Load adjustment device

Abstract

A load adjusting device that can improve the safety of work performed by a work machine. [Solution] The load adjustment device 10 of the present disclosure comprises a load acquisition unit 11 that acquires the bucket load, which is the load of the transported goods in the bucket of the work machine; a determination unit 14 that determines whether the bucket load acquired by the load acquisition unit 11 is equal to or less than a predetermined value; and a bucket angle control unit 15 that, when the determination unit 14 determines that the bucket load exceeds the predetermined value, controls the angle of the bucket to reduce the amount of transported goods in the bucket, thereby making the bucket load equal to or less than the predetermined value, and the predetermined value is set to be equal to or less than the normal load specified for the work machine.

Description

[Technical Field]

[0001] The present disclosure relates to a load adjustment device that adjusts the load of an object being carried in a bucket of a work machine. [Background technology]

[0002] Patent Document 1 discloses a work volume monitoring system that can reliably prevent excessive loading of loads from a work machine onto a load receiver. In this system, when a work machine operator presses a one-touch low-idle switch attached to the tip of the operating lever while the bucket is filled with earth and sand, the controller detects the switch operation and, when the current load value is above a certain level, adds the current load value of the load being loaded onto the transport vehicle to the accumulated load value up to that point, and sequentially calculates a new accumulated load value. Then, when the accumulated load value reaches a target load value, for example, if the accumulated load value exceeds 90% of the target load value, the controller notifies the condition via a display device and displays or outputs a text or audio warning. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-89633 Summary of the Invention [Problem to be solved by the invention]

[0004] While the workload monitoring system described in Patent Document 1 is intended to monitor the load of a load target, such as a transport vehicle, there are cases where it is desirable to manage the load of material being transported by the work machine itself. For example, a normal load, which indicates the load that can be safely used normally, may be set for a work machine. If the load of material, such as soil and sand, in the bucket during excavation or other work using a work machine exceeds the normal load, even if a warning is displayed or output as in Patent Document 1, the task of adjusting the amount of material in the bucket is left to the operator's discretion. Since operators want to maximize the amount of work they can do in one go in order to shorten work time, etc., it is conceivable that they will work with an overload that exceeds the normal load, posing a risk of the work machine tipping over.

[0005] Therefore, an object of the present disclosure is to provide a load adjustment device that can improve the safety of work performed by a work machine. [Means for solving the problem]

[0006] In order to solve the above problems, a load adjustment device of a first aspect of the present invention comprises: load acquisition means for acquiring a bucket load, which is the load of transported goods in a bucket of a work machine; determination means for determining whether the bucket load acquired by the load acquisition means is equal to or less than a predetermined value; and bucket angle control means for, when the determination means determines that the bucket load exceeds the predetermined value, controlling the angle of the bucket to reduce the amount of transported goods in the bucket, thereby making the bucket load equal to or less than the predetermined value, wherein the predetermined value is set to be equal to or less than a normal load specified for the work machine.

[0007] A second aspect of the present invention is a load adjustment device of the first aspect, comprising a target transport amount storage means for storing a target transport amount, and a remaining transport amount calculation means for calculating a total transport amount by accumulating the bucket load acquired by the load acquisition means and calculating the remaining transport amount until the total transport amount reaches the target transport amount, wherein the determination means determines whether the bucket load is less than or equal to the predetermined value and also determines whether the bucket load is less than or equal to the remaining transport amount, and when the determination means determines that the bucket load exceeds either the predetermined value or the remaining transport amount, the bucket angle control means controls the angle of the bucket to reduce the amount of transported material in the bucket so that the bucket load is less than or equal to one of the values.

[0008] A third aspect of the present invention is a load adjustment device according to the first or second aspect, further comprising an operation restriction means that restricts a predetermined operation of the work machine when the determination means determines that the load in the bucket exceeds the predetermined value.

[0009] A fourth aspect of the present invention is the load adjustment device of the first aspect or the second aspect, further comprising a notification means for providing a notification when the determination means determines that the load in the bucket exceeds the predetermined value. [Effects of the Invention]

[0010] According to the present disclosure, it is possible to provide a load adjustment device that can improve the safety of work performed by a work machine. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a side view of a work machine to which a load adjustment device according to an embodiment of the present invention is applied. [Figure 2] FIG. 2 is an explanatory diagram illustrating an example of a hardware configuration. [Figure 3] FIG. 2 is a block diagram of a load adjustment device. [Figure 4] 10 is a flowchart of a load adjustment process. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0013] Fig. 1 is a side view of a work machine to which a load adjusting device according to one embodiment of the present invention is applied, Fig. 2 is an explanatory diagram showing an example of a hardware configuration, and Fig. 3 is a block diagram of the load adjusting device.

[0014] A load adjustment device 10 according to one embodiment of the present invention is a device that adjusts the load of transported material x (for example, earth and sand) in a bucket 2 of a work machine 1 (hereinafter referred to as "bucket load"). As shown in FIG. 1, the load adjustment device 10 of this embodiment is mounted on the work machine 1. Note that, although the load adjustment device 10 is mounted on the work machine 1 in this embodiment, the present invention is not limited to this, and for example, some of the functions of the load adjustment device 10 may be provided in another information processing device connected via a network.

[0015] (Work machinery) As shown in Fig. 1, the work machine 1 is a machine used to perform work at, for example, a construction site, and has a bucket 2 that can excavate earth and sand as transported material x. In this embodiment, a wheel loader will be used as the work machine 1. Note that the work machine 1 is not limited to a wheel loader, and may be, for example, a backhoe with a bucket.

[0016] As shown in FIG. 1, the wheel loader (work machine 1) has an articulated body in which a front body FB and a rear body RB are connected by a center pin (not shown). The front body FB and the rear body RB are connected via the center pin so that they can bend left and right. The front body FB is provided with left and right front wheels fw, and the rear body RB is provided with left and right rear wheels rw. The rear body RB is equipped with an engine (not shown) that generates power to propel the work machine 1, and other components. The rear body RB is also equipped with a cab C in which workers and other personnel ride.

[0017] A bucket 2 is attached to the front body FB via left and right arms 3 (only the right arm 3 is shown in FIG. 1). The base ends of the left and right arms 3 are supported on the front body FB so as to be tiltable around an axis extending in the width direction. The left and right arms 3 are tiltable by hydraulic arm cylinders 4. The bucket 2 is supported at the tip ends of the left and right arms 3 so as to be tiltable around an axis extending in the width direction. The bucket 2 is tiltable by hydraulic bucket cylinders 5.

[0018] As shown in FIG. 3, the work machine 1 is also provided with a drive system 6 that drives the work machine 1, a braking system 7 that brakes the work machine 1, and a steering system 8 that steers the work machine 1.

[0019] The drive system 6 includes various devices (engine, transmission, differential, etc.) not shown for transmitting engine power to the left and right front wheels (fw) and rear wheels (rw). The braking system 7 includes various devices (hydraulic brake pump, braking device, etc.) not shown for braking the work machine 1. The steering system 8 includes various devices (hydraulic steering pump, etc.) for steering the work machine 1 by bending the articulated body.

[0020] The arm cylinder 4, bucket cylinder 5, drive system 6, braking system 7, and steering system 8 of the work machine 1 can be controlled by a load adjustment device 10. In addition, the arm cylinder 4, bucket cylinder 5, drive system 6, braking system 7, and steering system 8 may be manually controllable by the operator operating pedals, levers, handles, etc. (not shown) provided in the cab C.

[0021] (Hardware configuration) 2, the load adjusting device 10 is a device that performs calculations such as a computer, and includes a communication unit H1, an input unit H2, a display unit H3, a memory unit H4, and a processor H5, all of which are connected so as to be accessible via a bus H6. Note that this hardware configuration is an example, and it can also be realized by other hardware.

[0022] The communication unit H1 is a communication interface that establishes a communication route with other devices and transmits and receives data, and is, for example, a network interface, a wireless interface, etc. The network may be a closed network or an open network.

[0023] The input unit H2 is a device that accepts input of various information, such as a mouse or keyboard.

[0024] The display unit H3 is a display unit such as a monitor (display) that displays various information. If the monitor is a touch panel monitor that can accommodate input, the monitor may have a function as the input unit H2 in addition to the function as the display unit H3.

[0025] The memory unit H4 is a storage device that stores data and various programs for executing various functions of the load adjustment device 10. Examples of the memory unit H4 include a read-only memory (ROM), a random access memory (RAM), and a hard disk. The memory unit H4 functions as a target transport amount memory unit (target transport amount memory means) 12, which will be described later.

[0026] The processor H5 controls each process in the load adjustment device 10 using programs and data stored in the memory unit H4. Examples of the processor H5 include a CPU (Central Processing Unit) and an MPU (Micro Processing Unit). The processor H5 loads programs stored in a ROM or the like into a RAM and executes various processes for each process. Specifically, the processor H5 executes programs stored in the memory unit H4 to function as a load acquisition unit (load acquisition means) 11, a remaining transport amount calculation unit (remaining transport amount calculation means) 13, a determination unit (determination means) 14, a bucket angle control unit (bucket angle control means) 15, an operation restriction unit (operation restriction means) 16, and an alarm unit (announcement means) 17, which will be described later. Note that some of the functions of the processor H5 may be extracted and provided in another information processing device connected via a network, and each process may be executed using these multiple information processing devices.

[0027] <Work vehicle control device> 3, the load adjustment device 10 includes a load acquisition unit 11, a determination unit 14, and a bucket angle control unit 15. In addition to the above, the load adjustment device 10 of this embodiment also includes a target transport amount storage unit 12, a remaining transport amount calculation unit 13, an operation restriction unit 16, and a notification unit 17.

[0028] (Load acquisition section) The load acquiring unit 11 acquires the bucket load, which is the load of transported object x in the bucket 2 of the work machine 1. There are no particular limitations on the method by which the load acquiring unit 11 acquires the bucket load, but in this embodiment, for example, the load is acquired from a load sensor 20 provided in the work machine 1. The load sensor 20 in this embodiment estimates the bucket load from the hydraulic pressure of the arm cylinder 4 and bucket cylinder 5 of the work machine 1, and sequentially outputs the estimated bucket load to the load adjusting device 10.

[0029] The method by which the load acquiring unit 11 acquires the bucket load is not limited to the above. For example, if a display device (not shown) that displays the value estimated by the load sensor 20 is provided inside the cab C of the work machine 1, a camera may be provided that captures the bucket load value displayed on the display device, and the load acquiring unit 11 may acquire the bucket load by performing image analysis on the image captured by the camera. Alternatively, the load acquiring unit 11 may have a function (function of the load sensor 20) that estimates the bucket load from the hydraulic pressure of the arm cylinder 4 and bucket cylinder 5 of the work machine 1, etc.

[0030] (Target transport volume storage unit) The target transport amount storage unit 12 stores a target transport amount. The target transport amount is a target transport amount when transporting an object x using the work machine 1. An example of the target transport amount is the maximum load capacity of a dump truck when transporting earth and sand (object x) using a wheel loader (work machine 1) and loading it onto the dump truck bed. Generally, the target transport amount is a value greater than the normal load specified for the work machine 1, but is not limited to this. The target transport amount may be input from the input unit H2 of the load adjustment device 10 and stored in the target transport amount storage unit 12, or may be input from another information processing device connected via a network and stored in the target transport amount storage unit 12. The target transport amount is not limited to the maximum load capacity of a dump truck or the like, and can be any desired value, such as a required amount.

[0031] (Remaining transport volume calculation section) The remaining transport amount calculation unit 13 calculates the remaining transport amount required for the target transport amount (hereinafter referred to as the "remaining transport amount"). Specifically, for example, the remaining transport amount calculation unit 13 adds up the bucket load acquired by the load acquisition unit 11 after the target transport amount is stored in the target transport amount storage unit 12, and calculates the total transport amount that has been transported up to now. The remaining transport amount calculation unit 13 then subtracts the total transport amount from the target transport amount to calculate the remaining transport amount until the total transport amount reaches the target transport amount.

[0032] (Judgment Department) The determination unit 14 determines whether the load in the bucket is equal to or less than a predetermined value. The predetermined value used for this determination is set to be equal to or less than the normal load specified for the work machine 1. The normal load is a load value specified for each work machine 1, and indicates the load that can be placed in the bucket 2 at which the work machine 1 can be normally used safely. Examples of the predetermined value include the normal load or a value slightly less than the normal load. Furthermore, the determination unit 14 of this embodiment determines whether the load in the bucket is equal to or less than the predetermined value, and determines whether the load in the bucket is equal to or less than the remaining transport amount.

[0033] In this embodiment, the determination unit 14 determines whether the bucket load is equal to or less than the predetermined value and whether the bucket load is equal to or less than the remaining transport amount, but this is not limited to this and it is sufficient if the determination unit 14 at least determines whether the bucket load is equal to or less than the predetermined value. If the determination unit 14 does not determine whether the bucket load is equal to or less than the remaining transport amount, the target transport amount storage unit 12 and the remaining transport amount calculation unit 13 do not need to be provided.

[0034] (Bucket angle control unit) When the determination unit 14 determines that the load in the bucket exceeds the predetermined value, the bucket angle control unit 15 controls the angle of the bucket 2 to reduce the amount of transported objects x in the bucket 2, thereby making the load in the bucket equal to or less than the predetermined value. Specifically, when the determination unit 14 determines that the load in the bucket exceeds the predetermined value, the bucket angle control unit 15 monitors the load in the bucket and controls the arm cylinder 4 and the bucket cylinder 5 to tilt the bucket 2 (see the white arrow in FIG. 1 ), causing some of the transported objects x in the bucket 2 to drop from the bucket 2. This reduces the amount of transported objects x in the bucket 2, making the load in the bucket equal to or less than the predetermined value. The angle at which the bucket 2 is tilted when reducing the amount of transported objects x in the bucket 2 can be set by experiments, simulations, or the like based on the characteristics of the work machine 1 and the characteristics of the transported objects x. Note that the "angle of the bucket" does not refer to the angle relative to the arm 3, but refers to the angle relative to the horizontal.

[0035] When the determination unit 14 determines that the load in the bucket exceeds either the predetermined value or the remaining transported amount, the bucket angle control unit 15 of this embodiment controls the angle of the bucket 2 to reduce the amount of transported goods x in the bucket 2, thereby making the load in the bucket equal to or less than one of the above values.

[0036] (Operation control part) The operation restriction unit 16 restricts a predetermined operation of the work machine 1 when the determination unit 14 determines that the load in the bucket exceeds the predetermined value. The predetermined operation is not particularly limited, and does not include operation of the arm 3 or the bucket 2 to reduce the amount of transported material x in the bucket 2. Examples of the predetermined operation include traveling of the work machine 1 at a predetermined speed or above, or traveling itself. That is, the operation restriction unit 16 may control the drive system 6 and the brake system 7 to restrict traveling at a predetermined speed or traveling itself. The operation restriction unit 16 may also control the steering system 8 to restrict steering operation. Furthermore, in the case where the work machine 1 is a backhoe or the like having a lower traveling body such as a crawler and an upper rotating body equipped with a cab, arm, bucket, etc., the operation restriction unit 16 may restrict the rotation of the upper rotating body (the predetermined operation) by controlling a rotation device that enables the upper rotating body to rotate relative to the lower traveling body. Note that, although the operation restriction unit 16 is provided in this embodiment, the operation restriction unit 16 is not necessarily provided.

[0037] (Notification Department) When the determination unit 14 determines that the load in the bucket exceeds the predetermined value, the notification unit 17 issues a notification to make the operator (driver) aware of this. For example, the notification unit 17 controls a notification device (not shown) provided in the cab C of the work machine 1 or the like to notify the operator (driver) or the like. The notification device is not particularly limited, and examples include an alarm lamp, an alarm buzzer, and a vibration device provided on the handlebars or seat. Note that, in addition to the above notification, when the determination unit 14 determines that the load in the bucket exceeds the remaining transport amount, the notification unit 17 may issue a notification to make the operator aware of this. Furthermore, although the notification unit 17 is provided in this embodiment, the notification unit 17 need not be provided.

[0038] (Load adjustment processing) Next, the load adjustment process executed by the load adjustment device 10 will be described with reference to Fig. 4. Fig. 4 is a flowchart of the load adjustment process. Note that "load" in Fig. 4 refers to "load in the bucket." Also, "threshold value" refers to "the above-mentioned predetermined value" or "the above-mentioned predetermined value and the remaining transport amount."

[0039] As shown in FIG. 4, in the load adjustment process, first, the load adjustment device 10 acquires the load in the bucket (step S1).

[0040] Next, the determination unit 14 determines whether the load in the bucket is equal to or less than a threshold value (step S2). In this embodiment, the determination unit 14 determines whether the load in the bucket is equal to or less than the predetermined value, and determines whether the load in the bucket is equal to or less than the remaining transport amount.

[0041] In step S2, if the determination unit 14 determines that the load in the bucket is not equal to or less than the threshold value (the load in the bucket exceeds the threshold value) (step S2: NO), the bucket angle control unit 15 controls the angle of the bucket 2 to reduce the amount of transported material x in the bucket 2 (step S3), proceeds to step S1, and repeats this process until it is determined in step S2 that the load in the bucket is equal to or less than the threshold value (step S2: YES).

[0042] In step S2, if the determining unit 14 determines that the load in the bucket is equal to or less than the threshold value (the load in the bucket does not exceed the threshold value) (step S2: YES), this process ends.

[0043] In the load adjustment device 10 configured as described above, when the determination unit 14 determines that the bucket load exceeds the predetermined value, the bucket angle control unit 15 controls the angle of the bucket 2 to reduce the amount of transported material x in the bucket 2, thereby making the bucket load equal to or less than the predetermined value. The predetermined value is set to be equal to or less than the normal load specified for the work machine 1. Therefore, since the work machine 1 can be used reliably at or below the normal load, it is possible to prevent the work machine 1 from tipping over due to overloading, and the safety of work using the work machine 1 can be improved.

[0044] Furthermore, if the load in the bucket exceeds the predetermined value, bucket angle control unit 15 automatically reduces the amount of transported material x in bucket 2 to make the load in the bucket equal to or less than the predetermined value, thereby reliably preventing the operator from working with an overload that exceeds the normal load.

[0045] In this way, according to this embodiment, it is possible to provide a load adjuster 10 that can improve the safety of work performed by the work machine 1.

[0046] Furthermore, in this embodiment, when the determination unit 14 determines that the bucket load exceeds either the predetermined value or the remaining transport amount, the bucket angle control unit 15 sets the bucket load to be equal to or less than either of these values. Therefore, by appropriately setting the target transport amount, it is possible to prevent overloading of the transport vehicle, such as a dump truck, when loading transported goods x from the work machine 1 onto the transport vehicle. This makes it possible to prevent overloading of the transport vehicle while using the work machine 1 at a load equal to or less than the normal load.

[0047] Furthermore, the operation restriction unit 16 of this embodiment restricts a predetermined operation of the work machine 1 when the determination unit 14 determines that the load in the bucket exceeds the predetermined value. Therefore, by setting an operation that would be dangerous if performed when the load in the bucket exceeds the predetermined value (for example, the normal load) as the predetermined operation, it is possible to restrict the dangerous operation, and therefore the safety of work performed by the work machine 1 can be further improved.

[0048] Furthermore, when the determination unit 14 determines that the load in the bucket exceeds the predetermined value, the notification unit 17 of this embodiment issues a notification to notify the operator or the like in the cab C that the load in the bucket has exceeded the predetermined value.

[0049] The load adjustment device according to the present disclosure can be applied to any of work machines that are operated by an operator while on board, work machines that are automatically controlled, work machines that are remotely operated, and work machines that can be operated and controlled in a combination of these ways.

[0050] Although the present invention has been described above based on the above embodiment, the present invention is not limited to the content of the above embodiment, and can be modified as appropriate without departing from the scope of the present invention. In other words, all other embodiments, examples, operational techniques, etc. made by those skilled in the art based on this embodiment are naturally included in the scope of the present invention. [Explanation of symbols]

[0051] 1:Work machine 2: Bucket 10: Load adjustment device 11: Load acquisition section (load acquisition means) 12: Target transport amount storage unit (target transport amount storage means) 13: remaining transport amount calculation unit (remaining transport amount calculation means) 14: Judgment unit (judgment means) 15: Bucket angle control unit (bucket angle control means) 16: Operation restriction unit (operation restriction means) 17: Notification unit (notification means)

Claims

1. a load acquisition means for acquiring a bucket load, which is the load of an object being transported in a bucket of the work machine; a determination means for determining whether the bucket load acquired by the load acquisition means is equal to or less than a predetermined value; a bucket angle control means for controlling the angle of the bucket to reduce the amount of transported material in the bucket when the determination means determines that the load in the bucket exceeds the predetermined value, thereby making the load in the bucket equal to or less than the predetermined value, The predetermined value is set to be equal to or less than a normal load specified for the work machine. A load adjusting device characterized by:

2. a target transport amount storage means for storing a target transport amount; a remaining transport amount calculation means for calculating a total transport amount by integrating the bucket loads acquired by the load acquisition means, and calculating a remaining transport amount until the total transport amount reaches the target transport amount, the determining means determines whether the load in the bucket is equal to or less than the predetermined value, and determines whether the load in the bucket is equal to or less than the remaining transport amount, When the determining means determines that the load in the bucket exceeds either the predetermined value or the remaining transport amount, the bucket angle control means controls the angle of the bucket to reduce the amount of transported material in the bucket, thereby making the load in the bucket equal to or less than the one of the values.

2. The load adjusting device according to claim 1.

3. and an operation restriction means for restricting a predetermined operation of the work machine when the determination means determines that the load in the bucket exceeds the predetermined value.

3. The load adjusting device according to claim 1 or 2.

4. and a notification means for issuing a notification when the determination means determines that the load in the bucket exceeds the predetermined value.

3. The load adjusting device according to claim 1 or 2.

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