WO2006098218A1 - 作業機械の荷物重量を計測するための装置および方法 - Google Patents
作業機械の荷物重量を計測するための装置および方法 Download PDFInfo
- Publication number
- WO2006098218A1 WO2006098218A1 PCT/JP2006/304607 JP2006304607W WO2006098218A1 WO 2006098218 A1 WO2006098218 A1 WO 2006098218A1 JP 2006304607 W JP2006304607 W JP 2006304607W WO 2006098218 A1 WO2006098218 A1 WO 2006098218A1
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- WO
- WIPO (PCT)
- Prior art keywords
- value
- load
- displacement
- actuator
- output value
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 13
- 238000012937 correction Methods 0.000 claims abstract description 71
- 238000004364 calculation method Methods 0.000 claims description 66
- 238000006073 displacement reaction Methods 0.000 claims description 58
- 238000001514 detection method Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 238000013500 data storage Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
-
- 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
- G01G19/083—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles lift truck scale
-
- 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 a work machine for moving a load, and more particularly to an apparatus and method for measuring a load weight.
- Patent Document 1 Japanese Patent Laid-Open No. 2001-99701
- an object of the present invention is to improve the accuracy of measuring the weight of a load moved by a work machine.
- a work machine for moving a load includes a load-up unit for lifting the load, a displacement detector for detecting a displacement of the load-up unit, An actuator for driving the lifting unit, and a measuring instrument for measuring an output value or an input value of the actuator, and further, during the operation of the lifting unit, the displacement of the displacement detector force, and from the measuring instrument Detection value acquisition means for acquiring the output value or input value of the Speed calculating means for determining the operating speed of the lifting part during operation of the part; correcting means for determining a correction value by correcting the output value or input value of the actuator according to the operating speed of the lifting part; And a means for calculating a load weight based on a correction value obtained by correcting an output value or an input value of the actuator and a displacement of the load raising portion of the detection value acquisition means force.
- the input value or output value of the actuator is corrected in accordance with the operating speed of the cargo lifting section, and the load weight is calculated based on the corrected value. For this reason, an error factor that varies depending on the operating speed of the loading part, for example, a force such as a frictional force, is taken into consideration, and a more accurate measurement result can be obtained.
- a hydraulic cylinder is used as the actuator, and the differential pressure between the head pressure and the bottom pressure of the hydraulic cylinder is measured as the output value of the actuator.
- the output torque and rotation speed that are the output values of the electric motor may be measured, or the input current and input voltage that are input values may be detected. .
- the loading unit of the work machine includes a boom
- the actuator includes a hydraulic cylinder for moving the boom
- the measuring instrument includes the hydraulic cylinder.
- the displacement detector includes an angle detector for detecting an angle of the boom.
- the correction means calculates a correction coefficient from an operating speed of the loading unit and an output value or an input value of the actuator, and the correction coefficient and the unloading unit are calculated.
- the output value or input value of the actuator may be corrected based on the operation speed of the unit. According to this configuration, it is possible to take into account an error factor that changes in accordance with the output value or input value of the actuator and the operating speed of the loading unit. it can.
- the correction means includes a speed correction table that defines a relationship among an output value or input value of the actuator, an operation speed of the cargo lifting unit, and the correction coefficient,
- the correction coefficient may be calculated based on the speed correction table.
- a constant can also be used as the correction coefficient.
- a force that can use a boom angular velocity as the operation speed described above is also merely an example.
- various movements related to the movement of the lifting part such as the lifting speed of the boom, the lifting speed of the packet, the moving speed of the piston of the hydraulic cylinder that moves the lifting part, or the rotational speed of the hydraulic or electric motor that moves the lifting part.
- the operation speed may be used for the above correction process.
- a work machine includes a loading unit for lifting a load, a displacement detector that detects a displacement of the loading unit, and an actuating device that drives the loading unit. And a measuring instrument for measuring an output value or an input value of the actuator, and further, a load defining a relationship between the output value or the input value of the actuator, the displacement of the lifting portion, and the load weight It has a weight calculation table, and acquires the displacement from the displacement detector and the output value or input value of the measuring instrument force during the operation of the lifting part, and the displacement of the acquired displacement detector force And a load weight calculation means for calculating the load weight with reference to the load weight calculation table based on an output value or an input value from the measuring instrument, a specified value of the load weight is input, and the load Raising part calibration During the operation, the displacement of the displacement detector force and the output value or input value from the measuring instrument are acquired, and the obtained displacement detector force displacement and the output value or input value of the measuring instrument force are obtained.
- the designation of the weight of the load is input, and the displacement of the displacement detector force and the output value or input value of the measuring device force are acquired and acquired during the calibration operation.
- the load weight calculation table is calibrated based on the displacement of the displacement detector force, the output value or input value of the measuring force, and the specified load weight.
- the work machine includes speed calculation means for obtaining an operating speed of the lifting section during operation of the lifting section, and an output value or input value of the actuator according to the speed.
- Correction means for obtaining a corrected correction value and the load weight calculation table obtains the load weight based on a correction value obtained by correcting an output value or an input value of the actuator and a displacement of the lifting part.
- the load weight calculating means refers to the load weight calculation table based on the correction value from the correction means and the acquired displacement of the load lifting portion, and Calculate the load weight and calibrate the values in the load weight calculation table. Therefore, an error factor (for example, frictional force) that varies depending on the operation speed of the lifting part is taken into consideration, and the measurement result can be obtained with higher accuracy.
- an error factor for example, frictional force
- the calibration unit is configured to calculate an average of a numerical value obtained by the current calibration and a numerical value currently registered in the luggage weight calculation table at the time of executing the calibration. A value is calculated, and the calculated average value is used as a numerical value after calibration to calibrate the load weight calculation table.
- the load weight calculation table is calibrated, the data obtained by calibration is not updated using the data obtained by the calibration as it is and the load weight calculation table is updated. Since the average value with the existing data is calculated and the above-mentioned load weight calculation table is updated with the average value! /, The data obtained by calibration should not be affected by the correct value. 100% can be received.
- a clearing unit that initializes the numerical value of the package weight calculation table to a predetermined initial value may be further provided.
- the load weight calculation table returns to the factory default state. If calibration has been repeated many times until now, or if significant repairs or replacement work has been performed on the unloading section of the work machine, the reliability of the values in the current weight calculation table There may be some concerns. In such a case, after performing the initialization process once In addition, it is effective to perform calibration again.
- an apparatus and method for measuring the weight of a load carried by a work machine according to the principles described above.
- a computer program for causing a computer to perform a method for measuring the load weight is provided.
- the accuracy of the load weight measurement can be further improved.
- FIG. 1 is a configuration diagram of an exterior of a wheel loader according to the present embodiment.
- FIG. 2 A configuration diagram of a luggage weight measuring system.
- FIG. 3 is a flowchart showing an overall control flow of the controller 11 according to the present invention.
- FIG. 4 is a functional block diagram of a part of the controller 11 for measuring the load weight.
- FIG. 5 is a diagram showing an example of a luggage weight calculation table.
- FIG. 6 is a diagram showing an example of a speed correction table.
- FIG. 7 is a flowchart showing in detail the flow of the load weight measurement operation.
- FIG. 8 is a flowchart showing processing of a calibration operation of a load weight table.
- the present invention is applied to a wheel loader as an example of a work machine.
- the present invention is a wheel loader. Not only for power shovels, cranes and winches, but also for various working machines with a lifting function.
- FIG. 1 is a configuration diagram of the exterior of the wheel loader 1.
- the wheel loader 1 has a boom 2 that is attached to the base end as a lifting part, and a boom 2 that can be rotated, and a packet pin 5 that is attached to the distal end of the boom 2 and rotates around the packet pin 5. It has a packet 4 that can move freely.
- a boom angle detector 6 such as a potentiometer for detecting a displacement of the boom 2, for example, a lift angle (hereinafter referred to as “boom angle”) (0) is provided in the vicinity of the boom pin 3, a boom angle detector 6 such as a potentiometer for detecting a displacement of the boom 2, for example, a lift angle (hereinafter referred to as “boom angle”) (0) is provided.
- the boom angle (0) is the angle of the straight line 19 connecting the boom pin 3 and the packet pin 5 that stops the packet 4 at the tip of the boom 2 with respect to the vertical line 18 passing through the boom pin 3. Measure around.
- the wheel loader 1 also includes a hydraulic cylinder (hereinafter referred to as a “boom cylinder”) 7 that lifts the boom 2, and the boom cylinder 7 detects the head pressure and the bottom pressure, respectively.
- a vessel 8 and a bottom pressure detector 9 are provided.
- the substantial output pressure value or input pressure value of the boom cylinder 7 is a differential pressure (P) between the head pressure and the bottom pressure described above.
- this differential pressure (P) is referred to as the boom cylinder pressure value (P).
- FIG. 2 is a configuration diagram of a load weight measuring system mounted on the wheel loader 1.
- the wheel loader 1 is provided with a controller 11 composed of a microprocessor or the like, and the boom angle detector 6, the head pressure detector 8 and the bottom pressure detection described above.
- the device 9, the keyboard 30 and the data storage unit 31 are electrically connected.
- the keyboard 30 is installed in the operator's cab 14, and is used to input a calibration signal that instructs the start of a calibration operation, which will be described later, or to input a weight value that specifies the weight of the load to be lifted in the calibration operation. It is done.
- the data storage unit 31 stores in advance a luggage weight calculation table 63, a speed correction table 64, and the like, which will be described later.
- a display 12 installed in the cab 14 is connected to the controller 11.
- the display 12 has a load weight display 21 that displays the load weight (W) on the packet 4.
- a cumulative load weight display section 22 for displaying the cumulative weight of the loads loaded so far.
- a printer 13 is connected to the controller 11 and prints out the package weight and the accumulated package weight in accordance with an instruction from the print switch 20.
- the lever 23 and the buzzer 17 are electrically connected to the controller 11.
- the lever 23 is provided in the cab 14 and is operated by the operator of the wheel holder 1 (hereinafter referred to as “operator”) to move the boom 2 and the packet 4.
- the buzzer 17 is provided in the operation room 14, and when the weight of the cargo loaded in the packet 4 is overloaded, it is sounded to warn the operator.
- step is abbreviated as “S”.
- the controller 11 determines whether or not a calibration signal is input (S50). This calibration signal is input by the operator using the keyboard 30. When the controller 11 determines that the calibration signal has been input, the controller 11 performs a calibration operation described in detail later (S53). When the controller 11 determines that the calibration signal has not been input, the boom 2 is Each time it operates, it is determined whether or not it is necessary to measure the weight of the load using a predetermined determination condition (S51). When the controller 11 determines that it is necessary to perform the load weight measurement, the load weight measurement operation described in detail below is performed (S52).
- FIG. 4 shows a functional block diagram of a portion for measuring the load weight of the controller 11.
- the controller 11 includes an angular velocity calculation unit 60, a pressure correction unit 61, and a load weight calculation unit 62, and a load weight calculation table 63 in the data storage unit 31. And a speed correction table 64.
- the angular velocity calculation unit 60 repeatedly inputs a boom angle ( ⁇ ) at a constant cycle during the operation of the boom 2, and the angular velocity of the boom 2 at each input time point (hereinafter referred to as "boom angular velocity"). ( ⁇ ) is calculated.
- the boom angular velocity ( ⁇ ) is the rotation speed of the boom 2 per unit time.
- the pressure correction unit 61 repeats the boom 2 at regular intervals during the operation of the boom 2, and performs the head pressure detection described above.
- the boom angular velocity ( ⁇ ) at each input time calculated by the angular velocity calculating unit 60 is input.
- the pressure correction unit 61 refers to the speed correction table 64 based on the boom cylinder pressure value ( ⁇ ) and the boom angular velocity ( ⁇ ) at each input time, and refers to the boom cylinder pressure value ( ⁇ ) And the boom angular velocity ( ⁇ ), the correction coefficient (a) corresponding to the combination is calculated.
- the correction coefficient (OC) referred to here is a value for correcting an error factor included in the boom cylinder pressure value ( ⁇ ), such as friction, which varies according to the boom angular velocity ( ⁇ ).
- the baggage weight calculation unit 62 inputs the correction pressure value ( ⁇ ') and the boom angle ( ⁇ ) at each input time point for each fixed period described above, and corrects the load with reference to the baggage weight calculation table 63.
- the load weight (W) corresponding to the combination of pressure value ( ⁇ ') and boom angle ( ⁇ ) is calculated. Further, the above-described load weight calculation table 63 describes the relationship among various corrected pressure values ( ⁇ ′), boom angle (0), and load weight (W).
- the load weight (W) corresponding to the combination of the corrected pressure value ( ⁇ ′) and the boom angle ( ⁇ ) at each input time is calculated, and The most probable package weight (W) is calculated based on the package weight (W) at the time of input.
- FIG. 5 shows an example of the luggage weight calculation table 63.
- FIG. 6 shows an example of the speed correction table 64.
- the speed correction table 64 includes a correction coefficient ( ⁇ ) and a boom cylinder pressure value.
- the speed correction table 64 includes corrections corresponding to combinations of various values “ ⁇ 1 to ⁇ 9” of boom cylinder pressure values ( ⁇ ) and various values “ ⁇ 1 to ⁇ 9” of boom angular speeds ( ⁇ ).
- the coefficient) value “ ⁇ 11 to ⁇ 99” is recorded!
- the correction coefficient ( ⁇ ) is used as a function of the boom angular velocity ( ⁇ ) and the boom cylinder pressure value ( ⁇ ).
- the correction coefficient ( ⁇ may be a constant) Alternatively, it may be a function of only one of the boom angular velocity ( ⁇ ) and the boom cylinder pressure value ( ⁇ ), or may be a function of another variable, for example, the boom angle ( ⁇ ).
- the configuration of the speed correction table 64 changes, and when the correction coefficient ⁇ is a constant, the speed correction table 64 is unnecessary.
- this process is executed during the operation of the boom 2, that is, during the lifting / lowering of the load.
- the controller 11 detects the value of the current boom angle ( ⁇ ) of the boom 2 based on the output signal of the boom angle detector 6 (Sl).
- the controller 11 inputs the head pressure and the bottom pressure detected from the head pressure detector 8 and the bottom pressure detector 9 and calculates the difference, thereby calculating the current boom cylinder pressure value (P).
- the controller 11 uses the current boom angle ( ⁇ ) value described above and the boom angle ( ⁇ ) value detected one cycle ago to calculate the boom angular velocity ( ⁇ ) by a predetermined calculation method. Calculate (S3).
- This corrected pressure value (P,) is a value obtained by reducing an error component such as a frictional force that changes from the boom cylinder pressure value (P) according to the boom angular velocity ( ⁇ ).
- the controller 11 refers to the load weight calculation table 63 and calculates the load weight (W) corresponding to the combination of the current boom angle (0) and the correction pressure value ( ⁇ ′) (S6).
- the load calculation table 63 the load Since only the numerical values are recorded as representative values of the object weight (W), the current load weight (W) is calculated by performing interpolation calculation using these values.
- Step 1 (S1) to step 6 (S6) described above are repeatedly executed a plurality of times at a constant period by the repetition loop (L1).
- the load weight (W) at a plurality of time points when the boom 2 is operating is calculated.
- the controller 11 averages the baggage weight (W) at a plurality of points in time to obtain the most reliable value of the baggage weight (W) (S7), stores it in the data storage unit 31, and displays it on the display 12
- the controller 11 determines whether or not the operator has input an all clear signal using the keyboard 30 (Sl l).
- the controller 11 clears all the data in the package weight calculation table 63 and returns to the initial value prepared in advance (S20).
- the load weight calculation table 63 has the same contents as when shipped from the factory.
- the controller 11 uses the keyboard 30 to determine whether or not the operator has selected an unloaded calibration (S12).
- the controller 11 moves the boom 2 over the entire variable range of the boom angle ( ⁇ ) (S13). In this case, leave nothing in packet 4.
- Step 1 (S1) to Step 6 (S6) shown in FIG. 7 the controller 11 repeats the same processing as Step 1 (S1) to Step 6 (S6) shown in FIG. 7 while the boom is operating over the entire variable range, so that the load weight calculation table is obtained.
- a correction pressure value ( ⁇ ') corresponding to each value of boom angle (0) recorded in 63 is calculated (S14).
- the controller 11 corresponds to the column of the opening (empty load) with the corrected pressure value ( ⁇ ′) at each boom angle (0) and the load weight (W) of the load weight calculation table 63.
- step 12 the controller prompts the operator to specify the package weight using the keyboard 30 (S16).
- the load weight that can be specified is any one of the rated intermediate weight, the rated maximum weight, and the overload recorded in the load weight calculation table 63.
- the operator places a package having the same weight as that specified above on the packet 4.
- the controller 11 moves the boom 2 over the entire variable range of the boom angle (0) (S17). Then, the controller 11 performs the same processing as Step 1 (S1) to Step 6 (S6) shown in FIG. 7 while the boom is operating over the entire variable range, and is recorded in the load weight calculation table 63.
- a corrected pressure value ( ⁇ ′) corresponding to each boom angle ( ⁇ ) value is calculated (S18). Controller 11 corresponds to the column where the corrected pressure value (P,) at each boom angle ( ⁇ ) and the load weight (W) in load weight calculation table 63 are zero (empty load) in the calibration performed this time.
- the average value of the correction pressure value ( ⁇ ′) to be taken is taken (S19), and the correction pressure value ( ⁇ ′) corresponding to the empty column in the load weight calculation table 63 is rewritten with the average value (S21).
- the data obtained by calibration is not updated using the data obtained by calibration as it is and the existing data in the package weight calculation table. Since the average value is calculated and the package weight calculation table is updated with the average value, even if the data obtained in the calibration is correct and not correct, it will not be affected by 100%. can do.
- the calibration is also performed for the force / speed correction table that is to be calibrated only for the load weight calculation table. Also good.
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Component Parts Of Construction Machinery (AREA)
- Measuring Volume Flow (AREA)
- Jib Cranes (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/885,338 US20080169131A1 (en) | 2005-03-15 | 2006-01-10 | Device And Method For Measuring Load Weight On Working Machine |
DE112006000521T DE112006000521T5 (de) | 2005-03-15 | 2006-03-09 | Vorrichtung und Verfahren zur Messung eines Ladegewichts auf einer Arbeitsmaschine |
SE0702299A SE0702299L (sv) | 2005-03-15 | 2006-03-09 | Anordning och method för mätning av lastvikt på arbetsmaskin |
JP2007508094A JPWO2006098218A1 (ja) | 2005-03-15 | 2006-03-09 | 作業機械の荷物重量を計測するための装置および方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005072360 | 2005-03-15 | ||
JP2005-072360 | 2005-03-15 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006098218A1 true WO2006098218A1 (ja) | 2006-09-21 |
Family
ID=36991564
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/304607 WO2006098218A1 (ja) | 2005-03-15 | 2006-03-09 | 作業機械の荷物重量を計測するための装置および方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20080169131A1 (ja) |
JP (1) | JPWO2006098218A1 (ja) |
CN (1) | CN101142466A (ja) |
DE (1) | DE112006000521T5 (ja) |
SE (1) | SE0702299L (ja) |
WO (1) | WO2006098218A1 (ja) |
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WO2013088816A1 (ja) * | 2011-12-13 | 2013-06-20 | 日立建機株式会社 | 油圧ショベルの荷重計測装置 |
US20170131134A1 (en) * | 2015-11-09 | 2017-05-11 | Doosan Infracore Co., Ltd. | Load weighing method and system for wheel loader |
WO2018087834A1 (ja) * | 2016-11-09 | 2018-05-17 | 株式会社小松製作所 | 作業機械および作業機械の制御方法 |
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US11585072B2 (en) | 2020-11-06 | 2023-02-21 | Cnh Industrial America Llc | System and method for estimating the weight of a load carried by an implement of a work vehicle |
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Also Published As
Publication number | Publication date |
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CN101142466A (zh) | 2008-03-12 |
JPWO2006098218A1 (ja) | 2008-08-21 |
US20080169131A1 (en) | 2008-07-17 |
SE0702299L (sv) | 2007-12-13 |
DE112006000521T5 (de) | 2008-01-17 |
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