Work machine, control device

Abstract

A working machine and control device are provided, providing a technique to improve the accuracy of load calculation during loading operations of the working machine. The excavator (100) includes: a lower traveling body (1); an upper rotating body (3); an auxiliary device (AT) installed on the upper rotating body (3), including a bucket (6); a first acquisition unit that acquires information related to the weight of sand contained in the bucket (6); and a controller (30) that, based on the information acquired by the first acquisition unit, calculates the load amount (LC) of sand in the dump truck (DT) by adding the weight of the sand contained in the bucket (6) whenever sand contained in the bucket (6) is discharged to the dump truck (DT). Furthermore, when the controller (30) performs a soil discharge operation by discharging sand contained in the bucket (6) via the auxiliary device (AT), if the location of the discharged sand does not correspond to the dump truck (DT), it cancels the addition of the load amount (LC).

Description

Technical Field

[0001] This application claims priority based on Japanese Patent Application No. 2024-229342, filed on December 25, 2024. The entire contents of that Japanese application are incorporated herein by reference.

[0002] This invention relates to a type of work machinery, etc. Background Technology

[0003] Previously, there was a known technology in which the loading amount was calculated during the operation (loading operation) of a working machine such as an excavator loading an object (e.g., a dump truck) into an end attachment (e.g., a bucket) containing an object (e.g., sand) (e.g., see Patent Document 1).

[0004] Patent Document 1: Japanese Patent Application Publication No. 2021-156085 However, in the aforementioned techniques, even if the object (e.g., sand) held at the end attachment (e.g., bucket) is discharged at a different location than the object being loaded, it may still be added as part of the load. Therefore, from the viewpoint of improving the accuracy of load calculation, there is room for improvement. Summary of the Invention

[0005] Therefore, in view of the above issues, the objective is to provide a technique that can improve the accuracy of load calculation in loading operations of machinery.

[0006] To achieve the above objectives, in one embodiment of the present invention, a working machine is provided, comprising: Lower walking body; The upper rotating body is mounted on the lower walking body and rotates freely; An auxiliary device is installed on the upper rotating body and includes an end-connection accessory at the front end; The first acquisition unit acquires information related to the weight of the object held in the termination attachment; and The control unit, based on the information acquired by the first acquisition unit, calculates the loading amount of the object in the loaded object by adding the weight of the object held in the termination attachment whenever the object is discharged. When the control unit performs a predetermined action of discharging the object held in the termination attachment via the auxiliary device, if the position of the discharged object does not correspond to the object being loaded, it cancels the addition of the loading amount.

[0007] Furthermore, in another embodiment of the present invention, a control device is provided that, for a working machine, calculates the loading amount of an object in a load-carrying object by adding the weight of the object held in the termination attachment whenever an object held in the termination attachment is discharged, based on information acquired by a first acquisition unit. The working machine includes: a lower traveling body; an upper rotating body rotatably mounted on the lower traveling body; an auxiliary device mounted on the upper rotating body and including the termination attachment at its front end; and the first acquisition unit, which acquires information related to the weight of the object held in the termination attachment. In this control device… When the control unit performs a predetermined action of discharging the object held in the termination attachment via the auxiliary device, if the position of the discharged object does not correspond to the object being loaded, it cancels the addition of the loading amount.

[0008] Invention Effects According to the above implementation method, the accuracy of load calculation in the loading operation of the machinery can be improved. Attached Figure Description

[0009] Figure 1 This is a side view showing an example of an excavator.

[0010] Figure 2 This is a diagram representing an example of a remote operating system.

[0011] Figure 3 This is a diagram illustrating an example of loading operations by an excavator.

[0012] Figure 4 This is a diagram illustrating an example of loading operations by an excavator.

[0013] Figure 5 This is a diagram illustrating an example of the structure of an excavator.

[0014] Figure 6 This is an example of a display screen.

[0015] Figure 7 This is another example of a display screen.

[0016] Figure 8 This is a flowchart that schematically illustrates an example of the processing related to the payload function.

[0017] In the diagram: 1-Lower traveling body, 1C-Crawler, 1M-Traveling hydraulic motor, 2-Swing mechanism, 2M-Swing hydraulic motor, 3-Upper swing body, 4-Boom, 5-Stick, 6-Bucket, 7-Boom cylinder, 8-Stick cylinder, 9-Bucket cylinder, 10-Cockpit, 17-Regulating valve, 26-Operating device, 30-Controller, 31-Hydraulic control valve, 40-Camera device, 41-Image, 41r-Information display area, 41r1-Overturning image, 41r2-Numerical information image, 41r3-Numerical information image, 41r4-Bucket image, 41r5-Sand image, 41r6-Numerical information image, 41s-Label group, 41s1-Label, 41s2-Label, 41s3-Label, 41s4-Label 41s5 - Tag, 41s6 - Tag, 50 - Display device, 52 - Input device, 60 - Communication device, 100 - Excavator, 200 - Remote operation support device, 301 - Position / attitude calculation unit, 302 - Load calculation unit, 303 - Loading capacity calculation unit, 304 - Cancellation processing unit, 305 - Display processing unit, AT - Auxiliary device, DT - Dump truck, HA - Hydraulic actuator, LC - Loading capacity, S1 - Attitude sensor, S2 - Attitude sensor, S3 - Attitude sensor, S4 - Attitude sensor, S5 - Rotation angle sensor, S6 - Orientation sensor, S7 - Cylinder pressure sensor, S8 - Cylinder pressure sensor, S9 - Cylinder pressure sensor, SW - Sand weight, SYS - Remote operation support system. Detailed Implementation

[0018] The embodiments will now be described with reference to the accompanying drawings.

[0019] [Overview of Excavators] refer to Figure 1 , Figure 2 The general outline of the excavator 100 involved in this embodiment will be described.

[0020] Figure 1 This is a side view showing an example of an excavator 100. Figure 2 This is a diagram illustrating an example of the remote operation support system SYS. Hereinafter, the direction in which the auxiliary device AT extends when viewed from the top rotating body 3 in a top view of the excavator 100 will sometimes be defined as "forward" to describe the direction within the excavator 100 or the direction viewed from the excavator 100's perspective.

[0021] like Figure 1 As shown, the excavator 100 includes a lower traveling body 1, an upper slewing body 3, an auxiliary device AT including a boom 4, a stick 5 and a bucket 6, and a driver's cab 10.

[0022] The lower traveling body 1 uses a pair of tracks 1C to move the excavator 100. The tracks 1C include a left track 1C and a right track 1C. The left track 1C and the right track 1C are hydraulically driven by travel hydraulic motors 1M. Thus, the lower traveling body 1 can move independently.

[0023] The upper rotating body 3 is rotatably mounted on the lower traveling body 1 via the rotating mechanism 2. For example, the upper rotating body 3 can rotate relative to the lower traveling body 1 by hydraulically driving the rotating mechanism 2 via a rotating hydraulic motor 2M (not shown).

[0024] The boom 4 is mounted at the center of the front of the upper slewing body 3 in a manner that allows it to pitch around a rotation axis in the left-right direction. The stick 5 is mounted at the front end of the boom 4 in a manner that allows it to rotate around a rotation axis in the left-right direction. The bucket 6 is mounted at the front end of the stick 5 in a manner that allows it to rotate around a rotation axis in the left-right direction.

[0025] Bucket 6 is an example of an end-attachment attachment, such as for digging operations, slope operations, or leveling operations.

[0026] The bucket 6 is installed at the front end of the boom 5 in a replaceable manner, depending on the work required by the excavator 100. That is, a different type of bucket, such as a large bucket, a slope bucket, or a dredging bucket, can be installed at the front end of the boom 5 instead of the bucket 6. Furthermore, end-connection accessories other than buckets, such as mixers, crushers, pulverizers, or lifting magnets, can also be installed at the front end of the boom 5. Additionally, pre-installed auxiliary devices, such as quick couplers or tilting rotators, can be provided between the boom 5 and the end-connection accessories.

[0027] The boom 4, stick 5, and bucket 6 are hydraulically driven by the boom cylinder 7, stick cylinder 8, and bucket cylinder 9, respectively.

[0028] The cab 10 is a control room (also called a "cab") for the operator to sit in and operate the excavator 100. The cab 10 is, for example, mounted on the front left side of the upper rotating body 3.

[0029] For example, the excavator 100 causes the driven components such as the lower walking body 1 (i.e., the left and right pairs of tracks 1C), the upper slewing body 3, the boom 4, the stick 5, and the bucket 6 to move according to the operation of the operator sitting in the cab 10.

[0030] Furthermore, the excavator 100 can also have its driven components operated remotely by an operator outside the cab 10. The following explanation assumes that operator operation includes not only the operation of the operator seated in the cab 10, but also remote operation by an operator outside the excavator 100.

[0031] For example, such as Figure 2 As shown, the remote operation support system SYS includes an excavator 100 and a remote operation support device 200.

[0032] The remote operation support system SYS supports remote operation of the excavator 100 using the remote operation support device 200.

[0033] The remote operation support device 200 can be communicatively connected to the excavator 100 via the communication line NW and can be used by the operator who performs remote operation of the excavator 100.

[0034] The remote operation support device 200 is installed, for example, in a remote control room located in a management center or similar facility that manages the excavator 100's operations from the outside, and includes the same remote operation device as the operating device 26 inside the cab 10. This allows the operator to remotely operate the excavator 100 from a remote location where it cannot be directly visually identified, by operating the remote operation device from the driver's seat located in the remote control room. Furthermore, the remote operation support device 200 can be a portable operating terminal device. This allows the operator to remotely operate the excavator 100 while directly monitoring its operating status from its surroundings.

[0035] The excavator 100, for example, transmits an image (peripheral image) showing the state of its surroundings, including the area in front of it, based on camera images output from its own camera device 40, to the remote operation support device 200 via a communication device 60. Furthermore, the excavator 100 can transmit camera images output from the camera device 40 to the remote operation support device 200 via the communication device 60, and the remote operation support device 200 processes the camera images received from the excavator 100 to generate the peripheral image. The remote operation support device 200 includes, for example, a remote operation display device, and displays the peripheral image showing the state of the area in front of the excavator 100 on the remote operation display device. Furthermore, the remote operation support device 200 can display information screens identical to those displayed on the display device 50 inside the excavator 100's cockpit 10 on the remote operation display device. Therefore, the operator using the remote operation support device 200 can remotely operate the excavator 100 while simultaneously viewing displayed content such as a surrounding image or information screen showing the status of the excavator 100's surroundings on a remote operation display device. The excavator 100 activates its driven components based on signals (hereinafter referred to as "remote operation signals") indicating the content of the remote operation received from the remote operation support device 200 via the communication device 60. Thus, the remote operation support system SYS enables remote operation of the excavator 100 utilizing the remote operation support device 200.

[0036] Furthermore, the excavator 100 can also automatically operate the actuators without relying on the operator's commands. Thus, the excavator 100 can achieve the function of automatically operating at least a portion of the driven components such as the lower traveling body 1, the upper rotating body 3, and the auxiliary device AT, i.e., the so-called "automatic operation function" or "machine control (MC) function".

[0037] Automatic operation functions may include, for example, semi-automatic operation functions (operation support type MC functions). Semi-automatic operation functions automatically activate driven components (actuators) other than the object being operated, based on operator input. Furthermore, automatic operation functions may include fully automatic operation functions (fully automatic type MC functions). Fully automatic operation functions automatically activate at least a portion of multiple driven components (actuators) without operator input. In the excavator 100, when the fully automatic operation function is active, the cab 10 can be unmanned. Moreover, semi-automatic or fully automatic operation functions may include, for example, rule-based automatic operation functions. Rule-based automatic operation functions are automatic operation functions where the actions of the driven components (actuators) of the automatically operated object are automatically determined according to predefined rules. Furthermore, semi-automatic or fully automatic operation functions may also include autonomous operation functions. The autonomous operation function is an automatic operation function in the following way: the excavator 100 autonomously makes various judgments and determines the action content of the driven elements (actuators) of the object to be automatically operated based on the judgment results.

[0038] Furthermore, the operation of the excavator 100 can be monitored from outside the excavator 100. For example, when the excavator 100 is operating automatically, its operation can be monitored from outside the excavator 100. In this case, in order to support the monitor to monitor the operation from outside the excavator 100, a remote monitoring support device, the same as the remote operation support device 200, is provided.

[0039] The remote monitoring support device includes, for example, a remote monitoring display device, which, similar to the remote operation display device, displays surrounding images or information screens indicating the conditions around the excavator 100. Thus, the monitor can monitor the operating status of the excavator 100 by using the remote monitoring support device to view the surrounding images or information screens.

[0040] Furthermore, the monitor can intervene in the excavator 100 using a remote operation support device. For example, the remote monitoring support device includes an intervention operation device and sends a remote operation signal indicating the operation content of the intervention operation device to the excavator 100. Thus, for example, if the excavator 100's work is inappropriate or if there is a safety issue with the excavator 100, the monitor can, by operating the intervention operation device, cause the excavator 100 to stop urgently or to retreat to a safe position or posture.

[0041] Loading operations of the excavator refer to Figure 3 , Figure 4 The loading operation of excavator 100 is explained.

[0042] Figure 3 , Figure 4 This is a diagram illustrating an example of loading operations by excavator 100.

[0043] Specifically, Figure 3 This is a top view showing an example of the loading operation of the excavator 100. Figure 4 This is a side view showing an example of the loading operation of the excavator 100. Figure 4 Indicates from Figure 3 The paper shows an example of the loading operation of excavator 100 and dump truck DT. For convenience, only the bucket 6 of excavator 100 is drawn.

[0044] like Figure 3 , Figure 4 As shown, the excavator 100 uses the auxiliary device AT to perform the digging action, scooping up sand and soil from the ground (refer to the position PT1 of the bucket 6). The digging action is a combined action based on the boom 4, stick 5, and bucket 6. Specifically, the digging action is as follows: through a combined action based on the lifting action of the boom 4 and the retraction action of the stick 5, the bucket 6, inserted into the ground, is pulled closer to the excavator 100 in a roughly horizontal direction, thereby digging the ground. Afterwards, through a combined action of retracting the bucket 6 while simultaneously lifting the boom 4, the sand and soil from the ground are scooped up. Figure 4 As shown, when the digging action is completed, the height of bucket 6 is approximately the same as that of the ground.

[0045] Then, as Figure 3 , Figure 4As shown, the excavator 100 performs a combined action of rightward rotation of the upper slewing body 3 and lifting action of the boom 4, namely, boom lifting and slewing action. During this boom lifting and slewing action, the auxiliary device AT can either perform only the lifting action of the boom 4, or it can perform a combined action involving at least one of the stick 5 and bucket 6 (e.g., retraction) along with the lifting action of the boom 4. Thus, through the rightward rotation of the upper slewing body 3, the excavator 100 orients the auxiliary device AT towards the direction of the dump truck DT's cargo box when viewed from the excavator 100's perspective, while simultaneously raising the bucket 6 to a position higher than the sideboard height Hd of the dump truck DT's cargo box (refer to the position PT2 of the bucket 6).

[0046] Then, as Figure 3 , Figure 4 As shown, the excavator 100 continuously performs a rightward rotation of its upper slewing body 3, bringing the orientation of the auxiliary device AT closer to that of the dump truck DT. Simultaneously, it performs a combined action of lowering the boom 4 and opening the stick 5, i.e., a soil discharge action (refer to the position PT3 of the bucket 6). Thus, the excavator 100 can discharge the sand contained in the bucket 6 into the cargo box of the dump truck DT and load it onto the dump truck DT.

[0047] Then, the excavator 100 performs a combined action of leftward rotation of the upper slewing body 3 and lowering of the boom 4, namely, boom lowering and slewing. As a result, the excavator 100 can align the orientation of the auxiliary device AT with the orientation of the working range of the digging action DM.

[0048] In this way, the excavator 100 performs a series of actions, including digging, lifting and rotating the boom, discharging soil, and lowering and rotating the boom, to load sand into the cargo box of the dump truck DT.

[0049] In addition, in this example, when the dump truck DT is viewed from directly above, it is parked in a manner that aligns with the direction in which the auxiliary device AT extends when viewed from the body of the excavator 100 along its long side. However, it can also be parked in a manner that is perpendicular to the direction in which the auxiliary device AT extends.

[0050] [Structure of an excavator] Apart from Figure 1 , Figure 2 In addition, also refer to Figure 5 The structure of the excavator 100 will be explained.

[0051] Figure 5 This is a diagram illustrating an example of the structure of an excavator 100.

[0052] The excavator 100 includes the components of a hydraulic drive system, an operating system, a user interface system, and a control system.

[0053] <Hydraulic Drive System> The hydraulic drive system of the excavator 100 is a set of constituent components related to the hydraulic drive of the driven components of the excavator 100.

[0054] like Figure 5 As shown, the hydraulic drive system of the excavator 100 includes multiple hydraulic actuators HA that hydraulically drive multiple driven components. These driven components include the left and right tracks 1C of the lower traveling body 1, the upper slewing body 3, the boom 4, the stick 5, and the bucket 6. The multiple hydraulic actuators HA include a traveling hydraulic motor 1M, a slewing hydraulic motor 2M, a boom cylinder 7, a stick cylinder 8, and a bucket cylinder 9. Furthermore, the hydraulic drive system of the excavator 100 according to this embodiment includes an engine 11, a main pump 14, and a regulating valve 17.

[0055] Hereinafter, the hydraulic actuator HA is used to generally or individually represent the constituent components of the travel hydraulic motor 1M, the swing hydraulic motor 2M, the boom cylinder 7, the stick cylinder 8, the bucket cylinder 9, etc.

[0056] Furthermore, in the excavator 100, part or all of the hydraulic actuator HA can be replaced with an electric actuator. That is, the excavator 100 can be a hybrid excavator or an electric excavator.

[0057] Engine 11 is the prime mover of excavator 100 and the main power source in the hydraulic drive system. Engine 11 is, for example, a diesel engine that uses diesel fuel. Engine 11 is, for example, mounted at the rear of the upper rotating body 3. Engine 11 rotates at a constant target speed under the direct or indirect control of controller 30 (described later), and drives main pump 14 and pilot pump 15.

[0058] Alternatively, other types of prime movers (e.g., electric motors) can be mounted on the excavator 100 instead of the engine 11 or on this basis.

[0059] The main pump 14 supplies working oil to the regulating valve 17 via a high-pressure hydraulic line. Similar to the engine 11, the main pump 14 is, for example, mounted at the rear of the upper rotating body 3. As described above, the main pump 14 is driven by the engine 11. The main pump 14 is, for example, a variable-capacity hydraulic pump, and the piston stroke length is adjusted by regulating the angle of the swashplate via a regulator under the control of the controller 30, thereby controlling the discharge flow rate or discharge pressure.

[0060] The regulating valve 17 drives the hydraulic actuator HA according to the operator's operation or the operation command corresponding to the automatic operation function (hereinafter referred to as the "automatic operation command"). The regulating valve 17 is mounted, for example, in the central part of the upper rotating body 3. The regulating valve 17 is connected to the main pump 14 through hydraulic lines and selectively supplies working oil supplied from the main pump 14 to each hydraulic actuator HA according to the operator's operation or the automatic operation command. For example, the regulating valve 17 is a valve unit including multiple directional valves that control the flow rate and flow direction of the working oil supplied from the main pump 14 to each hydraulic actuator HA.

[0061] Operating System The operating system of the excavator 100 consists of components related to the operation of the hydraulic actuator HA.

[0062] like Figure 5 As shown, the operating system of the excavator 100 includes a pilot pump 15, an operating device 26, and a hydraulic control valve 31.

[0063] Pilot pump 15 supplies pilot pressure to various hydraulic devices (e.g., hydraulic control valve 31) via pilot line 25. Similar to engine 11, pilot pump 15 is, for example, mounted at the rear of upper rotating body 3. Pilot pump 15 is, for example, a fixed-capacity hydraulic pump, driven by engine 11 as described above.

[0064] Alternatively, the pilot pump 15 can be omitted. In this case, working oil discharged from the main pump 14 and reduced to a predetermined pilot pressure via a pressure reducing valve can be supplied to various hydraulic equipment such as the operating device 26.

[0065] The operating device 26 is located within reach of the operator from the driver's seat in the cab 10, and is used by the operator to operate the various driven components, namely, the left and right tracks of the lower traveling body 1, the upper slewing body 3, the boom 4, the stick 5, and the bucket 6. Specifically, the operating device 26 is used by the operator to operate the hydraulic actuators HA that drive the various driven components.

[0066] The operating device 26 is, for example, electrically operated. Specifically, the operating device 26 outputs an electrical signal (hereinafter referred to as the "operation signal") corresponding to the operator's operation, and the operation signal is input to the controller 30. Furthermore, the controller 30 outputs a control command (operation command) corresponding to the operation signal to the hydraulic control valve 31, that is, an operation command corresponding to the operation performed on the operating device 26. Thus, a pilot pressure corresponding to the operation performed by the operating device 26 is input from the hydraulic control valve 31 to the regulating valve 17, and the regulating valve 17 can drive each hydraulic actuator HA according to the operation performed by the operating device 26.

[0067] Alternatively, the operating device 26 can also be a hydraulically piloted type that uses pilot pressure supplied from the pilot pump 15 as the source pressure to output pilot pressure corresponding to the operator's operation. Thus, the operating device 26 can supply pilot pressure corresponding to its own operation to the regulating valve 17. Therefore, the regulating valve 17 can drive each hydraulic actuator HA according to the operation of the operating device 26.

[0068] Furthermore, the directional control valve built into the regulating valve 17 that drives each hydraulic actuator HA can be a solenoid type. In this case, the operating signal output from the operating device 26 can be directly input to the solenoid type directional control valve built into the regulating valve 17.

[0069] Furthermore, as described above, part or all of the hydraulic actuator HA can be replaced with an electric actuator. In this case, the controller 30, for example, outputs control commands corresponding to the operator's operation or the remote operation specified by the remote operation signal to the electric actuator or the driver that drives the electric actuator.

[0070] Hydraulic control valves 31 are provided for each hydraulic actuator HA operated by the operating device 26 and for each driving direction of the hydraulic actuator HA (e.g., the extension and retraction directions of the boom cylinder 7). For example, a pair of hydraulic control valves 31 are provided for each compound hydraulic actuator HA used to drive the left and right tracks 1C, the upper slewing body 3, the boom 4, the stick 5, and the bucket 6. The hydraulic control valves 31 can be provided, for example, in the pilot line between the pilot pump 15 and the regulating valve 17, and are configured to change their flow area (i.e., the cross-sectional area through which the working oil can flow). Thus, the hydraulic control valves 31 can use the working oil supplied to the pilot pump 15 through the pilot line to output a predetermined pilot pressure to the secondary pilot line. Therefore, the hydraulic control valves 31 can cause a predetermined pilot pressure corresponding to the control command (operation command) from the controller 30 to act on the regulating valve 17. Therefore, for example, the controller 30 applies a pilot pressure from the hydraulic control valve 31 to the regulating valve 17 corresponding to the operation command (automatic operation command) corresponding to the automatic operation function, thereby enabling the excavator 100 to operate based on the automatic operation function. Furthermore, the controller 30 applies a pilot pressure from the hydraulic control valve 31 to the regulating valve 17 corresponding to the operation command corresponding to the remote operation signal, thereby enabling the excavator 100 to operate based on remote operation.

[0071] <User Interface System> The user interface system of the excavator 100 is a set of components related to the information exchange between the user and the excavator 100.

[0072] like Figure 5As shown, the user interface system of the excavator 100 includes an operating device 26, a display device 50, and an input device 52.

[0073] Display device 50 conveys various information to the operator inside cockpit 10 via visual means. Display device 50 is, for example, a liquid crystal display or an organic EL (Electroluminescence) display.

[0074] In addition to the display device 50, a lighting device that transmits various information to the operator visually can be installed inside the cab 10. This lighting device may include various warning lights (also called "indicator lights"). Furthermore, in addition to the display device 50, an external display device can be installed to transmit various information to workers or site supervisors outside the cab 10. Also, in addition to the display device 50 or the internal lighting device of the cab 10, an external lighting device for the cab 10 can be installed to transmit various information to workers or site supervisors outside the cab 10. Furthermore, the excavator 100 can be equipped with a sound output device that transmits various information audibly to the operator inside the cab 10 or to workers or site supervisors outside the cab 10. This sound output device may include, for example, a buzzer or a loudspeaker. Finally, the excavator 100 can be equipped with a device that transmits various information tactilely, such as through vibrations of the operator's seat.

[0075] The input device 52 receives various inputs from the user of the excavator 100, and the corresponding signals are input to the controller 30. The inputs received from the input device 52 are different from the inputs received by the operating device 26 for operating the hydraulic actuator HA. For example, the input device 52 is located inside the cab 10 and receives inputs from operators inside the cab 10. Furthermore, the input device 52 may be located, for example, on the side of the housing of the upper rotating body 3 and receive inputs from workers around the excavator 100.

[0076] For example, input device 52 includes a mechanical input device that accepts mechanically operated input from a user. Mechanical input devices may include, for example, touch panels, touchpads, push-button switches, joysticks, toggle keys, rotary switches, etc. For instance, mechanical input devices located inside the cockpit 10 may include touch panels, various joysticks, switches, and control panels.

[0077] Furthermore, the input device 52 may include a voice input device that accepts voice input from a user. The voice input device may include, for example, a microphone.

[0078] Furthermore, the input device 52 may also include a gesture input device that accepts gesture input from the user. The gesture input device may include, for example, a camera device that captures the state of the gestures performed by the user.

[0079] Furthermore, the input device 52 may include a biometric input device for accepting biometric input from the user. Biometric input may include, for example, the input of biometric information such as the user's fingerprint or iris scan.

[0080] <Communication Systems> The communication system of the excavator 100 is a set of components used for the excavator 100 to communicate with the outside world.

[0081] like Figure 5 As shown, the communication system of the excavator 100 involved in this embodiment includes a communication device 60.

[0082] The communication device 60 connects to an external communication line and communicates with devices located separately from the excavator 100. In addition to devices located outside the excavator 100, the devices located separately from the excavator 100 may also include a portable terminal device (mobile terminal) brought into the cab 10 by the user of the excavator 100. The communication device 60 may, for example, include devices compliant with 4G (4G...) th Generation: Fourth Generation), 5G (5 th The communication device 60 may include mobile communication modules of various specifications, such as Generation 5. Furthermore, the communication device 60 may include, for example, a satellite communication module. Additionally, the communication device 60 may also include, for example, a WiFi communication module or a Bluetooth (registered trademark) communication module. Moreover, when multiple connectable communication lines NW exist, the communication device 60 may include multiple communication devices depending on the type of communication line NW.

[0083] Furthermore, the excavator 100 can operate independently without communicating with the outside world. In this case, the communication system of the excavator 100, including the communication device 60, can be omitted.

[0084] <Control System> The control system of the excavator 100 is a set of components related to various controls of the excavator 100.

[0085] like Figure 5 As shown, the control system of the excavator 100 includes a controller 30. Furthermore, the control system of the excavator 100 includes a camera device 40, posture sensors S1-S4, a rotation angle sensor S5, an orientation sensor S6, and cylinder pressure sensors S7-S9.

[0086] The controller 30 performs various controls related to the excavator 100.

[0087] The functions of controller 30 can be implemented by any hardware or any combination of hardware and software. For example, controller 30 includes an auxiliary storage device, a memory device, a processor, and an interface device that are communicatively connected via a bus.

[0088] The auxiliary storage device is a non-volatile storage unit that stores the program to be installed on the controller 30, and also stores files or data required for processing within the controller 30. The auxiliary storage device may be, for example, EEPROM (Electrically Erasable Programmable Read-Only Memory) or flash memory. For example, when a program start instruction is present, the memory device loads the program from the auxiliary storage device, allowing the processor to read it. The memory device may be, for example, SRAM (Static Random Access Memory). The processor, for example, executes various processes according to the program's instructions by executing the program loaded into the memory device. The processor may include, for example, a CPU (Central Processing Unit). Furthermore, the processor may include a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), or a FPGA (Field-Programmable Gate Array). The interface device functions, for example, as a communication interface for connecting to communication lines within the excavator 100. The interface device may include multiple different types of communication interfaces depending on the type of communication line to be connected. Furthermore, the interface device functions as an external interface for reading data from or writing data to the storage medium. The storage medium is, for example, a special tool connected to a connector located inside the cockpit 10 via a detachable cable. The storage medium can be, for example, a common storage medium such as an SD memory card or a USB (Universal Serial Bus) memory. Thus, the programs that implement the various functions of the controller 30 can be provided, for example, by a portable storage medium and installed in the auxiliary storage device of the controller 30. Furthermore, the programs can also be downloaded from another computer outside the excavator 100 via the communication device 60 and installed in the auxiliary storage device.

[0089] Furthermore, some of the functions of controller 30 can also be implemented by other devices. That is, the functions of controller 30 can also be implemented by multiple devices. For example, the functions of the storage area included in controller 30 can be implemented by an external storage device mounted on excavator 100 in a manner communicatively connected to controller 30. Moreover, the functions of controller 30 can be implemented by multiple controllers mounted on excavator 100.

[0090] The camera device 40 captures images of the surrounding environment of the excavator 100.

[0091] The camera device 40 is, for example, a monocular camera. Furthermore, the camera device 40 can be, for example, a three-dimensional camera (3D camera), such as a stereo camera, a TOF (Time of Flight) camera, or a depth camera, capable of acquiring not only two-dimensional image information but also three-dimensional information containing information related to the distance to objects reflected in the image or the length (depth) of the image.

[0092] For example, such as Figure 1 As shown, the camera device 40 includes cameras 40F, 40B, 40L, and 40R. Camera 40F captures images of the front of the upper rotating body 3. Camera 40B captures images of the rear of the upper rotating body 3. Camera 40L captures images of the left side of the upper rotating body 3. Camera 40R (not shown) captures images of the right side of the upper rotating body 3. For example, when viewing the excavator 100 from above, camera 40R is positioned approximately symmetrically to camera 40L. Therefore, the camera device 40 can capture images of the excavator 100 from all angles, i.e., a 360-degree angular range centered on the excavator 100, when viewed from above. Hereinafter, cameras 40F, 40B, 40L, and 40R will sometimes be collectively referred to or individually as "camera 40X".

[0093] The output data of the camera device 40 (camera 40X) is input to the controller 30 via a one-to-one communication line or vehicle network. Thus, for example, the controller 30 can grasp the surrounding status of the excavator 100 based on the output data of the camera 40X.

[0094] Alternatively, some or all of the cameras 40F, 40B, 40L, and 40R can be omitted. Furthermore, in the excavator 100, instead of or based on the camera device 40, a ranging sensor (also called a "distance sensor") capable of acquiring information indicating the distance to objects surrounding the excavator 100 can be installed. The ranging sensor can be, for example, a LIDAR (Light Detecting and Ranging) sensor, a millimeter-wave radar, or an ultrasonic sensor.

[0095] A posture sensor S1 is mounted on the boom 4 to measure the posture state of the boom 4. The posture sensor S1 outputs a measurement signal indicating the posture state of the boom 4. The posture state of the boom 4 is, for example, the posture angle (hereinafter referred to as "boom angle") of the base end of the boom 4 connected to the upper rotating body 3 about the axis of rotation. The posture sensor S1 may include, for example, a rotary potentiometer, a rotary encoder, an accelerometer, an angular accelerometer, a 6-axis sensor, an IMU (Inertial Measurement Unit), etc. The same applies to posture sensors S2 to S4 below. Furthermore, the posture sensor S1 may also include a cylinder sensor that detects the extension / retraction position of the boom cylinder 7. The same applies to posture sensors S2 and S3 below. The output of the posture sensor S1 (i.e., the measurement signal indicating the posture state of the boom 4) is input to the controller 30. Thus, the controller 30 can grasp the posture state of the boom 4.

[0096] An attitude sensor S2 is mounted on the boom 5 to measure the attitude state of the boom 5. The attitude sensor S2 outputs measurement data representing the attitude state of the boom 5. The attitude state of the boom 5 is, for example, the attitude angle (hereinafter referred to as "boom angle") of the base end of the boom 5 connected to the boom 4 about the axis of rotation. The output of the attitude sensor S2 (the measurement signal representing the attitude state of the boom 5) is input to the controller 30. Thus, the controller 30 can grasp the attitude state of the boom 5.

[0097] A posture sensor S3 is installed on the bucket 6 to measure the posture state of the bucket 6. The posture sensor S3 outputs measurement data representing the posture state of the bucket 6. The posture state of the bucket 6 is, for example, the posture angle (hereinafter referred to as "bucket angle") of the base end of the connection between the bucket 6 and the stick 5 about the axis of rotation. The output of the posture sensor S3 (the measurement signal representing the posture state of the bucket 6) is input to the controller 30. Thus, the controller 30 can grasp the posture state of the bucket 6.

[0098] The attitude sensor S4 measures the attitude state of the excavator 100's body (e.g., the upper rotating body 3). The attitude sensor S4 outputs a measurement signal representing the attitude state of the excavator 100's body. The attitude state of the excavator 100's body is, for example, the tilt state of the body relative to a predetermined reference plane (e.g., a horizontal plane). For example, the attitude sensor S4 is mounted on the upper rotating body 3 and measures the tilt angles (hereinafter referred to as "forward tilt angle" and "left-right tilt angle") of the excavator 100 about two axes in the forward and backward directions. The output of the attitude sensor S4 (the measurement signal representing the attitude state of the excavator 100's body) is input to the controller 30. Thus, the controller 30 can grasp the attitude state (tilt state) of the body (upper rotating body 3).

[0099] A rotation angle sensor S5 is mounted on the upper rotating body 3 to measure the rotation angle of the upper rotating body 3. The rotation angle of the upper rotating body 3 is, for example, an absolute angle based on a predetermined position defined in the rotation direction of the upper rotating body 3. Furthermore, the rotation angle of the upper rotating body 3 can also be a relative angle based on the starting position of the most recent rotation movement of the upper rotating body 3. The rotation angle sensor S5 outputs a measurement signal representing the rotation angle of the upper rotating body 3. The rotation angle sensor S5 may include, for example, a gyroscope sensor, a rotary transformer, and a rotary encoder. The output of the rotation angle sensor S5 (the measurement data representing the rotation angle of the upper rotating body 3) is input to the controller 30. Thus, the controller 30 can determine the rotation angle of the upper rotating body 3.

[0100] The controller 30 can infer and determine the position of the front end (i.e., bucket 6) of the auxiliary device AT based on the output of the posture sensors S1 to S4 and the rotation angle sensor S5.

[0101] Furthermore, when the attitude sensor S4 includes a gyroscope sensor capable of detecting angular velocity around three axes, a 6-axis sensor, an IMU, etc., the rotation angle of the upper rotating body 3 can be detected based on the detection signal of the attitude sensor S4. In this case, the rotation angle sensor S5 can be omitted.

[0102] The orientation sensor S6 determines the orientation as observed from the excavator's 100-degree viewpoint. The orientation sensor S6 can be, for example, a GNSS (Global Navigation Satellite System) compass or a geomagnetic sensor. The output (measurement signal) of the orientation sensor S6 is input to the controller 30.

[0103] Additionally, the orientation sensor S6 can be omitted.

[0104] The cylinder pressure sensor S7 measures the pressure (cylinder pressure) of the oil chamber of the boom cylinder 7. The cylinder pressure sensor S7 may include, for example, a sensor that measures the cylinder pressure (rod pressure) of the rod-side oil chamber of the boom cylinder 7 and a sensor that measures the cylinder pressure (bottom pressure) of the bottom-side oil chamber. The output of the cylinder pressure sensor S7 (i.e., the measured signal of the cylinder pressure of the boom cylinder 7) is input to the controller 30.

[0105] The cylinder pressure sensor S8 measures the pressure (cylinder pressure) of the oil chamber of the boom cylinder 8. The cylinder pressure sensor S8 may include, for example, a sensor that measures the cylinder pressure (rod pressure) of the rod-side oil chamber of the boom cylinder 8 and a sensor that measures the cylinder pressure (bottom pressure) of the bottom-side oil chamber of the boom cylinder 8. The output of the cylinder pressure sensor S8 (i.e., the measured signal of the cylinder pressure of the boom cylinder 8) is input to the controller 30.

[0106] The cylinder pressure sensor S9 measures the pressure (cylinder pressure) of the oil chamber of the bucket cylinder 9. The cylinder pressure sensor S9 may include, for example, a sensor that measures the cylinder pressure (rod pressure) of the rod-side oil chamber of the bucket cylinder 9 and a sensor that measures the cylinder pressure (bottom pressure) of the bottom-side oil chamber of the bucket cylinder 9. The output of the cylinder pressure sensor S9 (i.e., the measured signal of the cylinder pressure of the bucket cylinder 9) is input to the controller 30.

[0107] The controller 30 can determine the load status acting on the auxiliary device AT based on the output of the cylinder pressure sensors S7 to S9. The load acting on the auxiliary device AT includes, for example, the reaction force of sand from the ground acting on the bucket 6 or the weight of the sand contained in the bucket 6.

[0108] [Excavator's Payload Function] Next, refer to Figure 5 The effective load function of excavator 100 is explained.

[0109] Excavator 100, for example, has a payload function.

[0110] The payload function is a function that calculates the amount of sand that the excavator 100 loads onto the object being loaded (e.g., the cargo box of a dump truck DT) during a loading operation.

[0111] The payload function is implemented through a control mode (hereinafter referred to as "payload mode" for convenience) used to perform controls related to the payload function of the controller 30.

[0112] like Figure 5 As shown, the controller 30 includes a position / attitude calculation unit 301, a load calculation unit 302, a load amount calculation unit 303, a cancellation processing unit 304, and a display processing unit 305 as functional units related to the payload function. These functional units are implemented, for example, by loading a program installed in an auxiliary storage device into a memory device and executing it with a processor.

[0113] The position / posture calculation unit 301 calculates the position or posture of a specific part of the excavator 100 based on the outputs of the posture sensors S1 to S4, the rotation angle sensor S5, the orientation sensor S6, etc.

[0114] For example, the position / posture calculation unit 301 calculates the position of a specific part of the bucket 6 (e.g., a specific part on the back or the tip of the bucket). Furthermore, for example, the position / posture calculation unit 301 calculates the posture angles of the boom 4, stick 5, and bucket 6.

[0115] The load calculation unit 302 calculates the weight of the sand contained in the bucket 6. For example, the controller 30 calculates the weight of the sand contained in the bucket 6 based on the output of the cylinder pressure sensors S7 to S9.

[0116] The loading calculation unit 303 calculates the loading amount of sand and soil loaded onto the object to be loaded (the cargo box of the dump truck DT). Specifically, whenever the excavator 100 performs a soil discharge operation, the controller 30 calculates the loading amount LC onto the object to be loaded by adding (i.e., accumulating) the weight of the sand and soil discharged from the bucket 6 (sand and soil weight SW).

[0117] For example, the load calculation unit 303 determines whether the current posture state of the auxiliary device AT corresponds to the soil-discharging action based on the specific position of the bucket 6 or the posture angles of the boom 4, stick 5, and bucket 6 calculated by the position / posture calculation unit 301, thereby determining whether the excavator 100 has performed a soil-discharging action. That is, in this example, the load calculation unit 303 determines whether the excavator 100 has performed a soil-discharging action based on the outputs of the posture sensors S1 to S4. Furthermore, the load calculation unit 303 determines whether the current operating state of the excavator 100 corresponds to the soil-discharging action based on the operating signal input from the operating device 26, the remote operating signal input from the communication device 60, or the automatic operating command, thereby determining whether the excavator 100 has performed a soil-discharging action. Additionally, the load calculation unit 303 monitors the weight of the sand contained in the bucket 6 based on the outputs of the cylinder pressure sensors S7 to S9, thereby determining whether the excavator 100 has performed a soil-discharging action. Furthermore, the loading capacity calculation unit 303 can determine whether the excavator 100 has performed a soil discharge operation based on the image captured by the camera device 40 (specifically, camera 40F). The loading capacity calculation unit 303 can determine whether the excavator 100 has performed a soil discharge operation by combining at least two of the following: the outputs of the posture sensors S1-S4, the current operating state of the excavator 100, the outputs of the cylinder pressure sensors S7-S9, and the output of the camera device 40. When the excavator 100 has performed a soil discharge operation, the loading capacity calculation unit 303 updates the loading capacity LC by adding the weight SW of the sand contained in the bucket 6 before the soil discharge operation to the current loading capacity LC. Therefore, the controller 30 can calculate the amount of sand loaded onto the object being loaded (the cargo box of the dump truck DT) by accumulating the weight SW of the sand during the soil discharge operation up to the completion of the loading operation.

[0118] Furthermore, the loading calculation unit 303 can calculate the loading volume LC of the loaded object by taking into account the error between the weight SW of the sand contained in the bucket 6 and the weight of the sand actually loaded onto the loaded object. The error between the weight SW of the sand contained in the bucket 6 and the weight of the sand actually loaded onto the loaded object may include, for example, the weight of sand that adheres to the inner surface of the bucket 6 and is not discharged from the bucket 6, and the weight of sand that spills onto the outside of the loaded object during discharge from the bucket 6. For example, by pre-defining the average value of the aforementioned errors that may occur in each discharge operation, the loading calculation unit 303 updates the loading volume LC by adding the weight SW of the sand contained in the bucket 6 before the discharge operation, and further subtracting the average value of the errors. Furthermore, the loading calculation unit 303 detects whether sand adheres to the bucket 6 or spills onto the outside of the object being loaded based on the image captured by the camera device 40 (specifically, camera 40F), thereby calculating the error amount of each soil discharge action of the excavator 100.

[0119] Furthermore, the loading capacity calculation unit 303 calculates the remaining loading capacity (hereinafter referred to as "remaining loading capacity") that can be loaded into the object to be loaded (the cargo box of the dump truck DT). Specifically, the controller 30 calculates the remaining loading capacity of the object to be loaded by subtracting the current loading capacity already loaded into the dump truck from the maximum loading capacity of the object to be loaded.

[0120] The maximum loading capacity of the dump truck can be set, for example, based on instructions such as the type or size of the dump truck input by the user via the input device 52. Furthermore, the maximum loading capacity of the dump truck can also be set by the user inputting a value via the input device 52. Additionally, the loading capacity calculation unit 303 can detect dump trucks DT around the excavator 100 based on the image from the camera device 40, and determine the type or size of the detected dump trucks DT, thereby inferring the maximum loading capacity of the dump truck.

[0121] The cancellation processing unit 304 performs the cancellation process (cancellation processing) performed by the loading quantity calculation unit 303, which involves adding the sand and soil weight SW to the loading quantity LC. Specifically, the cancellation processing unit 304 performs the cancellation processing by subtracting the most recently added sand and soil weight SW from the latest loading quantity LC calculated by the loading quantity calculation unit 303.

[0122] For example, if the cancellation processing unit 304 cancels the operation when the location of the sand discharged in the most recent dumping operation, as determined by the loading quantity calculation unit 303, does not correspond to the loaded object (the cargo box of the dump truck DT), then the cancellation processing unit 304 will not cancel the operation.

[0123] The cancellation processing unit 304 performs cancellation processing, for example, if the condition indicating that the location of the sand discharged by the most recent soil discharge operation determined by the loading quantity calculation unit 303 corresponds to the object being loaded (hereinafter, for convenience, referred to as the "non-cancellation condition") is not met, then the cancellation processing unit 304 performs cancellation processing. On the other hand, the cancellation processing unit 304 does not perform cancellation processing if the non-cancellation condition is met.

[0124] For example, a non-cancellation condition is that, when viewed from above, the orientation of the auxiliary device AT during the most recent dumping operation corresponds to the direction of the loaded object (the cargo box of the dump truck DT) as viewed from the excavator 100's perspective. The orientation of the auxiliary device AT when viewed from above corresponds to the direction in which the auxiliary device AT extends from the upper rotating body 3 when viewed from above. Specifically, for example, a non-cancellation condition is that the rotation angle of the upper rotating body 3 during the most recent dumping operation is within a predetermined range, including a rotation angle that corresponds to the direction of the loaded object as viewed from the excavator 100's perspective (hereinafter, for convenience, referred to as the "non-cancellation reference angle").

[0125] Furthermore, for example, the non-cancellation condition is that the height of the bucket 6 during the most recent dumping operation corresponds to the height of the dumped object (the cargo box of the dump truck DT). Specifically, for example, the non-cancellation condition is that the height of the bucket 6 (e.g., the height of the back) during the most recent dumping operation is within a range above a reference height (hereinafter, for convenience, referred to as the "non-cancellation reference height") set at a position higher than the sideboard height Hd of the dump truck DT.

[0126] For example, in payload mode, when dumping soil onto the object being loaded for the first time, the measured value of the rotation angle of the upper slewing body 3 is registered in the auxiliary storage device of the controller 30 based on predetermined input received from the operator. Thus, the controller 30 can set a non-cancellation reference value based on the measured value of the rotation angle of the upper slewing body 3 registered in itself. Furthermore, the measured value of the rotation angle of the upper slewing body 3 can also be registered in the auxiliary storage device of the controller 30 based on input from the operator for sounding the horn (horn), which is used to prompt the dump truck DT to stop when it reverses and approaches the excavator 100. This is because, as the dump truck DT alternately approaches the excavator 100, the excavator 100 is in a state where the orientation of the auxiliary device AT is almost identical to the state of dumping soil onto the dump truck DT. Therefore, the controller 30 can set the non-cancellation reference angle based on the measured value of the rotation angle of the upper rotating body 3 registered in itself.

[0127] Furthermore, when the payload mode begins, the controller 30 can identify the position of the loaded object as viewed from the excavator 100 based on the image captured by the orientation sensor S6 and the camera device 40, thereby setting a non-cancellation reference angle.

[0128] Similarly, for example, when dumping soil onto the object being loaded for the first time in payload mode, the measured value (calculated value) of the height of a specific part of the bucket 6 is registered in the auxiliary storage device of the controller 30 based on predetermined input received from the operator, etc. Thus, the controller 30 can set a non-cancellation reference height based on the measured value of the height of the specific part of the bucket 6 registered in itself. Furthermore, the measured value (calculated value) of the height of the specific part of the bucket 6 can also be registered in the auxiliary storage device of the controller 30 based on input from the operator for sounding the horn (horn), which is used to prompt the dump truck DT to stop when it reverses and approaches the excavator 100. This is because, when the dump truck DT alternately approaches the excavator 100, the excavator 100 is in a standby state with the auxiliary device AT in a posture state almost identical to the state of dumping soil onto the dump truck DT. Therefore, the controller 30 can set a non-cancellation reference height based on the measured value of the height of the specific part of the bucket 6 registered in itself.

[0129] Furthermore, regarding the non-cancellation reference height, the non-cancellation reference height can be set by identifying the position of the loaded object as viewed from the excavator 100 based on the image captured by the orientation sensor S6 and the camera device 40 at the start of the payload mode.

[0130] When the first soil removal operation is performed on the loaded object in payload mode, the predetermined inputs received from the operator, etc., include not only the predetermined inputs from the operator to the input device 52, but also the predetermined inputs from the operator via the remote operation support device 200. Furthermore, when the first soil removal operation is performed on the loaded object in payload mode, the predetermined inputs received from the operator, etc., may include the predetermined inputs from the monitor via the remote monitoring support device.

[0131] When the excavator 100 is first discharged into the loaded object in payload mode, the predetermined input received from the operator is a type of input specifically set for registration. Furthermore, when the excavator 100 is first discharged into the loaded object in payload mode, the predetermined input received from the operator may be a predetermined input that must be performed during loading operations to discharge sand into the loaded object (the cargo box of the dump truck DT), regardless of registration. Therefore, the controller 30 can automatically register the measured values ​​of the slewing angle of the upper slewing body 3 or the height of the bucket 6 based on the operator's operation of the excavator 100 for normal loading operations, without requiring the operator to be aware of the inputs used for registration.

[0132] Furthermore, for example, if the condition (hereinafter referred to as the "cancellation condition") that the location where sand was discharged in the most recent dumping operation, as determined by the loading quantity calculation unit 303, corresponds to a location different from the object being loaded that allows for dumping (is met) is satisfied, the cancellation processing unit 304 performs cancellation processing. The location different from the object being loaded that allows for dumping is, for example, one of the locations corresponding to the site where the excavation operation is performed. On the other hand, if the cancellation condition is not satisfied, the cancellation processing unit 304 does not perform cancellation processing.

[0133] For example, the cancellation condition is that, when viewed from above, the orientation of the auxiliary device AT during the most recent soil-discharging operation corresponds to the direction of the location where the digging operation was performed when viewed from the perspective of the excavator 100. Specifically, for example, the cancellation condition is that, during the most recent soil-discharging operation, the rotation angle of the upper rotating body 3 is within a predetermined range that includes a rotation angle (hereinafter, for convenience, referred to as the "cancellation reference angle") that corresponds to the direction of the digging operation when viewed from the perspective of the excavator 100.

[0134] Furthermore, for example, the cancellation condition is that the height of the bucket 6 during the most recent dumping operation corresponds to the height of a location where the dumping operation can be performed, which is different from the height of the loaded object. Specifically, for example, the cancellation condition is that the height of the bucket 6 during the most recent dumping operation (e.g., the height of the back) is within a predetermined range that includes a reference height (hereinafter, for convenience, referred to as the "cancellation reference height") near the ground position where the digging operation is performed. This predetermined range is set at a position sufficiently lower than the sideboard height Hd.

[0135] For example, during the first excavation operation in payload mode, the measured value of the rotation angle of the upper rotating body 3 is registered in the auxiliary storage device of the controller 30 based on predetermined input received from the operator or other personnel. Therefore, the controller 30 can set a cancellation reference value based on the measured value of the rotation angle of the upper rotating body 3 registered in itself.

[0136] Furthermore, when the payload mode starts, the controller 30 can identify the location where the digging action is performed from the perspective of the excavator 100 based on the image captured by the orientation sensor S6 and the camera device 40, thereby setting the cancellation reference angle.

[0137] Similarly, for example, during the first digging operation in payload mode, the measured value (calculated value) of the height of a specific part of the bucket 6 is registered in the auxiliary storage device of the controller 30 based on predetermined input received from the operator or the like. Thus, the controller 30 can set the cancellation reference height based on the measured value of the height of the specific part of the bucket 6 registered in itself.

[0138] Furthermore, when the payload mode starts, the controller 30 can identify the location where the digging action is performed from the perspective of the excavator 100 based on the image captured by the orientation sensor S6 and the camera device 40, thereby setting the cancellation reference height.

[0139] When performing the first digging operation in payload mode, the predetermined input received from the operator is a type of input specifically designed for registration. Furthermore, the predetermined input received from the operator during the first digging operation in payload mode can be a predetermined input that must be performed during digging operations in loading operations, regardless of registration. Therefore, the controller 30 can automatically register the measured values ​​of the rotation angle of the upper slewing body 3 or the height of the bucket 6 based on the operator's operation of the excavator 100 for normal loading operations, without requiring the operator to be aware of the inputs used for registration.

[0140] The display processing unit 305 displays a predetermined image on the display device 50. Details regarding the image displayed on the display device 50 will be described later (see reference). Figure 6 , Figure 7 (Scene 41)

[0141] For example, the display processing unit 305 sends the content to be displayed on the display device 50 (display content) to the display device 50, and the processing unit built into the display device 50 generates a screen based on the display content received from the controller 30 and displays it on the display area of ​​the display device 50. Furthermore, the display processing unit 305 can generate a screen to be displayed on the display device 50 and send the image of the screen to the display device 50, thereby displaying the screen as is on the display area of ​​the display device 50.

[0142] [Other functions of the excavator] The functions of the excavator 100 other than its effective load function are described.

[0143] <Crane Functions> Excavator 100, for example, has crane functionality.

[0144] The crane function is a function that supports the operator's operation for crane operations, which involves suspending and moving loads on a hook (not shown) located at the front end of an auxiliary device AT of the excavator 100.

[0145] The crane function is implemented through a control mode (hereinafter referred to as "lifting mode" for convenience) used to perform controls related to the crane function of the controller 30.

[0146] In lifting mode, the controller 30 prohibits the opening of the bucket 6. Therefore, the controller 30 can prevent situations such as the bucket 6 opening during crane operation.

[0147] Furthermore, in lifting mode, the controller 30 limits the operating speed of the hydraulic actuator HA. Specifically, the controller 30 sets the operating speed of the auxiliary devices relative to the operation of the hydraulic actuator HA to be lower than in normal mode (also known as "normal mode"). Normal mode is the standard control mode of the controller 30. Thus, the controller 30 is able to suppress the occurrence of large swaying or falling of the load during crane operation.

[0148] Furthermore, in lifting mode, the controller 30 calculates the load status of the excavator 100 caused by the hoisted load and displays the calculation result on the display device 50 inside the cab 10. Thus, the operator of the cab 10 can monitor the load status of the excavator 100 caused by the hoisted load while performing crane operations.

[0149] The load state of the excavator 100 is divided into multiple stages, defined by the load (weight) W of the load. As described above, the load W is measured based on the output of cylinder pressure sensors S7 to S9. Specifically, the load state of the excavator 100 can be defined as stage 1, stage 2, and stage 3 in ascending order. Stage 1 indicates that the load W is less than a threshold Wth1. The threshold Wth1 is predefined as a value smaller than a predefined rated load Wlim. Stage 2 indicates that the load W is greater than or equal to threshold Wth1 but less than threshold Wth2. The threshold Wth2 is predefined as a value greater than threshold Wth1 but less than the rated load Wlim. Stage 3 indicates that the load W is greater than or equal to threshold Wth2.

[0150] Furthermore, regarding the load state of the excavator 100, not only the load of the suspended object but also the posture state of the auxiliary device AT can be considered. As described above, the posture state of the auxiliary device AT is determined based on the outputs of the posture sensors S1 to S4 and the rotation angle sensor S5. For example, the controller 30 can calculate the overturning moment of the excavator 100 based on the load of the suspended object and the posture state of the auxiliary device, and calculate the load state of the excavator 100 caused by the suspended object based on the magnitude of the overturning moment.

[0151] Furthermore, in lifting mode, the controller 30 changes the color of the external indicator light (not shown) according to the load state of the excavator 100 caused by the hoisting load. For example, when the load state of the excavator 100 caused by the hoisting load is in stage 1, the controller 30 controls the external indicator light to emit green or blue. When the load state of the excavator 100 caused by the hoisting load is in stage 2, the controller 30 controls the external indicator light to emit yellow or orange. When the load state of the excavator 100 caused by the hoisting load is in stage 3, the controller 30 controls the external indicator light to emit red. Thus, the controller 30 can, for example, enable personnel around the excavator 100, such as those performing the hoisting operation, to determine the load state of the excavator 100 caused by the hoisting load based on the color of the external indicator light.

[0152] <Equipment guidance function and equipment control function> Excavator 100, for example, has equipment guidance and equipment control functions.

[0153] The equipment guidance and control functions support the operator's manipulation of the target shape of the work object based on the excavator 100. The target shape of the work object is, for example, a pre-defined target construction surface.

[0154] Specifically, in the equipment guidance function, information related to the relative position or relative posture of the working part of the auxiliary device AT relative to the target shape of the work object is provided to the operator through the display device 50.

[0155] Furthermore, in the equipment control function, the excavator 100 enables the auxiliary device AT to operate automatically or semi-automatically to achieve the target shape of the work object. In addition to the auxiliary device AT, the lower traveling body 1 or the upper rotating body 3 can also be operated automatically or semi-automatically in the equipment control function.

[0156] Furthermore, semi-automatic operation may include, for example, the following method: if the operator operates a hydraulic actuator HA, other hydraulic actuators HA will operate in conjunction, thereby actuating the auxiliary device AT to achieve the target shape of the work object. Additionally, semi-automatic operation may include the following method: based on the operator's operation, the operation of the auxiliary device AT is appropriately corrected from the action corresponding to the operator's operation, thereby actuating the auxiliary device AT to achieve the target shape of the work object.

[0157] The equipment control function and the equipment guidance function are implemented through the control mode (hereinafter referred to as "MC-MG mode" for convenience) in the controller 30 for performing control related to the equipment control function and the equipment guidance function.

[0158] For example, in MC-MG mode, controller 30 always provides equipment guidance functionality. Furthermore, in MC-MG mode, controller 30 provides equipment control functionality when it receives an input from the operator requesting equipment control functionality via input device 52.

[0159] In MC-MG mode, the controller 30 measures the distance between the reference point of the working part of the auxiliary device AT (i.e., the bucket 6) and the target construction surface, and notifies the operator of this distance via the display device 50. The reference point of the bucket 6 is, for example, a point corresponding to the tip of the bucket 6. Furthermore, the reference point of the bucket 6 is a predetermined point on the flat surface of the back of the bucket 6. The reference point of the bucket 6 can be changed according to the work requirements.

[0160] Furthermore, in MC-MG mode, the controller 30 measures the posture of the working part (bucket 6) of the auxiliary device AT relative to the target construction surface and notifies the operator of the posture status through the display device 50.

[0161] Furthermore, when the equipment control function is effective in MC-MG mode, the controller 30 will automatically activate auxiliary devices such as AT according to the operator's operation, so that the reference point of the bucket 6 moves along the target track.

[0162] The target track is defined, for example, as being along the target construction surface. Furthermore, the target track can be defined based on a comparison of the shape of the target construction surface and the ground surface of the current work object. The shape of the ground surface of the current work object is obtained, for example, from an image captured by the camera device 40. For example, if the difference between the shape of the target construction surface and the ground surface of the current work object is greater than a predetermined reference, the rough excavation target track is defined in a way that reduces the difference between the ground surface of the work object and the target construction surface. On the other hand, if the difference between the shape of the target construction surface and the ground surface of the current work object is less than a predetermined reference, the target track is defined as being along the target construction surface.

[0163] [An example of a display device's screen] refer to Figure 6 An example of screen 41 on display device 50 will be described.

[0164] In addition, compared with this example ( Figure 6 The same content as screen 41 can be displayed on the remote operation display device of the remote operation support device 200 or the monitoring display device of the remote monitoring support device.

[0165] In this example, the explanation assumes that the controller 30 has four or more control modes, including the normal mode, load mode, boost mode, and MC-MG mode described above. (The following section will discuss further.) Figure 7 The same applies to the example.

[0166] In addition, the controller 30 can have two or three control modes.

[0167] Figure 6 This is an example diagram showing the screen 41 of the display device 50. Specifically, Figure 6 This is a diagram showing a specific example of screen 41 when the normal mode is selected as the control mode.

[0168] The screen 41 includes display areas 41A to 41E.

[0169] Display areas 41A to 41E are arranged sequentially from top to bottom.

[0170] Display area 41A is located at the top of screen 41. Regardless of the control mode selected by controller 30, fixed content is displayed in display area 41A.

[0171] Display area 41A includes information display areas 41a to 41e and 41g to 41k.

[0172] The current date and time are displayed in information display area 41a. The currently selected travel mode of the excavator 100 is displayed in information display area 41b. An image representing the currently installed termination attachment is displayed in information display area 41c. Information related to the combustion consumption rate (fuel consumption rate) of the excavator 100 is displayed in information display area 41d. Information display area 41d includes, for example, an information display area 41d1 displaying the total average fuel consumption rate or the interval average fuel consumption rate, and an information display area 41d2 displaying the instantaneous fuel consumption rate. Information indicating the control status of the engine 11 is displayed in information display area 41e.

[0173] The information display area 41g displays the current temperature of the engine 11's coolant. The information display area 41h displays the remaining fuel in the fuel tank. The information display area 41i displays the operating mode corresponding to the engine 11's rotational speed. The information display area 41j displays the remaining urea solution in the urea tank. The information display area 41k displays the temperature of the hydraulic drive system's operating oil.

[0174] Display areas 41B to 41D are located in the center of the vertical direction of the screen 41. Display areas 41B to 41D display the content inherent to the control mode selected by the controller 30. The display content inherent to each of the multiple control modes can be fixed or changed according to a request input by the user through the input device 52.

[0175] The surrounding image is displayed in display areas 41B and 41C, and display area 41n is displayed.

[0176] The peripheral image display area 41n displays an image representing the peripheral state of the excavator 100 based on the camera image from the camera device 40 (hereinafter referred to as "peripheral image"). The peripheral image display area 41n includes peripheral image display areas 41n1 to 41n3.

[0177] The peripheral image display area 41n1 is displayed in the display area 41B adjacent to the information display area 41d included in the display area 41A.

[0178] In this example, a top-down image FV, generated from the image captured by the camera device 40, showing the periphery of the excavator 100 from a bird's-eye view, is displayed in the peripheral image display area 41n1. Furthermore, an excavator image GE is displayed in the peripheral image display area 41n1 in a manner simulating a top-down view of the excavator 100. The excavator image GE and the top-down image FV are arranged in the peripheral image display area 41n1 in a manner consistent with their positional relationship and the positional relationship between the excavator 100 and the camera range included in the top-down image FV.

[0179] Peripheral image display areas 41n2 and 41n3 are displayed adjacent to each other below peripheral image display area 41n1 in display area 41C. Peripheral image display areas 41n2 and 41n3 are arranged adjacently on the left and right sides of the display area 41C with the center in the left-right direction as the reference.

[0180] In this example, the rear image BM, representing the rear state of the excavator 100, is displayed in the peripheral image display area 41n2, and the right image RM, representing the right state of the excavator 100, is displayed in the peripheral image display area 41n3. The rear image BM and the right image RM correspond to the camera images of camera 40B and camera 40R, respectively.

[0181] The display area 41D includes information display areas 41f and 41m.

[0182] The information display area 41f is arranged adjacent to the surrounding image display area 41n2 below. The cumulative operating time of the engine 11 is displayed in the information display area 41f.

[0183] The information display area 41m is arranged adjacent to the surrounding image display area 41n3 and to the right of the information display area 41f. The operating status of the air conditioner is displayed in the information display area 41m. The information display area 41m includes information display areas 41m1 to 41m4.

[0184] The information display area 41m1 displays the current location of the air outlet used by the air conditioner. The information display area 41m2 displays the current operating mode of the air conditioner. The information display area 41m3 displays the current set temperature of the air conditioner. The information display area 41m4 displays the current set airflow of the air conditioner.

[0185] Display area 41E is located at the lower part of screen 41. In display area 41E, fixed display content is shown regardless of the control mode selected by controller 30. Specifically, display area 41E displays a set of labels 41q representing the operational requirements for selecting a control mode from multiple control modes applicable to controller 30. For example, the operator can operate label group 41q using the touch panel of display device 50 as an input device 52. Furthermore, the operator can operate label group 41q using a switch attached to display device 50 as an input device 52.

[0186] For convenience, the display areas 41A and 41E that do not depend on the control mode of the controller 30 will sometimes be referred to as "fixed display areas", and the display areas 41B and 41D that depend on the control mode will sometimes be referred to as "variable display areas".

[0187] Tag group 41q includes tags 41q1 to 41q6. Tags 41q1 to 41q6 are arranged sequentially from left to right along the left-right direction.

[0188] Label 41q1 is an operation icon used for settings related to screen 41.

[0189] For example, the settings related to screen 41 include settings related to label group 41q. These settings include, for example, the arrangement order of the operation icons corresponding to the four control modes on labels 41q2-41q5. Thus, the operator can customize the arrangement order of the operation icons corresponding to the four control modes on labels 41q2-41q5. Furthermore, the position of the operation icon corresponding to the normal mode can be fixed at label 41q2. In this case, the operator can customize the arrangement order of the operation icons corresponding to the three control modes on labels 41q3-41q5. Additionally, the settings related to label group 41q can include settings related to the specifications of the cursor (also called a "pointer") that indicates the selected control mode of the controller 30. The cursor (pointer) is a unit used to determine the position on screen 41; in this example, by determining one label in label group 41q, the control mode of the controller 30 can be displayed. For example, as... Figure 6 As shown, the cursor is displayed by highlighting the operation icon corresponding to the selected control mode, but this can also be achieved by changing the settings to use a rectangle surrounding the operation icon. For convenience, the highlighted operation icon of one of the multiple labels will sometimes be used as the cursor's pointing state in the following description. Furthermore, the settings related to label group 41q include the following: when there are four or more control modes, select the four control modes corresponding to the four operation icons arranged on labels 41q2 to 41q5. For example, as... Figure 5 As shown, labels 41q3 to 41q5 display operation icons corresponding to each of the payload mode, boost mode, and MC-MG mode. However, some or all of these icons can be changed to operation icons corresponding to other control modes. Furthermore, the operation icon corresponding to the normal mode can be one of the specifications required to be included in labels 41q2 to 41q5. In this case, the operator can customize the three control modes corresponding to the three operation icons arranged on labels 41q2 to 41q5, excluding the one corresponding to the normal mode.

[0190] Furthermore, the settings related to screen 41 may include settings for the specifications related to the display content of the variable display area (i.e., display area 41B to display area 41D) of screen 41 in each control mode.

[0191] For example, if a label 41q1 is selected, multiple operation icons corresponding to multiple possible settings are displayed adjacently on the label group 41q. Thus, the operator can select an operation icon from the displayed operation icons using a touch panel or the like, which serves as an input device 52, to perform the desired setting operation.

[0192] Labels 41q2 to 41q5 are operation icons corresponding to four of the multiple control modes. Thus, the operator can select and confirm the operation of any one of the labels 41q2 to 41q5 using a touch panel or similar input device 52, thereby selecting a control mode applicable to the controller 30 from the multiple control modes.

[0193] In this example, the operation icon corresponding to the normal mode is displayed on label 41q2. The operator can select the normal mode from multiple control modes as the control mode applied to the controller 30 by operating label 41q2 using the touch panel, which serves as the input device 52.

[0194] In this example, the operation icon corresponding to the elevated mode is displayed on label 41q3. Thus, the operator can select the elevated mode from multiple control modes as the control mode applied to the controller 30 by using the touch panel or similar device 41q3, which serves as the input device 52.

[0195] In this example, the operation icon corresponding to the MC-MG mode is displayed on label 41q4. Thus, the operator can select the MC-MG mode from multiple control modes as the control mode applied to the controller 30 by using the touch panel or similar device as an input device 52 to operate label 41q4.

[0196] In this example, an operation icon corresponding to the payload mode is displayed on label 41q5. Thus, the operator can select the payload mode from multiple control modes as the control mode applied to the controller 30 by using the touch panel or similar device (which serves as an input device 52) to operate label 41q5.

[0197] When there are four or more control modes, label 41q6 is an operation icon corresponding to other control modes, which are different from the four control modes corresponding to the operation icons of labels 41q2 to 41q5. Therefore, the operator can select label 41q6 by using a touch panel or the like as an input device 52, and select other control modes that are different from the four control modes corresponding to the operation icons of labels 41q2 to 41q5.

[0198] For example, if label 41q6 is selected, the operation icons corresponding to other control modes are displayed adjacent to each other on label group 41q. These other control modes are different from the four control modes corresponding to the operation icons of labels 41q2 to 41q5. Thus, the operator can select an operation icon from the displayed operation icons using a touch panel or the like as an input device 52, choosing an other control mode different from the four control modes corresponding to the operation icons of labels 41q2 to 41q5.

[0199] For example, when another control mode corresponding to label 41q6 is selected as the control mode applied to controller 30, the operation icon of label 41q6 changes from its state in this example to the operation icon corresponding to the selected other control mode. Furthermore, the cursor is positioned on label 41q6. Thus, the user can confirm the control mode being applied to controller 30 through the operation icon of label 41q6.

[0200] In this example, the normal mode was selected from multiple control modes as the control mode applied to the controller 30. Therefore, label 41q2, which displays the operation icon corresponding to the normal mode in label group 41q, is highlighted, and the cursor is positioned on label 41q2. Thus, the operator can confirm that the normal mode has been selected.

[0201] Furthermore, the display content of the variable display area corresponding to the normal mode, specifically the type or configuration of the information displayed, can be changed according to predetermined input by the operator via the input device 52. Specifically, the controller 30 can change the display content of the variable display area based on operations performed on the label 41q1 via the touch panel, which serves as the input device 52. For example, the display content of the peripheral image display area 41n, specifically the type or configuration of the peripheral images included in the peripheral image display area 41n, can be arbitrary. Moreover, the display content of the variable display area corresponding to other control modes can be changed in the same manner.

[0202] [Another example of a display device's screen] refer to Figure 7Another example of screen 41 on display device 50 will be described. Screen 41 corresponding to the load mode will be described.

[0203] In addition, compared with this example ( Figure 7 The same content as screen 41 can be displayed on the remote operation display device of the remote operation support device 200 or the monitoring display device of the remote monitoring support device.

[0204] Figure 7 This is another example of the screen 41 on the display device 50. Specifically, Figure 7 This is a diagram showing a specific example of screen 41 when selecting the payload mode as the control mode.

[0205] like Figure 7 As shown, screen 41 is similar to the example above ( Figure 6 Similarly, this includes display areas 41A to 41E.

[0206] In this example, the description will focus on the display content of the variable display area (display area 41B to 41D), which displays the inherent display content of the load mode corresponding to the control mode applied to the controller 30. Furthermore, in this example, the description will focus on the parts that are the same as or different from the display content of the screen 41 corresponding to the normal mode described above, and descriptions related to the same or corresponding display content will sometimes be omitted.

[0207] Similar to the normal mode, the surrounding image display area 41n is displayed in display areas 41B and 41C.

[0208] The peripheral image display area 41n includes peripheral image display areas 41n1 and 41n4.

[0209] Similar to the normal mode, the excavator image GE and the overhead image FV are displayed in the peripheral image display area 41n1.

[0210] The peripheral image display area 41n4 is displayed adjacent to the peripheral image display area 41n1 in the display area 41C. The peripheral image display area 41n4 is equivalent to the display area obtained by combining the peripheral image display areas 41n2 and 41n3 in normal mode. The rear image BM is displayed in the peripheral image display area 41n4.

[0211] The display area 41D includes information display areas 41f, 41m, 41r and label group 41s.

[0212] Information display areas 41f and 41m are arranged adjacent to each other below the surrounding image display area 41n4.

[0213] Information display area 41r is configured adjacent to information display areas 41f and 41m and above label group 41s. Information related to the payload mode is displayed in information display area 41r. Information display area 41r includes unloading image 41r1, numerical information images 41r2 and 41r3, bucket image 41r4, sand image 41r5, and numerical information image 41r6.

[0214] The unloading image 41r1 is a simulated side view of the dump truck. Furthermore, the cargo box portion of the dump truck's side view in the unloading image 41r1 displays a bar chart representing the load amount in the dump truck's cargo box. The bar chart shows the ratio of the amount of sand loaded in the dump truck's cargo box to the dump truck's maximum load capacity. This allows the operator to visually assess the sand loading status on the dump truck.

[0215] Numerical information image 41r2 represents the remaining load capacity of the dump truck's cargo box, and numerical information image 41r3 represents the amount of sand loaded in the dump truck's cargo box. The value displayed in numerical information image 41r2 is equivalent to the maximum load capacity of the dump truck's cargo box minus the load capacity corresponding to numerical information image 41r3. Thus, the operator can monitor the sand loading status on the dump truck with specific numerical values.

[0216] Bucket image 41r4 is an image that simulates the state of sand being shoveled into bucket 6. Sand image 41r5 is drawn adjacent to the opening of bucket 6. Sand image 41r5 is displayed when bucket 6 contains sand, and is not displayed when bucket 6 does not contain sand.

[0217] Numerical information image 41r6 represents the weight of the load (e.g., sand) inside bucket 6. This allows the operator to determine the weight of the sand inside bucket 6 before dumping.

[0218] If the weight of the load inside the bucket 6 corresponding to numerical information image 41r6 is greater than the remaining load of the dump truck corresponding to numerical information image 41r2, the display mode of information display area 41r can be changed. For example, the color of at least a portion of the unloading image 41r1, numerical information images 41r2, 41r3, bucket image 41r4, sand image 41r5, and numerical information image 41r6 can be changed to red. Thus, the controller 30 enables the operator to reliably determine that discharging sand from the bucket 6 into the dump truck's cargo box may result in overloading.

[0219] Tag group 41s is located below information display area 41r, and the information in tag group 41q is arranged adjacent to each other. Tag group 41s is a dedicated operational element for performing various inputs related to payload mode.

[0220] Tag group 41s includes tags 41s1 to 41s6. Tags 41s1 to 41s6 are arranged sequentially from left to right along the left-right direction.

[0221] Label 41s1 is an operation icon used to select the type of dump truck (DT) to be used in the effective load mode from multiple predefined types of DTs. Thus, the operator can select the type of dump truck DT to be used in the effective load mode based on the actual dump truck DT by operating label 41s1. Therefore, for example, the controller 30 can calculate the remaining load based on the type of dump truck DT selected via label 41s1.

[0222] Label 41s2 is an operation icon used to set the target value of the load.

[0223] Label 41s3 is an operation icon used to indicate the start of the loading operation. Thus, the operator can activate label 41s3 to cause the controller 30 to begin the process of calculating the loading amount.

[0224] Label 41s4 is an operation icon used to manually indicate (request) the aforementioned cancellation process. Thus, the operator can manually cause the controller 30 to perform the cancellation process by operating label 41s4.

[0225] Label 41s5 is an operation icon used to indicate the end of the loading operation. Thus, the operator can use label 41s5 to cause the controller 30 to end the process of calculating the load.

[0226] In this example, the load mode is selected from multiple control modes as the control mode applied to the controller 30. Therefore, label 41q5, which displays the operation icon corresponding to the load mode in label group 41q, is highlighted, and the operator can align the cursor with label 41q5. This allows the operator to confirm the selected load mode.

[0227] [Processing related to payload functionality] refer to Figure 8 The processing related to the payload function is explained in detail.

[0228] Figure 8 This is a flowchart that schematically illustrates an example of the processing related to the payload function.

[0229] Regarding this process, if the user provides input indicating the start of loading while the payload mode is selected (e.g., operation...), Figure 7 If the input of label 41s3 in screen 41 is entered, then the process begins. The following explanation assumes that the load LC has been initialized to 0 (zero) at the start of this process.

[0230] like Figure 8 As shown, in step S102, the controller 30 acquires the measured values ​​of the posture sensors S1 to S4.

[0231] If step S102 is completed, the controller 30 proceeds to step S104.

[0232] In step S104, the load calculation unit 303 determines whether the excavator 100 has performed a soil-discharging operation based on the measured values ​​of the posture sensors S1 to S4. Alternatively, the load calculation unit 303 may determine whether the excavator 100 has performed a soil-discharging operation based on at least one of the following: the operating status of the auxiliary device AT, the output of the cylinder pressure sensors S7 to S9, and the image captured by the camera 40F. If the excavator 100 has performed a soil-discharging operation, the load calculation unit 303 proceeds to step S106; otherwise, it proceeds to step S108.

[0233] Furthermore, as described above, the load calculation unit 303 can determine whether the excavator 100 has performed a soil discharge operation based on the content of the operation signal, remote operation signal, or automatic operation command output from the operation device 26. The processing of step S120 described later is the same.

[0234] In step S106, the controller 30 determines whether it has received input from the user for registering the measurement value within a certain period of time. If the controller 30 does not receive input for registering the measurement value within a certain period of time, it proceeds to step S108; if it does receive input, it proceeds to step S110.

[0235] In step S108, the controller 30 determines whether it has received input from the user indicating the end of the loading operation (e.g., operation). Figure 7 (Input of label 41s3 in screen 41). If the controller 30 does not receive an input from the user indicating that the loading operation has ended, it returns to step S102; if it does receive an input from the user indicating that the loading operation has ended, it terminates the processing of this process.

[0236] On the other hand, in step S110, the loading calculation unit 303 obtains the measured value of the sand weight SW before the excavator 100 is about to perform the most recent soil discharge operation.

[0237] If step S110 is completed, the controller 30 proceeds to step S112.

[0238] In step S112, the loading calculation unit 303 updates the loading amount LC (LC=LC+SW) by adding the sand weight SW obtained in step S110 to the current loading amount LC.

[0239] If step S112 is completed, the controller 30 proceeds to step S114.

[0240] In step S114, the controller 30 acquires the measured values ​​of the rotation angle of the upper rotating body 3 or the height of the bucket 6.

[0241] Additionally, in step S114, the controller 30 can also retrospectively obtain the measured values ​​of the rotation angle of the upper slewing body 3 or the height of the bucket 6 during the most recent soil discharge operation of the excavator 100, instead of the current measured values. For example, the controller 30 can retrospectively obtain the measured values ​​of the rotation angle of the upper slewing body 3 or the height of the bucket 6 during the most recent soil discharge operation by maintaining the measured values ​​of the upper slewing body 3 or the height of the bucket 6 for a recent certain period in a circular buffer (also called a "circular buffer") defined in its own memory device. The buffer area is a storage area in the memory device that temporarily holds data. In the circular buffer, the start end and the end end are logically connected. Data is saved sequentially from the start end to the end end. If data is saved to the end end, it is returned to the start end, and data is saved sequentially in a manner that overwrites data from the start end.

[0242] If step S114 is completed, the controller 30 proceeds to step S116.

[0243] In step S116, the controller 30 registers the acquired measurement values ​​in its own auxiliary storage device or the like.

[0244] Therefore, the controller 30 can set the aforementioned non-cancellation reference angle or non-cancellation reference height based on the separately registered measurement values.

[0245] Additionally, the controller 30 can perform the process of setting a non-cancellation reference height between steps S116 and S118.

[0246] If step S116 is completed, the controller 30 proceeds to step S118.

[0247] In step S118, the load calculation unit 303 determines whether the excavator 100 has performed a soil discharge operation based on the measurement values ​​of the posture sensors S1 to S4. If the excavator 100 has not performed a soil discharge operation, the load calculation unit 303 proceeds to step S122, and if the excavator 100 has performed a soil discharge operation, it proceeds to step S124.

[0248] In step S122, the controller 30 determines whether it has received an input from the user indicating the end of the loading operation. If the controller 30 has not received an input from the user indicating the end of the loading operation, it returns to step S118; if the controller 30 has received an input from the user indicating the end of the loading operation, it terminates the processing of this cycle.

[0249] On the other hand, in step S124, the loading calculation unit 303 obtains the measured value of the sand weight SW before the excavator 100 is about to perform the most recent soil discharge operation.

[0250] If step S124 is completed, the controller 30 proceeds to step S126.

[0251] In step S126, the loading calculation unit 303 updates the loading amount LC (LC=LC+SW) by adding the sand weight SW obtained in step S110 to the current loading amount LC.

[0252] If the processing in step S126 is completed, the controller 30 proceeds to step S128.

[0253] In step S128, the cancellation processing unit 304 reads the set non-cancellation reference (non-cancellation reference angle or non-cancellation reference height) from the auxiliary storage device or the like.

[0254] If the processing in step S128 is completed, the controller 30 proceeds to step S130.

[0255] In step S130, the cancellation processing unit 304 uses the non-cancellation reference read in step S128 to determine whether the location of the sand discharged by the excavator 100 in the most recent discharge operation corresponds to the cargo box of the dump truck DT. If the location of the sand discharged by the excavator 100 in the most recent discharge operation corresponds to the cargo box of the dump truck DT, the cancellation processing unit 304 proceeds to step S132; if it does not correspond to the cargo box of the dump truck DT, it proceeds to step S134.

[0256] In step S132, the cancellation processing unit 304 determines whether the user has received input requesting manual cancellation (e.g., operation). Figure 7 (Input of label 41s4 in screen 41). If the user receives a manual request to cancel the processing input, the cancellation processing unit 304 proceeds to step S134, and if no such request is received, proceeds to step S138.

[0257] In step S134, the cancellation processing unit 304 cancels the addition operation of the loading amount that was performed once in step S126 (LC=LC-SW) by subtracting the recently added sand weight SW from the loading amount LC.

[0258] If step S134 is completed, the controller 30 proceeds to step S136.

[0259] In step S136, the display processing unit 305 displays an image on the display device 50 showing the content of the addition calculation of the sand weight SW that accompanied the most recent soil discharge operation of the excavator 100, which was notified to have been cancelled.

[0260] For example, the display processing unit 305 in Figure 7 In screen 41, the pop-up window that cancels the addition of the sand weight SW accompanying the most recent soil discharge action of excavator 100 is only displayed for a certain period of time.

[0261] If step S136 is completed, the controller 30 proceeds to step S138.

[0262] Furthermore, between steps S136 and S138, the controller 30 can accept user input to invalidate the automatically implemented cancellation process. At this time, when user input is received to invalidate the automatically implemented cancellation process, the controller 30 performs the same process as in step S126 again. Thus, if the automatic cancellation process is inappropriate, the user can correct the load amount LC.

[0263] In step S138, the controller 30 determines whether it has received input from the user indicating the end of the loading operation. If the controller 30 has not received input from the user indicating the end of the loading operation, it returns to step S118; if the controller 30 has received input from the user indicating the end of the loading operation, it terminates the current process.

[0264] [Another implementation method] Other implementation methods will be described.

[0265] The above embodiments can be modified or altered as appropriate. Hereinafter, for convenience, examples obtained by modifying or altering the above embodiments will be referred to as "modified examples".

[0266] For example, in the above embodiment, the cancellation processing unit 304 may replace the height position of the bucket 6, or based on that, determine whether the position of the sand discharged during the most recent dumping operation corresponds to the loaded object based on the position of the bucket 6 viewed from above. In this case, for example, when dumping soil onto the loaded object for the first time, the measured value of the bucket 6 position viewed from above is registered in the auxiliary storage device of the controller 30 according to predetermined input received from the operator, etc. Therefore, the controller 30 can set non-cancellation conditions based on the measured value of the bucket 6 position viewed from above during the first dumping operation onto the loaded object registered in the auxiliary storage device, etc. Furthermore, for example, when the first digging operation is performed, the measured value of the bucket 6 position viewed from above is registered in the auxiliary storage device of the controller 30 according to predetermined input received from the operator, etc. Therefore, the controller 30 can set cancellation conditions based on the measured value of the bucket 6 position viewed from above during the first digging operation registered in the auxiliary storage device, etc.

[0267] Furthermore, in the above embodiment, the cancellation processing unit 304 can determine whether the location of the sand discharged by the excavator 100 corresponds to the loaded object based on information input by the user specifying the position or orientation (direction) of the loaded object as viewed from the excavator 100's perspective. At this time, the user inputs the specified position or orientation of the loaded object as viewed from the excavator 100's perspective via the input device 52, the remote operation support device 200, or the remote monitoring support device, thereby registering the specified position or orientation information in the auxiliary storage device of the controller 30, etc. Therefore, the controller 30 can set non-cancellation conditions based on the specified position or orientation (direction) of the loaded object as viewed from the excavator 100's perspective.

[0268] Similarly, in the above embodiment, the cancellation processing unit 304 can determine whether the location where the excavator 100 has discharged sand corresponds to the object being loaded, based on information input by the user specifying the location or orientation of the soil discharge operation via the auxiliary device AT as viewed from the excavator 100's perspective. At this time, the user inputs the specified location or orientation of the soil discharge operation via the auxiliary device AT as viewed from the excavator 100's perspective via the input device 52, the remote operation support device 200, or the remote monitoring support device, thereby registering the specified location or orientation information in the auxiliary storage device of the controller 30, etc. Therefore, the controller 30 can set cancellation conditions based on the specified location or orientation (direction) of the soil discharge operation via the auxiliary device AT as viewed from the excavator 100's perspective.

[0269] Furthermore, in the above embodiment, the cancellation processing unit 304 can determine, based on the output of the camera device 40 (e.g., camera 40F) or the distance sensor, whether the location where the sand and soil discharged by the excavator 100 corresponds to the loaded object (the cargo box of the dump truck DT).

[0270] Furthermore, in the above-described embodiments or variations, when the excavator 100 is remotely operated or remotely monitored, various functions related to the payload can be transferred to the remote operation support device 200 or the remote monitoring support device. At this time, in order to realize various functions through the remote operation support device 200 or the remote monitoring support device, the outputs of the posture sensors S1-S4, the rotation angle sensor S5, the orientation sensor S6, and the cylinder pressure sensors S7-S9 are sent from the excavator 100 to the remote operation support device 200 or the remote monitoring support device. For example, in the case of remotely operating the excavator 100, the aforementioned position / posture calculation unit 301, load calculation unit 302, load amount calculation unit 303, cancellation processing unit 304, and display processing unit 305, etc., are used in conjunction with... Figure 8 Some or all of the processing-related functions are transferred to the remote operation support device 200. Similarly, for example, in the case of remotely monitoring the operation of the excavator 100, the following functions are executed: Figure 8 Some or all of the processing functions are transferred to remote monitoring support devices.

[0271] Furthermore, in the above-described embodiments or variations, the controller 30 calculates the loading capacity of the loaded object by discharging (soil discharge) sand contained in the bucket 6 onto the loaded object. However, it can also calculate the loading capacity of the loaded object by discharging objects held by other types of end-connection attachments onto the loaded object. Furthermore, when objects held by other types of end-connection attachments are discharged, the controller 30 adds the weight of that object to the loading capacity, and performs cancellation processing if the position where the most recently discharged object does not correspond to the loaded object. For example, the controller 30 calculates the loading capacity of the loaded object by discharging objects held by a grab bucket or lifting magnet onto the loaded object. Furthermore, when objects held by a grab bucket or lifting magnet are discharged, the controller 30 adds the weight of that object to the loading capacity, and performs cancellation processing if the position where the most recently discharged object does not correspond to the loaded object.

[0272] Furthermore, the method for calculating the load of the loaded object caused by discharging the object held by the end attachment to the loaded object in the above-described embodiments or variations can also be applied to other types of work machinery different from excavators. Other types of work machinery include, for example, crawler cranes.

[0273] Furthermore, in the above-described embodiments or variations, when the controller 30, etc., discharges an object held by the termination attachment, it adds the weight of the object to the load capacity. However, if the position of the discharged object does not correspond to the object being loaded, it cancels the addition of the weight to the load capacity; alternatively, it may cancel the addition without adding the weight. Specifically, when the termination attachment performs a predetermined operation of discharging an object, the controller 30, etc., determines whether the position of the discharged object corresponds to the object being loaded before adding the weight of the object to the load capacity. Furthermore, if the position of the discharged object corresponds to the object being loaded, the controller 30, etc., adds the weight of the object to the load capacity; if the position of the discharged object does not correspond to the object being loaded, it cancels the addition of the weight of the object to the load capacity.

[0274] [effect] Next, the functions of the working machinery and control device involved in this embodiment will be explained.

[0275] In the first embodiment of this invention, a working machine is provided, comprising a lower traveling body, an upper rotating body, an auxiliary device, a first acquisition unit, and a control unit. The working machine is, for example, the excavator 100 described above. Furthermore, the working machine can be any type of working machine other than the excavator 100, such as the tracked crane described above. The lower traveling body is, for example, the lower traveling body 1 described above. The upper rotating body is, for example, the upper rotating body 3 described above. The auxiliary device is, for example, the auxiliary device AT described above. The first acquisition unit is, for example, cylinder pressure sensors S7 to S9. The control unit is, for example, the processor of the controller 30 described above. Specifically, the upper rotating body is rotatably mounted on the lower traveling body. Furthermore, the auxiliary device is installed on the upper rotating body and includes an end-connection attachment at its front end. The end-connection attachment is, for example, the bucket 6 described above. Furthermore, the first acquisition unit acquires information related to the weight of an object held in the end-connection attachment. The object is, for example, sand. Furthermore, based on the information acquired by the first acquisition unit, the control unit calculates the loading amount of the object in the loaded object by adding the weight of the object held at the end attachment whenever the object is discharged. The loaded object is, for example, the aforementioned dump truck DT. The loading amount is, for example, the aforementioned loading amount LC. Furthermore, if the control unit performs a predetermined action of discharging the object held at the end attachment via the auxiliary device, and the position of the discharged object does not correspond to the loaded object, it cancels the addition to the loading amount. The predetermined action is, for example, a soil discharge action of discharging sand contained in the bucket 6.

[0276] Furthermore, in the first embodiment of this invention, a control device can be provided that, for a working machine, calculates the loading amount of an object held in the termination attachment by adding the weight of the object held in the termination attachment whenever the object is discharged, based on information acquired by a first acquisition unit. The working machine includes: a lower traveling body; an upper rotating body rotatably mounted on the lower traveling body; an auxiliary device mounted on the upper rotating body and including the termination attachment at its front end; and the first acquisition unit, which acquires information related to the weight of the object held in the termination attachment. The control device is, for example, the controller 30 described above. Furthermore, the control device may be, for example, a remote operation support device 200 or a remote monitoring support device. Specifically, when the control device performs a predetermined action of discharging the object held in the termination attachment via the auxiliary device, if the position of the discharged object does not correspond to the loading amount of the object being loaded, it cancels the addition of the loading amount.

[0277] Therefore, the operating machinery or control device (hereinafter referred to as "operating machinery, etc.") can improve the accuracy of load calculation in the loading operation of the operating machinery.

[0278] Furthermore, in the second aspect of this embodiment, based on the first aspect described above, when the predetermined action of discharging the object is performed by the auxiliary device, the weight of the object most recently held at the termination attachment is added to the loading amount according to the information obtained by the first acquisition unit. When the position of the object being discharged does not correspond to the object being loaded, the weight already added is deducted to cancel the addition to the loading amount.

[0279] Therefore, when implementing the process of canceling the added amount, operating machinery can achieve this by adding a cancellation process to the basic process of adding the load amount. This simplifies the processing structure of the operating machinery.

[0280] Furthermore, in the third embodiment of this invention, based on the first or second embodiment described above, the working machine may include: a storage unit that registers at least one of the following: first information related to the position of the object being loaded and second information related to a position different from the position of the object being loaded and where the predetermined action may be performed. The storage unit may be, for example, an auxiliary storage device of the controller 30. The first information may be, for example, a measured value of the rotation angle of the upper rotating body 3 or the position of the bucket 6 when performing a soil discharge operation on the object being loaded. The second information may be, for example, a measured value of the rotation angle of the upper rotating body 3 or the position of the bucket 6 when performing the digging operation. Furthermore, the control unit can determine, based on the information in the storage unit, whether the position where the object was discharged corresponds to the object being loaded.

[0281] Therefore, the operating machinery can determine, based on at least one of the first and second information, whether the position where the object was discharged from the end attachment corresponds to the object being loaded.

[0282] Furthermore, in the fourth embodiment of this invention, based on the third embodiment described above, at least one of the first information and the second information can be registered in the storage unit according to the orientation of the auxiliary device or the position of the termination attachment when the user receives a predetermined input, or according to the user receiving an input specifying the position or orientation when viewed from the perspective of the working machine.

[0283] Therefore, the operating machinery, etc., can be registered as basic information for determining whether the position of the object discharged from the end attachment corresponds to the object being loaded.

[0284] Furthermore, in the fifth embodiment of this invention, based on the third or fourth embodiment described above, after the calculation of the loading amount begins, at least one of the first information and the second information can be registered based on the first loading operation of the object to be loaded, which includes the predetermined action. Furthermore, after the second loading operation, if the predetermined action of discharging the object held in the termination attachment is performed via the auxiliary device, the control unit can determine whether the position where the object was discharged corresponds to the object to be loaded, based on at least one of the first registered first information and the second information.

[0285] Therefore, after the loading operation begins, the machinery can determine, after the second loading operation, whether the position of the object discharged from the end attachment corresponds to the object being loaded.

[0286] Furthermore, in the sixth embodiment of this invention, based on any one of the third to fifth embodiments described above, the first information may be information indicating the height of the termination attachment or the rotation angle of the upper rotating body when the object held in the termination attachment is discharged to the loaded object.

[0287] Therefore, the operating machinery can determine whether the position of the object discharged from the end attachment corresponds to the object being loaded.

[0288] Furthermore, in the seventh embodiment of this invention, based on any one of the third to sixth embodiments described above, the second information may be information indicating the height of the termination attachment or the rotation angle of the upper rotating body when the action for holding the object is performed via the termination attachment. For example, the action for holding the object is, for example, the digging action described above.

[0289] Therefore, the operating machinery can determine whether the position of the object discharged from the end attachment corresponds to the object being loaded.

[0290] Furthermore, in the eighth embodiment of this invention, based on any one of the first to seventh embodiments described above, when the predetermined action of discharging the object is performed by the auxiliary device, the weight of the object most recently held at the termination attachment is added to the loading amount according to the information obtained by the acquisition unit. When the user accepts an input requesting cancellation of adding to the loading amount, the addition of the weight already added is cancelled.

[0291] Therefore, loading machinery can cancel the addition of recently discharged objects from the end attachments to the load on the object being loaded, based on a request from the user. Thus, even if the addition of recently discharged objects from the end attachments to the load cannot be automatically canceled, the loading machinery can manually cancel the addition of objects to the load on the object being loaded, based on a request from the user. Therefore, the loading machinery can further improve the accuracy of load calculation during loading operations.

[0292] Furthermore, in the ninth embodiment of this invention, the working machine may include a second acquisition unit. Specifically, the second acquisition unit can acquire information representing the posture state of the working machine. The second acquisition unit is, for example, the posture sensors S1 to S4 described above. Furthermore, the second acquisition unit may be a rotation angle sensor S5. This is because the rotation angle of the upper rotating body 3 corresponds to the posture state centered on the rotation axis of the upper rotating body 3. Furthermore, the control unit can determine whether the position where the object is placed corresponds to the loaded object based on the information acquired by the second acquisition unit.

[0293] Therefore, the operating machinery can determine whether the position of the object discharged from the end attachment corresponds to the object being loaded. Furthermore, for example, when using the output of a camera device or distance sensor, erroneous judgments may occur due to interference, etc., and the operating machinery can suppress erroneous judgments by using information indicating the posture state of the operating machinery.

[0294] The embodiments have been described in detail above, but the present invention is not limited to this specific embodiment and various modifications and alterations can be made within the scope of the spirit described in the technical solution.

Claims

1. A type of operating machinery, comprising: Lower walking body; The upper rotating body is mounted on the lower walking body and rotates freely; An auxiliary device is installed on the upper rotating body and includes an end-connection accessory at the front end; The first acquisition unit acquires information related to the weight of the object held in the termination attachment; and The control unit, based on the information acquired by the first acquisition unit, calculates the loading amount of the object in the loading object by adding the weight of the object held in the termination attachment whenever the object is discharged. When the control unit performs a predetermined action of discharging the object held in the termination attachment via the auxiliary device, if the position of the discharged object does not correspond to the object being loaded, it cancels the addition of the loading amount.

2. The operating machinery according to claim 1, wherein, When the predetermined action of discharging the object is performed through the auxiliary device, the weight of the object most recently held at the termination attachment is added to the loading amount based on the information obtained by the first acquisition unit. If the position of the object being discharged does not correspond to the object being loaded, the weight already added is removed from the loading amount.

3. The operating machinery according to claim 1 or 2, comprising: The storage unit registers at least one of the following: first information related to the position of the loaded object and second information related to a position different from the position of the loaded object and where the predetermined action may be performed. The control unit determines, based on the information from the storage unit, whether the position where the object was released corresponds to the object being loaded.

4. The operating machinery according to claim 3, wherein, At least one of the first information and the second information is registered in the storage unit based on the orientation of the accessory or the position of the termination attachment when the user receives a predetermined input, or based on the user receiving an input specifying the position or orientation when viewed from the perspective of the operating machinery.

5. The operating machinery according to claim 3, wherein, After the calculation of the loading volume begins, based on the first loading operation of the object to be loaded, including the predetermined actions, at least one of the first information and the second information is recorded. After the second loading operation, when the predetermined action of discharging the object held in the termination attachment is performed by the auxiliary device, the control unit determines whether the position of the object discharged corresponds to the object being loaded, based on at least one of the first information and the second information registered in the first instance.

6. The operating machinery according to claim 3, wherein, The first piece of information is information indicating the height of the termination attachment or the rotation angle of the upper rotating body when the object held in the termination attachment is discharged to the loaded object.

7. The operating machinery according to claim 3, wherein, The second piece of information is information indicating the height of the termination attachment or the rotation angle of the upper rotating body when the object is held in motion by the termination attachment.

8. The operating machinery according to claim 1 or 2, wherein, When the predetermined action of discharging the object is performed through the accessory device, the weight of the object most recently held at the termination accessory is added to the load amount based on the information obtained by the acquisition unit. When the user accepts an input requesting cancellation of the addition to the load amount, the addition to the load amount is cancelled by subtracting the added weight.

9. The operating machinery according to claim 1 or 2, comprising: The second acquisition unit acquires information indicating the posture status of the operating machinery. The control unit determines, based on the information obtained by the second acquisition unit, whether the position where the object was released corresponds to the object being loaded.

10. A control device for a work machine, which, based on information acquired by a first acquisition unit, calculates the loading amount of an object in a load-carrying object by adding the weight of the object held in the end-connection attachment whenever an object is discharged, the work machine comprising: a lower traveling body; an upper rotating body rotatably mounted on the lower traveling body; an auxiliary device mounted on the upper rotating body and including the end-connection attachment at a front end; and the first acquisition unit acquiring information related to the weight of the object held in the end-connection attachment, wherein the control device... If a predetermined action is performed to discharge the object held in the termination attachment via the auxiliary device, and the position of the discharged object does not correspond to the object being loaded, the addition to the loading amount is cancelled.

Images