Method and machine for position determination of thumb bucket

Abstract

A work machine (1) includes a bucket (60) attached to an end of an arm (54) of the work machine (1) as a work tool, a thumb piece (66) pivotally coupled to the end of the arm (54), and a processing circuit (38). The processing circuitry (38) is configured to determine a current task of the work machine (1) in shoveling an object by the bucket (60) or gripping an object by the bucket (60) and the thumb piece (66) based on the angle (76) of the bucket (60), and to calculate the payload (72) based on the determined current task using parameters of the centre-of-gravity position (80A, 80B) of the payload (72).

Description

Technical Field

[0001] The present invention relates to work machines, and more particularly to construction machines having a thumb bucket for grasping or scooping objects, and systems, components, and methods thereof. Background Art

[0002] Certain types of construction machines (e.g., excavators) can provide an arm that can include a boom having a stick pivotally connected to the boom. A bucket is pivotally connected to the stick. In some cases, a thumb member can also be connected to the stick, and the thumb member can open or close above the bucket. This type of structure can be referred to as a "thumb bucket", which can generally be understood in the industry as a tool in which the thumb member can generally oppose the bucket for grasping materials and holding them between the bucket and the thumb member.

[0003] A work machine having a thumb bucket can perform grasping an object or scooping dirt depending on the situation. However, when the tasks of grasping an object and scooping dirt are performed in a random order, it may be difficult to accurately determine the payload. It is desirable to accurately determine the payload regardless of the task order. Summary of the Invention

[0004] According to one aspect, a work machine is described or provided. The work machine can include: a bucket attached to an end of a stick of the work machine as a working tool; a thumb member pivotally coupled to the end of the stick; and a processing circuit. The processing circuit can be configured to: determine a current task of the work machine in scooping an object with the bucket or grasping an object with the bucket and the thumb member based on an angle of the bucket; and calculate a payload based on the determined current task with a parameter of a center-of-gravity position of the payload.

[0005] In another aspect, a method for a work machine is disclosed or implemented. The method can include: determining a current task of the work machine in scooping an object with the bucket or grasping an object with the bucket and the thumb member based on an angle of the bucket, the bucket being attached to an end of a stick of the work machine as a working tool, and the thumb member being pivotally coupled to the end of the stick; calculating a payload based on the determined current task with a parameter of a center-of-gravity position of the payload; and outputting the calculated payload on a display of the work machine.

[0006] And in another aspect, a non-transitory computer-readable storage medium is disclosed or provided. The non-transitory computer-readable storage medium may include computer-executable instructions, wherein the instructions, when executed by an information processing system of a work machine, cause the information processing system to execute a method that includes: setting a mode for calculating a payload to an automatic mode; determining a current task of the work machine in scooping an object with a bucket or grasping an object with the bucket and a thumb member based on an angle of the bucket, the bucket being attached to an end of a boom of the work machine as a work tool, and the thumb member being pivotally coupled to the end of the boom; and calculating the payload based on a parameter of a center-of-gravity position of the payload and based on the determined current task.

[0007] Other features and aspects of the present invention will become apparent from the following description and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 is a side view of an excavator as an example of a work machine according to one or more embodiments of the disclosed subject matter.

[0009] Figure 2A and Figure 2B is a side view of a portion of an arm of a work machine having a thumb bucket according to one or more embodiments of the disclosed subject matter.

[0010] Figure 3A 、 Figure 3B and Figure 3C is a side view of a portion of an arm of a work machine having a thumb bucket according to one or more embodiments of the disclosed subject matter.

[0011] Figure 4 is a block diagram of a control system according to one or more embodiments of the disclosed subject matter.

[0012] Figure 5 illustrates an exemplary operator interface according to one or more embodiments of the disclosed subject matter.

[0013] Figure 6 illustrates an exemplary operator interface according to one or more embodiments of the disclosed subject matter.

[0014] Figure 7 illustrates a schematic diagram of an icon state transition according to one or more embodiments of the disclosed subject matter.

[0015] Figure 8A and Figure 8B illustrates an exemplary operator interface according to one or more embodiments of the disclosed subject matter.

[0016] Figure 9A flowchart of a method according to one or more embodiments of the disclosed subject matter. DETAILED DESCRIPTION

[0017] The present invention relates to a work machine, and more particularly to a construction machine having a thumb bucket for grasping or scooping an object, and systems, components, and methods thereof. Generally, embodiments of the disclosed subject matter may implement a work machine that can determine whether the work machine is performing a grasping or scooping operation with a thumb bucket and automatically switch the center of gravity position of the payload based on the task being performed, such that the work machine can accurately determine the payload regardless of the task sequence.

[0018] Turning to the drawings, Figure 1 Shown is a hydraulic excavator as a work machine 1 according to one or more embodiments of the disclosed subject matter, but embodiments of the disclosed subject matter are not limited to hydraulic excavators. Regarding the work machine 1, an upper swing body 2 may be rotatably provided on a lower traveling body 3 via a swing bearing portion 4 as a machine body. A cab 6 may be mounted on one side of the front portion of the upper swing body 2, and a driver's seat, control levers, foot pedals, and other components may be mounted in the cab 6. Additionally, an arm 5 for excavation work may be mounted on the other side of the front portion of the upper swing body 2. An engine and a power unit such as a hydraulic pump driven by the engine may be mounted on the rear portion of the upper swing body 2 and covered with a power unit cover.

[0019] The work machine 1 may include an arm 50 that may be used for a variety of excavation equipment and not just for the example work machine 1 shown. The arm 50 may include a boom 5 that is pivotally attached to a dipper stick 54 via a pivot joint 56. The dipper stick 54 may be terminated with a work tool such as a bucket 60. The bucket 60 may be pivotally connected to the dipper stick 54 via a pivot joint 62. The bucket 60 may also include a link 64 that may be attached to a hydraulic cylinder. The arm 50 may also be equipped with a thumb member 66. The thumb member 66 may be actuated by a hydraulic cylinder 58 attached to a link 70. The link 70 and other links associated with the hydraulic cylinder 58 are not fully shown to avoid making Figure 1 it appear too crowded.

[0020] The thumb member 66 may pivot about the pivot joint 62. The thumb member 66 may move towards the bucket 60, approach, or contact it to allow the arm 50 to pick up various objects. Additionally, the thumb member 66 may also act as a cover for the bucket 60 to prevent or stop the material contained in the bucket 60 from falling out. When the thumb member 66 is in a position away from the bucket 60, the thumb member 66 may approach or even contact the dipper stick 54.

[0021] Now turning to Figure 2A and Figure 2B ,Figure 2A and Figure 2B is a side view of a portion of an arm of a work machine 1 having a thumb bucket according to one or more embodiments of the disclosed subject matter. As Figure 2A shown, the work machine 1 can grasp a material 72A (e.g., wood, rock, and / or other materials) by clamping the material 72A with the bucket 60 and the thumb member 66. Additionally, as Figure 2B shown, the work machine 1 can scoop a material 72B (e.g., soil, rock, sand, bricks, and / or other materials) by tilting the bucket 60. In one or more embodiments of the disclosed subject matter, the center of gravity (COG) positions of the total weight of the material and the bucket 60 (hereinafter simply referred to as the COG of the material and the bucket 60) can be indicated as 80A and 80B, respectively.

[0022] More specifically, when the task of the work machine 1 is scooping (as Figure 2B shown), the bucket 60 may need to be tilted, and the COG of the material and the bucket 60 may be located inside the bucket 60. On the other hand, when the task of the work machine 1 is grasping (as Figure 2A shown), the bucket 60 may not need to be tilted, and the COG of the material and the bucket 60 may be located outside the bucket 60. Thus, based on the task of the work machine 1 (i.e., grasping or scooping), the COG of the material and the bucket 60 may be different. To accurately determine the payload of the work machine 1, it may be necessary to correctly determine the current task of the work machine 1 and the COG of the material and the bucket 60.

[0023] Now turning to Figure 3A 、 Figure 3B and Figure 3C , Figure 3A 、 Figure 3B and Figure 3C are side views of a portion of an arm of a work machine 1 having a thumb bucket according to one or more embodiments of the disclosed subject matter. Figure 3A 、 Figure 3B and Figure 3C can show that the work machine 1 can grasp the material 72 at various bucket angles 76 (76A, 76B, and 76C). The bucket angle 76 (76A, 76B, and 76C) can be defined by the angle between a horizontal line and a line connecting the base point 78 of the bucket 60 and the end point 74 of the cutting edge of the bucket 60. In one or more embodiments, when the line connecting the base point 78 of the bucket 60 and the end point 74 of the cutting edge of the bucket 60 coincides with the horizontal line, the bucket angle 76 can be described as 0 degrees, and the bucket angle 76 can increase counterclockwise by more than 0 degrees and can decrease clockwise by less than 0 degrees. For example, respectively, Figure 3A can show that the bucket angle 76A is -120 degrees, Figure 3B can show that the bucket angle 76B is -85 degrees, andFigure 3C The bucket angle 76C can be shown as -65 degrees.

[0024] Generally, at a bucket angle 76 of -270 degrees or less, it may be difficult to grasp an object using the thumb member 66. Additionally, at a bucket angle 76 of -60 degrees or greater, it may also be difficult to grasp an object using the thumb member 66. Thus, if the work machine 1 detects that the bucket angle 76 is between -60 degrees and -270 degrees and the weight of the material 72 between the bucket 60 and the thumb member 66 exceeds the minimum payload, it can be considered that the current task of the work machine 1 is to grasp. Conversely, if the work machine 1 detects that the bucket angle 76 is between 90 degrees and -60 degrees and the weight of the material 72 between the bucket 60 and the thumb member 66 exceeds the minimum payload, it can be considered that the current task of the work machine 1 is to scoop.

[0025] Optionally or alternatively, in addition to the bucket angle 76, the velocity vector of the end point 74 can also be used as a parameter for determining the current task of the work machine 1. For example, the work machine 1 can determine whether the bucket 60 is moving towards scooping or grasping based on the velocity vector of the end point 74.

[0026] In one or more embodiments, when the calculated boom torque load exceeds a predetermined minimum payload, the work machine 1 can determine the direction of the bucket angle 76 and the velocity vector of the end point 74. Reference will be made Figure 5 to FIG. 8 to describe the process of determining the payload based on the direction of the bucket angle 76 and the velocity vector of the end point 74.

[0027] Now turning to Figure 4 , Figure 4 is a block diagram of a control system 31 of a work machine 1 according to one or more embodiments of the disclosed subject matter. As Figure 4 shown, the control system 31 can include: a controller 38, which can be implemented in or use a control circuit; one or more operator input terminals 32; a communication unit 33; a memory 34; one or more displays 35; an audio unit 36; and one or more sensors 37. As used herein, the controller 38 can include only one controller or multiple controllers.

[0028] The memory 34 can be operably coupled to the controller 38 and can reside external to the controller 38, such as Figure 4 shown, and / or can reside within the controller 38, i.e., as part of the controller 38. Generally, the memory 34 can receive and store data or information regarding the operation of the work machine 1 therein. As an example, the memory 34 can receive and store therein the setting information of the predetermined minimum payload, the predetermined range of the bucket angle 76, and the current mode of the thumb bucket.

[0029] The communication unit 33 can be the control system 31 (or can be a part of the control system). In this regard, the communication unit 33 can include a transmission circuit to send information or data to the logistics system, such as the setting information of the predetermined minimum payload, the predetermined range of the bucket angle 76, and the current mode of the thumb bucket. Optionally, the communication unit 33 can have a receiving circuit to receive information or data from the logistics system, for example. In this embodiment, the communication unit 33 can be configured using a communication device, such as a local CAN, a wired or wireless LAN, a communication card for Bluetooth, a router for communication, and a modem for communication.

[0030] The audio unit 36 can include, for example, one or more audio speakers provided in the cab 5 to output audible information, such as an alarm, to the operator of the work machine 1. As an example, the audio unit 36 can output audible information that is the mode of the thumb bucket currently selected by the operator of the work machine 1.

[0031] One or more sensors 37 can detect various information of the work machine 1. For example, one or more sensors 37 can include a position sensor associated with the rotation or swing of the work machine 1, a three-axis acceleration sensor (including an acceleration sensor, a gravity detection sensor, and a fall detection sensor), or a three-axis gyro sensor (including an angular velocity sensor and a geomagnetic sensor). The output from one or more sensors 37 can be fed back to the controller 38. Optionally, the information from at least one of the one or more sensors 37 can be displayed on the display 35. As an example, one or more sensors 37 can detect the bucket angle 76 of the work machine 1.

[0032] One or more operator input terminals 32 can be (or can be a part of) switches, joysticks, foot pedals, keyboards, and other input devices. The operator input terminal of the display 35 can be implemented by a touch panel equipped with the display 35. In this regard, at least one such display 35 can be implemented on a display device operable to display a graphical user interface (GUI). Optionally, one or more displays 35 can output an alarm and a message to the operator of the work machine 1, for example, information about the current mode of the thumb bucket of the work machine 1.

[0033] The controller 38 can output control signals to various system components (such as a hydraulic system, an electrical system, etc.) to control the movement of the work machine 1 in response to one or more operator input terminals 32. The controller 38 can include a CPU, a ROM, and a RAM.

[0034] In an exemplary embodiment, the control system 31 of the work machine 1 or a portion thereof may be implemented using circuitry or a processing circuit, which may include a general - purpose processor, a dedicated processor, an integrated circuit, an ASIC ("application - specific integrated circuit"), a CPU (central processing unit), a micro - processing unit (MPU), conventional circuitry, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor may be considered a processing circuit or a circuit that includes transistors and other circuitry. The processor may be a programmed processor that executes a program stored in a memory. In the present invention, a circuit, unit, or component may be hardware that executes or is programmed to execute the functions. The hardware may be any hardware disclosed herein or otherwise known that is programmed or configured to execute the functions. When the hardware is a processor that may be considered a type of circuit, the circuit, component, or unit may be a combination of hardware and software that is used to configure the hardware and / or the processor.

[0035] Figures 5 to 7 An exemplary operator interface in accordance with one or more embodiments of the disclosed subject matter is shown, which may be provided on at least one display 35 and may be implemented on a display device operable to display a graphical user interface (GUI).

[0036] Figure 5 A schematic diagram of the display 35 when setting the operating mode of the work machine 1 is shown. The display 35 may display a screen 91 for setting the operating mode of the work machine 1. Here, in Figure 5 , the field 92 may currently be selected to set the "payload enable state" to active. When the "payload enable state" is active, the controller 38 of the work machine 1 may calculate the payload placed in a work tool (e.g., the bucket 60) based on an instruction input from an operator of the work machine 1 or periodically.

[0037] Similarly, the field 93 may be used to set the "bucket zero range", which may define a range for bucket zero calibration for adjusting parameters of one or more sensors (e.g., a weight sensor of the bucket 60) implemented in the work machine 1 for accurately calculating the payload. In one or more embodiments, the "bucket zero range" may be an input as any value (e.g., 24 hours).

[0038] Similarly, field 94 can be used to set whether the "reweigh warning" is activated to output an alarm that can be shown to the operator of the work machine 1 during the use of the payload function. When the "reweigh warning" is activated, the controller 38 of the work machine 1 can output an alarm to the operator of the work machine 1 via the display 35 or the audio unit 36. More practically, when the "reweigh warning" is activated, for example, if the payload function is used with the boom 5 in a high position, an alarm "boom too high" can be output to the operator of the work machine 1 via the display 35 or the audio unit 36.

[0039] Field 95 can be used to set the "thumb bucket mode" to select a mode for calculating the payload from some options when the work tool is a thumb bucket (i.e., a structure including the thumb member 66 and the bucket 60). The operator of the work machine 1 can provide an input to field 96 to change the mode for calculating the payload, for example, by selecting the "thumb bucket mode" on the screen 91. The setting of the "thumb bucket mode" will be described with respect to Figure 6 the description.

[0040] Optionally, the screen 91 can include fields 96 to 98 for a menu button, a back button, and a home button, respectively. The field 96 for the menu button can show a list of menu items, the field 97 for the back button can return to the previous screen, and the field 98 for the home button can return to the home screen.

[0041] Optionally, as Figure 5 shown, the display 35 can be equipped with a touch panel to input information to the controller 38, such as the setting information corresponding to fields 92 to 95, and commands corresponding to the menu button, the back button, and the home button can be input via the touch panel of the display 35 through the screen 91.

[0042] Note that the embodiments of the disclosed subject matter are not limited to the specific arrangement of the fields and buttons on the screen as Figure 5 shown. For example, the embodiments of the disclosed subject matter can arrange the fields and buttons in different positions, or include more fields and buttons on the screen for other functions of the work machine 1.

[0043] Figure 6 is a schematic diagram of the display 35 when setting the mode for calculating the payload of the work machine 1. The display 35 can display a screen 101 for selecting a mode for calculating the payload of the work machine 1 from "automatic mode", "thumb scoop mode", and "thumb grab mode".

[0044] Field 102 may be an "automatic mode" option as a mode for calculating the payload of work machine 1. In this embodiment, the "automatic mode" option may be selected as the default value. When the operator selects the "automatic mode" option, the COG of the payload may automatically switch between the following based on the determination of the payload according to the direction of the velocity vector based on the bucket angle 76 and the end point 74: the COG when the work machine 1 is grasping an object (i.e., 80A shown in Figure 2A , hereinafter simply referred to as the first COG), and the COG when the work machine 1 is scooping an object (i.e., 80B shown in Figure 2B , the second COG). Here, the COG of the payload may be defined as the COG calculated based on the total weight of the payload in the bucket 60 and the weight of the bucket 60.

[0045] Field 103 may be a "thumb scooping mode" option as a mode for calculating the payload of work machine 1. When the operator selects the "thumb scooping mode" option, the COG of the payload may be calculated under the condition that the work machine 1 is scooping an object (i.e., 80B shown in Figure 2B , the second COG). For example, if the operator of the work machine 1 continues the scooping task within a predetermined time, the "thumb scooping mode" option may be intentionally selected.

[0046] Field 104 may be a "thumb grasping mode" option as a mode for calculating the payload of work machine 1. When the operator selects the "thumb grasping mode" option, the COG of the payload may be calculated under the condition that the work machine 1 is grasping an object (i.e., 80A shown in Figure 2A , the first COG). For example, if the operator of the work machine 1 continues the grasping task within a predetermined time, the "thumb grasping mode" option may be intentionally selected.

[0047] Optionally, as shown in Figure 6 , the display 35 may be equipped with a touch panel to input information to the controller 38, so the setting information corresponding to fields 102 to 104 may be input via the touch panel of the display 35 through the screen 101.

[0048] Note that the embodiments of the disclosed subject matter are not limited to the specific arrangement of fields and buttons on the screen as shown in Figure 6 . For example, the embodiments of the disclosed subject matter may arrange the fields and buttons in different positions, or include more fields and buttons on the screen for other functions of the work machine 1.

[0049] Now turning to Figure 7 , Figure 7A schematic diagram showing the transition of the icon state displayed on the display 35. In one or more embodiments, Figure 7 shows the icon state 202 based on the weighing state 201. More specifically, each of the columns 203 to 205 may respectively correspond to an execution task associated with a specific attachment tool of the work machine 1, such as "thumb scooping", "thumb grasping", "bucket", and "grab bucket". For example, when the work machine 1 is performing a scooping task using the thumb member 66 and the bucket 60 as attachment tools, column 203 may show the icon based on the weighing state 201. Similarly, when the work machine 1 is performing a grasping task using the thumb member 66 and the bucket 60 as attachment tools, column 204 may show the icon based on the weighing state 201. Similarly, when the work machine 1 is performing a scooping task through the bucket 60 without using the thumb member 66 as an attachment tool, column 205 may show the icon based on the weighing state 201. Similarly, when the work machine 1 is performing a grasping task using the grab bucket as an attachment tool, column 206 may show the icon based on the weighing state 201.

[0050] In one or more embodiments, "estimated weighing completed 211", "estimated weighing 212", "proportional weighing completed 213", and "proportional weighing 214" may be defined as the weighing state 201. Reference will be made to Figures 8A to 8B and Figure 9 to describe each state in the weighing state 201.

[0051] Now turn to Figure 8A and Figure 8B . Figure 8A and Figure 8B A schematic diagram showing the home screen of the payload displayed on the display 35. In one or more embodiments, Figure 8A it may show that the icon 112A is displayed on the home screen 111 of the display 35, and this icon indicates that the work machine 1 is performing a grasping task. More specifically, when the controller 38 determines that the work machine 1 is performing a grasping task based on the bucket angle 76, the icon 112A may be displayed on the home screen 111 of the display 35 to output the current mode for calculating the payload of the work machine 1 to the operator of the work machine 1. When the weighing state 201 is Figure 7 the "estimated weighing 212" shown in

[0052] Similarly, Figure 8B it may show that the icon 112B is displayed on the home screen 111 of the display 35, and this icon indicates that the work machine 1 is performing a scooping task. More specifically, when the controller 38 is based on as Figures 3A to 3CBased on the bucket angle 76 shown and the direction of the velocity vector of the endpoint 74, when the work machine 1 is performing a scooping task, the icon 112B can be displayed on the home screen 111 of the display 35 to output to the operator of the work machine 1 the current mode for calculating the payload of the work machine 1. When the weighing state 201 is Figure 7 "Estimated weighing 212" shown therein, the icon 112B can correspond to the icon in column 203 of the icon state 202.

[0053] Optionally or alternatively, when the payload is unloaded from the bucket 60, the icons 112A and 112B can be respectively changed to alternative icons showing the updated state of the "empty" payload in the bucket. For example, when the payload is unloaded from the bucket 60, the icon 112A can be changed to an icon corresponding to Figure 7 column 204 of the icon state 202 where the weighing state 201 shown therein is "Proportional weighing completed 213". Similarly, when the payload is unloaded from the bucket 60, the icon 112B can be changed to an icon corresponding to Figure 7 column 203 of the icon state 202 where the weighing state 201 shown therein is "Proportional weighing completed 213".

[0054] Optionally or alternatively, when the payload in the bucket 60 is proportional, the icons 112A and 112B can be changed to alternative icons showing the updated state of the "proportional" payload in the bucket. For example, when the payload in the bucket 60 is proportional, the icon 112A can be changed to an icon corresponding to Figure 7 column 204 of the icon state 202 where the weighing state 201 shown therein is "Proportional weighing 214". Similarly, when the payload is unloaded from the bucket 60, the icon 112B can be changed to an icon corresponding to Figure 7 column 203 of the icon state 202 where the weighing state 201 shown therein is "Proportional weighing 214".

[0055] Optionally or alternatively, other icons indicating other states of the work tool can be displayed on the home screen 111 of the display 35, such as, as Figure 7 shown, "Grab bucket", "Bucket (shovel without thumb piece)", etc.

[0056] Note that the embodiments of the disclosed subject matter are not limited to the specific arrangement of fields and buttons on the home screen of the payload as shown in Figure 8A and Figure 8B For example, the embodiments of the disclosed subject matter can arrange the fields and buttons in different positions, or include more fields and buttons on the home screen of the payload for other functions of the work machine 1.

[0057] Industrial applicability

[0058] As described above, the present invention relates to a work machine, and more particularly to a construction machine having a thumb bucket for grasping or scooping an object, and systems, components, and methods thereof.

[0059] Figure 9 FIG. is a flowchart of a method for controlling payload calculation in "automatic mode" according to one or more embodiments of the disclosed subject matter. Some or all of the operations of the method may be performed by or using the controller 38. Additionally, some or all of each method in the method may be performed via a non-transitory computer-readable storage medium (or media) storing instructions that, when executed by one or more processors (such as the controller 38), cause the one or more processors to perform some or all of one or more methods.

[0060] The process of controlling payload calculation in "automatic mode" may be initiated when the work machine 1 detects that a load in the work tool (i.e., the thumb bucket) is lifted off the ground. Prior to this process, the mode for calculating the payload of the work machine 1 may be selected as the "automatic mode" as shown. The controller 38 may determine whether a predetermined minimum load amount in the work tool (i.e., the thumb bucket) is lifted off the ground (S1). In fact, the predetermined minimum load amount may be factory-set for each model of the work machine 1 prior to this process. Figure 6 Next, in the case where the determination result in step S1 is "yes", the controller 38 may perform a process of outputting estimated information of the current task of the work machine 1 by displaying either the icon 112A or 112B on the home screen 111 of the payload based on the current value of the bucket angle 76. In fact, the current value of the bucket angle 76 may be detected by one or more sensors 37 attached to the arm 50 of the work machine 1. In particular, if the current value of the bucket angle 76 of the work machine 1 is within the range of -60 degrees to -270 degrees, as shown, then the controller 38 may determine that the estimated current task of the work machine 1 is grasping. On the other hand, if the current value of the bucket angle 76 of the work machine 1 is not within the range of -60 degrees to -270 degrees, then the controller 38 may determine that the estimated current task of the work machine 1 is scooping.

[0061] Optionally or alternatively, in addition to displaying the icon 112A or 112B on the home screen 111 of the payload, as shown and, the controller 38 may also display the current value of the payload. In one or more embodiments, the current value of the payload may be estimated based on the weight of the material inside the bucket 60 by calculating the torque value of the boom 5. Figures 3A to 3C shown, then the controller 38 may determine that the estimated current task of the work machine 1 is grasping. On the other hand, if the current value of the bucket angle 76 of the work machine 1 is not within the range of -60 degrees to -270 degrees, then the controller 38 may determine that the estimated current task of the work machine 1 is scooping.

[0062] Optionally or alternatively, in addition to displaying the icon 112A or 112B on the home screen 111 of the payload, as shown and, the controller 38 may also display the current value of the payload. In one or more embodiments, the current value of the payload may be estimated based on the weight of the material inside the bucket 60 by calculating the torque value of the boom 5. Figure 8A and Figure 8B shown, the controller 38 may also display the current value of the payload. In one or more embodiments, the current value of the payload may be estimated based on the weight of the material inside the bucket 60 by calculating the torque value of the boom 5.

[0063] On the other hand, in the case where the determination result in step S1 is "no", that is, the controller 38 does not detect a predetermined amount of load in the work implement, the process can return to Figure 9 S1 of the process shown in

[0064] Next, the controller 38 can perform a process (S3) of determining an estimated current task of the work machine 1 for calculating the payload based on the current value of the bucket angle 76 at the point where the starting swing of the arm 50 of the work machine 1 begins. In fact, the controller 38 can detect the point where the starting swing of the arm 50 of the work machine 1 begins through one or more sensors 37 attached to the arm 50 of the work machine 1. In particular, if the current value of the bucket angle 76 at the point where the starting swing of the arm 50 of the work machine 1 begins is within the range of -60 degrees to -270 degrees, as Figures 3A to 3C shown, the controller 38 can determine that the estimated current task of the work machine 1 is grasping. On the other hand, if the current value of the bucket angle 76 at the point where the starting swing of the arm 50 of the work machine 1 begins is not within the range of -60 degrees to -270 degrees, the controller 38 can determine that the estimated current task of the work machine 1 is scooping.

[0065] In one or more embodiments, starting from the point where the starting swing of the arm 50 of the work machine 1 begins, the controller 38 can not change the estimated current task of the work machine 1 and keep continuously outputting either the icon 112A or 112B on the home screen 111 of the payload.

[0066] Next, if the controller 38 determines that the estimated current task of the work machine 1 is grasping ( "yes" at step S4) based on the above determination result, the controller 38 can calculate the payload (S5) by using the COG of the payload as the first COG (for example, Figure 2A 80A shown in Figure 8A ). Optionally, at step S5, the controller 38 can output the payload calculated by using the COG of the payload as the first COG on the display 35 as

[0067] shown. After step S5, the controller 38 can control the unloading of the payload (S7) and terminate the process.

[0068] Alternatively, if the controller 38 determines that the estimated current task of the work machine 1 is scooping ( "no" at step S4) based on the above determination result, the controller 38 can calculate the payload (S6) by using the COG of the payload as the second COG (for example, Figure 2B 80B shown in Figure 8BThe payload calculated using the COG of the payload as the second COG is output as shown on the display 35.

[0069] After step S6, the controller 38 may control the unloading of the payload (S7) and terminate the process.

[0070] Note that the embodiments of the disclosed subject matter are not limited to Figure 9 the specific arrangement of the process steps shown. For example, embodiments of the disclosed subject matter may add more process steps to control the calculation and unloading of the payload of the work machine 1.

[0071] As a result of the embodiment, the work machine can determine whether the work machine is performing a grab or a scoop with the thumb bucket, and automatically switch the center of gravity position of the payload based on the task being performed, so that the work machine can accurately determine the payload regardless of the task order.

[0072] Accordingly, an embodiment of the disclosed subject matter, a work machine may include: a bucket attached to an end of a boom of the work machine as a work tool; a thumb member pivotally coupled to the end of the boom; and a processing circuit. The processing circuit may be configured to: determine a current task of the work machine based on an angle of the bucket between scooping an object with the bucket or grasping an object with the bucket and the thumb member; and calculate a payload based on the determined current task with a parameter of a center of gravity position of the payload.

[0073] The work machine may automatically switch the center of gravity position of the payload based on the task being performed, so that the work machine can accurately determine the payload regardless of the task order.

[0074] In another aspect, a method for a work machine is disclosed or implemented. The method may include: determining a current task of the work machine based on an angle of a bucket between scooping an object with the bucket or grasping an object with the bucket and a thumb member, the bucket being attached to an end of a boom of the work machine as a work tool and the thumb member being pivotally coupled to the end of the boom; calculating a payload based on the determined current task with a parameter of a center of gravity position of the payload; and outputting the calculated payload on a display of the work machine.

[0075] And in another aspect, a non-transitory computer-readable storage medium is disclosed or provided. The non-transitory computer-readable storage medium may include computer-executable instructions, wherein the instructions, when executed by an information processing system of a work machine, cause the information processing system to execute a method that includes: setting a mode for calculating a payload to an automatic mode; determining a current task of the work machine in scooping an object by a bucket or grasping an object by the bucket and a thumb member based on an angle of the bucket, the bucket being attached to an end of a boom of the work machine as a work tool, and the thumb member being pivotally coupled to the end of the boom; and calculating the payload based on the determined current task with a parameter of a center-of-gravity position of the payload.

[0076] While aspects of the present invention have been specifically shown and described with reference to the above embodiments, those skilled in the art will understand that various additional embodiments can be envisioned by modifications to the disclosed machines, components, systems, and methods without departing from the spirit and scope of the disclosed subject matter. Such embodiments should be understood to fall within the scope of the present invention as determined based on the claims and any equivalents thereof.

Claims

1. An earthmoving machine (1), the earthmoving machine comprising: A bucket (60) attached to an end of an arm (54) of the earthmoving machine (1) as a working tool; A thumb member (66) pivotally coupled to the end of the arm (54); and A processing circuit (38) configured to: Determine a current task of the earthmoving machine (1) based on an angle (76) of the bucket (60) in either scooping an object with the bucket (60) or grasping the object with the bucket (60) and the thumb member (66), Calculate the payload (72) based on the determined current task using parameters of a center of gravity position (80A, 80B) of the payload (72).

2. The earthmoving machine (1) according to claim 1, Among them, The angle (76) of the bucket (60) is an angle (76) of a line between an end point (74) and a base point (78) of the bucket (60) with respect to a horizontal line in a side view of the earthmoving machine (1).

3. The earthmoving machine (1) according to claim 2, Among them, The processing circuit (38) is further configured to determine the current task based on a velocity vector of the end point of the bucket (60).

4. The earthmoving machine (1) according to claim 2, Among them, The processing circuit (38) is configured to determine that the current task of the earthmoving machine (1) is to grasp the object under a condition that the angle (76) of the bucket (60) is within a predetermined range in the side view of the earthmoving machine (1).

5. The earthmoving machine (1) according to claim 4, Among them, The predetermined range of the angle (76) of the bucket (60) is identified by a first value and a second value. In the side view of the earthmoving machine (1), the first value is defined clockwise from the horizontal line, and the second value is defined counterclockwise from the horizontal line.

6. The earthmoving machine (1) according to claim 1, Among them, The parameters of the center of gravity position (80A, 80B) of the payload (72) when the current task of the earthmoving machine (1) is to grasp the object are different from the parameters of the center of gravity position (80A, 80B) of the payload (72) when the current task of the earthmoving machine (1) is to scoop the object.

7. The earthmoving machine (1) according to claim 1, Among them, The processing circuit (38) is configured to output information about the current task of the earthmoving machine (1) on a display (35).

8. The earthmoving machine (1) according to claim 7, Among them, The processing circuit (38) is configured to output the information about the current task of the earthmoving machine (1) on the display (35) by an icon of the current task.

9. The earthmoving machine (1) according to claim 7, Among them, The processing circuit (38) is configured to output selectable information on the display (35) to select a mode for calculating the payload (72).

10. A method for controlling a work machine (1), the method comprising: Using a circuit of the work machine (1), determining a current task of the work machine (1) based on an angle (76) of a bucket (60) in scooping an object with the bucket (60) or grasping the object with the bucket (60) and a thumb member (66), the bucket (60) being attached to an end of an arm (54) of the work machine (1) as a working tool, and the thumb member (66) being pivotally coupled to the end of the arm (54); Using the circuit of the work machine (1), calculating the payload (72) based on the determined current task with parameters of a center of gravity position (80A, 80B) of the payload (72); and Using the circuit of the work machine (1), outputting the calculated payload (72) on a display (35) of the work machine (1).

11. The method according to claim 10, Among them, The angle (76) of the bucket (60) is an angle (76) of a line between an end point of the bucket (60) and a base point (78) of the bucket (60) relative to a horizontal line in a side view of the work machine (1).

12. The method according to claim 11, the method further comprising: Using the circuit of the work machine (1), determining the current task based on a velocity vector of the end point of the bucket (60).

13. The method according to claim 11, the method further comprising: Using the circuit of the work machine (1) to determine that the current task of the work machine (1) is to grasp the object under a condition that the angle (76) of the bucket (60) is within a predetermined range in the side view of the work machine (1).

14. The method according to claim 13, Among them, The predetermined range of the angle (76) of the bucket (60) is identified by a first value and a second value. In the side view of the work machine (1), the first value is defined clockwise from the horizontal line, and the second value is defined counterclockwise from the horizontal line, and wherein parameters of the center of gravity position (80A, 80B) of the payload (72) in a case where the current task of the work machine (1) is to grasp the object are different from parameters of the center of gravity position (80A, 80B) of the payload (72) in a case where the current task of the work machine (1) is to scoop the object.

15. The method according to claim 10, the method further comprising: Using the circuit of the work machine (1) to output information about the current task of the work machine (1) as an icon on the display (35), and / or Using the circuit of the work machine (1) to output selectable information on the display (35) to select a mode for calculating the payload (72).

Images