JP2019190074A - Working machine - Google Patents

Abstract

To provide a working machine capable of notifying an operator of a deviation degree between motion of a working device when setting a correction value and motion of a working device when calculating a carriage load.SOLUTION: A controller 151 of a loading machine 1 is provided with: a motion classification section 402 classifying motion of a working machine 100 when a carriage load calculating section 400 calculates a carriage load F; a correction value calculation section 404 calculating a correction value ΔF based on the carriage load F; a corrected information storage section 405 storing motion classification of the working machine upon calculating the carriage load used for calculating the correction value; and a correction effectiveness determination section 406 determining effectiveness of correction of the carriage load using the correction value based on a coincidence degree between the motion classification of the working machine upon calculating the carriage load used for calculating a corrected carriage load and the motion classification of the working machine stored in the corrected information storage section. A display monitor displays a determination result of the correction effectiveness determination section.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a work machine including a control device that calculates a load value of a transported object carried by the work device.

  When loading work using a loading machine such as a hydraulic excavator is performed on a transporting machine such as a dump truck, it is excessive or insufficient with respect to the limit load capacity (maximum loading capacity) of the transporting machine from the viewpoint of production efficiency. It is desirable to perform loading (ie, prevention of overloading and underloading). The load of the object to be transported inside the bucket in the front working device of the hydraulic excavator as disclosed in Patent Document 1 as a means for realizing loading with no excess or deficiency with respect to the limit load capacity of the transporting machine A method of calculating a value (sometimes referred to as “carrying load” in this paper) and displaying the load value to a hydraulic excavator operator via a display device is known.

  A correction value may be used for calculating the transport load of the hydraulic excavator from the viewpoint of improving its accuracy. In Patent Document 1, in a load measuring device of a hydraulic excavator that uses a load (carrying load) of an empty body as a correction value for load calculation, it is determined whether or not an unloaded load is stable over time. It is disclosed that a correction value for load calculation is calculated and set based on a load measured when the load in an empty state is stable.

JP 2002-332663 A

  By the way, in general, the calculation result of the transport load of the hydraulic excavator shows that even if the weight of the object to be transported is the same, the weight of the bucket is reduced due to wear or breakage of the bucket structure, and the weight of the bucket due to the additional installation of the reinforcing plate. It may change due to various working environment factors such as an increase, a substantial increase in the weight of the bucket due to the sticking of the object to be transported to the bucket. The excavator's transport load is the torque generated by the weight of the object to be transported and the front working device at the root rotating portion of the front working device, and the torque generated by the hydraulic cylinder thrust that drives the root rotating portion of the front working device. Measured from the balance. Therefore, the calculation result of the transport load also changes depending on operator operation factors that affect torque fluctuations such as the operation speed and posture of the front work device. These factors are obstacles to loading without excessive or insufficient with respect to the limit load capacity of the transport machine.

  Patent Document 1 uses a load calculation correction value calculated based on a load measured when an unloaded load is stable, thereby reducing load measurement errors due to work environment factors and operator operation factors. We are trying to realize loading that does not exceed the limit load capacity of the transporting machine. However, in the configuration shown in Patent Document 1, when the operation of the front work device at the time of carrying load measurement deviates from the operation when the correction value is set, the correction value becomes inaccurate according to the degree of deviation, and It may be difficult to optimize the load capacity of the machine. That is, depending on the operation of the front working device at the time of measuring the transport load, the calculated value of the transport load may deviate from the actual value and become inaccurate.

  An object of the present invention is to provide a work machine capable of notifying an operator of the degree of divergence between the operation of the work device when the correction value is set and the operation of the work device when the transport load is calculated.

  The present application includes a plurality of means for solving the above-described problems. To give an example, the load value of the work object, the actuator that drives the work apparatus, and the object to be transported by the work apparatus. A transport load calculating unit that calculates a transport load based on posture information of the working device and the load information of the actuator during operation of the actuator, and a corrected transport load is calculated by correcting the transport load with a correction value. In a work machine including a control device having a transport load correction unit and a display device that displays the corrected transport load calculated by the transport load correction unit, the control device is configured such that the transport load calculation unit is configured to control the transport load. An operation classification unit for classifying the operation of the work device when calculated based on the operation speed information and posture information of the work device; A correction value calculating unit that calculates the correction value based on the carrying load calculated by the unit, and a carrying load that the correction value calculating unit uses for calculating the correction value is calculated among the carrying loads. A correction information storage unit in which the operation classification of the working device by the operation classification unit is stored in association with the correction value, and a conveyance load used by the conveyance load correction unit in the calculation of the correction conveyance load among the conveyance loads Correction of the carrying load by the correction value based on the degree of coincidence between the operation classification of the work device by the operation classification unit and the operation classification of the work device stored in the correction information storage unit A correction effectiveness determination unit that determines the effectiveness of the correction, and the display device displays a determination result of the correction effectiveness determination unit.

  According to the present invention, when the operation of the front work device at the time of carrying load measurement deviates from the operation when the correction value is set, the degree of deviation is notified to the operator as the effectiveness of the correction. This makes it possible for the operator to grasp whether or not the operation is close to the front operation when the correction value is set. Improvement can be expected.

The figure which shows the loading operation | work with respect to the conveyance machine by a loading machine. The figure which shows the external appearance of the loading machine of Embodiment 1. FIG. FIG. 2 is a schematic diagram of a loading machine control system according to the first embodiment. FIG. 3 is a diagram illustrating an internal configuration of a controller according to the first embodiment. The figure which shows the whole processing flow of the weight measurement controller of Embodiment 1. FIG. The figure which shows the control flow of the conveyance load calculation of Embodiment 1. FIG. The figure which shows the calculation algorithm of the conveyance load calculation of Embodiment 1. FIG. The figure which shows the control flow of the operation | movement classification process of the working device of Embodiment 1. FIG. The figure which shows the algorithm of the operation | movement classification process of the working device of Embodiment 1. FIG. FIG. 5 is a diagram illustrating a control flow of correction value calculation according to the first embodiment. FIG. 5 is a diagram illustrating a control flow for determining the correction effectiveness according to the first embodiment. FIG. 3 is a diagram illustrating an algorithm for determining a correction effectiveness according to the first embodiment. FIG. 3 is a diagram illustrating an algorithm for determining a correction effectiveness according to the first embodiment. FIG. 3 is a diagram illustrating an appearance of a display monitor according to the first embodiment. The figure which shows the internal structure of the weight measurement controller of Embodiment 2. FIG. The figure which shows the whole processing flow of the weight measurement controller of Embodiment 2. FIG. The figure which shows the control flow of the conveyance load calculation of Embodiment 2. FIG. FIG. 6 is a diagram illustrating an appearance of a display monitor according to a second embodiment. FIG. 9 is a diagram illustrating a control flow for correction information selection according to the second embodiment. FIG. 6 is a diagram illustrating an algorithm for selecting correction information according to the second embodiment. The figure which shows the internal structure of the weight measurement controller of Embodiment 3. FIG. The figure which shows the whole processing flow of the weight measurement controller of Embodiment 3. The schematic diagram which showed the time-series data of the operation | movement classification memorize | stored in the correction | amendment carrying load and operation | movement classification memory | storage part of Embodiment 3. FIG. The figure which shows the control flow of the update recommendation determination of Embodiment 3. The figure which shows the algorithm of the update recommendation determination of Embodiment 3. FIG. FIG. 9 is a diagram illustrating an appearance of a display monitor according to a third embodiment. FIG. 10 is a diagram illustrating a control flow of correction value calculation according to the third embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Hereinafter, a case where a hydraulic excavator is used as a work machine (loading machine) will be described. The working machine targeted by the present invention is not limited to a hydraulic excavator having a bucket as an attachment of a front working device, but also includes a hydraulic excavator having a grapple, a lifting magnet, or the like that can hold and release an object to be transported. Further, the present invention can be applied to a wheel loader equipped with a working device (working arm) having no turning function such as a hydraulic excavator.

Embodiment 1
<Excavation loading work>
In FIG. 1, a loading machine 1 (hydraulic excavator) according to the present embodiment performs loading work (excavation loading work) accompanied by excavation work on a transport machine 2 (dump truck) as an example of the work. It shows a state. After the empty-carrying machine 2 stops in a range where the loading machine 1 can be loaded, excavation work and loading work by the loading machine 1 are repeatedly performed. After the predetermined amount of loading is completed, the transport machine 2 starts and the next empty load transport machine 2 arrives. Excavation loading work is carried out in this series of flows.

<Loading machine>
FIG. 2 is a view showing an appearance of the loading machine 1 in the present embodiment. The loading machine 1 includes a lower vehicle body 101 composed of left and right crawler belts driven by a hydraulic motor (not shown), and an upper revolving body 102 that is turnably mounted on the lower vehicle body 101. A cab 103 is attached to the front of the upper swing body 102. In addition, an articulated work device (front work device) 100 including a plurality of front members is attached to the front portion of the upper swing body 102 so as to be swingable up and down.

<Loading machine: Front configuration>
The work device 100 includes a boom 110 attached to the upper swing body 102 so as to be swingable up and down, an arm 111 attached to the tip of the boom 110 so as to be swingable up and down, and a vertical rotation around the tip of the arm 111. A bucket 112 that is movably attached, an upper swing body 102 and a boom 110 are connected to each other, a boom cylinder 113 that swings the boom 110 in the vertical direction, and a boom 110 and an arm 111 that are connected to each other. An arm cylinder 114 that swings in the direction, and a bucket cylinder 115 that is connected to the arm 111 and the bucket 112 and rotates the bucket 112 in the vertical direction.

  As a sensor for detecting the posture of the work apparatus 100, a boom tilt sensor 120 that detects the tilt angle of the boom 110 with respect to a predetermined surface (for example, a horizontal plane) is attached to the boom 110, and the boom 110 with respect to the predetermined surface (for example, a horizontal plane) is attached. An arm inclination sensor 121 that detects the inclination angle of the arm 111 is attached to the arm 111, and a bucket inclination sensor 122 that detects the inclination angle of the bucket 112 with respect to a predetermined surface (for example, a horizontal plane) is attached to the bucket 112. As the inclination sensors 120, 121, and 122, for example, an inertial measurement device (IMU) can be used. If the sensor can detect a physical quantity capable of calculating the posture information of the work device 100, the potentiometer for detecting the rotation angle of each front member 110, 111, 112 and the expansion / contraction amount of each cylinder 113, 114, 115 are detected. Other sensors such as a stroke sensor can also be used.

<Loading machine: Overall configuration of control system>
A control system provided in the loading machine 1 of FIG. 2 is shown in FIG. Boom cylinder 113, arm cylinder 114, bucket cylinder 115, and swing motor 116 are driven by hydraulic oil discharged from hydraulic oil tank 105 by main pump 104 by an engine (not shown). The flow rate and flow direction of the hydraulic oil supplied to each hydraulic actuator 113-116 are controlled by control valves 130i-130iv operated by a drive signal output from the controller 155 in accordance with the operation direction and operation amount of the operation lever 140-143. Be controlled.

  The controller (control device) 155 includes a storage device (for example, ROM, RAM), an arithmetic processing device (for example, CPU), and an input / output device, and operates the loading machine 1 and a display monitor (display) connected to the controller 155. The device) 170 displays and the like are controlled.

  The boom operation lever 140, the arm operation lever 141, the bucket operation lever 142, and the turning operation lever 143 generate operation signals 140s, 141s, 142s, and 143s (see FIG. 4) corresponding to the operation directions and operation amounts, and the controller 155. To the main controller 150. The main controller 150 generates drive signals (electric signals) corresponding to the operation signals 140 s, 141 s, 142 s, and 143 s, and outputs the drive signals to the control valves 130 i to 130 iv that are electromagnetic proportional valves. Operate 130 iv. As a result, the opening of the control valves 130i-130iv is changed.

  The degree of opening of the control valves 130i-130iv varies according to the operation amount of the corresponding operation lever 140-143. That is, the operation amount of the operating lever 140-143 defines the operating speed of the hydraulic actuator 113-116. For example, when the amount of operation of one of the boom operation levers 140 is increased, the opening of the control valve 130i corresponding to the direction is increased, and the flow rate of hydraulic oil supplied to the boom cylinder 113 is increased. The speed of the boom cylinder 113 increases. As described above, the operation signal generated by the operation lever 140-143 has a speed command side for the target hydraulic actuator 113-116.

<Loading machine: Actuator drive>
When pressure oil (hydraulic oil) is supplied to the bottom side oil chamber 113i of the boom cylinder 113, the boom cylinder 113 extends, and the boom 110 is driven to swing upward with respect to the upper swing body 102 (that is, the boom). On the other hand, when the rod side oil chamber 113ii is supplied to the rod side oil chamber 113ii, the boom cylinder 113 contracts, and the boom 110 is driven to swing downward with respect to the upper swing body 102 (that is, the boom lowering operation). Is done). When pressure oil is supplied to the bottom side oil chamber 114i of the arm cylinder 114, the arm cylinder 114 extends, and the arm 111 is driven to swing downward with respect to the boom 110 (that is, an arm cloud operation is performed). On the contrary, when supplied to the rod side oil chamber 114ii, the arm cylinder 114 is contracted, and the arm 111 is driven to swing upward with respect to the boom 110 (that is, an arm dump operation is performed). When pressure oil is supplied to the bottom side oil chamber 115i of the bucket cylinder 115, the bucket cylinder 115 extends, and the bucket 112 is rotated downward with respect to the arm 111 (that is, a bucket cloud operation is performed). On the contrary, when supplied to the rod side oil chamber 115ii, the bucket cylinder 115 is contracted, and the bucket 112 is rotationally driven with respect to the arm 111 (that is, a bucket dump operation is performed).

  When pressure oil is supplied to the oil passage 116i to which the turning motor 116 is connected, the upper turning body 102 is driven to rotate leftward with respect to the lower vehicle body 101, and conversely, the pressure is applied to the oil passage 116ii. When oil is supplied, the upper swing body 102 is driven to rotate rightward with respect to the lower vehicle body 101.

  A boom bottom pressure sensor 160 is attached to the bottom side oil chamber 113 i of the boom cylinder 113, and a boom rod pressure sensor 161 is attached to the rod side oil chamber 113 ii of the boom cylinder 113. The boom bottom pressure sensor 160 and the boom rod pressure sensor 161 are connected to the controller 155. Measurement signals from the boom bottom pressure sensor 160 and the boom rod pressure sensor 161 are input to the weight measurement controller 151 (see FIG. 4) in the controller 155.

  The controller 155 is connected to a display monitor 170, the inclination sensors 120 to 122, and a correction value update switch 171 (see FIG. 14 and the like). The configuration and operation of the controller 155 will be described later.

<Internal configuration of controller>
The internal structure of the controller 155 is shown in FIG. The controller 155 includes a main controller 150 that controls a hydraulic actuator mounted on the loading machine 1, a measurement of a transport load that is a load value of a transport object in the bucket 112 transported by the work device 100, and the related A weight measurement controller 151 for performing the processing. Each of the controllers 150 and 151 may be configured with individual hardware, or may be configured with the same hardware.

  The weight measurement controller 151 includes a boom tilt sensor signal 120 s from the boom tilt sensor 120, an arm tilt sensor signal 121 s from the arm tilt sensor 121, a bucket tilt sensor signal 122 s from the bucket tilt sensor 122, and a boom bottom pressure sensor 160. The boom bottom pressure sensor signal 160s, the boom rod pressure sensor signal 161s from the boom rod pressure sensor 161, and the correction value update switch signal 171s from the correction value update switch 171 are input. An output signal from the weight measurement controller 151 is a display monitor signal 170 s output to the display monitor 170.

  The inside of the weight measurement controller 151 includes a transport load calculation unit 400 that calculates the transport load of the transport object to be transported by the bucket 112, and a correction information storage unit 405 (described later) for the transport load calculated by the transport load calculation unit 400. The transport load correction unit 401 that calculates a corrected transport load that is a corrected transport load that is corrected with one of the correction values stored in the operation value, and the operation of the work device 100 when the transport load calculation unit 400 calculates the transport load. Categorization based on the operation speed information and posture information of the work device 100, and the transport load used by the transport load correction unit 401 to calculate the corrected transport load when the transport load calculation unit 400 calculates The corrected transport load and motion classification storage unit 40 in which the motion classification of the work device 100 by the motion classification unit 402 is stored in association with the corrected transport load. A correction value calculation unit 404 that calculates a correction value used by the conveyance load correction unit 401 based on the conveyance load calculated by the conveyance load calculation unit 400 when the work device 100 is in an empty state, and a correction value calculation Correction information storage unit in which the operation classification of the working device 100 by the operation classification unit 402 when the conveyance load used by the unit 404 for calculation of the correction value is calculated by the conveyance load calculation unit 400 is stored in association with the correction value 405 and the operation classification of the work device 100 by the operation classification unit 402 and the conveyance load correction unit 401 correct when the conveyance load used by the conveyance load correction unit 401 to calculate the corrected conveyance load is calculated by the conveyance load calculation unit 400 Based on the degree of coincidence with the operation classification of the work device 100 stored in the correction information storage unit 405 in association with the correction value used for the calculation of the carrying load, the correction value Various types including a correction effectiveness determination unit 406 that determines the effectiveness of the correction of the carrying load, a determination result (correction effectiveness) of the correction effectiveness determination unit 406, and a calculation result (correction carrying load) of the carrying load correction unit 401 The display control unit 407 generates a display monitor signal 170s based on the information.

  The weight measurement controller 151 is configured to repeatedly execute a series of inputs and outputs at a preset control cycle, and the processing flow of the weight measurement controller 151 related thereto will be described later with reference to the drawings.

  Note that storage units 403 and 405 in the weight measurement controller 151 indicate storage areas secured in the storage device in the controller 155. On the other hand, the other parts 400, 402, 404, 406, and 407 indicate functions that are executed by executing various programs stored in the storage device in the controller 155. You may implement | achieve by hardware (For example, the logic which performs each function is designed with an integrated circuit etc.).

<Overall processing flow of weight measurement controller>
The entire processing flow by the weight measurement controller 151 is shown in FIG. In the first step 500, the weight measurement controller 151 acquires each input signal described above. In step 501, a carrying load calculation process by the carrying load calculation unit 400 and a corrected carrying load calculation process by the carrying load correction unit 401 are performed. In step 502, operation classification processing (front operation classification processing) of the work device (front work device) 100 by the operation classification unit 402 is performed. In step 503, the correction value calculation process by the correction value calculation unit 404 triggered by the signal from the correction value update switch 171, the correction value by the correction information storage unit 405, and the correction information storage unit for the action classification result by the action classification unit 402 A storage process to 405 is performed. In step 504, a correction effectiveness determination process by the correction effectiveness determination unit 406 is performed. In step 505, the display monitor signal 170s is generated by the display control unit 407. In FIG. 5, each step 500-505 is shown to be executed in order from the top. However, if the transport load is not calculated in step 501, the process is temporarily ended (that is, the subsequent steps). The process of step 503 may be omitted when the correction value update switch 171 is not pressed down and the switch signal 171s is not input to the correction value calculation unit 404. You may do it. Next, the details of steps 501 to 505 will be described.

<< Step 501: Carrying Load Calculation / Correction >>
The carrying load calculation / correction processing in step 501 will be described in detail with reference to FIGS. FIG. 6 shows the subroutine of step 501. FIG. 7 is a schematic diagram for explaining an operation algorithm for carrying load calculation.

  Using the activation of the controller 155 as a trigger, the weight measurement controller 151 starts the subroutine of FIG. First, in step 600, the transport load calculation unit 400 determines whether or not a boom raising operation (a boom raising operation (that is, an extension operation of the boom cylinder 113)) is started, and when it is determined that the boom raising operation is started. Then, go to step 601. The presence / absence of the boom raising operation can be determined, for example, by whether or not the boom tilt sensor signal 120s is input. If there is no boom raising operation, the process proceeds to step 609.

  In step 601, the transport load calculation unit 400 starts counting the duration of the boom raising operation, and proceeds to step 602. The initial value of the boom raising operation duration (boom raising operation time) is zero.

In step 602, the transport load calculation unit 400 performs a transport load calculation process that calculates the weight (transport load) of the transport target in the bucket 112 excavated by the operation of the work device 100. FIG. 7 is a schematic diagram related to the transport load calculation. Transportation load F ₀ is calculated by solving the equilibrium equations of the moment M of the boom pivot center. The moment M generated with the transport load F ₀ is a load point set on the bucket 112 (for example, a point set in advance near or at the center of gravity of the system consisting of the bucket 112 and the transport object) and the boom rotation center. Using the horizontal distance L, M = F ₀ · L. On the other hand, the moment M generated with the thrust f of the boom cylinder 113 is expressed by M = f · l using the horizontal distance l from the central axis of the boom cylinder 113 to the boom rotation center. The horizontal distances L and l are known by using the detected values 120s-122s of the respective inclination sensors 120-122 and the distance between the rotation centers of two adjacent front members among the three front members 110, 111, 112. It can be calculated by the method. The thrust f can be calculated by a known method using the detection values of the boom bottom pressure sensor 160 and the boom rod pressure sensor 161, the diameter of the bottom hydraulic chamber, the diameter of the rod hydraulic chamber, the diameter of the rod, and the like. From these, the carrying load F ₀ which is an unknown number is derived by “F ₀ = f · l / L”. When step 602 ends, the weight measurement controller 151 advances the process to step 603.

  In step 603, the transport load calculation unit 400 determines whether the boom raising operation is continued based on, for example, whether the boom tilt sensor signal 120s is continuously input. If it is determined that the boom raising operation is continued, the process proceeds to step 604. If not, the process proceeds to step 609.

  In step 604, the transport load calculation unit 400 determines whether or not the boom raising operation time that has been started in step 601 has reached a predetermined value Tb or more. If it is determined that the boom raising operation has been continuously performed for the predetermined value Tb or more, the process proceeds to step 605. For example, when the predetermined value Tb is set to 5 [s], the transport load calculation unit 400 moves the process to step 605 when 5 [s] or more has elapsed from step 601. If the boom raising operation time is less than the predetermined value Tb, the process returns to step 602 and the transport load is calculated again.

  The purpose of determining the boom raising operation time in step 604 is to repeatedly calculate the carrying load obtained from the moment balance equation in step 602 during the raising of the boom, and use the average value in the subsequent step 605 as the carrying load. The purpose of this is to improve the accuracy of the calculated value of the transport load. Further, the presence / absence of the boom raising operation in step 600 or 603 may be determined from the signal 140s from the boom operation lever 140, the signal 160s from the pressure sensor of the boom bottom pressure 160, or the like.

In step 605, the transport load computing unit 400 calculates the average value of the transport load F ₀ computed multiple times in step 602 during a predetermined time Tb, the output in the transport load correcting portion 401 and the average value as a vehicle load F ₀ To do. Further, the transport load calculation unit 400 outputs a signal (transport load calculation flag) indicating that the transport load F ₀ has been calculated by the transport load calculation unit 400 to the operation classification unit 402. At this time, the transport load calculation unit 400 may output a transport load calculation flag to the correction value calculation unit 404 or the correction effectiveness determination unit 406.

In step 606, the transport load correction unit 401 performs a process of acquiring the correction value ΔF for correcting the transport load F ₀ input from the transport load calculation unit 400 in step 605 from the correction information storage unit 405. The correction value ΔF acquired here is determined in advance. When step 606 is completed, the process proceeds to the subsequent step 607.

In step 607, the transport load correction unit 401 corrects transportation load calculation process for calculating the corrected conveying load F carrying a load after correction by correcting the carrying load F ₀ by the correction value ΔF is performed. In this embodiment, assuming that the transport load calculated in step 605 is F ₀ and the correction value acquired in step 606 is ΔF, the corrected transport load F in step 607 is calculated by F = (F ₀ + ΔF). As will be described later, the correction value ΔF is set based on the transport load F ₀ calculated by the transport load calculation unit 400 when the bucket 112 is in an empty state. Specifically and as the correction value ΔF those subjected minus transportation load F ₀ when unladen state, thereby correcting transport load when unladen state is zero. The empty state in this paper means that the bucket 112 is substantially empty. For example, even when mud or soil adheres to the bucket and the weight of the bucket increases substantially, Consider it. By the processing in step 607, even when there is a measurement error, the weight of the transport object in the bucket 112 can be accurately measured.

  In step 608, a process of storing the corrected transport load F, which is the calculation result of step 607, in the corrected transport load and motion classification storage unit 403 is performed. The corrected transport load stored here is stored in association with the operation classification of the work apparatus 100 during the boom raising operation (that is, during steps 600 to 604) described later with reference to FIG. When step 608 is completed, the process proceeds to weight measurement controller 151 step 609.

  In step 609, the transport load correction unit 401 performs a process of resetting the boom raising operation time to zero, and proceeds to step 610.

  In step 610, the transport load calculation unit 400 determines whether or not the bucket 112 has started rotating upward with respect to the arm 111, that is, whether or not the dumping operation of the bucket 112 has been started. Judgment processing is performed. Here, the transport load calculation unit 400 monitors the bucket inclination sensor signal 122s, and when the bucket 112 is operated in the dump direction, the process proceeds to step 607.

  In step 607, the processing result of steps 602, 605, and 607 is reset to zero. The transport load correction unit 401 outputs a signal that informs the display control unit 407 that the corrected transport load value is zero. The display control unit 407 resets the numerical value of the bucket load display unit 301 on the screen of the display monitor 170 (see FIG. 14) on which the corrected transport load value calculated in step 607 is displayed to zero.

  In general, a hydraulic excavator having a bucket 112 as a work tool such as the loading machine 1 performs excavation and loading work by repeating a cycle of excavation (arm cloud), boom-up turning, earth release, and leaching to the excavation start position. Carry out. The bucket load can be measured smoothly by the processing of steps 600 to 607 which are steps for detecting the boom raising operation and the bucket dumping operation for a predetermined time.

  In this paper, the average value of a plurality of transport loads calculated during the time Tb during which the boom raising operation is continued is used as the transport load to be output to the transport load correcting unit 401, but at a certain time during the boom raising operation. You may comprise so that the calculated conveyance load may be output to the conveyance load correction | amendment part 401. FIG.

<< Step 502: Operation Classification of Front Work Device >>
The operation classification processing of the work device 100 by the operation classification unit 402 in step 502 will be described in detail with reference to FIGS. FIG. 8 shows a subroutine of step 502. FIG. 9 is a schematic diagram for explaining the concept of the operation classification process of the work device 100 in the present embodiment. The transport load calculation unit 400 classifies the operation of the work device 100 based on the operation speed information and the posture information of the work device 100. In this embodiment, the operation of the work device 100 classifies the boom raising operation into nine operations. The boom raising angular velocity is used as the operation speed information of the work device 100 used for classification, and the bucket horizontal distance (described later) is used as the posture information of the work device 100.

  With the activation of the controller 155 as a trigger, the weight measurement controller 151 starts the subroutine of FIG. First, in step 620, the motion classification unit 402 determines whether or not the transport load calculation unit 400 determines in step 600 in FIG. 6 that the boom raising operation has started. When the transport load calculation unit 400 determines in step 600 that the boom raising operation has been started, the operation classification unit 402 advances the processing to step 621. On the other hand, if the boom raising operation is not started, the process is terminated and the process proceeds to the next step 503.

  In step 621, the operation classification unit 402 calculates the boom raising angular velocity. Since the boom tilt sensor 120 is an IMU equipped with a gyro sensor, the boom raising angular velocity can be easily calculated from the boom tilt sensor signal 120s.

  In step 622, the motion classification unit 402 performs boom raising angular velocity determination, which is one of the motion classification processes of the working device in the present embodiment. FIG. 9A is a schematic diagram relating to boom raising angular velocity determination in the present embodiment. The storage device in the weight measurement controller 151 has determination criteria (for example, two angular velocity thresholds V1 and V2 for classification into three categories of large, medium, and small) for the operation classification unit 402 to perform boom raising angular velocity determination. It is set in advance. The motion classification unit 402 compares the boom raising angular velocity calculated in step 621 with the magnitude relationship between the two angular velocity thresholds V1 and V2, so that the boom raising angular velocity calculated in step 621 is classified as either large, medium, or small. It is determined whether or not For example, the calculation result shown in the schematic diagram of FIG. 9A is a determination result that the classification is “medium” because the boom raising angular velocity is V1 or more and less than V2.

  In step 623, the operation classification unit 402 performs the calculation of the bucket horizontal distance. The bucket horizontal distance in the present embodiment is the same value as the horizontal distance L between the load point and the boom rotation center shown in FIG. 7, and the calculation result of the transport load calculation unit 400 can also be used. As described above, the bucket horizontal distance L can be easily calculated using the detection values of the inclination sensors 120 to 122.

  In step 624, the action classification unit 402 performs bucket horizontal distance determination, which is an action classification process for another work device in the present embodiment. FIG. 9B is a schematic diagram relating to bucket horizontal distance determination in the present embodiment. The storage device in the weight measurement controller 151 includes a determination criterion for the operation classification unit 402 to determine the bucket horizontal distance (for example, two horizontal distance thresholds L1 and L2 for classification into three categories of large, medium, and small). Is preset. The action classification unit 402 compares the bucket horizontal distance calculated in step 623 with the magnitude relationship between the two horizontal distance thresholds L1 and L2, so that the bucket horizontal distance calculated in step 623 is large, medium, or small. Judge whether it falls under the classification. For example, the calculation result shown in the schematic diagram of FIG. 9B is a determination result that is equivalent to “large” because the bucket horizontal distance is equal to or greater than L2.

  In step 625, the operation classification unit 402 determines whether or not the transport load calculation unit 400 determines in step 603 in FIG. 6 that the boom operation is continued based on the boom tilt sensor signal 120s. If the transport load calculation unit 400 determines that the boom raising operation is continuing, the process returns to step 621; otherwise (ie, the boom raising operation is completed), the process proceeds to step 626.

  The determination results (classification results) obtained in steps 622 and 624 are sequentially stored in the storage device in the weight measurement controller 151 together with the classification time.

  In step 626, the action classification unit 402 determines whether or not the corrected transport load F is calculated by the transport load correcting unit 401 after step 605 of FIG. 6 is executed. For example, when the transport load calculation flag is output from the transport load correction unit 401, it can be determined that the corrected transport load F has been calculated. When the calculation of the corrected transport load F is confirmed by the transport load correction unit 401, the process proceeds to step 627. Otherwise, the determination result of steps 622 and 624 is discarded, and the process ends and the process proceeds to the next step 503. .

  In step 627, the motion classification unit 402 determines whether the work apparatus 100 is based on the classification results obtained in steps 621 to 624 from the start of the boom raising operation until the time Tb (see step 604 in FIG. 6) elapses. One action classification is determined. In this determination of the motion classification, for example, the mode values of the boom raising angular velocity determination and the bucket horizontal distance determination can be set as the final motion classification. Further, the average value of the angular velocity and the horizontal distance calculated in steps 621 and 623 during the time Tb is calculated, and the final action classification is determined by comparing the calculated value with the magnitude relation between the threshold values. May be. When the action classification is determined, the process proceeds to step 628.

In step 628, the action classification unit 402 associates the action classification result of the work apparatus 100 determined in step 627 with the corrected carry load F calculated in step 607 of FIG. The process to memorize is performed. Thus among the conveying load which is calculated in the transport load computing unit 400, step 607 transported load F ₀ of carrying the load correcting portion 401 (FIG. 6) is utilized for the calculation of the correction transportation load F at step 605 (FIG. 6) The classification result of the operation of the work device 100 by the operation classification unit 402 when calculated by the transport load calculation unit 400 is stored in association with the corrected transport load F, and the corrected transport load F and the operation classification of the work device 100 are one set. The data is stored in the storage unit 403 as data.

  In this paper, the case where the operation classification of the work device 100 is determined from a plurality of boom raising angular velocities and bucket horizontal distances calculated during the time Tb during which the boom raising operation is continued will be described. The motion classification may be determined from the boom raising angular velocity and the bucket horizontal distance that are calculated at a certain time.

<< Step 503: Correction Value Calculation / Storage >>
The correction value calculation / storage process in step 503 will be described in detail with reference to FIG. FIG. 10 shows the subroutine of step 503.

  In step 640, the correction value calculation unit 404 determines whether or not the operator of the loading machine 1 has pressed the correction value update switch 171 (see FIG. 14 described later) installed on the screen of the display monitor 170. Do. When the switch signal 171 s is input to the correction value calculation unit 404 and the determination result that the switch 171 is pressed is obtained, the correction value calculation unit 404 advances the process to step 641. On the other hand, when the switch signal 171s is not input, the process is terminated without performing the correction value calculation process. In the present embodiment, the correction value update switch 171 is provided on the screen of the display monitor 170, but may be provided as a hardware switch in the cab 103, for example.

  In Step 641, the correction value calculation unit 404 determines whether or not the corrected transport load F is calculated by the transport load correction unit 401 after Step 605 of FIG. 6 is executed. For example, when the transport load calculation flag is output from the transport load correction unit 401, it can be determined that the corrected transport load F has been calculated. When the calculation of the corrected transport load F is confirmed by the transport load correction unit 401, the process proceeds to step 642. Otherwise, the process ends and the process proceeds to the next step 504.

  In step 642, the correction value calculation unit 404 calculates the corrected transport load F calculated in step 607 of FIG. 6 and stored in step 608 as the corrected transport load to be used for calculation of the correction value in the next step 643. And the process acquired from the action classification memory | storage part 403 is performed.

  In Step 643, the correction value calculation unit 404 performs processing for acquiring the current correction value ΔF that is set by the transport load correction unit 401 in Step 606 of FIG. 6 from the correction information storage unit 405.

In step 644, the correction value calculation unit 404 performs a process of calculating a new correction value ΔF ′ using the corrected transport load F acquired in steps 642 and 643 and the current correction value ΔF. The new correction value ΔF ′ calculated in step 644 is calculated as ΔF ′ = (ΔF−F) = − F ₀ . In other words, the new correction value ΔF ′ is set so that the corrected transport load F calculated when the boom raising operation is performed in an empty state becomes zero.

  In step 645, the operation classification result of the work device 100 by the operation classification unit 402 when the correction conveyance load F used for calculation of a new correction value is calculated is acquired from the correction conveyance load and operation classification storage unit 403. Perform the process.

  In step 646, correction information storage processing is performed in which the correction value calculated in step 644 and the operation classification result of the work apparatus 100 acquired in step 645 are associated and stored in the correction information storage unit 405. In addition, the correction value acquired by the transport load correction unit 401 in step 606 of FIG. 6 is set to this new correction value ΔF ′.

As a result, when the operator presses the correction value update switch 171 and performs the boom raising operation for the time Tb or longer when the bucket 112 is in an empty state, the corrected transport load F is set to zero by the processing flow described above. A new correction value ΔF ′ is calculated. Of the transport loads calculated by the transport load calculation unit 400, the transport load F ₀ used by the correction value calculation unit 404 for calculating the new correction value ΔF ′ in step 644 is the transport load in step 605 (FIG. 6). The classification result of the operation of the work device 100 by the operation classification unit 402 when calculated by the calculation unit 400 is stored in association with the new correction value ΔF ′, and the new correction value ΔF ′ and the operation classification of the work device 100 are stored. It is stored in the correction information storage unit 405 as a set of data.

<< Step 504: Correction Effectiveness Determination >>
The correction effectiveness determination process in step 504 will be described in detail with reference to FIGS. 11, 12, and 13. FIG. 11 shows the subroutine of step 504. FIG. 12 is a schematic diagram for explaining the concept of correction effectiveness determination in the present embodiment. FIG. 13 shows a correction effectiveness determination method in the present embodiment.

  In step 660, the correction effectiveness determination unit 406 determines whether or not the corrected conveyance load F is calculated by the conveyance load correction unit 401 after step 605 of FIG. For example, when the transport load calculation flag is output from the transport load correction unit 401, it can be determined that the corrected transport load F has been calculated. If the calculation of the corrected transport load F is confirmed by the transport load correction unit 401, the process proceeds to step 661. If not, the process ends and the process proceeds to the next step 505.

  In step 661, the correction effectiveness determination unit 406 performs processing for acquiring the operation classification result of the work device 100 determined in step 627 of FIG. 8 from the corrected transport load and operation classification storage unit 403.

  In step 662, the correction effectiveness determination unit 406 acquires from the correction information storage unit 405 the operation classification result of the work device 100 corresponding to the current correction value ΔF acquired by the transport load correction unit 401 in step 606 of FIG. 6. Process.

  In step 663, the correction effectiveness determination unit 406 first determines whether or not the boom raising angular velocity matches the operation classification acquired in steps 661 and 662. FIG. 12A is a schematic diagram relating to determination of coincidence of boom raising angular velocities. The operation classification result of the work device 100 acquired in step 661 is compared with the operation classification result of the work device 100 when the current correction value ΔF acquired in step 662 is calculated. A determination is made as to whether the small determination results are the same. In the example shown in FIG. 12A, since both are equivalent to “medium”, it is determined that the boom raising angular velocities match.

  In the subsequent step 664, the correction effectiveness determination unit 406 determines the matching of the bucket horizontal distance for the action classification acquired in steps 661 and 662. FIG. 12B is a schematic diagram related to determination of matching of bucket horizontal distances. The operation classification result of the work device 100 acquired in step 661 is compared with the operation classification result of the work device 100 when the current correction value ΔF acquired in step 662 is calculated. A determination is made as to whether the small determination results are the same. In the example shown in FIG. 12B, the former is equivalent to “Large” and the latter is equivalent to “Medium”, so it is determined that the bucket horizontal distances do not match.

In step 665, the correction effectiveness determination unit 406 performs correction effectiveness determination based on the determination results of steps 663 and 664. The correction effectiveness determination unit 406 calculates the classification of the operation of the work device 100 at the time of calculation of the transport load F ₀ classified by the operation classification unit 402 and the classification of the operation of the work device 100 stored in the correction information storage unit 405. It is determined that the correction of the transport load by the correction value ΔF is more effective as the matching degree is higher. Specific determination criteria for the correction effectiveness determination in the present embodiment are as follows.

  FIG. 13 shows the criteria for determining the correction effectiveness in this embodiment. As shown in this figure, the correction effectiveness determination unit 406 of the present embodiment determines that “correction is valid” when the result of the matching determination between the boom raising angular velocity and the bucket horizontal distance is “both match”. To do. Further, when the result of the coincidence determination between the boom raising angular velocity and the bucket horizontal distance is “both disagree”, it is determined that “correction is invalid”. Further, if the result of the coincidence determination between the boom raising angular velocity and the bucket horizontal distance is “one of them coincides”, it is determined that “the effectiveness of the correction is reduced (warning required)”. Therefore, in the case of FIG. 12, it is determined as “warning required”.

As described above, according to the flowchart of FIG. 11, among the transport loads calculated by the transport load calculation unit 400, when the transport load F0 used by the transport load correction unit 401 to calculate the corrected transport load F is calculated. Based on the degree of coincidence between the classification result of the operation of the work device 100 by the operation classification unit 402 and the operation classification of the work device 100 when the correction value ΔF stored in the correction information storage unit 405 is calculated. it is possible to determine the effectiveness of the correction of the load F _0. As a result, it is possible to easily determine how far the operation of the working device 100 at the time of calculating the corrected transport load is different from the operation of the working device 100 at the time of calculating the correction value ΔF.

<< Step 505: Display Control >>
The display control in step 505 will be described in detail with reference to FIG. FIG. 14 shows the appearance of the display screen of the display monitor 170 in this embodiment.

  The bucket load display 301 on the screen displays the corrected transport load calculated in step 607 of FIG. The correction effectiveness display section 302 displays the correction effectiveness determination result determined in step 665 of FIG. In the present embodiment, any one of the three determination results is turned on according to the determination criterion shown in FIG. Note that the lamp is turned off together with the zero reset of the transport load when passing through step 611 in FIG. The correction value update switch 171 installed on the screen of FIG. 14 receives a correction value update instruction from the operator of the loading machine 1 who desires to update the correction value when pressed.

<Effect of Embodiment 1>
In the loading machine 1 configured as described above, first, after the operator sets the bucket 112 in an empty state and presses the correction value update switch 171, the same operation as the transportation work performed during the actual excavation loading work is performed. (For example, a turning boom raising operation) is performed. Thereby, the correction value ΔF is calculated by the correction value calculation unit 404, and the calculated correction value ΔF is stored in the correction information storage unit 405 together with the operation classification of the boom raising operation at that time. Thereafter, when the actual excavation and loading work is performed, the carrying load during the carrying work (that is, during the turning boom raising operation in which the bucket 112 packed with the carrying object is moved above the loading platform of the dump truck 2). Calculation of the corrected transport load F by the correction unit 401 and operation classification of the boom raising operation during the transport operation by the operation classification unit 402 are performed. This action classification is compared with the action classification at the time of calculating the correction value ΔF by the correction effectiveness determination unit 406, and the difference between the boom raising action at the time of measuring the corrected transport load F and the boom raising action at the time of calculating the correction value ΔF. The degree is notified to the operator as the determination result of the correction effectiveness.

  Thus, when calculating the corrected transport load F, the operator of the loading machine 1 can easily check whether the boom raising operation close to the boom raising operation at the time of calculating the correction value ΔF is performed. For this reason, the front operation with the correction effectiveness determination result of “effective” is frequently performed and the load capacity of the transporting machine is optimized, so that the production efficiency can be expected to be improved.

  In addition, when invalidity or warning frequently occurs as a determination result of the correction effectiveness on the screen of the display monitor 170, a correction value suitable for the operation tendency of the operator of the loading machine 1 and the work environment may not be set. Inferred. Accordingly, it is possible to prompt the operator to update the correction value according to the own operation tendency or the operation of the work apparatus 100 performed under a special work environment. If a correction value is set in line with the actual front operation, the accuracy of the corrected transport load is improved and the loading capacity of the transport machine is optimized, so an improvement in production efficiency can be expected.

  In order to recalculate the corrected transport load when the correction effectiveness is “invalid” or “warning” (that is, to perform the boom raising operation again), for example, the transport load is reset on the screen of the display monitor 170. A switch may be provided. When the transport load reset switch is pressed by the operator, the accumulation of the corrected transport load with respect to the load of the transport machine is canceled, and the corrected transport load and the transport load are reset to zero. Thus, if the boom raising operation is performed again after the transport load reset switch is pressed, the corrected transport load of the transport object in the bucket 112 can be remeasured.

Embodiment 2
In the present embodiment, a plurality of correction values are set in advance as correction values used for calculating the corrected carrying load, and among the plurality of correction values, the correction value is associated with the operation classification closest to the actual boom raising operation. A feature is that one correction value is automatically selected. Further, a plurality of correction value update switches 171 (see FIG. 18) are arranged on the screen of the display monitor 170 (three in this embodiment) so that different correction values can be set. Yes. The contents other than those described below are the same as those in the first embodiment.

<Internal configuration of weight measurement controller>
The internal configuration of the weight measurement controller 151 is shown in FIG. The difference from FIG. 4 is that a plurality of correction values are stored in the correction information storage unit 405 and that a correction information selection unit 420 is newly provided.

  In the correction information storage unit 405, a plurality of correction values are stored as correction values. Further, a plurality of transport loads used by the transport load correction unit 401 for calculation of the plurality of correction values are stored in the transport load calculation unit 400. A plurality of operation classifications of the work device 100 by the operation classification unit 402 when calculated are stored in association with the plurality of correction values, respectively. That is, when three correction values are stored, the operation classification of the working device 100 when calculating the three correction values is stored in the correction information storage unit 405 in association with the three correction values.

The correction information selection unit 420 uses the transport load F ₀ used by the transport load correction unit 401 to calculate the corrected transport load F from the plurality of operation classifications of the work device 100 stored in the correction information storage unit 405. The one closest to the operation classification of the work device 100 by the operation classification unit 402 when calculated by the operation unit 400 is selected and stored in association with the operation classification of the selected work device 100 among the plurality of correction values. This correction value is selected as a correction value used in the transport load correction unit 401.

<Overall processing flow of weight measurement controller>
An overall processing flow of the weight measurement controller 151 is shown in FIG. Unlike FIG. 5, the process of step 502 is executed in parallel with the process of step 501A (however, in FIG. 5, step 502 and step 501 may be processed in parallel). Step 502 is the same as that shown in FIG. 8, step 503 is the same as that shown in FIG. 10, and step 504 is the same as that shown in FIG.

<< Step 505: Display Control >>
First, the display control in step 505 will be described in detail with reference to FIG. FIG. 18 shows the appearance of the display screen of the display monitor 170 in this embodiment. The difference from FIG. 14 is that three types of correction value update switches 171 are provided.

  The functions of the correction value update switches 171a, 171b, and 171c are the same as those in the first embodiment. The difference is that correction information can be stored in the correction information storage unit 405 corresponding to each of the switches 171a, 171b, 171c (that is, three types of correction information (correction values ΔFa, ΔFb, ΔFc and associated front operation classification) ) Can be set). For example, when the correction value ΔFa is calculated by depressing the correction value update switch A171a and performing a boom raising operation in an empty state, the correction value ΔFa and the front operation classification at that time are stored as the correction value and the operation classification of the update switch A171a. Is done. When the correction value ΔFa of the update switch A 171a is selected in the correction value setting described later, the update switch 171a is highlighted on the screen, and the correction value ΔFa set in the update switch A 171a is used for the calculation of the corrected transport load. To the operator.

<< Step 501A: Transport Load Calculation / Correction Process >>
Next, the carrying load calculation / correction processing in step 501A is shown in FIG. FIG. 17 shows the subroutine of step 501A. The difference from FIG. 6 is that the correction information selection process in step 702 is newly added, and the correction value acquisition process in step 606 is deleted in accordance with the addition of step 702.

<<< Step 702: Selection of Correction Information >>>
The correction information selection process in step 702 will be described in detail with reference to FIGS. FIG. 19 shows the subroutine of step 702. FIG. 20 is a schematic diagram for explaining the concept of correction information selection in the present embodiment.

  First, in step 720, the correction information selection unit 420 performs processing for acquiring the motion classification determined in step 502 (that is, step 627 of the subroutine of FIG. 8) from the corrected transport load and motion classification storage unit 403. When step 720 is completed, the correction information selection unit 420 proceeds to the next step 721.

  Next, in step 721, the correction information selection unit 420 performs a process of acquiring, from the correction information storage unit 405, the operation classification result of the working device 100 when calculating the correction values related to all three update switches 171a, 171b, and 171c.

  In step 722, the correction information selection unit 420 does not have the same classification result as the action classification result of the actual work device 100 acquired in step 720 or the same thing among the three action classification results acquired in step 721. In this case, a process for selecting the most similar classification result is performed. FIG. 20 is a schematic diagram showing the concept of the processing in step 722. In the example illustrated in FIG. 20, the operation classification result of the actual working device 100 acquired in step 720 is the boom raising angular velocity (medium) and the bucket horizontal distance (large) (see the hatched bottom row). The method for determining the operation classification result of the work device 100 when calculating the correction value most similar to this is arbitrary, but in the present embodiment, numerical values 3, 2, and 1 are applied to the large, medium, and small classifications ( The difference ΔV, ΔL between the numerical value of the operation classification and the numerical value of the operation classification of the three correction values for each of the boom raising angular velocity V and the bucket horizontal distance L is taken. The policy is to select the correction information that has the smallest sum (ΔV + ΔL) of both. In the example of FIG. 20, since the values of ΔV + ΔL are 1, 2, and 3 in order from the top to the bottom, the operation classification of the work device 100 when calculating the correction value related to the top update switch A (171a). It is determined that the result (ΔV + ΔL = 1) is most similar to the action classification result of the actual work device 100.

  In step 723, the correction information selection unit 420 receives the determination result in step 722 and selects correction information (correction value and operation classification associated therewith) related to the most similar operation classification among the three operation classifications. Do. Of the correction information selected here, the correction value is used in step 607 in FIG. 17, and the action classification is used in step 504 in FIG. 16 (that is, step 662 in FIG. 11).

<Effect of Embodiment 2>
In the loading machine 1 configured as described above, first, the operator sets the bucket 112 in an empty state and presses one of the three correction value update switches 171a, 171b, 171c to perform the turning boom raising operation. As a result, the calculation of the correction value ΔF and the operation classification of the front operation are performed, and the correction value is stored in the correction information storage unit 405 in association with the correction value update switch 171 in which the correction value and the operation classification are pressed. The remaining two correction value update switches 171 perform the boom raising operation in the same manner, and associate the correction value and the operation classification with each switch. However, it is preferable to appropriately adjust the angular velocity V and the horizontal distance L so that the boom raising operation when calculating the three correction values ΔFa, ΔFb, and ΔFc are different in operation classification.

Then, when the actual excavation loading work, during its transportation operations (i.e. during turning boom raising operation), and operation of the transportation load F ₀ by carrying the load calculation unit 400 (step 605 in FIG. 16), the operation classification unit The operation classification of the boom raising operation during the carrying work by 402 is performed (step 627 in FIG. 8 and step 702 in FIG. 16). Then, the correction information selection unit 420 determines the motion category most similar to the motion classification among the motion categories associated with the previous three correction values ΔFa, ΔFb, ΔFc (step 722 in FIG. 19), and the most similar The correction value related to the action classification is set as a correction value used by the transport load correction unit 401 (step 723 in FIG. 19).

  In other words, in the present embodiment, a correction value related to the motion classification closest to the motion classification is automatically selected in response to the actual motion classification result of the work device 100. As a result, the effect of increasing the correction effectiveness as a whole can be obtained, so that in addition to the effect of the first embodiment, an effect of reducing the burden of the operator to reset the correction value can be obtained.

  In the above description, the number of correction value update switches 171 is three. However, the number of switches 171 may be other than three as long as there are a plurality of switches. The above description is based on the assumption that the operator sets correction values. However, a plurality of different operation classifications and correction values associated therewith are stored in advance in a storage device (correction information storage unit 405) in the controller 151. You can leave it. In this case, the operator's burden is further reduced because the correction value setting work by the operator (depressing the switch 171 and the boom raising operation in an empty state) becomes unnecessary.

Embodiment 3
In the present embodiment, when the operation classification of the work device 100 at the time of the latest transport load calculation (that is, the latest boom raising operation classification) matches the most frequent operation classification in the time series data of the operation classification of the past work device 100. When the bucket 112 at that time can be considered to be in an empty state (for example, when the corrected transport load calculated by the transport load correction unit 401 is less than a predetermined threshold value near zero), the transport load correction unit 401 uses New correction value automatically calculated based on the latest transport load (that is, the correction value calculation unit 404 automatically calculated based on the transport load calculated during the latest boom raising operation) Whether or not to update with a new correction value) is displayed on the display monitor 170, and when the operator's consent is obtained for updating the correction value, the correction value is updated with the new correction value. It is characterized by a point. The contents other than those described below are the same as those in the first embodiment.

<Internal configuration of weight measurement controller>
The internal configuration of the weight measurement controller 151 is shown in FIG. The difference from FIG. 4 is that an update recommendation determination unit 430 is newly provided.

  Similarly to the first embodiment, the corrected transport load and motion classification storage unit 403 stores time series data of the motion classification of the work device 100 by the motion classification unit 402.

Updating the recommended determination unit 430, the operation classification of the working device 100 by operating the classification unit 402 when carrying a load correcting portion 401 to transport load F ₀ utilized for the calculation of the correction transportation load F is calculated on the transported load calculating section 400 When the corrected operation load F is less than a predetermined threshold value Ft (described later) when it matches the most operation classification among the operation operation time series of the work device 100 stored in the operation classification storage unit 403, the operation load correction is performed. The correction value ΔF (currently used correction value) used by the unit 401 for calculating the corrected transport load F, and the new correction value ΔF ′ calculated by the correction value calculation unit 404 using the transport load F ₀ are used. The display control unit 407 outputs a display signal for displaying on the display monitor 170 a display recommended to be updated.

  Upon receiving the display signal output from the update recommendation determination unit 430, the display control unit 407 displays on the display monitor 170 a display for recommending the operator to update the current correction value ΔF with the new correction value ΔF ′. To do. In this embodiment, the update recommendation lamp 310 is turned on as this display, and when the correction value update switch 171 is pressed while the update recommendation lamp 310 is turned on, the correction value ΔF is updated to the latest correction value ΔF ′. ing. That is, the correction value update switch 171 of this embodiment has a role of a correction value update execution switch.

<Overall processing flow of weight measurement controller>
The overall processing flow of the weight measurement controller 151 is shown in FIG. The difference from FIG. 5 is that an update recommendation determination process in step 510 is added. Steps 500, 501, 503, and 504 are the same as those in the first embodiment, and the remaining steps 502, 510, and 505 will be described below.

<< Step 502: Operation Classification of Front Work Device >>
The outline of the operation classification processing of the work apparatus 100 by the operation classification unit 402 in step 502 is the same as that in FIGS. 8 and 9 described above, but the operation classification storage processing in step 628 (FIG. 8) of the present embodiment is used. There are the following differences.

  FIG. 23 is a schematic diagram showing time series data of motion classification stored in the corrected transport load and motion classification storage unit 403 in the present embodiment. In the first embodiment described above, only one action classification result by the action classifying unit 402 is stored in the storage unit 403. However, in the present embodiment, the last ten action classifications are stored. ing. When the operation classification unit 402 executes step 628, the operation classification result of the boom raising operation is stored in the memory No. 1 are sequentially stored, and No. 1 is stored. After the memory of 10 is performed, No. 10 is stored. Returning to 1, overwriting is performed.

<< Step 503: Correction Value Calculation / Storage >>
The correction value calculation / storage processing by the correction value calculation unit 404 in step 503 in FIG. 22 will be described in detail with reference to FIG. FIG. 27 shows a subroutine of step 503 of the present embodiment. The outline of the processing in this figure is the same as that in FIG. 10 described above, but differs in that step 640 for determining whether or not the correction value update switch 171 is pressed moves between step 645 and step 646. When the subroutine processing is configured in this manner, calculation of a new correction value ΔF ′ and acquisition of the corresponding action classification result are executed regardless of whether or not the correction value update switch 171 is pressed, and then the correction value update switch 171 is pressed. These pieces of information are stored in the correction information storage unit 405.

<< Step 510: Update Recommendation Determination >>
The update recommendation determination process by the update recommendation determination unit 430 in step 510 in FIG. 22 will be described in detail with reference to FIGS. FIG. 24 shows the subroutine of step 510. FIG. 25 is a schematic diagram for explaining the concept of the front operation mode value calculation for the update recommendation determination unit 430 of the present embodiment to perform the update recommendation determination.

  In step 800, the update recommendation determination unit 430 performs processing for acquiring time series data of the operation classification (front operation classification) of the work device 100 illustrated in FIG. 23 from the corrected transport load and operation classification storage unit 403.

  In step 801, the update recommendation determination unit 430 counts the number of appearances of each action classification result using the time series data of the action classification results for the past 10 times acquired in step 800, and the action classification ( (Mode) is obtained (front operation classification mode value calculation process). FIG. 25 shows the result of the front action classification mode value calculation process for the example of the action classification result of the work apparatus 100 shown in FIG. As shown in this figure, there are a total of nine classifications of boom raising operations, of which four combinations of boom raising angular velocity “medium” and bucket horizontal distance “large” have occurred four times. It is a value.

  In step 802, the update recommendation determination unit 430 determines whether or not the latest action classification result of the work device 100 performed in step 502 matches the mode value obtained in step 801. If the latest action classification matches the mode value, the process proceeds to step 803, and if not, the process proceeds to step 806. For example, in the example illustrated in FIG. 25, the process proceeds to Step 803 only when the latest motion classification result by the motion classification unit 402 is the boom raising angular velocity “medium” and the bucket horizontal distance “large”.

  In step 803, the update recommendation determination unit 430 performs a process of acquiring the latest corrected transport load F calculated in step 501 (step 607 in FIG. 6) from the corrected transport load and action classification storage unit 403.

Next, at step 804, updating the recommended determination unit 430 refers to the latest correction transportation load F obtained in Step 803, the bucket 112 during operation of the transportation load F ₀ is determined whether an unloaded state. In the present embodiment, it is determined whether or not the bucket 112 is in an empty state using the threshold value Ft for determining an empty load. Specifically, when the transport load F0 is less than the threshold value Ft, it is considered that the bucket 112 is in an empty state. The unload determination threshold value Ft is stored in advance in a storage device (not shown) in the weight measurement controller 151. Although the setting method of the threshold value Ft is arbitrary, it can determine with reference to a bucket rated capacity, for example. For example, when 50 [kg] is set as the threshold value Ft in a bucket that can carry a maximum of 1000 [kg], a 5% or less of the rated capacity is regarded as empty. If it is determined in step 804 that the bucket 112 is in an empty state, the process proceeds to step 805.

In step 805, the update recommendation determination unit 430 updates the current correction value ΔF with the new correction value ΔF ′ (= −F ₀ ) calculated by the correction value calculation unit 404 using the transport load F _0. An update recommendation determination, which is a signal for recommendation, is output to the display control unit 407.

  On the other hand, in step 806, the update recommendation determination unit 430 outputs an update non-recommendation determination, which is a signal for not recommending updating the current correction value ΔF with the new correction value ΔF ′, to the display control unit 407.

<< Step 505: Display Control >>
The appearance of the display monitor 170 in this embodiment is shown in FIG. The difference from FIG. 14 is that an update recommendation lamp 310 is newly added.

  When the update recommendation determination is input from the update recommendation determination unit 430 (that is, when step 805 is passed in FIG. 25), the display control unit 407 updates the display monitor signal 170s that turns on the update recommendation lamp 310. When an update non-recommendation determination is input from the recommendation determination unit 430 (when passing through step 806), a display monitor signal 170s that turns off the update recommendation lamp 310 is generated.

<Effect of Embodiment 3>
In the loading machine 1 configured as described above, prior to the excavation work, first, the correction value ΔF and the operation classification of the boom raising operation corresponding to the correction value ΔF are stored in the correction information storage unit 405. .

Thereafter, when the actual excavation work is repeatedly performed, the transport load calculation unit 400 calculates the transport load F ₀ (step 605 in FIG. 6) and the motion classification unit 402 during the transport operation (that is, during the turning boom raising operation). The movement classification of the boom raising operation during the carrying work is performed (step 627 in FIG. 8), and the time series of the latest 10 movement classification results as shown in FIG. 23 is obtained.

  The update recommendation determination unit 430 obtains the action classification (mode) having the highest number of appearances in the data of the action classification result for 10 times, and whether the mode value matches the action classification result of the latest work device 100. It is determined whether or not (step 802 in FIG. 25). If the latest action classification result matches the mode value, it is determined whether or not the bucket 112 at the time of the latest boom raising is in an empty state (step 804 in FIG. 25). When it is determined that the bucket 112 is in an empty state, the update recommendation lamp 310 on the display monitor 170 is lit to prompt the operator to update the correction value ΔF. When the operator desires to update the correction value ΔF, the correction value update switch 171 is pressed and the correction value ΔF is updated to the latest correction value ΔF ′ calculated in step 503 (step 644 in FIG. 27). .

  As described above, according to the present embodiment, the front operation frequently used by the operator is automatically determined, and the update recommendation lamp 310 is turned on when the frequently used operation is performed to prompt the update of the correction value. Is possible. Since the correction value can be appropriately updated in accordance with the usage status of the work apparatus 100, usability is improved in addition to the effects of the first embodiment.

  In addition, since the update recommendation lamp 310 is turned on when the same front operation as the mode value is performed, it becomes easy for the operator to recognize the front operation in which the accuracy of the corrected transport load is relatively high.

-Others-
The present invention is not limited to the above-described embodiment, and includes various modifications within the scope not departing from the gist of the present invention. For example, the present invention is not limited to the one having all the configurations described in the above embodiment, and includes a configuration in which a part of the configuration is deleted. In addition, part of the configuration according to one embodiment can be added to or replaced with the configuration according to another embodiment. A modification is shown below.

  In this embodiment, the loading machine is configured as shown in FIG. Any configuration that can be loaded into the transporting machine, such as an increase or decrease in the number of joints (the number of front members) of the work apparatus 100, can be applied.

  Although the loading machine control system has the configuration shown in FIG. For example, the main controller 150 can also serve as the weight measurement controller 151.

  Although the calculation flow of the carrying load is the flow of FIG. 6, it is not limited thereto. Any means capable of measuring the carrying load is applicable. For example, although the boom raising operation time is used as a trigger for starting the transport load calculation, the start of the turning operation of the upper turning body 102 with respect to the lower vehicle body 101 may be used as a trigger. Moreover, although the bucket inclination sensor signal is used for the bucket dump operation determination in step 610 in FIG. 6, the operation signal of the bucket operation lever 242 may naturally be used.

  The boom classification angular velocity and the bucket horizontal distance are used for the operation classification processing of the work device 100, but this is not restrictive. As speed information of the boom raising operation, for example, any parameter that can characterize the front operation such as the boom raising angular acceleration and the boom cylinder extension speed can be used. In addition, one reference point at the bucket horizontal distance L is set as the boom rotation center. However, as long as the reference point is set in the main body of the loading machine, another place (for example, the rotation center of the upper swing body) is also used as the reference point. Is available. Similarly, if the other reference point (load point) is also a position related to the bucket 112 (for example, a toe position of the bucket 112), an alternative use is possible. Further, the number of parameters used for determination is not limited to two, and an arbitrary number of parameters can naturally be used.

  Although the operation classification processing and the correction effectiveness determination of the work device have been described by a method of dividing each parameter into three stages of large, medium, and small, this is not restrictive. Any number of divisions can be set.

  Each of the components related to the controller (control device) 155 and the functions and execution processes of the components are partially or entirely hardware (for example, logic for executing each function is designed by an integrated circuit). It may be realized. The configuration related to the controller 155 may be a program (software) that realizes each function related to the configuration of the controller 155 by being read and executed by an arithmetic processing device (for example, a CPU). Information related to the program can be stored in, for example, a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disc, etc.), and the like.

  In the above description of each embodiment, the control line and the information line are shown to be understood as necessary for the description of the embodiment. However, all the control lines and information lines related to the product are not necessarily illustrated. Not necessarily. In practice, it can be considered that almost all the components are connected to each other.

  DESCRIPTION OF SYMBOLS 1 ... Loading machine (work machine), 2 ... Conveyance machine (dump truck), 100 ... Work apparatus (front work apparatus), 110 ... Boom, 111 ... Arm, 112 ... Bucket, 113 ... Boom cylinder, 120 ... Boom inclination Sensor 121, Arm tilt sensor 122, Bucket tilt sensor 140, 141, 142, 143 Operation lever 150 ... Main controller 151 Weight controller 151 ... Controller 170 Display monitor 171 ... Correction value update switch, 301 ... Bucket load display section, 302 ... Correction effectiveness display section, 310 ... Update recommendation lamp, 400 ... Transport load calculation section, 401 ... Transport load correction section, 402 ... Action classification section, 403 ... Correction Carrying load and action classification storage unit, 404 ... correction value calculation unit, 405 ... correction information storage unit, 06 ... correction valid determination unit, 407 ... display controller, 420 ... correction information selecting unit, 430 ... update recommended determination unit

Claims (6)

A working device;
An actuator for driving the working device;
A transport load calculation unit that calculates a transport load that is a load value of a transport object transported by the work device based on posture information of the work device and load information of the actuator during operation of the actuator; and the transport A control device having a transport load correction unit for calculating a corrected transport load by correcting the load with a correction value;
In a work machine comprising a display device that displays the corrected transport load calculated by the transport load correction unit,
The controller is
An operation classifying unit for classifying the operation of the working device when the carrying load is calculated by the carrying load calculating unit based on the operation speed information and the posture information of the working device;
A correction value calculating unit that calculates the correction value based on the carrying load calculated by the carrying load calculating unit;
A correction in which the operation classification of the working device by the operation classification unit when the conveyance load used by the correction value calculation unit for calculating the correction value is calculated among the conveyance loads is stored in association with the correction value. An information storage unit;
The operation classification of the working device by the operation classification unit when the conveyance load used by the conveyance load correction unit in the calculation of the corrected conveyance load among the conveyance loads is stored in the correction information storage unit A correction effectiveness determination unit for determining the effectiveness of the correction of the carrying load by the correction value based on the degree of coincidence with the operation classification of the work device;
The display device displays a determination result of the correction effectiveness determination unit. The work machine according to claim 1,
In the correction information storage unit, a plurality of correction values are stored as the correction value, and a plurality of transport loads used by the correction value calculation unit in the calculation of the plurality of correction values are included in the transport load. A plurality of operation classifications of the work device by the operation classification unit when calculated are stored in association with the plurality of correction values, respectively.
The control device calculates a transport load used by the transport load correction unit for calculating the corrected transport load from among the plurality of operation classifications of the work device stored in the correction information storage unit. When the operation classification unit is selected, the operation classification closest to the operation classification of the work device is selected, and the correction value stored in association with the operation classification of the selected operation device is selected from the plurality of correction values. A work machine further comprising a correction information selection unit that is selected as a correction value used in the transport load correction unit. The work machine according to claim 1, wherein
The correction value calculation unit calculates the correction value based on the carrying load that the carrying load correction unit used for calculating the corrected carrying load among the carrying loads,
The controller is
An operation classification storage unit for storing a time series of operation classification of the work device by the operation classification unit;
The operation classification of the work device by the operation classification unit when the conveyance load used by the conveyance load correction unit in the calculation of the corrected conveyance load among the conveyance loads is calculated is stored in the operation classification storage unit The correction that the transport load correction unit uses for the calculation of the corrected transport load when it coincides with the most frequent operation class in the time series of the motion classification of the work device and the corrected transport load is less than a predetermined threshold value. A work machine further comprising: an update recommendation determination unit that displays on the display device whether or not to update the value with the correction value calculated by the correction value calculation unit. The work machine according to claim 1,
The working device has a boom and a bucket;
The working machine operating speed information is an operating speed of the boom, and the working machine attitude information is a distance from a main body of the working machine to the bucket. The work machine according to claim 1,
The correction effectiveness determination unit matches the classification of the operation of the work device when calculating the carrying load classified by the operation classification unit and the classification of the operation of the work device stored in the correction information storage unit. It is determined that the higher the degree is, the more effective the correction of the transport load by the correction value is. The work machine according to claim 1, wherein
The working device has a boom;
The actuator is a boom cylinder that drives the boom,
An operation of the work device when the transport load is calculated by the transport load calculating unit is a boom raising operation.

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