WO2019082397A1 - 積込量積算装置および積込量積算システム - Google Patents
積込量積算装置および積込量積算システムInfo
- Publication number
- WO2019082397A1 WO2019082397A1 PCT/JP2017/039000 JP2017039000W WO2019082397A1 WO 2019082397 A1 WO2019082397 A1 WO 2019082397A1 JP 2017039000 W JP2017039000 W JP 2017039000W WO 2019082397 A1 WO2019082397 A1 WO 2019082397A1
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- WO
- WIPO (PCT)
- Prior art keywords
- loading amount
- unit
- loading
- integration
- load
- Prior art date
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Classifications
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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
-
- 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
- E02F9/24—Safety devices, e.g. for preventing overload
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
- B60G17/01908—Acceleration or inclination sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
- B60P1/045—Levelling or stabilising systems for tippers
-
- 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
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
-
- 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
-
- 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
- E02F9/267—Diagnosing or detecting failure of vehicles
-
- 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
- G01G23/00—Auxiliary devices for weighing apparatus
- G01G23/01—Testing or calibrating of weighing apparatus
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G23/00—Auxiliary devices for weighing apparatus
- G01G23/14—Devices for determining tare weight or for cancelling out the tare by zeroising, e.g. mechanically operated
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/02—Trucks; Load vehicles
- B60G2300/026—Heavy duty trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/09—Construction vehicles, e.g. graders, excavators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/50—Pressure
- B60G2400/51—Pressure in suspension unit
- B60G2400/512—Pressure in suspension unit in spring
- B60G2400/5122—Fluid spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/60—Load
- B60G2400/61—Load distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/70—Estimating or calculating vehicle parameters or state variables
Definitions
- the present invention relates to a technology for calculating the loading amount of a load from a loading machine to a transporting machine in a mine or the like.
- a bucket dump operation detection means for outputting a load measurement command when executed in the angle range of 1), and a load measurement for measuring a load immediately before the bucket dump operation as a load of a transported object when the load measurement command is output.
- Means for providing (summary excerpt) "a workload monitoring device is disclosed.
- Patent Document 2 “In a machine including a frame and a dump body, an electronic controller is operatively connected to the machine, and at least one accelerometer measures the acceleration of the frame and / or the dump body to A controller, arranged to provide an acceleration signal to the controller, the electronic controller receives and analyzes the acceleration signal and provides a loading signal indicative of the overload condition to the remote control station and / or the loading machine performing the loading. It is disclosed that "the abstract is placed.”
- Patent No. 3787046 U.S. Patent No. 8,833,861
- the operator of the loading machine can know the excess loading state, but can not know it when the loading amount is insufficient.
- the loading state is calculated using the data acquired on the side of the transport machine, the calculation accuracy varies for each transport machine. Therefore, the loading machine can not grasp the loading amount with stable accuracy.
- the present application has been made in view of the above circumstances, and an object of the present invention is to provide a technology for accurately grasping the load amount loaded on a transport machine and improving production efficiency regardless of the loading situation.
- the loading amount storage unit for storing the loading amount, and the input load data of the transported object in the work front provided in the loading machine are stored in the loading amount storage unit.
- a loading amount calculation unit that integrates the loading amount and updates the loading amount stored in the loading amount storage unit with the integrated value, and the input loading amount data of the vessel provided in the transporter
- a difference calculating unit that calculates a difference between the load amount stored in the load amount storage and the absolute value of the difference calculated by the difference calculating unit, and a predetermined threshold value; If the value is larger than the threshold value, the integration success / failure determination unit determines the integration failure and outputs the determination result, and when the determination result indicating the integration failure is output from the integration success / failure determination unit, the loading amount data is A correction is made to a loading amount, and the loading amount storage unit stores the corrected loading amount.
- a loading amount integrating device comprising: a loading amount correction unit for updating the loading amount, and an output unit for outputting the loading amount stored in the loading amount storage unit. I will provide a
- the loading amount can be accurately grasped, and the production efficiency can be improved. Problems, configurations, and effects other than those described above will be clarified by the description of the embodiments below.
- FIG. 1 is a schematic view of a loading amount integration system according to a first embodiment. It is an outline view of a hydraulic shovel of a first embodiment. It is an explanatory view for explaining a control circuit of a hydraulic shovel of a first embodiment. It is an outline view of a dump truck of a first embodiment. It is a functional block diagram of a weight measurement controller of a first embodiment. (A) And (b) is a hardware block diagram of the weight measurement controller of the loader of 1st embodiment, and a transporter, respectively. It is a flowchart of a loading amount integration process of a first embodiment. It is a flowchart of the amount calculation process of loading of 1st embodiment. It is an explanatory view for explaining bucket load operation processing of a first embodiment.
- (A) to (c) are explanatory diagrams for explaining the integration success / failure determination of the first embodiment. It is an explanatory view for explaining an example of a display screen of a first embodiment. It is a flowchart of the amount correction process of loading of 2nd embodiment. It is an explanatory view for explaining an example of a display screen of a second embodiment. It is an explanatory view for explaining a control circuit of a hydraulic shovel of a third embodiment.
- the amount of the transported object loaded into the transport machine is calculated on the side of the loading machine and the side of the transport machine.
- the amount of the conveyed articles loaded on the conveyance machine calculated on the loading machine side is appropriately corrected using the amount of the conveyed articles calculated on the conveyance machine side.
- the present embodiment will be described by taking a hydraulic shovel as a loading machine and a dump truck as a carrying machine as an example.
- FIG. 1 is a schematic view of a loading amount integration system 100 according to the present embodiment.
- the loading amount integral system 100 of this embodiment is provided with the hydraulic shovel 200 which is a loading machine, and the dump truck 300 which is a transporter.
- FIG. 2 is an external view of the hydraulic shovel 200 of the present embodiment.
- the hydraulic shovel 200 includes a lower vehicle body 201, an upper swing body 202, a cab 203, and a work front 207.
- the lower vehicle body 201 includes a left traveling body and a right traveling body not shown.
- the upper swing body 202 is swingably mounted on the lower vehicle body 201.
- the driver's cab 203 is attached to the front of the upper swing body 202.
- the work front 207 is attached to the front of the upper swing body 202 so as to be pivotable up and down.
- the upper swing body 202 is driven by the hydraulic drive circuit according to the operation of the operator via the operation lever described later.
- the work front 207 loads work objects such as soil and the like (hereinafter referred to as “carries”) into the dump truck 300.
- the work front 207 includes a boom 210, an arm 211, a bucket 212, a boom cylinder 213, an arm cylinder 214, and a bucket cylinder 215.
- the boom 210 is attached to the upper swing body 202 so as to be vertically swingable.
- the arm 211 is attached to the boom 210 so as to freely swing up and down.
- the bucket 212 is rotatably attached to the arm 211 in the vertical direction.
- the boom cylinder 213, the arm cylinder 214, and the bucket cylinder 215 are hydraulic cylinders that drive the work front 207.
- the boom cylinder 213 is connected to the upper swing body 202 and the boom 210, and swings the boom 210 in the vertical direction.
- the arm cylinder 214 is connected to the boom 210 and the arm 211, and swings the arm 211 in the vertical direction.
- the bucket cylinder 215 is connected to the arm 211 and the bucket 212 and rotates the bucket 212 in the vertical direction.
- the work front 207 is provided with a boom angle sensor 220, an arm angle sensor 221, and a bucket angle sensor 222 in order to detect the posture of the work front 207.
- the boom angle sensor 220 is provided on the boom 210 and detects an angle at which the boom 210 pivots in the vertical direction.
- the arm angle sensor 221 is provided on the arm 211, and detects an angle at which the arm 211 rotates.
- the bucket angle sensor 222 is provided to the bucket 212 and detects an angle at which the bucket 212 pivots. Based on the angles detected by the boom angle sensor 220, the arm angle sensor 221, and the bucket angle sensor, and the dimension data of the boom 210, the arm 211 and the bucket 212, which are determined in advance, the work front
- the posture of the upper swing body 202 at 207 is calculated.
- the boom cylinder 213, the arm cylinder 214, and the bucket cylinder 215 are driven by the hydraulic drive circuit according to the operation of the control lever by the operator.
- the control device 280 includes a hydraulic control controller 250 that controls the drive of the hydraulic drive circuit, and a display control controller 251 that processes signals from sensors and the like and outputs a processing result to the display device.
- the hydraulic control controller 250 receives the boom cylinder 213 and the boom cylinder 213 via the hydraulic drive circuit in response to the operations of the boom control lever 240, the arm control lever 241, the bucket control lever 242, and the turning control lever 243, respectively.
- the arm cylinder 214, the bucket cylinder 215, and the pivoting motor 216 that pivots the upper pivoting body 202 are driven.
- the hydraulic drive circuit includes a main pump 204, a hydraulic oil tank 205, and control valves 230 to 233.
- the main pump 204 is a main pump driven by an engine (not shown).
- the pressure oil discharged from the hydraulic oil tank 205 by the main pump 204 is supplied to the boom cylinder 213, the arm cylinder 214, the bucket cylinder 215, and the swing motor 216 through the control valves 230 to 233, respectively.
- Operation signals output from the boom control lever 240, the arm control lever 241, the bucket control lever 242, and the turning control lever 243 are taken into the hydraulic control controller 250.
- Each operation signal taken into the hydraulic control controller 250 is used to open and close the control valves 230-233.
- the flow rate of the pressure oil supplied to each of the boom cylinder 213, the arm cylinder 214, the bucket cylinder 215, and the swing motor 216 increases or decreases in proportion to the operation amount of each of the control levers 240 to 243.
- the upper turning body 202 is rotationally driven to the left with respect to the lower vehicle body 201, and pressure oil is supplied to 216b.
- the upper swing body 202 is rotationally driven to the right with respect to the lower vehicle body 201.
- a boom bottom pressure sensor 260 and a boom rod pressure sensor 261 are connected to the boom cylinder 213.
- the boom bottom pressure sensor 260 detects the pressure of the bottom side oil chamber 213a.
- the boom rod pressure sensor 261 detects the pressure of the rod side oil chamber 213b. Measurement signals of the boom bottom pressure sensor 260 and the boom rod pressure sensor 261 are input to the display control controller 251.
- each of the angle sensors 220 to 222 is connected to the display control controller 251, and these measurement signals are also input.
- a display monitor (display device) 270, a communication device 206, and a loading completion switch 271 are connected to the display control controller 251, respectively.
- the display monitor 270 is a user interface that displays the processing result of the display control controller 251 or accepts an input of an instruction. For example, it is disposed in the driver's cab 203.
- the communication device 206 also receives information from the dump truck 300 described later.
- the loading completion switch 271 is a switch that is pressed (ON) by the operator of the hydraulic shovel 200 when the loading operation onto one dump truck 300 is completed. In the present embodiment, the loading completion signal 271 s is output when it is turned on.
- the display control controller 251 calculates the amount of the cargo loaded on the dump truck 300 by the hydraulic shovel 200 according to the measurement signal and the instruction signal obtained from these connection devices, and outputs the amount to the display monitor 270. Details of the display control controller 251 will be described later.
- FIG. 4 is a view showing the appearance of the dump truck 300 according to the present embodiment.
- the dump truck 300 travels by loading a load.
- the dump truck 300 further includes a vehicle body 307, a vessel 301, wheels 302, a suspension cylinder 303, a suspension pressure sensor 304, a communication device 306, and a control device 310.
- the vehicle body 307 includes an engine and a traveling motor (not shown). By transmitting the power of the traveling motor to the wheels 302, the dump truck 300 can travel.
- the vessel 301 is loaded with a transported object such as soil by the hydraulic shovel 200.
- the vessel 301 is installed on the top of the vehicle body 307.
- the suspension cylinder 303 is disposed between the wheel 302 and the vehicle body 307. A load corresponding to the total of the weight of the vehicle body 307, the weight of the vessel 301, and the weight of the load loaded on the vessel 301 is applied to the wheel 302 via the suspension cylinder 303.
- the suspension cylinder 303 when a load is loaded on the vessel 301, the suspension cylinder 303 shrinks according to its weight, and the pressure (internal pressure) of the hydraulic oil sealed inside increases.
- the suspension pressure sensor 304 detects the internal pressure of the suspension cylinder 303.
- the detection signal of the suspension pressure sensor 304 is input to the controller 310.
- the suspension pressure sensor 304 is installed in each suspension cylinder 303 of the dump truck 300.
- the dump truck 300 of the present embodiment includes four wheels 302.
- the dump truck 300 comprises four suspension pressure sensors 304.
- the communication device 306 is connected to the control device 310 and used to transmit information to the hydraulic shovel 200.
- the operation of control device 310 will be described later.
- the display control controller 251 and the control device 310 will be described with reference to FIG.
- the amount of the cargo loaded in the bucket 212 which is calculated from the measurement value of each sensor on the side of the hydraulic shovel 200, is called bucket load (backet load weight) or simply load weight
- the integrated value of the amount of material loaded into the dump truck 300 by the bucket 212 is called loading amount
- the dump truck 300 side loads it onto its own vessel 301 calculated from the measurement value of the sensor.
- the amount of material carried is called the loaded amount.
- the display control controller 251 includes a bucket load calculation unit 400 and a weight measurement unit 252. Further, the weight measurement unit 252 includes an integration determination unit 401, a loading amount calculation unit 402, a loading amount storage unit 403, a difference calculation unit 404, an integration success / failure determination unit 405, and a loading amount correction unit 406. , A display monitor control unit 407, and a loading completion determination unit 409.
- the bucket load calculation unit 400 calculates the load of the conveyance object in the bucket 212 and outputs it as a bucket load (load data).
- the integration determination unit 401 determines whether the material in the bucket 212 has been loaded into the vessel 301 of the dump truck 300.
- the loading amount calculation unit 402 calculates the sum of the loading amounts.
- the loading amount storage unit 403 stores the calculation result of the loading amount calculation unit 402.
- the difference calculating unit 404 calculates the difference between the loading amount stored in the loading amount storage unit 403 and the loading amount calculated by the loading amount calculating unit 500 of the control device 310.
- the integration success / failure determination unit 405 determines whether the loading amount measurement by the integration determination unit 401 and the loading amount calculation unit 402 is correctly performed from the calculation result of the difference.
- the loading amount correction unit 406 corrects the loading amount stored in the loading amount storage unit 403 in response to the determination result of the integration success / failure determination unit 405.
- the display monitor control unit 407 generates a display monitor signal 270 s.
- the loading completion determination unit 409 determines whether loading has been completed.
- the suspension pressure sensor signal 304 s from the suspension pressure sensor 304 is input to the controller 310.
- An output signal from the control device 310 is a communication signal 306 s to the display control controller 251 via the communication device 306.
- the control device 310 includes a load amount calculation unit 500 that calculates the weight of the load loaded on the vessel 301.
- Load amount data which is the calculation result of the load amount calculation unit 500, is output to the communication device 306 as an output signal 310s.
- the display control controller 251 and the control device 310 repeatedly execute a series of input and output in a control cycle set in advance.
- the display control controller 251 can be realized by an information processing apparatus provided with a CPU 291, a RAM 292, a ROM 293, an input interface (I / F) 294, and an output I / F 296 as shown in FIG. 6A. .
- the ROM 293 stores programs for realizing the above-described units.
- the stored programs are, for example, a bucket load calculation program 400p for realizing the bucket load calculation unit 400, an integration determination program 401p for realizing the integration determination unit 401, and an integration calculation program 402p for realizing the loading amount calculation unit 402.
- the instruction receiving program 408p is a program used in the third embodiment described later.
- the loading amount storage unit 403 is provided, for example, in the RAM 292.
- a display monitor signal 270 s is output from the output I / F 296.
- each function is realized by the CPU 291 loading the program stored in the ROM 293 or the like in advance into the RAM 292 and executing the program.
- various data necessary for processing and data generated during processing are stored in the ROM 293 and the RAM 292.
- the display control controller 251 may include a magnetic storage device such as a hard disk drive.
- the control device 310 can be realized by an information processing device including a CPU 391, a RAM 392, a ROM 393, an input I / F 394, and an output I / F 396 as shown in FIG. 6B.
- the ROM 393 stores a load amount calculation program 500 p for realizing the load amount calculation unit 500.
- the suspension pressure sensor signal 304 s is input to the input I / F 394, and the output signal 310 s is output from the output I / F 396.
- a magnetic storage device such as a hard disk drive may be provided.
- FIG. 7 is a processing flow of the loading amount integration processing of the present embodiment.
- the loading amount integration process of the present embodiment is executed at predetermined time intervals as described above.
- the display control controller 251 acquires each input signal (step S1101).
- the bucket load calculation unit 400 includes the boom bottom pressure sensor signal 260s, the boom rod pressure sensor signal 261s, the boom angle sensor signal 220s, the arm angle sensor signal 221s, and the bucket angle sensor signal 222s. get.
- the integration determination unit 401 acquires a bucket angle sensor signal 222s.
- the loading completion determination unit 409 acquires a loading completion signal 271s.
- the weight measurement unit 252 of the display control controller 251 performs a loading amount calculation process on the hydraulic shovel 200 side based on each signal acquired in step S1101 (step S1102).
- control device 310 acquires each input signal (step S1201).
- the load amount calculation unit 500 acquires the suspension pressure sensor signal 304s.
- the loading amount calculation unit 500 performs the loading amount calculation process on the dump truck 300 side based on the signal acquired in step S1201 (step S1202).
- the calculation result is output to the display control controller 251 via the communication device 306.
- the weight measurement unit 252 performs a loading amount correction process of correcting the loading amount calculated in step S1102 using the loading amount calculated by the loading amount computing unit 500 (step S1103).
- the weight measuring unit 252 performs loading amount display processing for displaying the loading amount obtained by the loading amount correction processing on the display monitor 270 (step S1104), and ends the processing.
- FIG. 8 is a processing flow of load amount calculation processing.
- the hydraulic shovel 200 whose work tool is a bucket performs work by repeating a cycle of excavation, boom raising and turning, and earth release.
- detection of a boom raising operation and a bucket earthing operation for a predetermined time is used as a trigger to calculate the load and the loading amount, thereby obtaining the total loading amount.
- the loading amount calculation process is executed by the integration determination unit 401 of the weight measurement unit 252, the loading amount calculation unit 402, and the loading completion determination unit 409.
- the calculation result is stored in the loading amount storage unit 403.
- the loading completion determination unit 409 performs ON / OFF determination of the loading completion switch 271.
- it is determined whether the loading completion switch 271 is in the ON state (step S1301). As described above, when the loading completion switch 271 is turned ON, the loading completion switch 271 outputs the loading completion signal 271s.
- the loading completion determination unit 409 determines that the loading completion signal 271s is ON when the loading completion signal 271s is obtained. If it is determined that the loading state is not the ON state, the loading completion determination unit 409 outputs the determination result to the bucket load calculation unit 400.
- FIG. 9 is a schematic view for explaining an operation algorithm of bucket load operation.
- the bucket load calculation unit 400 When the bucket load calculation unit 400 receives the determination result, it performs boom raising operation time determination. Here, it is determined whether the upward driving operation on the upper swing body 202 of the boom 210 has been performed continuously for the first predetermined period or more. The determination is made using the boom angle sensor signal 220s.
- the bucket load calculation unit 400 monitors the boom angle sensor signal 220s, counts the drive operation period in the upward direction as the boom raising operation time, and determines whether the length is equal to or longer than a first predetermined period.
- the first predetermined period is determined in advance. For example, assuming that the first predetermined period is 5 [s], it is determined that the boom raising operation is continuously performed when the boom angle sensor signal 220s continuously changes in the boom raising direction by 5 [s] or more. .
- the boom raising operation time is stored in the RAM 292 or the like.
- the bucket load calculation unit 400 calculates the bucket load, which is the amount of objects in the bucket 212 excavated by the operation of the work front 207, and calculates the load amount calculation unit as load data. And 402, and the display monitor control unit 407. In other cases, load data is not output.
- the bucket load Fa is calculated by solving a balance equation of the moment M at the boom rotation center.
- Horizontal distances La and Lb are calculated using detection values of each of the angle sensors 220-222.
- the thrust Fb is calculated using the detection values of the boom bottom pressure sensor 260 and the boom rod pressure sensor 261. Using these, the bucket load Fa which is an unknown quantity is calculated by FbLb / La.
- the integration determination unit 401 performs the discharge operation time determination.
- the integration determination unit 401 monitors the bucket angle sensor signal 222 s, counts the time during which the bucket 212 is rotationally driven upward with respect to the arm 211 (discharge operation time), and the length thereof is the second It is determined whether it is more than the predetermined period of (step S1304). When the dumping operation time continues for the second predetermined period or more, it is determined by the bucket 212 that the transported material has been loaded into the vessel 301 of the dump truck 300.
- the second predetermined period is 2 [s]
- the bucket angle sensor signal 222s continuously changes in the bucket discharging direction by 2 [s] or more, it is determined that the second predetermined period or more.
- the release operation time is stored in the RAM 292 or the like.
- the loading amount calculation unit 402 performs the loading amount calculation (step S1305).
- the loading amount calculation unit 402 calculates the loading amount based on the bucket load calculated by the bucket load calculation unit 400 and the determination result of step S1304.
- the bucket load calculated in step S1303 is integrated with the current loading amount stored in the loading amount storage unit 403. Then, the loading amount stored in the loading amount storage unit 403 is updated with the value after integration.
- the loading amount calculation unit 402 resets the boom raising operation time (step S1306), and resets the dumping operation time (step S1307), and the loading amount after integration calculated in step S1305 is calculated as the loading amount. It is stored in the loading amount storage unit 403 (step S1308), and the processing is ended.
- the loading amount calculation unit 402 sets a storage flag in the RAM 292, etc., when the loading amount is stored in the loading amount storage unit 403, for use in the loading amount correction process described later.
- the bucket load calculation unit 400 does not output the bucket load to the weight measurement unit 252.
- the weight measurement unit 252 ends the loading amount calculation process as it is.
- the discharge operation time is less than the second predetermined period in step S1304, the loading amount calculation processing is ended as it is.
- step S1301 When it is determined in step S1301 that the loading state to the dump truck 300 is completed when it is determined that the loading state is the ON state, the loading completion determination unit 409 determines the loading amount stored in the loading amount storage unit 403. The value is reset (set the value of the loading amount to 0) (step S1309), and the loading amount calculation process is ended.
- FIG. 10 is a processing flow of the loading amount calculation processing
- FIG. 11 is a schematic view for explaining an arithmetic algorithm of the loading amount calculation unit 500.
- the loading amount calculation unit 500 calculates the loading amount on the vessel 301 based on the suspension pressure sensor signal 304s (step S1401).
- the loading amount is calculated based on a predetermined correspondence relationship between the suspension pressure and the loading amount.
- An example of the correspondence relationship between the suspension pressure and the load amount is shown in FIG.
- the dump truck 300 of the present embodiment includes the four wheels 302. Therefore, one dump truck 300 is provided with four suspension pressure sensors 304.
- the horizontal axis in FIG. 11 indicates the average value of the detection values of these four suspension pressure sensors 304.
- the loading amount calculation unit 500 transmits the calculated loading amount as loading amount data to the display control controller 251 via the communication device 306 (step S1402), and ends the processing.
- FIG. 12 is a processing flow of the loading amount correction processing of the present embodiment.
- FIGS. 13 (a) to 13 (c) are schematic diagrams for explaining the integration success / failure determination.
- the difference calculation unit 404 determines whether or not the loading amount storage processing (processing of step S1308) to the loading amount storage unit 403 has been performed in the immediately preceding loading amount calculation processing (step S1501). In the present embodiment, it is determined whether or not the above-mentioned storage flag is set. Then, after the main determination, the flag is cleared.
- the difference calculating unit 404 determines the loading amount stored in the loading amount storage unit 403 and the loading received from the control device 310 via the communication device 206. The amount is acquired (step S1502). Then, a difference operation is performed to calculate the difference between the loading amount and the loading amount (step S1503).
- the integration success / failure determination unit 405 receives the result of the difference calculation and performs integration success / failure determination (step S1504). Here, it is determined whether the calculation of the loading amount has succeeded.
- the integration success / failure determination is performed using a threshold Dth for a predetermined difference calculation result. That is, the integration success / failure determination unit 405 calculates the absolute value of the difference calculation result, compares it with the threshold Dth, and determines whether the absolute value is equal to or less than the threshold Dth. In the comparison result, if the threshold value Dth or less, it is determined that the integration is successful.
- the determination result is output to the loading amount correction unit 406 and the display monitor control unit 407.
- the threshold value Dth is stored, for example, in the ROM 293 or the RAM 292 of the display control controller 251 in advance.
- the value is set, for example, below the rated capacity of the bucket 212. The details of the determination will be described with reference to FIGS. 13 (a) to 13 (c).
- FIG. 13A is a schematic view showing a case where the absolute value ⁇ LD of the difference between the loading amount and the loading amount is within the range of a predetermined threshold value Dth ( ⁇ LD ⁇ Dth).
- ⁇ LD ⁇ Dth a predetermined threshold value
- the integration success / failure determination unit 405 outputs information (accumulation success) indicating that the value is equal to or less than the threshold Dth to the loading amount correction unit 406 and the display monitor control unit 407.
- FIGS. 13B and 13C are schematic diagrams showing the case where the absolute value ⁇ LD of the difference between the loading amount and the loading amount is outside the range of the predetermined threshold Dth ( ⁇ LD> Dth). is there.
- FIG. 13 (b) shows a case where the loading amount is larger
- FIG. 13 (c) shows a case where the loading amount is larger.
- the determination result by the integration success / failure determination unit 405 is “integration failure” because it is larger than the threshold.
- the integration success / failure determination unit 405 outputs, to the loading amount correction unit 406 and the display monitor control unit 407, information indicating that the value is larger than the threshold Dth (integration failure).
- the loading amount correction unit 406 performs loading amount correction (step S1505), and ends the processing.
- the loading amount correction is a process of overwriting the loading amount stored in the loading amount storage unit 403 with the loading amount received via the communication device 206.
- the display monitor control unit 407 displays, on the display monitor 270, the bucket load received from the bucket load calculation unit 400 in step S1302 and the loading amount stored in the loading amount storage unit 403.
- the loading amount finally stored in the loading amount storage unit 403 is displayed. Further, the determination result by the integration success / failure determination unit 405 in step S1504 is also displayed.
- the display screen 270a displayed on the display monitor 270 is shown in FIG.
- the display screen 270a includes the bucket load display area 272, the loading amount display area 273, and the determination result display area 274 of the integration success or failure.
- Information indicating the bucket load, the loading amount, and the determination result of integration success or failure is displayed on each display unit.
- the display of the determination result may be configured to light the lamp and notify the operator of the hydraulic shovel 200 when it is determined that “accumulation failure” is made.
- the display screen 270a may further include a loading completion instruction reception area 271r that receives a loading completion instruction as the above-described loading completion switch 271.
- the loading amount which is the calculation value of the weight measuring unit 252 of the hydraulic shovel 200 and the loading which is the calculation value of the loading amount calculation unit 500 of the dump truck 300. Based on the amount, the success or failure of the loading amount calculation on the hydraulic shovel 200 side is determined, and in the case of failure, the loading amount is corrected.
- the present embodiment even if a large deviation occurs in the calculation of the loading amount on the hydraulic shovel 200 side due to the operator's operation mistake or the like, it is easy to use the measurement value on the dump truck 300 side Can be optimized. Therefore, according to the present embodiment, regardless of the loading situation, the loading amount on the dump truck 300 can be accurately grasped, and the production efficiency is improved.
- the operator of the hydraulic shovel 200 is also notified of the result of the success / failure determination of the loading amount calculation. For this reason, the operator can grasp the failure of the loading amount calculation on the hydraulic shovel 200 side. Therefore, it leads to the reduction of the operation error, and the further improvement in working efficiency can be expected.
- the threshold value used to determine the success or failure of the loading amount calculation is set to the bucket rated capacity or less of the hydraulic shovel 200. Therefore, the loading amount is corrected by the loading amount only when a difference larger than the rated capacity occurs between the loading amount and the loading amount. That is, usually, using the calculation result on the side of the hydraulic shovel 200 with higher calculation accuracy, the load amount calculated on the dump truck 300 side is used only when a difference greater than the rated capacity of the bucket occurs. Therefore, the accuracy is stabilized, and the occurrence of the integration missing / misintegration can be efficiently detected. As a result, further improvement in work efficiency can be expected.
- the configuration of the load amount integration system 100 of this embodiment is basically the same as that of the first embodiment. The following description will be made focusing on the configuration different from the first embodiment.
- FIG. 15 is a processing flow of the loading amount correction processing of the present embodiment.
- step S1504 of the loading amount correction process of the first embodiment when it is determined that the integration success or failure in step S1504 of the loading amount correction process of the first embodiment is a failure, loading of step S1505 is performed. Before the amount correction, processing (content specifying processing) for specifying failure content is performed. The other processes are the same as in the first embodiment.
- the integration success / failure determination unit 405 determines whether the loading amount and the loading amount are large or small, and identifies the failed content based on the determination result.
- the integration success / failure determination unit 405 compares the amount of loading with the amount of loading (step S2101).
- the integration success / failure determination unit 405 determines, for example, whether the calculation result of the difference calculation unit 404 is positive or negative, and identifies the content of the failure according to the determination result.
- the content of the failure is stored in advance in the ROM 293 or the like in association with the determination result.
- the integration success / failure determination unit 405 identifies the content of the failure as the failure due to the integration missing. This is an example shown in FIG.
- the loading amount is equal to or more than the loading amount, it is specified that it is due to the erroneous integration. This is an example shown in FIG. For example, it is a case where the material in the bucket 212 is spilled during loading.
- the integration success / failure determination unit 405 outputs the determination result, that is, the content of the failure identified by the determination result to the display monitor control unit 407, and proceeds to the process of step S1505.
- the determination result that is, the identified content is also displayed.
- the display screen 270 a includes a failure content display region 275 displaying the content of integration failure instead of the determination result display region 274.
- the failure content display area 275 is provided with the lamps 275a and 275b of the integration failure content, and the lamp of the determined content is lit. Thereby, the operator of the hydraulic shovel is notified of the determination result.
- the absolute value of the difference between the loading amount and the loading amount is calculated, and when the calculated absolute value is larger than a predetermined threshold value, the loading is performed. Make a correction that uses the amount as the loading amount. For this reason, according to this embodiment, the same effect as that of the first embodiment can be obtained. Furthermore, according to the present embodiment, the operator of the hydraulic shovel 200 is notified of the content of the loading amount calculation failure (accumulated missing / misintegrated). For this reason, the operator can grasp details of the failure in the calculation of the loading amount in detail. Therefore, it leads to the reduction of the operation error, and the further improvement in working efficiency can be expected.
- the hydraulic shovel 200 of the present embodiment further includes a correction instruction reception switch 277 as shown in FIG. Then, the weight measurement unit 252a of the present embodiment further receives an operation signal (correction instruction acceptance signal 277s) of the correction instruction acceptance switch 277.
- the correction instruction acceptance signal 277 s is output to the weight measurement unit 252 a.
- the correction instruction reception switch 277 receives an instruction from the operator as to whether or not to perform correction, and outputs an operation signal according to the instruction.
- the correction instruction reception switch 277 when performing the correction, is set to the ON state.
- the correction instruction reception signal 277 s is output.
- FIG. 18 is a functional block diagram of the display control controller 251a and the control device 310 according to the present embodiment.
- the weight measurement unit 252a of the display control controller 251a of the present embodiment includes an instruction reception unit 408 in addition to the units of the weight measurement unit 252a of the first embodiment.
- the control device 310 is the same as that of the first embodiment.
- the hardware configuration of both controllers is also the same as that of the first embodiment.
- the ROM 293 further stores an instruction receiving program 209p for realizing the instruction receiving unit 408.
- a correction instruction acceptance signal 277 s is input to the instruction acceptance unit 408.
- the instruction accepting unit 408 determines whether to execute the loading amount correction (overwrite of the storage value of the loading amount storage unit 403) by the loading amount correction unit 406 depending on whether or not the correction instruction acceptance signal 277 s is received. Make a decision.
- FIG. 19 is a processing flow of the loading amount correction processing of the present embodiment.
- the instruction receiving unit 408 It is determined whether an instruction for correction is received from the operator (step S3101). As described above, the determination is made based on whether or not the correction instruction acceptance signal 277 s is received.
- the instruction accepting unit 408 determines that the correction instruction is present. On the other hand, when the instruction has not been received, it is determined that no correction instruction is given. The determination result is output to the loading amount correction unit 406.
- the loading amount correction unit 406 performs the loading amount correction process of step S1505 only when receiving the notification of the correction instruction from the instruction receiving unit 408. If not received, the correction process is not performed, and the process ends. The other processes are the same as in the first embodiment.
- the correction instruction reception switch 277 is set, for example, as a correction instruction reception area 277 r on the display screen 270 a.
- An example of the display screen 270a of the present embodiment is shown in FIG.
- the display value of the loading amount display area 273 changes in accordance with the flow of FIG.
- the correction instruction acceptance switch 277 is pressed and correction is permitted, the loading amount overwritten by the loading amount of the dump truck 300 is displayed in the loading amount display area 273.
- the correction instruction acceptance switch 277 is not pressed, the loading amount is not overwritten, so the previously calculated loading amount (loading amount not overwritten by the loading amount of the dump truck 300) is displayed.
- the instruction receiving unit 408 further receives the instruction of the operator
- the loading amount correction unit 406 further receives the instruction receiving unit 408 when the absolute value of the difference is larger than the threshold.
- the correction is performed only when an instruction to permit the correction is received via the. That is, according to the present embodiment, the correction of the loading amount is performed only when the operator of the hydraulic shovel 200 permits. For this reason, it is possible to prevent unintended automatic correction, and it is possible to expect improvement in robustness of load amount measurement.
- control apparatus 280 of the hydraulic shovel 200 is not limited to the said structure, either.
- the controller for display control 251 may realize the function of the controller for hydraulic control 250 without providing the controller for hydraulic control 250.
- the transporter may be capable of the loading operation by the loader.
- the number of wheels is four, a configuration in which the number of wheels is six is also applicable.
- the loading amount calculation processing is also not limited to the above processing flow. Any means that can calculate the loading amount can be used.
- the bucket angle sensor signal 222s is used for the bucket discharge operation time determination (integration determination) by the bucket load calculation unit 400 in the above process flow
- an operation signal of the bucket operation lever 242 may be used.
- the boom raising operation time is used as a trigger for bucket load calculation
- a turning operation of the upper turning body 202 relative to the lower vehicle body 201 may be used as a trigger.
- the load amount is calculated using a predetermined relationship between the suspension pressure and the load amount as shown in FIG. 11, but the present invention is not limited to this. Any means by which the weight of the object loaded in the vessel 301 can be measured may be used.
- the layout and display items of the display screen displayed on the display monitor 270 are not limited to the example of the display screen 270a.
- the loading amount of the dump truck 300, the difference calculation result of the loading amount and the loading amount, or the like may be displayed together.
- the threshold value Dth used for the integration success / failure determination is stored in advance in the ROM 293 or the RAM 292 as an example.
- a dedicated setting device may be newly connected to the display control controller 251 so that the operator of the loading machine can set and change the threshold Dth via the setting device.
- the set threshold value Dth is stored, for example, in the RAM 292.
- the weight measurement part 252, 252a was mounted in the hydraulic shovel 200 was mentioned as the example and demonstrated in said each embodiment, it is not limited to this.
- the weight measurement units 252 and 252a may be provided independently as the loading amount integration device 600, for example, as shown in FIG. In this case, the loading amount integration device 600 may be disposed, for example, at a control center or the like.
- the loading amount integration system 100 a includes a hydraulic shovel 200, a dump truck 300, and a loading amount integration device 600.
- the functional blocks of the weight measurement units 252 and 252a are the same as the examples shown in FIGS.
- the loading amount integration device 600 includes a CPU, a memory, a storage device, and a communication I / F.
- the weight measuring units 252 and 252a in the loading amount integration device 600 are realized by the CPU loading and executing a program stored in advance in the storage device. Moreover, transmission and reception of data with the hydraulic shovel 200 and the dump truck 300 are performed via a communication I / F.
- the weight measurement units 252 and 252a include the display monitor control unit 407, and output the calculation result to the display monitor 270 included in the hydraulic shovel 200. It is not limited. Instead of the display monitor control unit 407, an output unit realized by the output I / F 296 may be provided to output to an external device other than the display monitor 270.
- 100: loading amount integration system 100a: loading amount integration system
- 200 hydraulic shovel
- 201 lower vehicle body
- 202 upper swing body
- 203 cab
- 204 main pump
- 205 hydraulic oil tank
- 206 Communication device
- 206s communication signal
- 207 work front
- 210 boom
- 212 bucket
- 213 boom cylinder
- 213a bottom side oil chamber
- 213b rod side oil chamber
- 214 arm cylinder
- 214a Bottom side oil chamber 214b rod side oil chamber 215: bucket cylinder 215a: bottom side oil chamber 215b: rod side oil chamber
- 216 swivel motor
- 216a oil passage 216b: oil passage 220: boom Angle sensor 220s: Boom angle sensor signal 221: Arm angle sensor 221s: Arm angle sensor Signal 222: Bucket angle sensor 222s: Bucket angle sensor signal 230: control valve 231: control valve 232: control valve 233: control valve 240: boom control lever 241:
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Abstract
Description
本発明の第一の実施形態を説明する。本実施形態では、積込機側、運搬機側、それぞれで、運搬機へ積み込んだ運搬物の量を算出する。以下、本実施形態では、積込機側で算出した、運搬機に積み込んだ運搬物の量を、運搬機側で算出した運搬物の量を用いて適宜補正する。以下、積込機として油圧ショベルを、運搬機としてダンプトラックを用いる場合を例にあげて、本実施形態を説明する。
次に、油圧ショベル200を説明する。図2は、本実施形態の油圧ショベル200の外観図である。
作業フロント207は、土砂等の作業対象物(以下、運搬物と呼ぶ。)をダンプトラック300に積み込む。作業フロント207は、ブーム210と、アーム211と、バケット212と、ブームシリンダ213と、アームシリンダ214と、バケットシリンダ215と、を備える。
次に、油圧ショベル200が備える制御装置280について、図3を用いて説明する。制御装置280は、油圧駆動回路の駆動を制御する油圧制御用コントローラ250と、センサ等からの信号を処理して処理結果を表示装置に出力する表示制御用コントローラ251と、を備える。
次に、本実施形態の運搬機であるダンプトラック300について説明する。図4は、本実施形態のダンプトラック300の外観を示す図である。ダンプトラック300は、運搬物を積載して走行する。また、ダンプトラック300は、車両本体307と、ベッセル301と、車輪302と、サスペンションシリンダ303と、サスペンション圧力センサ304と、通信装置306と、制御装置310と、を備える。
次に、本実施形態の表示制御用コントローラ251および制御装置310を、図5を用いて説明する。以下、本明細書では、油圧ショベル200側で、各センサの計測値から算出した、バケット212に積み込まれた運搬物の量をバケット荷重(backet load weight)または単に荷重(load weight)と呼び、バケット212によりダンプトラック300に積み込まれた運搬物の量の積算値を積込量(loading amount)と呼び、ダンプトラック300側で、センサの計測値から算出した、自身のベッセル301へ積載された運搬物の量を積載量(loaded amount)と呼ぶ。
表示制御用コントローラ251は、図6(a)に示すように、CPU291と、RAM292と、ROM293と、入力インタフェース(I/F)294と、出力I/F296と、を備える情報処理装置で実現できる。ROM293には、上記各部を実現するプログラムが格納される。格納されるプログラムは、例えば、バケット荷重演算部400を実現するバケット荷重演算プログラム400pと、積算判定部401を実現する積算判定プログラム401pと、積込量演算部402を実現する積算演算プログラム402pと、差分演算部404を実現する差分演算プログラム404pと、積算成否判定部405を実現する積算成否判定プログラム405pと、積込量補正部406を実現する積込量判定プログラム406pと、表示モニタ制御部407を実現する表示モニタ制御プログラム407pと、積込完了判定部409を実現する積込完了判定プログラム409pを備える。なお、指示受付プログラム408pは、後述する第三の実施形態で用いられるプログラムである。また、上記積込量記憶部403は、例えば、RAM292に設けられる。
次に、本実施形態の積込量積算処理の流れを説明する。図7は、本実施形態の積込量積算処理の処理フローである。本実施形態の積込量積算処理は、上述のように所定の時間間隔で実行される。
まず、積込量算出処理を、図8を用いて説明する。図8は、積込量算出処理の処理フローである。
次に、制御装置310における積載量算出処理を、図10、図11を用いて説明する。図10は、積載量算出処理の処理フローであり、図11は、積載量演算部500の演算アルゴリズムを説明するための模式図である。
次に、ステップS1103の積込量補正処理を、図12、図13(a)、図13(b)、および図13(c)を用いて説明する。図12は、本実施形態の積込量補正処理の処理フローである。図13(a)~図13(c)は、積算成否判定を説明するための模式図である。
次に、ステップS1104の積込量表示処理を説明する。
次に、本発明の第二の実施形態を説明する。本実施形態では、積算が失敗した場合に、その内容を判別し、オペレータに通知する。
次に、本発明の第三の実施形態について説明する。上記第一および第二の実施形態では、積算失敗と判別された場合、自動的に、ダンプトラック300が算出した積載量を用いて補正される。しかしながら、本実施形態では、オペレータが許可した場合のみ、積載量を用いた補正を実施する。
300:ダンプトラック、301:ベッセル、302:車輪、303:サスペンションシリンダ、304:サスペンション圧力センサ、304s:サスペンション圧力センサ信号、306:通信装置、306s:通信信号、307:車両本体、310:重量計測コントローラ、
400:バケット荷重演算部、401:積算判定部、402:積込量演算部、403:積込量記憶部、404:差分演算部、405:積算成否判定部、406:積込量補正部、407:表示モニタ制御部、408:指示受付部、409:積込完了判定部、500:積載量演算部、600:積込量積算装置
Claims (7)
- 積込量を記憶する積込量記憶部と、
入力された、積込機に備えた作業フロント内の運搬物の荷重データを、前記積込量記憶部に記憶されている前記積込量に積算し、積算後の値で前記積込量記憶部に記憶される前記積込量を更新する積込量演算部と、
入力された、運搬機に備えたベッセルの積載量データと、前記積込量記憶部に記憶される積込量と、の差分を算出する差分演算部と、
前記差分演算部が算出した前記差分の絶対値と予め定めた閾値とを比較し、前記絶対値が前記閾値より大きい場合、積算失敗と判定し、判定結果を出力する積算成否判定部と、
前記積算成否判定部から積算失敗を示す前記判定結果が出力された場合、前記積載量データを前記積込量とする補正を行い、補正後の前記積込量で前記積込量記憶部に記憶されている前記積込量を更新する積込量補正部と、
前記積込量記憶部に記憶される前記積込量を出力する出力部と、を備えること
を特徴とする積込量積算装置。 - 請求項1記載の積込量積算装置において、
前記出力部は、表示装置に接続され、前記積込量記憶部に記憶される前記積込量を前記表示装置に出力すること
を特徴とする積込量積算装置。 - 請求項1記載の積込量積算装置において、
前記出力部は、前記積算成否判定部から積算失敗を示す前記判定結果が出力された場合、当該絶対値が前記閾値より大きいことを示す情報を、さらに出力すること
を特徴とする積込量積算装置。 - 請求項1記載の積込量積算装置において、
前記積算成否判定部は、積算失敗と判定した場合、前記差分演算部が算出した前記差分の正負を判別し、判別結果を、さらに出力し、
前記出力部は、前記積算成否判定部が出力した前記判別結果を、さらに出力すること
を特徴とする積込量積算装置。 - 請求項1記載の積込量積算装置において、
オペレータからの指示を受け付ける補正指示受付スイッチに接続され、当該補正指示受付スイッチを介して前記積載量データによる補正を許可する指示を受け付ける指示受付部をさらに備え、
前記積込量補正部は、前記差分の絶対値が前記閾値より大きい場合、さらに、前記指示受付部が前記補正を許可する指示を受け付けた場合に、前記補正を行うこと
を特徴とする積込量積算装置。 - 請求項1記載の積込量積算装置において、
前記閾値は、前記作業フロントが備えるバケットの定格容量以下に設定されること
を特徴とする積込量積算装置。 - 積込機と、運搬機と、積込量積算装置と、を備える積込量積算システムであって、
前記積込機は、運搬物を前記運搬機に積み込む作業フロントの、当該作業フロントが取り付けられる旋回体に対する姿勢を検出する角度センサと、前記作業フロントを駆動する油圧シリンダのボトム圧力を検出するボトム圧力センサと、前記油圧シリンダのロッド圧力を検出するロッド圧力センサと、前記角度センサから出力される角度センサ信号、前記ボトム圧力センサから出力されるボトム圧力センサ信号、および前記ロッド圧力センサから出力されるロッド圧力センサ信号に基づいて、前記作業フロント内の前記運搬物の荷重を算出して荷重データとして出力する荷重演算部と、を備え、
前記運搬機は、サスペンションシリンダの内圧を検出するサスペンション圧力センサと、前記サスペンション圧力センサから出力されるサスペンション圧力センサ信号に基づいて、前記運搬物を積載するベッセルに積載された積載量を算出して積載量データとして出力する積載量演算部と、を備え、
前記積込量積算装置は、
積込量を記憶する積込量記憶部と、
荷重演算部が算出した前記荷重データを、前記積込量記憶部に記憶されている前記積込量に積算し、積算後の値で前記積込量記憶部に記憶される前記積込量を更新する積込量演算部と、
前記積載量演算部が算出した前記積載量データと、前記積込量記憶部に記憶される積込量と、の差分を算出する差分演算部と、
前記差分演算部が算出した前記差分の絶対値と予め定めた閾値とを比較し、前記絶対値が前記閾値より大きい場合、積算失敗と判定し、判定結果を出力する積算成否判定部と、
前記積算成否判定部から積算失敗を示す前記判定結果が出力された場合、前記積載量データを前記積込量とする補正を行い、補正後の前記積込量で前記積込量記憶部に記憶されている前記積込量を更新する積込量補正部と、
前記積込量記憶部に記憶される前記積込量を出力する出力部と、を備えること
を特徴とする積込量積算システム。
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US16/491,005 US11299869B2 (en) | 2017-10-27 | 2017-10-27 | Loading amount accumulation device and loading amount accumulation system |
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PCT/JP2017/039000 WO2019082397A1 (ja) | 2017-10-27 | 2017-10-27 | 積込量積算装置および積込量積算システム |
CN201780087606.5A CN110366672B (zh) | 2017-10-27 | 2017-10-27 | 装载量累加装置以及装载量累加系统 |
EP17929694.2A EP3702741B1 (en) | 2017-10-27 | 2017-10-27 | Loading amount accumulation device and loading amount accumulation system |
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