylinder 4 for moving thedump body 3 in upward and downward directions as indicated by a single-dotted line; front left andright suspension cylinders 5 a arranged on front left and right wheels, respectively, to support thevehicle chassis 1, thedump body 3, and a heavy object including the load put on thedump body 3; and rear left andright suspension cylinders 5 b arranged on rear left and right wheels, respectively, to support thevehicle chassis 1, thedump body 3, and the heavy object including the load put on thedump body 3. - A
pressure sensor suspension cylinder cab 2 on thevehicle chassis 1 contains aninclination sensor 7 to detect a longitudinal inclination angle of thevehicle chassis 1. The left/right rear wheels have rear-wheel speed detectors vehicle chassis 1 is provided with a vehiclechassis speed detector 9 for detecting a speed of thevehicle chassis 1. Measurement signals from these sensors are sent to a processing unit for load measurement and calculation. The processing unit is described later herein. - A configuration and functional blocks of the processing unit for load measurement are next described with reference to
FIGS. 2 and 3 . -
FIG. 2 is a configuration diagram showing the configuration of the processing unit used in the present embodiment of the load measuring apparatus of the invention.FIG. 3 is a block diagram showing a functional configuration of the processing unit used in the present embodiment of the load measuring apparatus of the invention. In these figures, constituent elements each assigned the same reference number as inFIG. 1 are identical. Detailed description of these elements is therefore omitted hereinafter. - As shown in
FIG. 2 , detection signals from thepressure sensors right suspension cylinders 5 a and the rear left andright suspension cylinders 5 b, are input to theprocessing unit 10 of the load measuring apparatus. Detection signals from the rear-wheel speed detectors chassis speed detector 9 for detecting a speed of thevehicle chassis 1 are also input to theprocessing unit 10. - The
processing unit 10 includes, as shown inFIG. 2 , anarithmetic unit 11 for arithmetic processing, atimer 12 for driving thearithmetic unit 11, aclock 13 for acquiring time of the day, a read-only memory (ROM) 14 to save various processes (programs) therein, a random-access memory (RAM) 15 save variables and measured load data therein, aninput interface 16 for communication as well as for sensor input, and anoutput interface 17 for transmitting arithmetic results from thearithmetic unit 11 to a display unit and an external unit. Also, theprocessing unit 10 can display the weight of the load on thedisplay unit 20 installed in a management center or in the cab of thevehicle chassis 1, via theoutput interface 17. - Various data shown in
FIG. 3 is stored in theRAM 15. The data includes: values D of cross-sectional areas of the front left andright suspension cylinders 5 a and the rear left andright suspension cylinders 5 b; weight G of thevehicle chassis 1 supported by the front left/right suspension cylinders 5 a and the rear left/right suspension cylinders 5 b; total-load-Pt correction characteristic A for calculating, from a vehicle-chassis inclination angle e detected by theinclination sensor 7, a total preload Pt acting upon thesuspension cylinders inclination sensor 7, a suspension load ratio Xt (Xt=PF/PR) between a load PF acting upon thefront suspension cylinders 5 a and a load PR acting upon therear suspension cylinders 5 b, as a load ratio X obtained when no inclination is acting; and total-load-Pt correction ratio characteristic C for calculating a loading-eccentricity correction ratio Xa of the total load Pt from front/rear load correction ratio X. - Next, a processing functional configuration of the
arithmetic unit 11 in theprocessing unit 10 is described below with reference toFIG. 3 . Briefly, thearithmetic unit 11 includes a loading-weight computing element 110 for computing the weight of the load put on thedump body 3, and a final loading-weight confirmation element 130 for confirming final load weight. - The loading-
weight computing element 110 includes:multipliers 111 that each compute the load acting upon either the left or rightfront suspension cylinder 5 a, by multiplying the memory-stored value D of the cross-sectional area of theparticular suspension cylinder 5 a by the cylinder pressure value from thecorresponding pressure sensor 6 a for measuring the cylinder pressure of thecylinder 5 a;multipliers 112 that each compute the load acting upon either the left or rightrear suspension cylinder 5 b, by multiplying the memory-stored value D of the cross-sectional area of theparticular suspension cylinder 5 b by the cylinder pressure value from thecorresponding pressure sensor 6 b for measuring the cylinder pressure of thecylinder 5 b; anadder 113 that adds the load values of the rear left andright suspension cylinders 5 a, sent from themultipliers 111, and computes the front load PF acting upon thefront suspension cylinders 5 a; anadder 114 that computes the value sent from themultipliers 112 as the rear load PR acting upon the rear left andright suspension cylinders 5 b; anadder 115 that adds the front load value PF from theadder 113 and the rear load PR value from theadder 114, and computes a total load Pta of thesuspension cylinders correction computing section 116 that computes the total load Pta of thesuspension cylinders inclination sensor 7 and upon the memory-stored correction characteristic A of the total load Pt, and obtains a total load correction value Pt obtained when thevehicle chassis 1 is not inclining; adivider 117 that computes the front/rear load ratio Xt (Xt=PF/PR) between the front load value PF from theadder 113 and the rear load value PR from theadder 114; a front/rear load ratiocorrection computing section 118 that computes the front/rear load ratio Xt from thedivider 117, based upon the inclination angle value θ from theinclination sensor 7 and upon the memory-stored correction characteristic B of the front/rear load ratio X, and obtains a front/rear load correction ratio X obtained when thevehicle chassis 1 is not inclining; a total-load correctionratio computing section 119 that computes the loading-eccentricity correction ratio Xa of the total load Pt, based upon the front/rear load correction ratio X from the front/rear load ratiocorrection computing section 118 and upon the loading-eccentricity correction ratio characteristic C of the total load Pt; adivider 120 that divides the total load correction value Pt from the total-loadcorrection computing section 116, by a loading-eccentricity correction ratio Y of the total load Pt from the total-load correctionratio computing section 119; and asubtractor 121 that computes the loading weight W by subtracting the weight G of thevehicle chassis 1 supported by the front left/right suspension cylinders 5 a and the rear left/right suspension cylinders 5 b, based upon the total load Pt from thedivider 120. - The final loading-
weight confirmation element 130 includes: a loading-weight-W fluctuationrange measuring unit 131 for measuring a fluctuation range of the loading weight value W sent from the loading-weight computing element 110, by repeating a sampling measurement operation several times within a definite time; a loading-weight minimum fluctuationrange confirmation unit 132 for calculating an average value of the data measurements sent from the loading-weight-W fluctuationrange measuring unit 131, and then confirming that a difference between a maximum measured value and a minimum measured value has become a minimum allowed for the average value; aspeed difference detector 133 for computing a difference between the speed values from the rear-wheel speed detectors condition 1 under which the speed of thevehicle chassis 1 from the vehiclechassis speed detector 9 exceeds a preset value (e.g., several kilometers per hour), that is, under which the vehicle is in a traveling state that enables load measurement,condition 2 under which the loading weight value from the loading-weight minimum fluctuationrange confirmation unit 132 is within a minimum fluctuation range, andcondition 3 under which the rear-wheel differential speed value from thespeed difference detector 133, which is based on the speed values from the rear-wheel speed detectors arithmetic unit 134 outputs the loading weight W computed by thesubtractor 121, as final loading weight, and so that when the above conditions are not satisfied, thearithmetic unit 134 makes ineffective the loading weight W computed by thesubtractor 121 as the final loading weight output. - Next, process operation of the load measuring apparatus of a construction machine that is the above-described embodiment of the present invention is described below with reference to
FIGS. 2 to 4 . -
FIG. 4 is a process flow diagram showing the embodiment of the present invention that is the load measuring apparatus of a construction machine. - Each
multiplier 111 in the loading-weight computing element 110 of the arithmetic unit 11 (shown inFIG. 3 ) in theprocessing unit 10 multiplies the memory-stored value D of the cross-sectional area of the front left orright suspension cylinder 5 a by the cylinder pressure thereof that has been acquired by the loading-weight computing element 110 after being detected by thecorresponding pressure sensor 6 a (step S1 inFIG. 4 ). Themultiplier 111 thus computes the load upon the front left orright suspension cylinder 5 a (step S2 inFIG. 4 ). - Also, each
multiplier 112 multiplies the memory-stored value D of the cross-sectional area of the rear left orright suspension cylinder 5 b by the cylinder pressure thereof that has been acquired by the loading-weight computing element 110 after being detected by thecorresponding pressure sensor 6 b (step S1 inFIG. 4 ). Themultiplier 112 thus computes the load upon the rear left orright suspension cylinder 5 b (step S2 inFIG. 4 ). - The
adder 113 adds the load values of the front left andright suspension cylinders 5 a, sent from eachmultiplier 111, and computes the front load PF acting upon thefront suspension cylinders 5 a. Theadder 114 adds the load values of the rear left andright suspension cylinders 5 b, sent from eachmultiplier 112, and computes the rear load PR acting upon therear suspension cylinders 5 b. Theadder 115 adds the front load value PF sent from theadder 113 and the rear load value PR sent from theadder 114, and computes the total load Pta of thesuspension cylinders FIG. 4 ). - The
divider 117 computes the front/rear load ratio Xt (Xt=PF/PR) between the front load value PF from theadder 113 and the rear load value PR from the adder 114 (step S4 inFIG. 4 ). - On the basis of the inclination angle value θ (measured in step S5 of
FIG. 4 ) from theinclination sensor 7 and the memory-stored correction characteristic A of the total load Pt, the total-loadcorrection computing section 116 computes the total load value Pta of thesuspension cylinders adder 115, as the total load correction value Pt obtained when thevehicle chassis 1 is not inclining (step S6 inFIG. 4 ). - On the basis of the inclination angle value θ (measured in step S5 of
FIG. 4 ) from theinclination sensor 7 and the memory-stored correction characteristic B of the front/rear load ratio X, the front/rear load ratiocorrection computing section 118 computes the front/rear load ratio value Xt from thedivider 117 as the front/rear load ratio X obtained when thevehicle chassis 1 is not inclining (step S6 inFIG. 4 ). - The total-load correction
ratio computing section 119 computes the loading-eccentricity correction ratio Xa of the total load Pt, based upon the front/rear load correction ratio X from the front/rear load ratiocorrection computing section 118 and upon the loading-eccentricity correction ratio characteristic C of the total load Pt (step S6 inFIG. 4 ). - The
divider 120 divides the total load correction value Pt from the total-loadcorrection computing section 116, by the loading-eccentricity correction ratio Y of the total load Pt from the total-load correction ratio computing section 119 (step S6 inFIG. 4 ). Thesubtractor 121 computes the loading weight W by subtracting the weight G of thevehicle chassis 1 supported by the front left/right suspension cylinders 5 a and the rear left/right suspension cylinders 5 b (step S6 inFIG. 4 ). - Next, the loading-weight-W fluctuation
range measuring unit 131 in the final loading-weight confirmation element 130 measures a fluctuation range of the loading weight value W sent from the loading-weight computing element 110, by repeating a sampling measurement operation several times within a definite time. The loading-weight minimum fluctuationrange confirmation unit 132 calculates the average value of the data measurements sent from the loading-weight-W fluctuationrange measuring unit 131, and then confirms that the difference between the maximum measured value and the minimum measured value has become the minimum allowed for the average value (step S7 inFIG. 4 ). Thespeed difference detector 133 computes the difference between the rear-wheel speed values (measured in step S8 ofFIG. 4 ) from the rear-wheel speed detectors FIG. 4 ). - The final-
confirmation arithmetic unit 134 is configured so that when three predetermined conditions are all satisfied in step S10 ofFIG. 4 , thearithmetic unit 134 outputs the loading weight W computed by thesubtractor 121, as final loading weight, in step S11 ofFIG. 4 . The three conditions are:condition 1 under which the speed of thevehicle chassis 1 from the vehiclechassis speed detector 9 exceeds the preset value (e.g., several kilometers per hour), that is, under which the vehicle is in a traveling state that enables load measurement;condition 2 under which the loading weight value from the loading-weight minimum fluctuationrange confirmation unit 132 is within the minimum fluctuation range; andcondition 3 under which the rear-wheel differential speed value from thespeed difference detector 133, which is based on the speed values from the rear-wheel speed detectors conditions 1 to 3 are not satisfied, the final-confirmation arithmetic unit 134 makes ineffective output of the subtractor-computed loading weight W as the final loading weight. - According to the above-described embodiment of the present invention, when the construction machine is traveling on a curvilinear route, measuring accuracy of the loading weight under the traveling state of the construction machine improves since the output of the loading weight measured during the travel is made ineffective. Management of productivity of the construction machine improves as a result.
- It has been described in the above embodiment that when
condition 1 under which the speed of thevehicle chassis 1 from the vehiclechassis speed detector 9 exceeds the preset value (e.g., several kilometers per hour), that is, under which the vehicle is in a traveling state that enables load measurement,condition 2 under which the loading weight value from the loading-weight minimum fluctuationrange confirmation unit 132 is within the minimum fluctuation range, andcondition 3 under which the rear-wheel differential speed value from thespeed difference detector 133, which is based on the speed values from the rear-wheel speed detectors confirmation arithmetic unit 134 outputs the loading weight W computed by thesubtractor 121, as the final loading weight. However, when abovecondition 3 is satisfied, the final-confirmation arithmetic unit 134 can also output the loading weight W computed by thesubtractor 121, as the final loading weight. - In addition, it has been described that
condition 1 refers to a case in which the speed of thevehicle chassis 1 from the vehiclechassis speed detector 9 exceeds the preset value (e.g., several kilometers per hour), that is, a case in which the vehicle is in a traveling state that enables load measurement. However, when thearithmetic unit 134 samples the vehicle chassis speed several times and then processes the average value of the samplings, when any speed changes occurring within several seconds are equal to or less than the preset value, the arithmetic unit can also handlecondition 1 as satisfied. - Furthermore, it has been described that when the differential speed from the
speed difference detector 133, which is based on the speed values from the rear-wheel speed detectors confirmation arithmetic unit 134 makes ineffective output sincecondition 3 is not satisfied. However, after the deactivation, if the difference between the speed values from the rear-wheel speed detectors conditions subtractor 121 can also be output as the final loading weight. - In the above-described embodiment, while detection of the state under which the dump truck, or the construction machine, is traveling on a curvilinear route has been based upon the difference between the speed values from the rear-
wheel speed detectors FIG. 5 , or for the front wheels, as shown inFIG. 6 , that detect the steering angles. - In this case, when the steering angle values from the steering angle detectors are the same as a preset value (e.g., a steering angle during traveling on a rectilinear route), the final-
confirmation arithmetic unit 134 in the final loading-weight confirmation element 130 outputs the loading weight W computed by the processing unit, as the final loading weight. When the steering angle values exceed the preset value, thearithmetic unit 134 executes a sequence of deactivating the loading weight W computed by the processing unit, as the final loading weight output.
Claims (10)
1. An apparatus for measuring a load of a construction machine, the apparatus including a processing unit for acquiring signals indicative of cylinder pressure of front and rear suspension cylinders via respective pressure sensors and computing a weight value of a load put on a dump body of the construction machine, the apparatus comprising:
steering angle detectors each for detecting a steering angle of a left or right front wheel on the construction machine; and
a final loading-weight confirmation element with a final-confirmation arithmetic unit adapted such that when the steering angle values from the steering angle detectors are the same as a preset value, the arithmetic unit outputs the loading weight W computed by the processing unit, as final loading weight, and such that when the steering angle values exceed the preset value, the arithmetic unit makes ineffective the computed loading weight W as the final loading weight output.
2. The apparatus for measuring a load carried by a construction machine according to claim 1 , the apparatus further comprising:
a vehicle chassis speed detector for detecting a speed of the vehicle chassis;
a loading-weight-W fluctuation range measuring unit for measuring a fluctuation range of the loading weight value W sent from the processing unit, by repeating a sampling measurement operation several times within a definite time; and
a loading-weight minimum fluctuation range confirmation unit for calculating an average value of the data measurements sent from the loading-weight-W fluctuation range measuring unit, and then confirming whether or not a difference between a maximum measured value and a minimum measured value has become a minimum allowed for the average value;
wherein the final-confirmation arithmetic unit is configured such that when condition 1 under which the speed of the vehicle chassis from the vehicle chassis speed detector exceeds a preset value, condition 2 under which the loading weight value from the loading-weight minimum fluctuation range confirmation unit is within a minimum fluctuation range, and condition 3 under which the steering angle values from the steering angle detectors are the same as a preset value, are all satisfied, the arithmetic unit outputs the loading weight W computed by the processing unit, as final loading weight, and such that when at least one of the three conditions is not satisfied, the arithmetic unit makes ineffective the computed loading weight W as the final loading weight output.
3. The apparatus for measuring a load carried by a construction machine according to claim 2 ,
wherein the final-confirmation arithmetic unit in the final loading-weight confirmation element further includes the procedure of sampling the vehicle chassis speed from the vehicle chassis speed detector several times and then after processing an average value of the samplings, when any speed changes occurring within several seconds are within the preset value, handling condition 1 as satisfied.
4. An apparatus for measuring a load of a construction machine, the apparatus including a processing unit for acquiring signals indicative of cylinder pressure of front and rear suspension cylinders via respective pressure sensors and computing a weight value of a load put on a dump body of the construction machine, the apparatus comprising:
steering angle detecting device for detecting a steering angle of front wheels on the construction machine; and
a final loading-weight confirmation element with a final-confirmation arithmetic unit adapted such that when the steering angle values from the steering angle detecting device are the same as a preset value, the arithmetic unit outputs the loading weight W computed by the processing unit, as final loading weight, and such that when the steering angle values exceed the preset value, the arithmetic unit makes ineffective the computed loading weight W as the final loading weight output.
5. An apparatus for measuring a load of a construction machine, the apparatus including a processing unit for acquiring signals indicative of cylinder pressure of front and rear suspension cylinders via respective pressure sensors and computing a weight value of a load put on a dump body of the construction machine, the apparatus comprising:
a diagnostic device for judging the construction machine whether traveling on a rectilinear route; and
a final loading-weight confirmation element with a final-confirmation arithmetic unit adapted such that when the diagnostic device judges the construction machine traveling on a rectilinear route, the arithmetic unit outputs the loading weight W computed by the processing unit, as final loading weight, and such that when the diagnostic device judges the construction machine traveling on the curvilinear route, the arithmetic unit makes ineffective the computed loading weight W as the final loading weight output.
6. The apparatus for measuring a load of a construction machine according to claim 1 ,
wherein the construction machine is a dump truck for transporting the load on the dump body from one place to another.
7. The apparatus for measuring a load of a construction machine according to claim 2 ,
wherein the construction machine is a dump truck for transporting the load on the dump body from one place to another.
8. The apparatus for measuring a load of a construction machine according to claim 3 ,
wherein the construction machine is a dump truck for transporting the load on the dump body from one place to another.
9. The apparatus for measuring a load of a construction machine according to claim 4 ,
wherein the construction machine is a dump truck for transporting the load on the dump body from one place to another.
10. The apparatus for measuring a load of a construction machine according to claim 5 ,
wherein the construction machine is a dump truck for transporting the load on the dump body from one place to another.
Priority Applications (1)
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US13/666,491 US20130185019A1 (en) | 2009-02-16 | 2012-11-01 | Apparatus for measuring load of construction machine |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
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JP2009033094A JP5160468B2 (en) | 2009-02-16 | 2009-02-16 | Construction machine load measuring device |
JP2009-033094 | 2009-02-16 | ||
US12/699,233 US8437982B2 (en) | 2009-02-16 | 2010-02-03 | Apparatus for measuring load of construction machine |
US13/666,491 US20130185019A1 (en) | 2009-02-16 | 2012-11-01 | Apparatus for measuring load of construction machine |
Related Parent Applications (1)
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US12/699,233 Division US8437982B2 (en) | 2009-02-16 | 2010-02-03 | Apparatus for measuring load of construction machine |
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US20130185019A1 true US20130185019A1 (en) | 2013-07-18 |
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ID=42560684
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US12/699,233 Active - Reinstated 2031-06-04 US8437982B2 (en) | 2009-02-16 | 2010-02-03 | Apparatus for measuring load of construction machine |
US13/666,491 Abandoned US20130185019A1 (en) | 2009-02-16 | 2012-11-01 | Apparatus for measuring load of construction machine |
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US12/699,233 Active - Reinstated 2031-06-04 US8437982B2 (en) | 2009-02-16 | 2010-02-03 | Apparatus for measuring load of construction machine |
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US (2) | US8437982B2 (en) |
JP (1) | JP5160468B2 (en) |
CN (1) | CN101806610B (en) |
AU (1) | AU2010200508B2 (en) |
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US20150367822A1 (en) * | 2013-01-31 | 2015-12-24 | Siemens Aktiengesellschaft | Brake unit for a Vehicle and Vehicle having such a Brake Unit |
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JP5160468B2 (en) * | 2009-02-16 | 2013-03-13 | 日立建機株式会社 | Construction machine load measuring device |
US8755977B2 (en) * | 2012-09-21 | 2014-06-17 | Siemens Industry, Inc. | Method and system for preemptive load weight for mining excavating equipment |
DE102013103312A1 (en) | 2013-04-03 | 2014-10-09 | Schmitz Cargobull Gotha GmbH | Weighing system and method for weighing a load of a dump truck |
US9109942B2 (en) | 2013-04-15 | 2015-08-18 | Caterpillar Inc. | Method of calculating payload material weight and machine using same |
WO2015025362A1 (en) * | 2013-08-20 | 2015-02-26 | 日立建機株式会社 | Dump truck |
JP5997720B2 (en) * | 2014-03-31 | 2016-09-28 | 日立建機株式会社 | Construction machine load measuring device |
GB201503872D0 (en) * | 2015-03-06 | 2015-04-22 | Hyva Holding Bv | Method and system for operating a tipper |
JP6374827B2 (en) | 2015-05-13 | 2018-08-15 | 日立建機株式会社 | Load measuring device for work machines |
CN107250737B (en) * | 2015-05-26 | 2019-12-13 | 日立建机株式会社 | Load measuring device for construction machine |
JP2018077810A (en) * | 2016-11-11 | 2018-05-17 | 富士通株式会社 | Loading determination program, loading determination method and loading determination device |
JP6737202B2 (en) * | 2017-02-16 | 2020-08-05 | 株式会社島津製作所 | forklift |
US10752075B1 (en) * | 2017-04-28 | 2020-08-25 | Oshkosh Defense, Llc | Systems and methods for determining vehicle characteristics |
CN110646072A (en) * | 2019-09-29 | 2020-01-03 | 武汉依迅电子信息技术有限公司 | Construction vehicle load measuring method and device |
KR102340301B1 (en) * | 2020-01-28 | 2021-12-15 | 전형율 | Automatic locking of containers |
CN112757996B (en) * | 2021-02-26 | 2022-09-09 | 苏州市正和汽车贸易有限公司 | PTA transport vechicle that screw conveyer was unloaded |
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Also Published As
Publication number | Publication date |
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CN101806610A (en) | 2010-08-18 |
JP5160468B2 (en) | 2013-03-13 |
US8437982B2 (en) | 2013-05-07 |
JP2010190617A (en) | 2010-09-02 |
CN101806610B (en) | 2014-01-08 |
US20100211356A1 (en) | 2010-08-19 |
AU2010200508B2 (en) | 2011-07-21 |
AU2010200508A1 (en) | 2010-09-02 |
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