Working machine, and management system for working machine

Abstract

To provide a working machine capable of confirming that necessary calibration has been properly performed.SOLUTION: A working machine WM comprises: a physical quantity detection device S; a controller 30 that calibrates the physical quantity detection device S; and a communication device T1 that transmits a calibration result of the physical quantity detection device S to an external management device.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a working machine and a management system for the working machine.

Background Art

[0002] Conventionally, a construction machine equipped with a controller capable of performing calibration of control parameters is known (see, for example, Patent Document 1). The excavator described in Patent Document 1 corrects control parameters by calibration and compensates for changes in control characteristics due to aging of hydraulic components, movable components, sensors, etc.

[0003] In the hydraulic excavator described in Patent Document 1, the controller is shifted to the calibration operation mode when an operator gives a calibration instruction to the controller, when the hydraulic excavator operates for a predetermined time, or when a predetermined period elapses.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the hydraulic excavator described in the above-mentioned Patent Document 1, it is difficult for an operator who manufactures, repairs, or maintains the hydraulic excavator to know whether the user of the hydraulic excavator is appropriately performing the necessary calibration.

[0006] Therefore, when a problem occurs in the user's working machine, for example, the operator cannot determine whether the problem is due to a failure of the working machine or due to the necessary calibration not being appropriately performed, and there is a risk that it will take time to respond.

[0007] The present disclosure provides a working machine capable of confirming that necessary calibration is appropriately performed and a management system thereof.

Means for Solving the Problems

[0008] One aspect of the present disclosure provides a working machine including a physical quantity detection device, a controller that calibrates the physical quantity detection device, and a communication device that transmits a calibration result of the physical quantity detection device to an external management device.

[0009] Another aspect of the present disclosure is a management system for a working machine including the working machine and the management device, wherein the management device includes a communication unit that receives the calibration result transmitted via the communication device of the working machine, and a storage unit that stores the calibration result received via the communication unit.

Effects of the Invention

[0010] According to the above aspect of the present disclosure, it is possible to provide a working machine capable of confirming that necessary calibration is appropriately performed and a management system for the working machine.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Mode for Carrying Out the Invention

[0012] Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings.

[0013] FIG. 1 is a schematic diagram showing an embodiment of a management system of a working machine according to the present disclosure. The management system SYS of the working machine of this embodiment includes, for example, one or more working machines WM and one or more management devices 200 that manage the one or more working machines WM.

[0014] The working machine WM that constitutes the management system SYS of the working machine is, for example, an excavator 100. In addition to the excavator 100, the management system SYS of the working machine may include working machines WM such as an asphalt finisher, a wheel loader, a crane, or a forklift.

[0015] In addition, the management device 200 that constitutes the management system SYS of the working machine of this embodiment is, for example, a network server connected to a network. Further, the management device 200 may be, for example, an information terminal owned by a business operator who manufactures, repairs, or maintains the working machine WM, or a user of the working machine WM. The management device 200 is configured to be able to communicate with a working machine WM such as an excavator 100 via a network.

[0016] FIG. 2 is a schematic diagram showing a configuration example of an excavator 100 which is an example of the working machine WM in the management system SYS of the working machine in FIG. 1. FIG. 3 is a functional block diagram of the controller 30 of the excavator 100 that constitutes the management system SYS of the working machine in FIG. 1 and the management device 200. In FIG. 2, the transmission of mechanical power, the hydraulic oil line, the pilot line, and the transmission of electrical signals are respectively indicated by double lines, solid lines, broken lines, and dotted lines.

[0017] Although details will be described later, as shown in FIG. 2, the working machine WM of the present embodiment is characterized by including a physical quantity detection device S, a controller 30 that calibrates the physical quantity detection device S, and a communication device T1 that transmits the calibration result of the physical quantity detection device S to an external management device 200.

[0018] Similarly, although details will be described later, the management system SYS of the working machine of the present embodiment is characterized by including the above-described working machine WM and a management device 200 having the following configuration. As shown in FIG. 3, the management device 200 includes a communication unit 201 that receives the calibration result of the physical quantity detection device S transmitted via the communication device T1 of the working machine WM, and a storage unit 203 that stores the calibration result of the physical quantity detection device S received via the communication unit 201.

[0019] Hereinafter, an example of the configuration of the working machine WM and the management device 200 that constitute the management system SYS of the working machine of the present embodiment will be described in detail.

[0020] An excavator 100, which is an example of the working machine WM of the present embodiment, includes, for example, as shown in FIG. 1, a self-propelled lower traveling body 1, an upper revolving body 3 rotatably mounted on the lower traveling body 1 via a slewing mechanism 2, and a working attachment AT attached to the upper revolving body 3.

[0021] The working attachment AT includes, for example, a boom 4 attached to the upper revolving body 3 so as to be able to rise and fall, an arm 5 rotatably attached to the tip of the boom 4, and a bucket 6 as an end attachment rotatably attached to the tip of the arm 5.

[0022] Also, an excavator 100, which is an example of the working machine WM of the present embodiment, includes, for example, as shown in FIG. 2, a drive device DS that drives the excavator 100, a control system CS that controls the drive device DS, and an operation system MS for operating the excavator 100.

[0023] The drive device DS includes, for example, an engine 11, a regulator 13, a main pump 14, and a control valve 17. Further, the drive device DS includes hydraulic actuators such as left and right travel hydraulic motors 1L, 1R, a swing hydraulic motor 2A, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, etc.

[0024] The engine 11 is a power source of the drive device DS and is mounted, for example, at the rear of the upper swing body 3. The engine 11 is directly or indirectly controlled by a controller 30, for example, and rotates at a predetermined target rotational speed to drive the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses light oil as fuel.

[0025] The regulator 13 controls the discharge amount of the main pump 14 by adjusting the angle (tilt angle) of the swash plate of the main pump 14 in response to a control command from the controller 30, for example.

[0026] The main pump 14 is mounted, for example, at the rear of the upper swing body 3 in the same manner as the engine 11, is driven by the engine 11, and supplies hydraulic oil to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is, for example, a variable displacement hydraulic pump. The main pump 14 has its piston stroke length adjusted and its discharge flow rate (discharge pressure) controlled by having the tilt angle of the swash plate adjusted by the regulator 13, for example.

[0027] The control valve 17 is mounted, for example, at the center of the upper swing body 3 and is constituted by a control valve that controls the flow rate and direction of the hydraulic oil supplied to each hydraulic actuator of the drive device DS. The control valve 17 controls the flow rate and direction of the hydraulic oil supplied from the main pump 14 to each hydraulic actuator in response to the pilot pressure supplied from an operating device 26 of an operating system MS described later, for example.

[0028] The left and right traveling hydraulic motors 1L and 1R, which are hydraulic actuators, are mounted on, for example, the lower traveling body 1. The traveling hydraulic motors 1L and 1R drive the left and right crawlers that make up the lower traveling body 1, thereby causing the excavator 100 to travel and turn.

[0029] The slewing hydraulic motor 2A, which is a hydraulic actuator, constitutes, for example, a slewing mechanism 2 that slews the upper slewing body 3. The slewing mechanism 2 includes, for example, a slewing gear and a slewing bearing mounted on the lower traveling body 1, and a slewing hydraulic motor 2A and a speed reducer mounted on the upper slewing body 3. The slewing mechanism 2 causes, for example, the pinion of the speed reducer that meshes with the slewing gear to rotate by rotating the slewing hydraulic motor 2A, thereby slewing the upper slewing body 3 with respect to the lower traveling body 1. Instead of the slewing hydraulic motor 2A, the slewing mechanism may be constituted by an electric motor.

[0030] The boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, which are hydraulic actuators constituting the drive device DS, are, for example, hydraulic cylinders attached to the boom 4, the arm 5, and the bucket 6, respectively, as shown in FIG. 1. That is, the drive device DS includes, for example, a plurality of hydraulic cylinders and drives a work attachment AT including the boom 4, the arm 5, and the bucket 6.

[0031] Specifically, in the boom cylinder 7, for example, the tip of the piston rod is rotatably connected to the middle part of the boom 4, and the base end of the cylinder on the side opposite to the tip of the piston rod is rotatably connected to the upper slewing body 3. By extending and retracting the piston rod of the boom cylinder 7, the boom 4 rotates and undulates about a boom foot pin parallel to the width direction of the upper slewing body 3.

[0032] In the arm cylinder 8, for example, the tip of the piston rod is rotatably connected to the base end on the side opposite to the tip of the arm 5, and the base end of the cylinder on the side opposite to the tip of the piston rod is rotatably connected to the middle part of the boom 4. By extending and retracting the piston rod of the arm cylinder 8, the arm 5 rotates about an arm pin parallel to the width direction of the upper slewing body 3.

[0033] The bucket cylinder 9 is, for example, pivotally connected at the tip of the piston rod to the link mechanism at the tip of the arm 5, and the base end of the cylinder on the side opposite to the tip of the piston rod is pivotally connected to the base end on the side opposite to the tip of the arm 5. The link mechanism provided at the tip of the arm 5 is connected to the base end on the side opposite to the tip of the bucket 6 having two teeth. By expanding and contracting the piston rod of the arm cylinder 8 connected to the link mechanism, the bucket 6 connected to the link mechanism rotates about a bucket pin parallel to the width direction of the upper swing body 3.

[0034] The control system CS for controlling the drive device DS includes, for example, as shown in FIG. 2, a controller 30 and a plurality of physical quantity detection devices S. Further, the control system CS includes, for example, a proportional valve 31, a display device 40, an input device 42, an audio output device 43, a storage device 47, a positioning device P1, and a communication device T1.

[0035] The controller 30 is installed, for example, as shown in FIG. 1, in the cabin 10 provided on the front left side of the upper swing body 3. The controller 30 is constituted by, for example, one or more microcontrollers including a processing device such as a central processing unit (CPU), a storage device such as a RAM and a ROM, a timer, and an input / output section. The controller 30 realizes various functions including calibration of the physical quantity detection device S by executing, for example, a program stored in the storage device by the processing device.

[0036] The physical quantity detection device S includes, for example, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, a turning state sensor S5, and an imaging device S6. Further, the physical quantity detection device S includes, for example, a boom rod pressure sensor S7R, a boom bottom pressure sensor S7B, an arm rod pressure sensor S8R, an arm bottom pressure sensor S8B, a bucket rod pressure sensor S9R, a bucket bottom pressure sensor S9B, and a temperature sensor S10. Further, the physical quantity detection device S includes, for example, a discharge pressure sensor 28 and an operation pressure sensor 29.

[0037] The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are respectively attached to the boom 4, the arm 5, and the bucket 6. The boom angle sensor S1 detects, for example, the angle of the boom 4 with respect to the upper slewing body 3. The arm angle sensor S2 detects the angle of the arm 5 with respect to the boom 4. The bucket angle sensor S3 detects the angle of the bucket 6 with respect to the arm 5.

[0038] The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 output their respective detection results to the controller 30. These angle sensors can be configured by, for example, a rotary encoder, an acceleration sensor, an inertial sensor (IMU), a potentiometer, or a stroke sensor, etc.

[0039] The machine body tilt sensor S4 detects, for example, the tilt angles (roll angle and pitch angle) of the lower traveling body 1 or the upper slewing body 3 with respect to the horizontal plane, and outputs the detection result to the controller 30. The machine body tilt sensor S4 can be configured by, for example, a tilt sensor, an inertial sensor, an acceleration sensor, etc.

[0040] The slewing state sensor S5 detects, for example, the slewing angular velocity and the slewing angle of the upper slewing body 3, and outputs the detection result to the controller 30. The slewing state sensor S5 can be configured by, for example, a gyro sensor, a resolver, an inertial sensor, or a rotary encoder, etc.

[0041] The imaging device S6 functions as an object detection device that detects, for example, the distance, direction, size, shape, etc. to an object around the excavator 100, and outputs the detection result to the controller 30. The imaging device S6 can be configured by, for example, a monocular camera, a stereo camera, or a lidar (LiDAR), etc.

[0042] In the example shown in FIG. 1, the imaging device S6 includes, for example, a camera S6F that images the front of the excavator 100, a camera S6L that images the left side of the excavator 100, a camera S6R that images the right side of the excavator 100, and a camera S6B that images the rear of the excavator 100.

[0043] The boom rod pressure sensor S7R and the boom bottom pressure sensor S7B detect the pressures in the rod-side oil chamber and the bottom-side oil chamber of the boom cylinder 7, respectively. Similarly, the arm rod pressure sensor S8R and the arm bottom pressure sensor S8B detect the pressures in the rod-side oil chamber and the bottom-side oil chamber of the arm cylinder 8, respectively. Also, the bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B detect the pressures in the rod-side oil chamber and the bottom-side oil chamber of the bucket cylinder 9, respectively.

[0044] Each of these sensors from the boom rod pressure sensor S7R to the bucket bottom pressure sensor S9B can be constituted by, for example, hydraulic pressure sensors provided in each of the hydraulic cylinders from the boom cylinder 7 to the bucket cylinder 9. Each of these sensors from the boom rod pressure sensor S7R to the bucket bottom pressure sensor S9B outputs the detection result to the controller 30.

[0045] Although details will be described later, the physical quantity detection device S includes, for example, a weight detection device that detects the weight of the load loaded on the work attachment AT. The weight detection device also includes, for example, an attitude detection device that detects the attitude of the work attachment AT and a pressure detection device that detects the pressure of the hydraulic oil in at least one of the hydraulic cylinders from the boom cylinder 7 to the bucket cylinder 9.

[0046] More specifically, the attitude detection device that constitutes the weight detection device includes, for example, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body inclination sensor S4, and a turning state sensor S5. Further, the pressure detection device that constitutes the weight detection device includes, for example, a boom rod pressure sensor S7R and a boom bottom pressure sensor S7B. The pressure detection device may include an arm rod pressure sensor S8R, an arm bottom pressure sensor S8B, a bucket rod pressure sensor S9R, and a bucket bottom pressure sensor S9B. The weight detection device including these attitude detection devices and pressure detection devices outputs the detection results to, for example, a weight calculation unit 301 (see FIG. 3) described later. The weight calculation unit 301 calculates the weight of the load loaded on the work attachment AT based on the detection results.

[0047] The temperature sensor S10 is provided, for example, in an operating oil tank that stores the operating oil supplied to each device including the main pump 14 of the drive device DS. Further, the temperature sensor S10 may be provided, for example, in the path of the operating oil that connects the main pump 14 and each hydraulic actuator. The temperature sensor S10 outputs the detected temperature of the operating oil to the controller 30.

[0048] The discharge pressure sensor 28 detects, for example, the pressure of the operating oil discharged from the main pump 14 and outputs the detection result to the controller 30. The operation pressure sensor 29 detects, for example, the secondary pilot pressure acting on the control valve 17 in response to the operation of the operation device 26 by the operator and outputs the detection result to the controller 30. The discharge pressure sensor 28 and the operation pressure sensor 29 are constituted by, for example, hydraulic sensors.

[0049] The proportional valve 31 is provided in a pilot line connecting the pilot pump 15 and the shuttle valve 32, and is configured to be able to change its flow passage area. The proportional valve 31 operates in response to a control command input from the controller 30. Thereby, even when the operating device 26 is not operated by the operator, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the proportional valve 31 and the shuttle valve 32.

[0050] The display device 40 is provided at a location easily visible to the seated operator in the cabin 10, and displays various information images under the control of the controller 30. The display device 40 may be connected to the controller 30 via an in-vehicle communication network such as CAN (Controller Area Network), or may be connected to the controller 30 via a one-to-one dedicated line.

[0051] The input device 42 is provided within reach of the seated operator in the cabin 10, receives various operation inputs by the operator, and outputs a signal corresponding to the operation input to the controller 30. The input device 42 includes a touch panel mounted on the display of a display device that displays various information images, a knob switch provided at the tip of the operation lever of the operation device 26, a button switch installed around the display device 40, a lever, a toggle, a rotary dial, and the like. A signal corresponding to the operation content for the input device 42 is taken into the controller 30.

[0052] The voice output device 43 is provided, for example, in the cabin 10, is connected to the controller 30, and outputs voice under the control of the controller 30. The voice output device 43 is, for example, a speaker, a buzzer, or the like. The voice output device 43 outputs various information as voice in response to a voice output command from the controller 30.

[0053] The memory device 47 is provided, for example, inside the cab 10 and stores various information under the control of the controller 30. The memory device 47 is, for example, a non-volatile memory medium such as a semiconductor memory. The memory device 47 may store information output by various devices during the operation of the excavator 100, or may store information acquired via various devices before the operation of the excavator 100 is started. The memory device 47 may store, for example, data regarding a target construction surface acquired via a communication device T1 or the like, or set through an input device 42 or the like. The target construction surface may be set (saved) by the operator of the excavator 100, or may be set by a construction manager or the like.

[0054] The positioning device P1 detects, for example, the position and orientation of the upper swing body 3 and outputs the detection result to the controller 30. The positioning device P1 can be configured, for example, by a GNSS (Global Navigation Satellite System) compass. Also, among the functions of the positioning device P1, the function of detecting the orientation of the upper swing body 3 may be replaced by an azimuth sensor attached to the upper swing body 3.

[0055] The communication device T1 communicates with external devices through a predetermined network including a mobile communication network with a base station as an end point, a satellite communication network, the Internet network, etc. The communication device T1 is, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network.

[0056] The operating system MS for operating the excavator 100 includes, for example, as shown in FIG. 2, a pilot pump 15, an operating device 26, and a shuttle valve 32.

[0057] The pilot pump 15 is mounted, for example, at the rear of the upper swing body 3 in the same manner as the main pump 14. The pilot pump 15 is, for example, a fixed displacement hydraulic pump. The pilot pump 15 is driven by, for example, the engine 11 and supplies pilot pressure to the operating device 26 via a pilot line.

[0058] The operating device 26 includes, for example, a left operating lever, a right operating lever, and a travel operating device. The travel operating device includes, for example, a travel lever and a travel pedal. In the present embodiment, each of the operating devices 26 is a hydraulic operating device and is connected via a pilot line to the pilot port of a corresponding spool valve in the control valve 17. However, the operating device 26 may be an electric operating device.

[0059] The shuttle valve 32 has, for example, two inlet ports and one outlet port, and outputs the hydraulic oil having the higher pilot pressure among the pilot pressures input to the two inlet ports to the outlet port. Of the two inlet ports of the shuttle valve 32, one is connected to the operating device 26 and the other is connected to the proportional valve 31. The outlet port of the shuttle valve 32 is connected via a pilot line to the pilot port of a corresponding control valve in the control valve 17.

[0060] Therefore, the shuttle valve 32 can apply the higher one of the pilot pressure generated by the operating device 26 and the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve. That is, the controller 30 can control the corresponding control valve and control the operation of various operation elements without depending on the operation of the operating device 26 by the operator by outputting a pilot pressure higher than the secondary pilot pressure output from the operating device 26 from the proportional valve 31.

[0061] Hereinafter, the calibration of the physical quantity detection device S mounted on the excavator 100 as an example of the working machine WM will be described with reference to FIGS. 3 to 8.

[0062] As shown in FIG. 3, for example, the controller 30 includes a weight calculation unit 301, a calibration unit 302, a communication unit 303, and a storage unit 304. The controller 30 may also include an automatic control unit 305. Each part of the controller 30 represents a function realized by executing a program stored in a storage device such as a RAM or ROM that constitutes the controller 30 by a processing device such as a CPU that constitutes the controller 30.

[0063] Based on the detection result of the physical quantity detection device S input to the controller 30, the weight calculation unit 301 calculates the weight of the load carried on the work attachment AT.

[0064] More specifically, the physical quantity detection device S includes a weight detection device. The weight detection device includes, for example, the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 as the attitude detection devices, and the boom rod pressure sensor S7R and the boom bottom pressure sensor S7B as the pressure detection devices, as described above.

[0065] Based on, for example, the detection results of the attitude detection device and the pressure detection device, and the weights and dimensions of each part of the work attachment AT pre-stored in the storage device of the controller 30, the weight calculation unit 301 calculates the weight of the load carried in the bucket 6 of the work attachment AT.

[0066] The calibration unit 302 executes processing for calibrating the physical quantity detection device S, for example. The processing for calibrating the physical quantity detection device S includes, for example, processing for calibrating the weight detection device. The processing for calibrating the weight detection device includes, for example, payload calibration, payload test, and zero adjustment.

[0067] Payload calibration includes, for example, a process of obtaining a virtual center-of-gravity position for calculating the weight of the load carried on the work attachment AT. Payload calibration is executed, for example, by the user of the excavator 100, or an operator such as a worker of an enterprise that manufactures, repairs, or maintains the excavator 100, when newly registering an end attachment of the work attachment AT, such as the bucket 6.

[0068] Payload testing includes, for example, a process of loading a test weight of known weight on the work attachment AT and checking the weighing accuracy. Payload testing needs to be periodically carried out, for example, by the user of the excavator 100, or an operator of an enterprise that manufactures, repairs, or maintains the excavator 100, in order to maintain the weighing accuracy of the weight detection device.

[0069] Zero adjustment includes, for example, a process of canceling the influence of deposits such as mud adhering to the end attachment such as the bucket 6 when detecting the weight of the load carried on the work attachment AT. Zero adjustment may be performed according to the state of the end attachment or periodically. When performing zero adjustment periodically, it is desirable to perform it more frequently than payload testing.

[0070] The communication unit 303 transmits, for example, the calibration result of the physical quantity detection device S stored in the storage device of the controller 30 or the storage device 47 connected to the controller 30 to an external management device 200 via the communication device T1.

[0071] The storage unit 304 stores, for example, the weight of the load of the work attachment AT calculated by the weight calculation unit 301 and the calibration result of the physical quantity detection device S calibrated by the calibration unit 302 in the storage device of the controller 30 or the storage device 47 connected to the controller 30.

[0072] The automatic control unit 305 outputs control commands to, for example, the regulator 13, the proportional valve 31, etc., and supplies the hydraulic oil discharged from the pilot pump 15 to the pilot ports of the corresponding control valves in the control valve 17. Thereby, the automatic control unit 305 controls the hydraulic actuators constituting the drive device DS to perform automatic control of the excavator 100.

[0073] The management device 200 includes, for example, a communication unit 201, a calibration management unit 202, and a storage unit 203. Each part of these management devices 200 represents a function realized by executing, for example, a program stored in a storage device such as a RAM or a ROM constituting the management device 200 by a processing device such as a CPU constituting the management device 200.

[0074] The communication unit 201 performs information communication with the controllers 30 of one or more excavators 100 via, for example, a network and the communication device T1 of the excavator 100. More specifically, the communication unit 201 receives, for example, the calibration result of the physical quantity detection device S transmitted via the communication device T1 of the excavator 100 as the work machine WM. Further, the communication unit 201 transmits, for example, a notification prompting the calibration of the physical quantity detection device S to the communication device of the excavator 100.

[0075] The calibration management unit 202 transmits, for example, a notification prompting the calibration of the physical quantity detection device S to the communication device T1 of the excavator 100 as the work machine WM via the communication unit 201. The storage unit 203 stores, for example, the calibration result of the physical quantity detection device S received from the excavator 100 via the communication unit 201 in the storage device constituting the management device 200.

[0076] FIG. 4 is a flowchart showing an example of payload calibration executed by the controller 30 shown in FIG. 3. FIG. 5 is a schematic side view showing an example of the posture taken by the excavator 100 when the controller 30 executes payload calibration.

[0077] Before the payload calibration is performed by the controller 30, for example, the operator inputs the ID (identifier) of the end attachment and the shape parameters of the end attachment, which are the parameters used when calculating the virtual center of gravity position. The shape parameters of the end attachment include, for example, the width of the end attachment, the distance between predetermined parts of the end attachment, and the weight of the end attachment. The ID of the end attachment may be arbitrarily determined by the operator or may be a pre-determined serial number or character string.

[0078] When the controller 30 starts the processing flow of the payload calibration shown in FIG. 4, for example, at the time of calibrating the weight detection device included in the physical quantity detection device S, it first executes the posture instruction process P11.

[0079] In this process P11, the calibration unit 302 causes the display device 40 to display an image showing a predetermined posture of the work attachment AT, for example, as shown in FIG. 5. More specifically, the calibration unit 302 causes the display device 40 to display an image for instructing, for example, the angle A of the arm 5 with respect to the boom 4 and the angle B of the bucket 6 with respect to the arm 5 to coincide with predetermined angles, respectively.

[0080] Here, the operator of the excavator 100 operates the operating device 26 while referring to the display device 40 to make the posture of the unloaded work attachment AT without a load coincide with the posture of the work attachment AT displayed on the display device 40.

[0081] Next, the calibration unit 302 executes a process P12 of determining whether or not the posture of the work attachment AT satisfies the conditions of the posture instructed in the previous process P11 based on the detection results of the posture detection device including the arm angle sensor S2 and the bucket angle sensor S3, for example. In this process P12, when the calibration unit 302 determines that the posture of the work attachment AT does not satisfy the conditions of the posture instructed in the previous process P11 (NO), it repeats the processes P11 and P12.

[0082] On the other hand, in this process P12, when the calibration unit 302 determines that the posture of the work attachment AT satisfies the condition of the posture instructed in the previous process P11 (YES), it executes the operation instruction process P13.

[0083] In this process P13, the calibration unit 302 causes, for example, an image or text indicating a predetermined operation of the work attachment AT to be displayed on the display device 40. Specifically, the calibration unit 302 causes, for example, an image or text instructing to perform an operation of raising the boom 4 while maintaining the angles A and B of the arm 5 and the bucket 6 to be displayed on the display device 40. Further, the calibration unit 302 may cause the audio output device 43 to output audio.

[0084] Here, the operator of the excavator 100 operates the operation device 26 to perform an operation of raising the boom 4 while the work attachment AT maintains the angles A and B of the arm 5 and the bucket 6. As a result, the detection results of the weight detection device including the boom rod pressure sensor S7R and the boom bottom pressure sensor S7B are input to the controller 30.

[0085] Simultaneously with this operation by the operator, the controller 30 executes, for example, the data storage process P14. In this process P14, the storage unit 304 stores the detection results of the weight detection device in the storage device of the controller 30 or the storage device 47 connected to the controller 30.

[0086] Next, the calibration unit 302 performs, for example, a process P15 of determining whether or not the number of times N that the process P14 has been performed has reached a predetermined number of times (for example, 5 times). In this process P15, when the calibration unit 302 determines that the number of times N that the process P14 has been performed has not reached the predetermined number of times (NO), it executes a process P16 of adding 1 to the number of times N stored in the storage device.

[0087] After that, the calibration unit 302 executes processes P11 to P15 again. Note that the calibration unit 302 instructs the operator, via the display device 40, to assume different postures of the angle A of the arm 5 and the angle B of the bucket 6 shown in FIG. 5 for each execution of process P11 from the first time to the fifth time, for example.

[0088] When process P14 is executed a predetermined number of times while changing the posture of the work attachment AT, the calibration unit 302 determines in process P15 that the number of times N of execution of process P14 has reached the predetermined number (YES), and executes process P17 for calculating the virtual center of gravity.

[0089] The storage unit 304 stores, for example, the virtual center of gravity calculated by the calibration unit 302, the shape parameters of the end attachment, and the ID of the end attachment in the storage device of the controller 30 or the storage device 47 connected to the controller 30. Since the virtual center of gravity and the shape parameters of the end attachment are stored for each ID of the end attachment in the storage device of the controller 30 or the storage device 47, the virtual center of gravity and the like of a plurality of end attachments can be stored. After that, the controller 30 executes, for example, process P18 for transmitting the calibration result of the physical quantity detection device S.

[0090] In this process P18, the communication unit 303 transmits, for example, the calibration result of the physical quantity detection device S, the shape parameters of the end attachment, and the ID of the end attachment stored in the storage device of the controller 30 or the storage device 47 connected to the controller 30 to the external management device 200 via the communication device T1. Further, information regarding the shapes of the boom 4 and the arm 5 may be transmitted.

[0091] Here, the calibration result of the physical quantity detection device S includes, for example, the calibration result of the weight detection device. More specifically, the calibration result of the weight detection device includes, for example, the virtual center of gravity position of the work attachment AT calculated based on the detection result of the pressure detection device when the boom 4 is raised with the work attachment AT in a predetermined posture without a load being placed on it. Thereafter, the controller 30 ends the payload calibration processing flow shown in FIG. 4.

[0092] FIG. 6 is a flowchart showing an example of a payload test executed by the calibration unit 302 of the controller 30 shown in FIG. 3. FIG. 7 is a schematic side view showing an example of the posture taken by the excavator 100 when the calibration unit 302 executes the payload test.

[0093] When starting the processing flow of the payload test shown in FIG. 6, for example, during calibration of the weight detection device included in the physical quantity detection device S, the calibration unit 302 first executes a process P21 of selecting a position to load the test weight TW. The test weight TW is a weight for calibrating the weight detection device, and its weight is known.

[0094] In this process P21, the calibration unit 302, for example, displays a guidance image on the display device 40 to cause the operator of the excavator 100 to select a position to load the test weight TW. Here, the operator selects a position to load the test weight TW from, for example, the crane hook provided on the bucket 6, the arm top at the tip of the arm 5 with the bucket 6 removed, and inside the bucket 6, and inputs it to the input device 42. FIG. 7 shows an example when the arm top is selected in the process P21.

[0095] When the process P21 ends, the calibration unit 302 executes a posture instruction process P22, a posture determination process P23 of the work attachment AT, and a process P24 of instructing a predetermined operation, in the same manner as the processes P11 to P13 of the payload calibration in FIG. 4.

[0096] Thereafter, the calibration unit 302 executes, for example, a data storage process P25, a determination process P26 of the number N, and an addition process P27 of the number N, in the same manner as processes P14 to P16 of the payload calibration in FIG. 4. As a result, processes P24 and P25 are repeated until the data storage process P25 is executed a predetermined number of times.

[0097] Thereafter, when the calibration unit 302 determines in process P26 that the number of times of process P24 has reached a predetermined number of times (YES), it performs a process P28 of calculating the detection error of the weight detection device. In this process P28, the calibration unit 302 calculates, for example, a detection error that is the difference between the weight detection result by the weight detection device stored in the storage device of the controller 30 or the like in each data storage process P25 and the known weight of the test weight TW.

[0098] Further, the calibration unit 302 determines that it is qualified if the detection error is within a predetermined range of the weight of the test weight TW, for example, and determines that it is unqualified if the detection error is outside the predetermined range of the weight of the test weight TW. The storage unit 304 stores, for example, the detection error of the weight detection device, the determination result of pass / fail, the position where the test weight TW is loaded, and the ID of the end attachment in the storage device of the controller 30 or the like. Also, the determination of pass / fail may be made by an operator or a business operator based on the detection result, and in that case, the determination result of pass / fail may not be stored in the storage unit 304.

[0099] Thereafter, the communication unit 303 executes a process P28 of transmitting the detection result, detection error, and determination result of pass / fail of the weight detection device, the position where the test weight TW is loaded, and the ID of the end attachment stored in the storage device of the controller 30 or the like to the external management device 200 via the communication device T1 as the result of the payload test. Also, when the determination result of pass / fail is not stored in the storage unit 304, it may not be necessary to transmit the determination result of pass / fail to the management device 200.

[0100] As described above, the calibration result of the weight detection device transmitted from the communication device T1 includes, for example, the detection result of the weight detection device when the boom 4 is raised with the working attachment AT having a predetermined posture under a predetermined load using the test weight TW. After that, the controller 30 ends the processing flow of the payload test shown in FIG. 6.

[0101] In addition, the controller 30 performs zero adjustment of the weight detection device, for example, to cancel the influence of deposits such as mud adhering to the end attachment such as the bucket 6. Since the processing flow of zero adjustment has many common parts with the processing flow of payload calibration shown in FIG. 4, the zero adjustment of the weight detection device by the controller 30 will be described with reference to FIGS. 4 and 5.

[0102] When the controller 30 starts zero adjustment of the weight detection device, it executes the posture instruction process P11 in the same manner as the payload calibration shown in FIGS. 4 and 5. In this process P11, the calibration unit 302 executes, for example, a process P11 of instructing to empty the bucket 6 of the working attachment AT and make the working attachment AT take a predetermined posture via the display device 40.

[0103] After that, the controller 30 executes processes P12 to P17 in the same manner as the payload calibration. The difference between zero adjustment and payload calibration is that in process P13, the same posture is instructed each time, and in process P17, based on the detection result of the weight detection device, an operation for zero adjustment of the weight detection device is performed to cancel the weight of mud or the like adhering to the bucket 6 or the like.

[0104] After that, the communication unit 303 transmits the zero adjustment result stored in the storage device of the controller 30 or the like to the external management device 200 via the communication device T1 as the calibration result of the weight detection device. In this way, the calibration result of the weight detection device transmitted from the communication device T1 in zero adjustment includes, for example, the zero adjustment result based on the detection result of the weight detection device when the boom is raised with the work attachment AT having a predetermined posture with no load loaded. After that, the controller 30 ends the zero adjustment process flow of the weight detection device.

[0105] Note that the controller 30 may notify the operator of information prompting the implementation of zero adjustment via a notification device such as the display device 40 or the voice output device 43, for example, after a predetermined period has elapsed since the implementation of zero adjustment. Specifically, the excavator 100 as the work machine WM includes, for example, the display device 40 and the voice output device 43 as notification devices for notifying the operator of the excavator 100 of information. Also, it may be possible to switch whether or not to notify information prompting the implementation of zero adjustment.

[0106] The calibration unit 302 of the controller 30 refers to, for example, the date and time when zero adjustment was performed and the zero adjustment result was stored in the storage device of the controller 30 or the like. The calibration unit 302 determines, for example, whether a new zero adjustment result has been stored in the storage device of the controller 30 or the like until a preset predetermined period has elapsed since the date and time when the most recent zero adjustment was performed. Then, when no new zero adjustment result is stored when the predetermined period has elapsed, the calibration unit 302 causes the display device 40 and the voice output device 43 to output an image and a voice, and notifies information prompting the implementation of zero adjustment.

[0107] On the other hand, assume that a new zero adjustment is performed before a predetermined period has elapsed since the previous zero adjustment, and the result is stored in the storage device of the controller 30 or the like. In this case, for example, when a predetermined period has elapsed since the date and time when the new result was stored, the calibration unit 302 notifies the operator of information prompting the performance of the zero adjustment. That is, when a new zero adjustment is performed before a predetermined period has elapsed since the previous zero adjustment, the calibration unit 302 does not issue a notification prompting the performance of the zero adjustment.

[0108] Further, when the excavator 100 as the working machine WM includes the display device 40 and the voice output device 43 as notification devices for notifying the operator of information, the controller 30 may, for example, notify information prompting the calibration of the physical quantity detection device S as follows. That is, for example, when the controller 30 receives a notification prompting the calibration of the physical quantity detection device S from the management device 200 via the communication device T1, the controller 30 may notify information prompting the calibration of the physical quantity detection device S via the display device 40 and the voice output device 43.

[0109] FIG. 8 is a time chart showing an example of the relationship between the working machine WM and the management device 200 in the management system SYS of the working machine according to the present embodiment.

[0110] First, in a working machine WM such as the excavator 100, for example, calibration (E1) of the physical quantity detection device S is performed. The calibration of the physical quantity detection device S includes, for example, the calibration of the weight detection device described above, and the processing for calibrating the weight detection device can include payload calibration, payload test, and zero adjustment. Further, the calibration of the physical quantity detection device S may include calibration of physical quantity detection devices S other than the weight detection device, such as the imaging device S6, the temperature sensor S10, the operation pressure sensor 29, and the discharge pressure sensor 28.

[0111] As a result of calibration (E1) of the physical quantity detection device S in the working machine WM, the calibration result is transmitted from the working machine WM to the management device 200 via the communication device T1 (E2). The management device 200 receives the calibration result of the physical quantity detection device S transmitted via the communication device T1 of the working machine WM by the communication unit 201. Further, the management device 200 stores the calibration result of the physical quantity detection device S received via the communication unit 201 in the storage device by the storage unit 203 (E3).

[0112] The calibration management unit 202 of the management device 200 performs calibration management (E4) to determine whether a preset predetermined period has elapsed since the date and time when the calibration result of the physical quantity detection device S was stored by the storage unit 203, that is, the date and time when the most recent calibration of the physical quantity detection device S was performed. The calibration management unit 202 repeatedly performs calibration management (E4) at a predetermined cycle, for example.

[0113] Thereafter, when the calibration management unit 202 of the management device 200 determines that the predetermined period has elapsed without receiving a new calibration result of the physical quantity detection device S since the date and time when the most recent calibration of the physical quantity detection device S was performed in calibration management (E4). Then, the calibration management unit 202 of the management device 200 transmits a notification prompting calibration of the physical quantity detection device S to the communication device T1 of the working machine WM via the communication unit 201 (E5).

[0114] When the controller 30 of the working machine WM receives a notification prompting calibration of the physical quantity detection device S from the management device 200 via the communication device T1, it notifies the operator of the working machine WM, etc. of information prompting calibration of the physical quantity detection device S via a display device 40, etc. as a notification device (E6).

[0115] As a result, in the working machine WM, calibration (E1) of the physical quantity detection device S is performed by an operator or the like, and the calibration result is transmitted from the working machine WM to the management device 200 via the communication device T1 (E2). The management device 200 receives the calibration result of the physical quantity detection device S transmitted via the communication device T1 of the working machine WM by the communication unit 201 and stores it in the storage device (E3). Thereafter, the calibration management unit 202 of the management device 200 repeatedly performs calibration management (E4) at a predetermined cycle.

[0116] As described above, the working machine WM of the present embodiment includes a physical quantity detection device S, a controller 30 that calibrates the physical quantity detection device S, and a communication device T1 that transmits the calibration result of the physical quantity detection device S to an external management device 200.

[0117] With such a configuration, an operator who manufactures, repairs, maintains, etc. the working machine WM can refer to the calibration result of the physical quantity detection device S transmitted from the communication device T1 of the working machine WM used by the user to the management device 200 outside the working machine WM. Therefore, the operator can easily know whether the user is appropriately calibrating the physical quantity detection device S of the working machine WM. As a result, the operator can easily determine, for example, when a problem occurs in the physical quantity detection device S of the user's working machine WM, whether the problem is due to a failure of the physical quantity detection device S or due to inappropriate calibration of the physical quantity detection device S being required. Therefore, the operator of the working machine WM can shorten the time required to respond to problems that occur in the user's working machine WM compared to the conventional situation.

[0118] Further, the working machine WM of the present embodiment further includes a lower traveling body 1 that can travel by itself, an upper swing body 3 that is swingably mounted on the lower traveling body 1, a work attachment AT attached to the upper swing body 3, and a drive device DS that drives the work attachment AT.

[0119] With such a configuration, the working machine WM of the present embodiment can easily determine, for example, in a working machine such as an excavator or a crane, when a malfunction occurs in the physical quantity detection device S, whether the malfunction is due to a failure of the physical quantity detection device S or is caused by the fact that the necessary calibration of the physical quantity detection device S has not been properly performed. Therefore, the operator of the working machine WM can shorten the time required to respond to malfunctions occurring in the user's working machine WM compared to the prior art.

[0120] Further, in the working machine WM of the present embodiment, the physical quantity detection device S includes a weight detection device that detects the weight of the load loaded on the work attachment AT.

[0121] With such a configuration, the working machine WM of the present embodiment can easily determine, when a malfunction occurs in the weight detection device included in the physical quantity detection device S of the user's working machine WM, whether the malfunction is due to a failure of the working machine WM or is caused by the fact that the necessary calibration of the weight detection device has not been properly performed.

[0122] Further, in the working machine WM of the present embodiment, the work attachment AT includes a boom 4 attached to the upper swing body 3 so as to be able to rise and fall. The drive device DS includes a plurality of hydraulic cylinders. The weight detection device includes an attitude detection device that detects the attitude of the work attachment AT and a pressure detection device that detects the pressure of the hydraulic oil in at least one of the plurality of hydraulic cylinders. The calibration result of the weight detection device includes the virtual center of gravity position of the work attachment AT calculated based on the detection result of the pressure detection device when a predetermined operation is performed, such as raising the boom 4, with the work attachment AT having no load loaded thereon in a predetermined attitude.

[0123] With such a configuration, the operator of the working machine WM can easily know whether the payload calibration necessary for the weight detection device of the user's working machine WM is properly performed. Therefore, the operator can encourage the user to properly perform the payload calibration or confirm whether the payload calibration has been properly performed when a malfunction occurs in the weight detection device.

[0124] Also, in the working machine WM of the present embodiment, the virtual center of gravity position of the work attachment AT is calculated based on the detection result of the pressure detection device and the shape parameters of the work attachment AT input by the operator. In addition to the above-described calibration result, the communication device T1 transmits the shape parameters of the work attachment AT to the management device 200.

[0125] With such a configuration, it becomes possible to calculate the virtual center of gravity position of the work attachment AT more easily and accurately. On the other hand, if there is an input error in the shape parameters input by the operator, the weight detection accuracy of the weight detection device may decrease. Therefore, by transmitting the shape parameters input by the operator from the communication device T1 of the working machine WM to the management device 200, it becomes possible for the operator of the working machine WM to confirm a decrease in the weight detection accuracy of the weight detection device due to an input error.

[0126] Also, in the working machine WM of the present embodiment, the calibration result of the weight detection device includes the detection result of the weight detection device when the boom 4 is raised with the work attachment AT having a predetermined posture under a predetermined load.

[0127] With such a configuration, the operator of the working machine WM can easily know whether the payload test necessary for the weight detection device of the user's working machine WM is properly performed. Therefore, the operator can encourage the user to properly perform the payload test or confirm whether the payload test has been properly performed when a malfunction occurs in the weight detection device.

[0128] Further, in the working machine WM of the present embodiment, the calibration result of the weight detection device includes the result of zero adjustment based on the detection result of the weight detection device when the boom 4 is raised with the working attachment AT having no load placed thereon in a predetermined posture.

[0129] With such a configuration, the operator of the working machine WM can easily know whether or not the necessary zero adjustment is appropriately performed on the weight detection device of the user's working machine WM. Therefore, the operator can prompt the user to appropriately perform the zero adjustment or confirm whether or not the zero adjustment is appropriately performed when a malfunction occurs in the weight detection device.

[0130] Further, the working machine WM of the present embodiment further includes a notification device such as a display device 40 and an audio output device 43 that notify the operator of the working machine WM of information. The controller 30 notifies information prompting the implementation of zero adjustment via the above-described notification device after a predetermined period has elapsed since the implementation of the zero adjustment of the weight detection device.

[0131] With such a configuration, when the zero adjustment of the weight detection device is not performed for a predetermined period due to the inaction of the user of the working machine WM, the operator of the user of the working machine WM can be prompted to perform the zero adjustment via the notification device. As a result, it is possible to prevent malfunctions such as a decrease in the detection accuracy of the weight detection device.

[0132] Further, the working machine WM of the present embodiment further includes a notification device such as a display device 40 and an audio output device 43 that notify the operator of the working machine WM of information. When the controller 30 receives a notification prompting the calibration of the physical quantity detection device S from the management device 200 via the communication device T1, the controller 30 notifies information prompting the calibration of the physical quantity detection device S via the notification device.

[0133] With such a configuration, when the calibration of the physical quantity detection device S has not been performed for a predetermined period due to the inaction of the user of the working machine WM, the operator of the user of the working machine WM can be prompted to perform the calibration of the physical quantity detection device S via the notification device. As a result, it becomes possible to prevent problems such as a decrease in the detection accuracy of the physical quantity detection device S.

[0134] Further, the management system SYS of the working machine of the present embodiment includes the aforementioned working machine WM and a management device 200. The management device 200 includes a communication unit 201 that receives the calibration result of the physical quantity detection device S transmitted via the communication device T1 of the working machine WM, and a storage unit 203 that stores the calibration result of the physical quantity detection device S received via the communication unit 201.

[0135] With such a configuration, an operator who manufactures, repairs, maintains, etc. the working machine WM can refer to the calibration result of the physical quantity detection device S transmitted from the communication device T1 of the working machine WM used by the user to the management device 200 outside the working machine WM. Therefore, the operator can easily know whether the user is appropriately calibrating the physical quantity detection device S of the working machine WM. As a result, the operator can easily determine, for example, when a problem occurs in the physical quantity detection device S of the user's working machine WM, whether the problem is due to a failure of the physical quantity detection device S or due to the fact that the necessary calibration of the physical quantity detection device S has not been appropriately performed. Therefore, the operator of the working machine WM can shorten the time required to respond to the problems that occur in the user's working machine WM compared to the conventional case. Further, by storing the calibration result of the physical quantity detection device S in the management device 200, the calibration result of the physical quantity detection device S can be referred to even when the controller 30 of the working machine WM fails.

[0136] Further, in the management system SYS of the working machine of the present embodiment, the management device 200 further includes a calibration management unit 202 that transmits a notification prompting the calibration of the physical quantity detection device S to the communication device T1 of the working machine WM via the communication unit 201.

[0137] With such a configuration, when the calibration of the physical quantity detection device S has not been performed for a predetermined period due to the inaction of the user of the working machine WM, a notification prompting the calibration of the physical quantity detection device S can be transmitted from the communication unit 201 to the working machine WM. As a result, it is possible to prompt the operator, who is the user of the working machine WM, to perform the calibration of the physical quantity detection device S, and it becomes possible to prevent problems such as a decrease in the detection accuracy of the physical quantity detection device S.

[0138] Also, in the working machine management system SYS of the present embodiment, the management device 200 issues a notification prompting the calibration after a predetermined period has elapsed since receiving the calibration result.

[0139] With such a configuration, when the calibration of the physical quantity detection device S has not been performed for a predetermined period due to the inaction of the user of the working machine WM, it is possible to prompt the operator, who is the user of the working machine WM, to perform the calibration of the physical quantity detection device S. Therefore, it becomes possible to prevent problems such as a decrease in the detection accuracy of the physical quantity detection device S.

[0140] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments. Various modifications or substitutions etc. can be applied to the above-described embodiments without departing from the scope of the present invention. Also, the features described separately can be combined as long as there is no technical contradiction.

[0141] For example, the calibration of the physical quantity detection device S includes, in addition to the calibration of the weight detection device, calibration for correcting individual variations of the working machine WM, calibration for correcting performance changes due to aging deterioration, calibration for maintaining the operation accuracy during automatic driving, etc.

Explanation of Reference Numerals

[0142] 1 Lower Traveling Body 3 Upper Swing Body 4 Boom 7 Boom Cylinder (Hydraulic Cylinder) 8 Arm Cylinder (Hydraulic Cylinder) 9 Bucket Cylinder (Hydraulic Cylinder) 30 Controller 40 Display device (notification device) 43 Audio output device (notification device) 100 Excavator (working machine) 200 Management device 201 Communication unit 202 Calibration management unit 203 Memory unit AT Work attachment DS Drive device S Physical quantity detection device S1 Boom angle sensor (weight detection device, attitude detection device) S2 Arm angle sensor (weight detection device, attitude detection device) S3 Bucket angle sensor (weight detection device, attitude detection device) S4 Machine body tilt sensor (weight detection device, attitude detection device) S7B Boom bottom pressure sensor (weight detection device, pressure detection device) S7R Boom rod pressure sensor (weight detection device, pressure detection device) SYS Management system of working machine T1 Communication device WM Working machine

Claims

1. A physical quantity detection device, a controller for calibrating the physical quantity detection device, and a communication device for transmitting the calibration result of the physical quantity detection device to an external management device, wherein the working machine is provided with these components.

2. A self - propelled lower traveling body, an upper revolving body rotatably mounted on the lower traveling body, a working attachment attached to the upper revolving body, and a driving device for driving the working attachment, wherein the working machine according to Claim 1 further comprises these components.

3. The physical quantity detection device includes a weight detection device for detecting the weight of the load loaded on the working attachment, wherein the working machine is according to Claim 2.

4. The working attachment includes a boom attached to the upper revolving body so as to be able to rise and fall, the driving device includes a plurality of hydraulic cylinders, the weight detection device includes an attitude detection device for detecting the attitude of the working attachment and a pressure detection device for detecting the pressure of the hydraulic oil in at least one of the plurality of hydraulic cylinders, the calibration result includes the virtual center - of - gravity position of the working attachment calculated based on the detection result of the pressure detection device when the working attachment with no load is set to a predetermined attitude and performs a predetermined operation, wherein the working machine is according to Claim 3.

5. The virtual center - of - gravity position is calculated based on the detection result of the pressure detection device and the shape parameters input by the operator, the communication device transmits the shape parameters to the management device in addition to the calibration result, wherein the working machine is according to Claim 4.

6. The calibration result includes the detection result of the weight detection device when the working attachment loaded with a predetermined load is set to a predetermined attitude and the boom is lifted, wherein the working machine is according to Claim 4.

7. The calibration result includes the result of zero adjustment based on the detection result of the weight detection device when the working attachment with no load is set to a predetermined attitude and the boom is lifted, wherein the working machine is according to Claim 4.

8. The working machine further comprises a notification device for notifying the operator of the working machine of information, the controller notifies, via the notification device, information prompting the implementation of the zero adjustment after a predetermined period has elapsed since the implementation of the zero adjustment, wherein the working machine is according to Claim 7.

9. The working machine further comprises a notification device for notifying the operator of the working machine of information, ​ When the controller receives a notification prompting the calibration from the management device via the communication device, it notifies information prompting the calibration via the notification device. The working machine according to claim 1.

10. A management system for a working machine, comprising the working machine according to any one of claims 1 to 9 and the management device, The management device includes a communication unit that receives the calibration result transmitted via the communication device of the working machine, and a storage unit that stores the calibration result received via the communication unit. A management system for a working machine.

11. The management device further includes a calibration management unit that transmits a notification prompting the calibration to the communication device of the working machine via the communication unit. The management system for a working machine according to claim 10.

12. The management device issues a notification prompting the calibration after a predetermined period has elapsed since receiving the calibration result. The management system for a working machine according to claim 11.

Images