Construction machinery control device, construction machinery, and construction machinery control method

Abstract

This technology provides a controller that can appropriately determine the amount of material to be held in the bucket device, or the holding volume, without requiring any cumbersome operations by the operator. [Solution] The controller 70 of the construction machine control device 200 stores a first posture, which is the posture of the construction machine 100 when the state of the buckets transitions from an empty state where the object to be transported is not held in the buckets 13, 13 to a held state where the object to be transported is held in the buckets 13, 13. When the state of the buckets 13, 13 transitions from the held state to the empty state, and the degree of posture change from the first posture is greater than or equal to a predetermined degree, the controller determines the holding amount, which is the amount of the object to be transported held in the buckets 13, 13, based on the load value detected by the load value detector 94.

Description

[Technical Field]

[0001] This disclosure relates to the technology of a construction machine equipped with a bucket device. [Background technology]

[0002] Conventionally, construction machines equipped with a bucket device having an openable and closable bucket are known (for example, Patent Documents 1-3). In this construction machine, the bucket device lands with the bucket open, and then closes the bucket to excavate the ground and hold the soil.

[0003] The weight measuring device described in Patent Document 3 is installed on a construction machine in which a clamshell bucket, driven by an operating force transmitted via a rope unfurled from a winch, is suspended from the front end of a luffable boom. Based on the input of a measurement command, the controller of this weight measuring device measures the load acting on the rope, subtracts the self-weight of the clamshell bucket from the measured load on the rope, and measures the weight of the load accumulated in the clamshell bucket as the weight of the load in the clamshell bucket. The controller then informs a transport vehicle, separate from the construction machine, of the measured weight of the load in the clamshell bucket and the total weight of the load loaded from the clamshell bucket. [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2023-23811 [Patent Document 2] Japanese Patent Publication No. 2023-23812 [Patent Document 3] Japanese Patent Publication No. 2022-18775 [Overview of the project] [Problems that the invention aims to solve]

[0005] In the weight measuring device described in Patent Document 3, the measurement command is input by pressing a button on the user interface. That is, in the technology described in Patent Document 3, in order to have the weight measuring device measure the amount of the object to be transported held in the bucket device, the operator of the construction machine must press the button. Since the operation of the bucket device holding the object to be transported and transporting the object to a predetermined location is performed repeatedly, it is cumbersome for the operator to have to press the button each time the weight measuring device measures the amount of the object to be transported. Therefore, there is a need for a technology in which the controller can appropriately determine the amount of the object to be transported held in the bucket device without requiring the operator to perform such a cumbersome operation. [Means for solving the problem]

[0006] This disclosure aims to provide a technology that allows a controller to appropriately determine the amount of material to be carried, which is the amount of material held in the bucket device, without requiring any cumbersome operation by the operator.

[0007] A construction machine control device according to a first embodiment is a control device for a construction machine comprising: a lower body; an upper slewing body rotatably supported by the lower body; a luffing member that can be raised and lowered relative to the upper slewing body; a bucket device having a bucket for holding an object to be transported and supported by a winch rope hanging from the luffing member; and a load value detector for detecting a load value correlated with the amount of the object to be transported held in the bucket. The construction machine control device comprises a controller, the controller storing a first posture which is the posture of the construction machine when the state of the bucket transitions from an empty state where the object to be transported is not held in the bucket to a held state where the object to be transported is held in the bucket; and when the state of the bucket transitions from the held state to the empty state and the degree of change in posture from the first posture is greater than or equal to a predetermined degree, the controller determines the amount of the object to be transported based on the load value.

[0008] In this first embodiment, the controller determines the holding amount based on the load value when the degree of change in posture from the first posture is greater than or equal to a predetermined degree, so that the holding amount can be appropriately determined without requiring any troublesome operation by the operator.

[0009] A construction machine control device according to a second embodiment is preferably further comprising the following configuration in addition to the construction machine control device according to a first embodiment. That is, the construction machine control device according to a second embodiment further comprises a rope member that supports the luffing member, and the load value detector may be configured to detect the load value acting on the rope member. In this second embodiment, the controller can determine the holding amount based on the load acting on the rope member that supports the luffing member (tension acting on the rope member), rather than the load acting on the winch rope that supports the bucket device.

[0010] A construction machinery control device according to a third embodiment preferably comprises the following additional configurations in addition to the construction machinery control device according to the first or second embodiment. That is, in a construction machinery control device according to a third embodiment, it is preferable that the controller calculates the transport volume, which is a cumulative value obtained by adding the determined holding volume. In this third embodiment, when the bucket device repeatedly performs a transport operation in which it holds an object to be transported and transports the object to a predetermined location, the controller can calculate the transport volume, i.e., the total amount of transported objects, by adding the determined holding volume to the cumulative amount of the holding volume in multiple transport operations performed up to that point.

[0011] A construction machinery control device according to the fourth embodiment preferably further comprises the following configuration in addition to a construction machinery control device according to any one of the first to third embodiments. That is, in a construction machinery control device according to the fourth embodiment, the controller preferably calculates the number of times the object to be transported is transported based on the number of times the condition is met that the state of the bucket transitions from the holding state to the empty state and the degree of the change in posture is greater than or equal to the predetermined degree. In this fourth embodiment, the controller can appropriately calculate the number of times the object to be transported is transported based on the above conditions.

[0012] A construction machinery control device according to the fifth embodiment preferably further comprises the following configuration in addition to a construction machinery control device according to any one of the first to fourth embodiments. That is, in a construction machinery control device according to the fifth embodiment, it is preferable that the controller determines the holding amount based on a filtered load value, which is a value obtained by applying a low-pass filter to the load value. In this fifth embodiment, the waveform of the filtered load value obtained by low-pass filtering becomes a smooth waveform in which noise contained in the waveform of the load value before the low-pass filter is applied is removed to some extent, so the controller can determine the holding amount more appropriately based on the filtered load value.

[0013] A construction machinery control device according to the sixth embodiment preferably further comprises the following configuration in addition to the construction machinery control device according to the fifth embodiment. That is, in the construction machinery control device according to the sixth embodiment, the controller may determine the holding amount based on the maximum value of the filter applied load values ​​during the time period from the holding state to the empty state.

[0014] A construction machine control device according to the seventh embodiment is preferably a construction machine control device according to any one of the first to sixth embodiments further comprising the following configuration. That is, in the seventh embodiment, the construction machine further comprises a slewing angle detector for detecting the slewing angle of the upper slewing body, and the controller stores the slewing angle when the state of the bucket transitions from the empty state to the holding state as the first posture, and when the state of the bucket transitions from the holding state to the empty state and the amount of change in the slewing angle from the first posture (slewing angle difference) is greater than or equal to a predetermined slewing angle threshold, the holding amount may be determined based on the load value.

[0015] A construction machine control device according to the eighth embodiment is preferably a construction machine control device according to any one of the first to sixth embodiments further comprising the following configuration. That is, in the eighth embodiment, the construction machine further comprises a luffing member angle detector for detecting the luffing angle of the luffing member, and the controller stores the luffing angle when the bucket transitions from the empty state to the holding state as the first posture, and when the bucket transitions from the holding state to the empty state and the amount of change in the luffing angle from the first posture (luffing angle difference) is greater than or equal to a predetermined luffing angle threshold, the holding amount may be determined based on the load value.

[0016] A construction machine control device according to the ninth embodiment is preferably a construction machine control device according to any one of the first to sixth embodiments further comprising the following configuration. That is, in the ninth embodiment, the construction machine further comprises a slewing angle detector for detecting the slewing angle of the upper slewing body and a luffing member angle detector for detecting the luffing angle of the luffing member, and the controller stores the slewing angle and the luffing angle when the bucket transitions from the empty state to the holding state as the first posture, and when the bucket transitions from the holding state to the empty state and the amount of change in the slewing angle from the first posture (slewing angle difference) is greater than or equal to a predetermined slewing angle threshold, or when the bucket transitions from the holding state to the empty state and the amount of change in the luffing angle from the first posture (luffing angle difference) is greater than or equal to a predetermined luffing angle threshold, the holding amount may be determined based on the load value.

[0017] The construction machine according to the tenth embodiment comprises the lower body, the upper rotating body, the luffing member, the load value detector, the bucket device, and a construction machine control device according to any one of the first to ninth embodiments.

[0018] The construction machine control method according to the 11th aspect is a method for a construction machine including a lower body, an upper swing body rotatably supported by the lower body, a boom member that can be raised and lowered with respect to the upper swing body, and a bucket device having a bucket for holding a transport object and supported by a winch rope hanging from the boom member. The construction machine control method further includes a load value detector that detects a load value correlated with a holding amount, which is the amount of the transport object held by the bucket. The construction machine control method stores a first posture, which is the posture of the construction machine when the state of the bucket changes from an empty state in which the transport object is not held by the bucket to a holding state in which the transport object is held by the bucket. When the state of the bucket changes from the holding state to the empty state and the degree of the posture change from the first posture is greater than or equal to a predetermined degree, the controller determines the holding amount based on the load value. In this 11th aspect, since the controller determines the holding amount based on the load value when the degree of the posture change from the first posture is greater than or equal to a predetermined degree, the holding amount can be appropriately determined without troublesome operations by the operator.

Effect of the Invention

[0019] As described above, according to the present disclosure, there is provided a technique in which the controller can appropriately determine the holding amount, which is the amount of the transport object held by the bucket device, without troublesome operations by the operator.

Brief Description of the Drawings

[0020] [Figure 1] It is a side view showing a construction machine equipped with a construction machine control device according to an embodiment of the present disclosure. [Figure 2] It is a block diagram showing a first winch, a second winch, and a bucket device in the construction machine and main components related thereto. [Figure 3] It is a diagram showing a portion related to the first winch and the second winch among hydraulic circuits provided in the construction machine. [Figure 4]This is a diagram illustrating the opening and closing operation of the bucket device provided by the aforementioned construction machine. [Figure 5] This is a block diagram showing the controller of the aforementioned construction machinery control device and its main related components. [Figure 6] This diagram illustrates a series of operations performed by the bucket device, including excavation, transport, and soil removal. [Figure 7] This diagram illustrates the first and second positions of the aforementioned construction machine. [Figure 8] This diagram illustrates the first and second positions of the aforementioned construction machine. [Figure 9] This figure shows an example of information displayed on the display device in response to a display command from the controller. [Figure 10] This graph shows an example of the temporal change in load value and the temporal change in bucket opening during the series of operations performed by the bucket device. [Figure 11] This graph illustrates the filtered load value obtained by applying a low-pass filter to the aforementioned load value. [Figure 12] This flowchart shows an example of the calculation process performed by the aforementioned controller. [Modes for carrying out the invention]

[0021] Embodiments of this disclosure will be described with reference to the drawings.

[0022] Figure 1 shows a crane 100, which is a construction machine according to this embodiment. This crane 100 comprises a lower body 101, an upper slewing body 102 that is rotatably supported on the lower body 101, a luffing member 104 that is luffably supported on the upper slewing body 102, a plurality of winches arranged on the upper slewing body 102, and a bucket device 10.

[0023] The lower body 101 is a self-propelled lower traveling body equipped with a traveling device such as a crawler traveling device. However, the lower body in this disclosure may be a structure such as a support base that rotatably supports the upper rotating body 102 and is not self-propelled.

[0024] The upper rotating body 102 comprises a rotating frame 103 that is rotatably attached to the lower body 101, a cabin 114 supported at the front of the rotating frame 103, and a counterweight 115 supported at the rear of the rotating frame 103.

[0025] The luffing member 104 includes a boom that is luffably supported on the slewing frame 103. However, the luffing member in this disclosure may also include a boom and a jib (not shown) that is rotatably supported on the upper end of the boom. The luffing member 104 includes a luffing member body 104A and a plurality of sheaves. The luffing member body 104A is the portion of the upper slewing body 102 that is positioned to protrude from the slewing frame 103 and constitutes the majority of the luffing member 104. In the specific example shown in Figure 1, the luffing member body 104A is composed of a boom having a lattice structure. The plurality of sheaves include a first point sheave 105, a second point sheave 106, a first idler sheave 112, and a second idler sheave 113, which are attached to the upper end of the luffing member body 104A as shown in Figure 1.

[0026] The crane 100 comprises a lower spreader 110, an upper spreader 109, a rope member, and a gantry 107. The rope member supports the luffing member 104. The rope member includes at least one of the luffing rope R3 and guy line 108, which will be described later. The gantry 107 is erected on the slewing frame 103.

[0027] The lower spreader 110 is positioned at the upper end of the gantry 107. One end of the guy line 108 is connected to the upper end of the luffing member 104, and the other end of the guy line 108 is connected to the upper spreader 109. The lower spreader 110 and the upper spreader 109 are spaced apart from each other. A portion of the luffing rope R3 described above is wrapped around the lower spreader 110 and the upper spreader 109.

[0028] The aforementioned plurality of winches include a first winch WC1, a second winch WC2, and a luffing winch WC3. The first winch WC1 has a first winch drum DR1 for paying out and winding in the first winch rope R1 (wire rope). The second winch WC2 has a second winch drum DR2 for paying out and winding in the second winch rope R2 (wire rope). The luffing winch WC3 has a luffing winch drum DR3 for paying out and winding in the luffing rope R3 (wire rope).

[0029] The first winch WC1 and the second winch WC2 open and close the bucket device 10 and raise and lower it.

[0030] The luffing rope R3 extends from the luffing winch drum DR3 to the lower spreader 110 and is wrapped around the lower spreader 110 and the upper spreader 109. The luffing winch WC3 reduces or increases the distance between the upper spreader 109 and the lower spreader 110 by winding in or unwinding the luffing rope R3. As this distance decreases or increases, the luffing member 104 rumbles. In other words, the luffing winch WC3 can make the luffing member 104 rumble relative to the upper slewing body 102 by winding in or unwinding the luffing rope R3.

[0031] Figure 2 is a block diagram showing the first winch WC1, the second winch WC2, and the bucket device 10 of the crane 100, as well as the main components related thereto. Figure 3 is a diagram showing the portion of the hydraulic circuit of the crane 100 related to the first winch WC1 and the second winch WC2.

[0032] As shown in Figures 1 to 3, the first winch WC1 has a first winch drum DR1 around which the first winch rope R1 is wound, a first winch motor 34 connected to the first winch drum DR1, a first clutch brake 40, and a reduction gear 47. Similarly, the second winch WC2 has a second winch drum DR2 around which the second winch rope R2 is wound, a second winch motor 35 connected to the second winch drum DR2, a second clutch brake 40, and a reduction gear 47.

[0033] The first winch rope R1 is an opening / closing rope for opening and closing the bucket device 10, and the second winch rope R2 is a support rope for supporting the bucket device 10. The first winch drum DR1 is an opening / closing drum for paying out and reeling in the first winch rope R1 as an opening / closing rope, and the second winch drum DR2 is a support drum for paying out and reeling in the second winch rope R2 as a support rope.

[0034] The first winch drum DR1 is supported by a support member (not shown) on the upper slewing body 102 so as to be rotatable around a horizontal axis, enabling the first winch rope R1 to be paid out and retracted. The second winch drum DR2 is supported by a support member (not shown) on the upper slewing body 102 so as to be rotatable around a horizontal axis, enabling the second winch rope R2 to be paid out and retracted.

[0035] The first point sheave 105 and the second point sheave 106 are arranged side by side and attached to the upper end of the undulating member 104. The first idler sheave 112 and the second idler sheave 113 are arranged side by side and attached to the upper end of the undulating member 104. The first idler sheave 112 is located behind the first point sheave 105, and the second idler sheave 113 is located behind the second point sheave 106.

[0036] The first winch rope R1 extends from the first winch drum DR1 to the upper end of the luffing member 104, hangs down from the upper end, and is connected to the bucket device 10. Specifically, the first winch rope R1 is supported by the first idler sheave 112 and the first point sheave 105, and hangs down from the first point sheave 105. The second winch rope R2 extends from the second winch drum DR2 to the upper end of the luffing member 104, hangs down from the upper end, and is connected to the bucket device 10. Specifically, the second winch rope R2 is supported by the second idler sheave 113 and the second point sheave 106, and hangs down from the second point sheave 106. The lower ends (tips) of the first winch rope R1 and the second winch rope R2 are each connected to the bucket device 10.

[0037] The bucket device 10 is a working device known as a clamshell bucket. The bucket device 10 has buckets 13, 13 to which the first winch rope R1 and the second winch rope R2 are connected, and which can be opened and closed and raised and lowered in accordance with the operation of the first winch drum DR1 and the second winch drum DR2.

[0038] Specifically, as shown in Figure 4, the bucket device 10 comprises an upper member 11, a lower member 16 positioned below the upper member 11, a pair of link members 12, 12, a pair of buckets 13, 13, a lower sheave 14, and an upper sheave 15. The right side of Figure 4 shows the open state in which the buckets 13, 13 of the bucket device 10 are open, and the left side of Figure 4 shows the closed state in which the buckets 13, 13 of the bucket device 10 are closed.

[0039] As shown in the left diagram of Figure 4, buckets 13, 13 move in the closing direction when the amount of winding of the first winch rope R1 becomes relatively greater than the amount of winding of the second winch and rope R2. On the other hand, as shown in the right diagram of Figure 4, buckets 13, 13 move in the opening direction when the amount of winding of the first winch rope R1 becomes relatively less than the amount of winding of the second winch and rope R2.

[0040] The pair of link members 12, 12 are arranged horizontally, spaced apart from each other. The upper ends of the pair of link members 12, 12 are connected to the upper member 11 so as to be rotatable around a horizontal axis. One lower end of the pair of link members 12, 12 is connected to one of the pair of buckets 13, 13 so as to be rotatable around a horizontal axis, and the other lower end of the pair of link members 12, 12 is connected to the other of the pair of buckets 13, 13 so as to be rotatable around a horizontal axis.

[0041] The lower sheave 14 is supported by the lower member 16 so as to be rotatable around a horizontal axis. Each of the pair of buckets 13, 13 has a supported portion that is supported by the lower member 16 so as to be rotatable around a horizontal axis. The upper sheave 15 is supported by the upper member 11 so as to be rotatable around a horizontal axis.

[0042] The pair of buckets 13, 13 have a storage space capable of accommodating the material to be transported. The material to be transported may be soil or sand. The soil or sand may be soil from the ground, or soil from a soil pit (a temporary storage area for soil or sand).

[0043] The pair of buckets 13, 13 can rotate around the supported portion, allowing them to be displaced between a state where the lower ends of the buckets 13, 13 are adjacent to each other (the closed state) and a state where the lower ends of the buckets 13, 13 are separated horizontally (the open state). The pair of link members 12, 12 support the buckets 13, 13 and rotate relative to the upper member 11 in accordance with the displacement of the buckets 13, 13. By maintaining the closed state, the pair of buckets 13, 13 can hold the object to be transported contained in the containment space. By switching from the closed state to the open state, the pair of buckets 13, 13 can discharge the object to be transported from the containment space to the outside of the buckets 13, 13.

[0044] The first winch rope R1 (the opening / closing rope) is wrapped around the lower sheave 14 and the upper sheave 15, and the end of the first winch rope R1 is fixed to either the upper member 11 or the lower member 16. The end of the second winch rope R2 (the support rope) is fixed to the upper member 11.

[0045] The first winch motor 34 and the second winch motor 35 are variable displacement hydraulic motors connected to the hydraulic pump 31. The first winch motor 34 operates by receiving hydraulic fluid discharged from the hydraulic pump 31 to rotate the first winch drum DR1 in either the forward or reverse direction, i.e., the unwinding direction or the winding direction. Similarly, the second winch motor 35 operates by receiving hydraulic fluid discharged from the hydraulic pump 31 to rotate the second winch drum DR2 in either the forward or reverse direction, i.e., the unwinding direction or the winding direction. This enables the opening and closing and raising and lowering of the bucket device 10 through the cooperation of the first winch WC1 and the second winch WC2. The hydraulic pump 31 is driven by a power source such as an engine (not shown).

[0046] The reduction gear 47 of the first winch WC1 reduces the rotational speed of the first winch motor 34 and transmits the driving force (rotational force) from the first winch motor 34 to the first winch drum DR1. The reduction gear 47 of the second winch WC2 reduces the rotational speed of the second winch motor 35 and transmits the driving force (rotational force) from the second winch motor 35 to the second winch drum DR2. These reduction gears 47 each have, for example, a planetary gear mechanism.

[0047] The first clutch brake 40 can switch between a connected state in which the driving force of the first winch motor 34 can be transmitted to the first winch drum DR1, and a free state in which the first winch rope R1 can be unfurled from the first winch drum DR1 by the weight of the bucket device 10. The first clutch brake 40 can adjust the degree of connection between the first winch motor 34 and the first winch drum DR1 between the connected state and the free state.

[0048] Similarly, the second clutch brake 40 can switch between a connected state in which the driving force of the second winch motor 35 can be transmitted to the second winch drum DR2, and a free state in which the second winch rope R2 can be unfurled from the second winch drum DR2 by the weight of the bucket device 10. The second clutch brake 40 can adjust the degree of connection between the second winch motor 35 and the second winch drum DR2 between the connected state and the free state.

[0049] The aforementioned connection state allows for the unwinding and winding of the first winch rope R1 and the second winch rope R2 by the driving force of the first winch motor 34 and the second winch motor 35. That is, when the first winch motor 34 and the second winch motor 35 are driven in the aforementioned connection state, the driving force of the first winch motor 34 and the second winch motor 35 is transmitted to the first winch drum DR1 and the second winch drum DR2, respectively, via the reduction gears 47, 47. When the first winch drum DR1 and the second winch drum DR2 rotate, the first winch rope R1 and the second winch rope R2 are unwinded or wound in.

[0050] The free state is a state in which the first winch rope R1 and the second winch rope R2 can be unfurled from the first winch drum DR1 and the second winch drum DR2 by the tension of the first winch rope R1 and the second winch rope R2, that is, a state in which the bucket device 10 can free fall. In other words, the free state is a state in which the first winch rope R1 and the second winch rope R2 can be unfurled from the first winch drum DR1 and the second winch drum DR2 without rotating the first winch motor 34 and the second winch motor 35 in the unfurling direction of the first winch rope R1 and the second winch rope R2.

[0051] Furthermore, the first clutch brake 40 can apply a first braking force to the first winch drum DR1, that is, it can brake the first winch drum DR1. Similarly, the second clutch brake 40 can apply a second braking force to the second winch drum DR2, that is, it can brake the second winch drum DR2.

[0052] When the first braking force against the rotation of the first winch drum DR1 exceeds a predetermined magnitude, the first winch drum DR1 is braked, making it impossible to pay out the first winch rope R1 from the first winch drum DR1. Similarly, when the second braking force against the rotation of the second winch drum DR2 exceeds a predetermined magnitude, the second winch drum DR2 is braked, making it impossible to pay out the second winch rope R2 from the second winch drum DR2. Therefore, the first braking force of the first clutch brake 40 and the second braking force of the second clutch brake 40 are sufficient to maintain the bucket device 10 in a stationary state without free-falling, and to stop the bucket device 10 if it is free-falling.

[0053] In this embodiment, the first clutch brake 40 and the second clutch brake 40 are so-called wet brakes and each comprises a piston 42 driven by hydraulic pressure supplied from a pilot hydraulic power source P, and a plurality of brake discs 41 (a plurality of clutch plates). Each of the plurality of brake discs 41 is, for example, a friction plate immersed in lubricating oil.

[0054] The multiple brake discs 41 can be switched between a state in which the multiple brake discs 41 are in contact with each other and a state in which the multiple brake discs 41 are separated from each other by the operation of the piston 42. When the multiple brake discs 41 are separated from each other, each of the first clutch brake 40 and the second clutch brake 40 enters the free state, thereby allowing the bucket device 10 to descend (free fall) by its own weight. Conversely, when the multiple brake discs 41 enter the contact state, each of the first clutch brake 40 and the second clutch brake 40 enters the connected state.

[0055] More specifically, each of the first clutch brake 40 and the second clutch brake 40 is equipped with a spring 46, and each of the first clutch brake 40 and the second clutch brake 40 has a pair of oil chambers 43, 44 formed therein, and the piston 42 has a flange 45 that separates the pair of oil chambers 43, 44. When the hydraulic pressure applied to the pair of oil chambers 43, 44 from the pilot hydraulic power source P is the same, the spring 46 biases the piston 42 so that the multiple brake discs 41 come into contact with each other. When the hydraulic pressure applied to one oil chamber 44 from the pilot hydraulic power source P becomes greater than the hydraulic pressure applied to the other oil chamber 43 by a predetermined amount or more, the multiple brake discs 41 come apart from each other.

[0056] The crane 100 includes a first control valve 32, a second control valve 33, a first payout proportional valve 61A, a first retraction proportional valve 61B, a second payout proportional valve 63A, a second retraction proportional valve 63B, a first brake proportional valve 62, a second brake proportional valve 64, and a plurality of operating devices. In this embodiment, each of the proportional valves 61A, 61B, 62, 63A, 63B, and 64 is an electromagnetic proportional pressure reducing valve.

[0057] The first control valve 32 is interposed between the hydraulic pump 31 and the first winch motor 34, and the second control valve 33 is interposed between the hydraulic pump 31 and the second winch motor 35. Each of the first control valve 32 and the second control valve 33 is composed of a hydraulic pilot switching valve having a pair of pilot ports.

[0058] The pair of pilot ports are an unwinding pilot port and a winding pilot port. When no pilot pressure is applied to either pilot port, the first control valve 32 and the second control valve 33 are held in a neutral position, shutting off the winch motor corresponding to the control valve (hereinafter referred to as the "corresponding winch motor") from the hydraulic pump 31. When pilot pressure is applied to the unwinding pilot port, the first control valve 32 and the second control valve 33 open to form an oil passage for rotating the corresponding winch motor in the unwinding direction, that is, an oil passage for supplying hydraulic fluid from the hydraulic pump 31 to the corresponding winch motor in the unwinding direction. When pilot pressure is applied to the winding pilot port, the first control valve 32 and the second control valve 33 open to form an oil passage for rotating the corresponding winch motor in the winding direction, that is, an oil passage for supplying hydraulic fluid from the hydraulic pump 31 to the corresponding winch motor in the winding direction. The opening degrees of the first control valve 32 and the second control valve 33 increase with increasing pilot pressure to allow the hydraulic fluid to flow at a flow rate corresponding to the pilot pressure input to the control valve.

[0059] The first dispensing proportional valve 61A is interposed between a pilot hydraulic power source (not shown) and the dispensing pilot port of the first control valve 32. When a first dispensing command, which is an electrical signal, is input to the proportional valve 61A from a controller 70 (described later), the valve opens to allow a pilot pressure proportional to the first dispensing command to be input to the dispensing pilot port. The first retracting proportional valve 61B is interposed between the pilot hydraulic power source and the retracting pilot port of the first control valve 32. When a first retracting command, which is an electrical signal, is input to the proportional valve 61B from the controller 70, the valve opens to allow a pilot pressure proportional to the first retracting command to be input to the retracting pilot port.

[0060] Similarly, the second dispensing proportional valve 63A is interposed between a pilot hydraulic source (not shown) and the dispensing pilot port of the second control valve 33, and opens to allow a pilot pressure proportional to the second dispensing command to be input to the dispensing pilot port when a second dispensing command, which is an electrical signal, is input to the proportional valve 63A from the controller 70. The second retracting proportional valve 63B is interposed between the pilot hydraulic source and the retracting pilot port of the second control valve 33, and opens to allow a pilot pressure proportional to the second retracting command to be input to the retracting pilot port when a second retracting command, which is an electrical signal, is input to the proportional valve 63B from the controller 70.

[0061] The first proportional brake valve 62 is interposed between the pilot hydraulic power source P and the first clutch brake 40. When a first brake command, which is an electrical signal, is input to the proportional valve 62 from the controller 70, the valve opens to allow hydraulic pressure (first pilot pressure) proportional to the first brake command to be input to the oil chamber 43 of the first clutch brake 40. As a result, the first proportional brake valve 62 can switch the state of the first clutch brake 40 between the free state and the connected state.

[0062] Similarly, the second proportional brake valve 64 is interposed between the pilot hydraulic power source P and the second clutch brake 40. When a second brake command, which is an electrical signal, is input to the proportional valve 64 from the controller 70, the valve opens to allow hydraulic pressure (second pilot pressure) proportional to the second brake command to be input to the oil chamber 43 of the second clutch brake 40. This allows the second proportional brake valve 64 to switch the state of the second clutch brake 40 between the free state and the connected state.

[0063] As shown in Figures 1 to 3, the multiple operating devices include a first winch operating device 51, a second winch operating device 53, a first brake operating device 52, a second brake operating device 54, a luffing operating device 55 (see Figure 1), and a slewing operating device 56 (see Figure 1).

[0064] As shown in Figure 2, the first winch operating device 51 has a first winch operating lever 51A and a first lever input detector 51B. The second winch operating device 53 has a second winch operating lever 53A and a second lever input detector 53B. The first brake operating device 52 has a first brake operating pedal 52A and a first pedal input detector 52B. The second brake operating device 54 has a second brake operating pedal 54A and a second pedal input detector 54B. As shown in Figure 1, the luffing operating device 55 has a luffing operating lever 55A and a luffing lever input detector 55B. The slewing operating device 56 has a slewing operating lever 56A and a slewing lever input detector 56B.

[0065] The first winch operating lever 51A is an operating member to which an operator performs a first lever operation to specify the rotation direction and rotation speed of the first winch drum DR1. Specifically, the first winch operating lever 51A is provided with either a first payout operation to rotate the first winch drum DR1 in the payout direction to pay out the first winch rope R1, or a first winding operation to rotate the first winch drum DR1 in the winding direction to wind up the first winch rope R1, as the first lever operation.

[0066] The first lever input detector 51B detects the amount of the first lever operation (extend operation or retract operation) applied to the first winch operating lever 51A, and inputs the detection result to the controller 70.

[0067] Similarly, the second winch operating lever 53A is an operating member to which a second lever operation is performed by an operator to specify the rotation direction and rotation speed of the second winch drum DR2. Specifically, the second winch operating lever 53A is provided with either a second payout operation to rotate the second winch drum DR2 in the payout direction to pay out the second winch rope R2, or a second winding operation to rotate the second winch drum DR2 in the winding direction to wind up the second winch rope R2, as the second lever operation.

[0068] The second lever input detector 53B detects the amount of operation of the second lever (extend or retract) applied to the second winch operating lever 53A, and inputs the detection result to the controller 70.

[0069] The first brake operation pedal 52A is an operating member to which a first pedal operation is performed by an operator to specify a first braking force on the first winch drum DR1. The first pedal input detector 52B detects the amount of the first pedal operation applied to the first brake operation pedal 52A and inputs the detection result to the controller 70.

[0070] The second brake operation pedal 54A is an operating member to which a second pedal operation is performed by the operator to specify a second braking force on the second winch drum DR2. The second pedal input detector 54B detects the amount of the second pedal operation applied to the second brake operation pedal 54A and inputs the detection result to the controller 70.

[0071] The luffing lever 55A is an operating member that allows an operator to perform luffing operations to specify the rotation direction and rotation speed of the luffing winch drum DR3. Specifically, the luffing lever 55A is provided with either a lowering operation to rotate the luffing winch drum DR3 in the unwinding direction to unwind the luffing rope R3, or an uprighting operation to rotate the luffing winch drum DR3 in the winding direction to wind up the luffing rope R3.

[0072] The luffing lever input detector 55B detects the amount of luffing operation (lowering operation or raising operation) applied to the luffing operation lever 55A and inputs the detection result to the controller 70.

[0073] When the luffing lever 55A is lowered, hydraulic fluid discharged from the hydraulic pump 31 is supplied to the luffing motor, which is a hydraulic motor not shown in the figure, causing the luffing member 104 to perform a lowering operation in which the luffing angle gradually decreases, as described later. When the luffing lever 55A is raised, hydraulic fluid discharged from the hydraulic pump 31 is supplied to the luffing motor, causing the luffing member 104 to perform a raised operation in which the luffing angle gradually increases. The luffing operation includes the lowering operation and the raised operation.

[0074] The swivel operation lever 56A is an operating member that allows an operator to perform a swivel operation to specify the rotation direction and rotation speed of the swivel motor (not shown in the figure). Specifically, the swivel operation lever 56A is provided with either a rightward swivel operation to rotate the upper swivel body 102 to the right, or a leftward swivel operation to rotate the upper swivel body 102 to the left.

[0075] The slewing lever input detector 56B detects the amount of slewing operation (right slewing operation or left slewing operation) applied to the slewing operation lever 56A, and inputs the detection result to the controller 70.

[0076] When the slewing lever 56A receives a rightward slewing operation, the hydraulic fluid discharged from the hydraulic pump 31 is supplied to the slewing motor, which is a hydraulic motor not shown in the figure, causing the upper slewing body 102 to slewing to the right. When the slewing lever 56A receives a leftward slewing operation, the hydraulic fluid discharged from the hydraulic pump 31 is supplied to the slewing motor, causing the upper slewing body 102 to slewing to the left.

[0077] Next, the construction machinery control device 200 according to this embodiment will be described.

[0078] Figure 5 is a block diagram showing the controller 70 of the construction machinery control device 200 according to this embodiment and its main related components.

[0079] The construction machinery control device 200 is a control device for the crane 100. In this embodiment, the construction machinery control device 200 is installed on the crane 100. The construction machinery control device 200 includes a controller 70.

[0080] As shown in Figure 5, the crane 100 includes an operator setting device 21, a first drum rotation detector 81, a second drum rotation detector 82, a luffing member angle detector 22, a slewing angle detector 23, a load value detector 94, a setting memory 95 (previous setting memory), and a display device 96.

[0081] The operator setting device 21 is an input device for the operator to input various settings necessary for the operation of the crane 100. The operator setting device 21 receives input from the operator for making the various settings. The operator setting device 21 may be located, for example, inside the cabin 114. The operator setting device 21 may include, for example, a touch panel on a monitor. The various settings may include, for example, specification data for the main components that make up the construction machine, such as the luffing member 104, winch drums DR1 and DR2, and bucket device 10. The various settings may include, for example, the winding state of the winch ropes of winch drums DR1 and DR2 at the start of work (for example, a value indicating how much of the winch rope is wound up on the winch drum).

[0082] The luffing member angle detector 22 detects the luffing angle of the luffing member 104 and inputs the detection result to the controller 70. In this embodiment, the luffing member angle detector 22 detects the boom angle, which is the angle of the boom of the luffing member 104, as the luffing angle. The luffing angle is the angle of the luffing member 104 with respect to a predetermined reference. The reference may be, for example, a horizontal line or a horizontal plane, another straight line or other plane, the upper slewing body 102, or the lower body 101.

[0083] The rotation angle detector 23 detects the rotation angle of the upper rotating body 102 relative to the lower body 101 and inputs the detection result to the controller 70.

[0084] The first drum rotation detector 81 detects a first rotation amount ωm, which is the amount of rotation of the first winch drum DR1, and inputs the detection result to the controller 70. The second drum rotation detector 82 detects a second rotation amount ωa, which is the amount of rotation of the second winch drum DR2, and inputs the detection result to the controller 70.

[0085] The controller 70 can calculate the amount of the first winch rope R1 to be unwound based on a first rotation amount ωm input from the first drum rotation detector 81. The controller 70 can also calculate the amount of the second winch rope R2 to be unwound based on a second rotation amount ωa input from the second drum rotation detector 82.

[0086] The load value detector 94 detects a load value that correlates with the holding amount, which is the amount of material to be transported held in the buckets 13, 13 of the bucket device 10. The load value detector 94 may be, for example, a load cell. The load value detector 94 is configured to detect the load value (tension) acting on the luffing rope R3 or the guy line 108. For example, as shown in Figure 1, the load value detector 94 may be configured to detect the load value (tension) acting on the luffing rope R3. The load value detector 94 may be attached to the luffing winch WC3, the lower spreader 110, the guy line 108, the upper spreader 109, or the luffing member 104.

[0087] The setting memory 95 stores the weight of the bucket device 10 calculated by the bucket weight calculation unit 72, which will be described later. Specifically, the setting memory 95 may store the bucket weight as the previous setting value when the power to the controller 70 is turned off. Then, in the next operation, the controller 70 may use the previous setting value stored in the setting memory 95 as the bucket weight.

[0088] The display device 96 is a display (monitor) that displays information in response to display commands from the controller 70. The display device 96 may be located, for example, inside the cabin 114. The operator can operate the crane 100 while checking the information displayed on the display device 96.

[0089] The controller 70 includes a computer that comprises an arithmetic processing unit and memory.

[0090] In the specific example shown in Figure 5, the controller 70 includes a lifting value calculation unit 71, a bucket weight calculation unit 72, a bucket state determination unit 73, a wire tension determination unit 74, a transport volume calculation unit 75, and a transport count calculation unit 76. Each of these functions is realized by the arithmetic processing unit executing a control program stored in the memory.

[0091] The lifting height calculation unit 71 may calculate the lifting height of the bucket device 10 based on the setting data input from the operator setting device 21 to the controller 70, the detection results input from the drum rotation detectors 81 and 82 to the controller 70, and the luffing angle of the luffing member 104 input from the luffing member angle detector 22 to the controller 70, or it may calculate the lifting height of the first winch rope R1 and the lifting height of the second winch rope R2, respectively.

[0092] The bucket weight calculation unit 72 calculates the weight of the bucket device 10. Specifically, the bucket weight calculation unit 72 may calculate the weight of the bucket device 10 based on the load value detected by the load value detector 94 at the time when an operator performs an input operation on the bucket weight setting device (not shown in the figure). The bucket weight setting device may include, for example, a touch panel on a monitor.

[0093] The wire tension determination unit 74 determines whether the bucket device 10 is touching the ground or not based on the load value detected by the load value detector 94 and the bucket weight. For example, the wire tension determination unit 74 may determine that the bucket device 10 is touching the ground if the load value detected by the load value detector 94 at that time is less than or equal to a predetermined first threshold that is less than the bucket weight (for example, less than or equal to 30% of the bucket weight). For example, the wire tension determination unit 74 may determine that the bucket device 10 is not touching the ground if the load value detected by the load value detector 94 at that time is greater than or equal to a predetermined second threshold that is greater than the first threshold (for example, more than or equal to 70% of the bucket weight).

[0094] The transport volume calculation unit 75 determines the amount of the object to be transported, which is the amount held in the buckets 13, 13, and calculates the transport volume, which is the cumulative value obtained by adding up the determined holding amounts. The transport volume calculation unit 75 may calculate the transport volume based, for example, on the open / closed state of the buckets 13, 13, the result of the wire tension determination, the luffing angle of the luffing member 104, the slewing angle of the upper slewing body 102, the load value, and the bucket weight.

[0095] The transport count calculation unit 76 calculates the number of transports of the object to be transported. The transport count calculation unit 76 may calculate the number of transports based, for example, on the open / closed state of the buckets 13, 13, the result of the wire tension determination, the luffing angle of the luffing member 104, the slewing angle of the upper slewing body 102, the load value, and the bucket weight.

[0096] Figure 6 is a diagram illustrating a series of operations performed by the bucket device 10 of the crane 100, including excavation, transport, and soil removal. Figure 7 is a plan view showing specific examples of excavation and transport operations. Figure 8 is a plan view showing other specific examples of excavation and transport operations performed by the crane 100.

[0097] The excavation operation is, for example, the operation in which the bucket device 10, which has landed on the ground at the excavation site (holding site), excavates the soil and sand of the ground. As this excavation operation is performed, the buckets 13, 13 hold the material to be transported. Specifically, during the excavation operation, the buckets 13, 13 of the bucket device 10 land in an open state as shown in the left diagram of Figure 6, and then the opening and closing state of the buckets 13, 13 is switched from the open state to the closed state as the first winch rope R1 is wound up. As a result, the buckets 13, 13 hold the material to be transported, such as soil and sand. The bucket device 10, which is holding the material to be transported, rises and leaves the ground as shown in the center diagram of Figure 6 as the first winch rope R1 and the second winch rope R2 are wound up. The state of the buckets 13, 13 shown in the center diagram of Figure 6 is the holding state in which the material to be transported is held in the buckets 13, 13.

[0098] The transport operation may be, for example, as shown in Figure 7, an operation in which the upper slewing body 102 rotates relative to the lower body 101 to move the bucket device 10 from directly above the excavation site to directly above the soil removal site. Alternatively, the transport operation may be, for example, as shown in Figure 8, an operation in which the luffing member 104 raises or lowers relative to the upper slewing body 102 to move the bucket device 10 from directly above the excavation site to directly above the soil removal site. The soil removal site may be the loading platform of a transport vehicle, or a predetermined area at the work site.

[0099] The soil discharge operation is performed by switching the open / closed state of the buckets 13, 13 from the closed state to the open state directly above the soil discharge location, thereby discharging the transported material held in the buckets 13, 13 to the soil discharge location.

[0100] The construction machinery control device 200 according to this embodiment performs the following control.

[0101] The controller 70 stores a first posture, which is the posture of the crane 100 when the state of the buckets 13, 13 transitions from an empty state where the object to be transported is not held in the buckets 13, 13 to a held state where the object to be transported is held in the buckets 13, 13. When the state of the buckets 13, 13 transitions from the held state to the empty state, and the degree of change in posture from the first posture is greater than or equal to a predetermined degree, the controller 70 determines the holding amount based on the load value.

[0102] As shown in Figures 7 and 8, the first posture is the posture of the crane 100 during excavation, and the posture of the crane 100 during soil removal is referred to as the second posture. In this case, the change in posture from the first posture to the second posture is relatively large. Therefore, if the degree of the change in posture is greater than or equal to a predetermined degree, it can be considered that the soil removal operation was performed at a soil removal location different from the excavation location. Based on this idea, in this embodiment, the controller 70 determines the holding amount based on the load value when the degree of the change in posture from the first posture is greater than or equal to a predetermined degree. Therefore, the construction machine control device 200 according to this embodiment can appropriately determine the holding amount without requiring troublesome operations by the operator. Specifically, it is as follows.

[0103] When the state of buckets 13, 13 transitions from the empty state to the holding state, that is, when an excavation operation is performed in which buckets 13, 13 hold the object to be transported, it is conceivable that a soil removal operation is performed in which buckets 13, 13 remove the object to be transported from the buckets 13, 13 at the same location where the excavation operation was performed in order to re-hold the object to be transported (first case). It is also conceivable that the excavation operation and the soil removal operation are performed consecutively at the same location in order to loosen the ground (second case). In these cases, the amount of the object to be transported held by buckets 13, 13 should not be counted as work performance for the object to be transported.

[0104] Therefore, in this embodiment, as shown in Figures 7 and 8, for example, the controller 70 stores the first posture when the state of buckets 13, 13 transitions from the empty state to the holding state, and determines the holding amount based on the load value when the state of buckets 13, 13 transitions from the holding state to the empty state and the degree of posture change from the first posture is greater than or equal to a predetermined degree. As a result, the controller 70 can exclude the transported object held in the bucket device 10 in each of the first and second cases from the count of work performance. Specifically, in each of the first and second cases, the controller 70 does not determine the holding amount if the soil removal operation is performed in the same place where the excavation operation was performed. On the other hand, the controller 70 determines the holding amount based on the load value when the degree of posture change from the first posture is greater than or equal to a predetermined degree, that is, when the soil removal operation is performed in a place different from where the excavation operation was performed.

[0105] As shown in the specific example in Figure 7, when the bucket device 10 is moved to a location different from the excavation site where the excavation operation to hold the object to be transported is performed, that is, to the soil removal site where the soil removal operation is performed, it is assumed that the upper rotating body 102 will be rotated. In this embodiment, the controller 70 may store the rotation angle when the state of the buckets 13, 13 transitions from the empty state to the holding state as the first posture, and when the state of the buckets 13, 13 transitions from the holding state to the empty state, and the rotation angle difference θ1, which is the amount of change in the rotation angle from the first posture, is greater than or equal to a predetermined rotation angle threshold Tθ1, the controller 70 may determine the amount to hold based on the load value. This allows the controller 70 to appropriately determine the amount to hold based on the condition that the rotation angle difference θ1 is greater than or equal to the rotation angle threshold Tθ1.

[0106] Furthermore, as shown in the specific example in Figure 8, when the bucket device 10 is moved to a location different from the location where the excavation operation to hold the object to be transported is performed, that is, to the location where the soil removal operation is performed, it is assumed that the luffing member 104 will be raised and lowered. In this embodiment, the controller 70 stores the luffing angle when the state of the buckets 13, 13 transitions from the empty state to the holding state as the first posture, and when the state of the buckets 13, 13 transitions from the holding state to the empty state, and the luffing angle difference θ2, which is the amount of change in the luffing angle from the first posture, is greater than or equal to a predetermined luffing angle threshold Tθ2, the controller 70 may determine the holding amount based on the load value. This allows the controller 70 to appropriately determine the holding amount based on the condition that the luffing angle difference θ2 is greater than or equal to the luffing angle threshold Tθ2.

[0107] Furthermore, the controller 70 may store the slewing angle and the luffing angle when the buckets 13, 13 transition from the empty state to the holding state as the first posture, and determine the holding amount based on the load value when the buckets 13, 13 transition from the holding state to the empty state and the slewing angle difference θ1, which is the change in the slewing angle from the first posture, is greater than or equal to a predetermined slewing angle threshold Tθ1, or when the buckets 13, 13 transition from the holding state to the empty state and the luffing angle difference θ2, which is the change in the luffing angle from the first posture, is greater than or equal to a predetermined luffing angle threshold Tθ2. In this case, the controller 70 can appropriately determine the holding amount based on the condition that the slewing angle difference θ1 is greater than or equal to the slewing angle threshold Tθ1, or the condition that the luffing angle difference θ2 is greater than or equal to the luffing angle threshold Tθ2.

[0108] In this embodiment, the load value detected by the load value detector 94 is the value of the load acting on the rope member. That is, the controller 70 can determine the holding amount based on the load acting on the luffing rope R3 or guy line 108 included in the rope member supporting the luffing member 104, i.e., the tension acting on the luffing rope R3 or guy line 108, rather than the load acting on the first winch rope R1 and second winch rope R2 that support the bucket device 10.

[0109] The load value detector 94, which detects the load (tension) acting on the rope member, may be provided on the crane 100 for a predetermined purpose other than determining the holding amount. In this case, there is no need to prepare a separate load value detector 94, and the load value detector 94 provided for the predetermined purpose can be used for determining the holding amount. The predetermined purpose is, for example, an overload prevention device.

[0110] The controller 70 calculates the transport volume, which is a cumulative value obtained by adding the determined holding amount. When the bucket device 10 repeatedly performs a transport operation in which it holds the object to be transported and transports the object to the soil discharge location, the controller 70 can calculate the transport volume, i.e., the total amount of the transported object, by adding the determined holding amount to the cumulative amount of the holding amounts in the multiple transport operations performed up to that point.

[0111] Figure 9 shows an example of information displayed on the display device 96 in response to a display command from the controller 70. In the specific example shown in Figure 9, the controller 70 inputs a display command to the display device 96 so that the determined holding amount (e.g., 0.5 tons) and the transport amount (e.g., 10.1 tons) are displayed on the screen of the display device 96.

[0112] Furthermore, the controller 70 calculates the number of times the object to be transported is transported based on the number of times the conditions are met, namely that the state of the buckets 13, 13 transitions from the holding state to the empty state and the degree of the change in posture is greater than or equal to the predetermined degree. This allows the controller 70 to appropriately calculate the number of times the object to be transported is transported based on the conditions. In this case, the controller 70 may input a display command to the display device 96 to display the calculated number of transports, and the display device 96 may display the number of transports in accordance with the display command.

[0113] Figure 10 is a graph showing an example of the temporal change in load value and bucket opening during the series of operations performed by the bucket device 10. As shown in Figure 10, the series of operations, including the excavation operation, the transport operation, and the soil removal operation, are performed repeatedly.

[0114] As shown in Figure 10, when the buckets 13, 13 are empty and the bucket device 10 is in the air, the load value detected by the load value detector 94 is a value equivalent to the weight of the bucket device 10. When the bucket device 10 lands with the buckets 13, 13 open, the load value detected by the load value detector 94 decreases. Then, after the excavation operation is performed with the buckets 13, 13 opening to a smaller degree, when the bucket device 10 leaves the ground, the load value detected by the load value detector 94 increases. At this time, the load value is a value equivalent to the sum of the weight of the bucket device 10 and the weight of the transported object held in the buckets 13, 13. Therefore, the amount held corresponds to the excess amount that exceeds the weight of the buckets 13, 13. Subsequently, when the bucket device 10 moves directly above the soil removal site by performing a slewing operation and / or luffing operation with the buckets 13, 13 closed, the soil removal operation is performed. At this time, the load value is a value equivalent to the weight of the bucket device 10.

[0115] Figure 11 is a graph illustrating the filtered load value obtained by applying a low-pass filter to the aforementioned load value.

[0116] In this embodiment, the controller 70 may determine the holding amount based on a filtered load value, which is a value obtained by applying a low-pass filter to the load value. In this case, the waveform of the filtered load value obtained by the low-pass filter process (shown as a dashed line in Figure 11) is a smooth waveform in which noise contained in the waveform of the load value before the low-pass filter is applied (shown as a solid line in Figure 11) has been removed to some extent. Therefore, the controller 70 can determine the holding amount more appropriately based on the filtered load value. Examples of such noise include noise caused by the elongation of the rope member and vibrations occurring in the undulating member.

[0117] The low-pass filter (LPF) used in the low-pass filtering process may be, for example, a digital filter. The digital filter may be, for example, an FIR filter (FIR: Finite Impulse Response) such as a moving average filter, or an IIR filter (IIR: Infinite Impulse Response). The low-pass filter may also be, for example, a low-pass filter including a capacitor and a resistor, a low-pass filter including a coil and a capacitor, or any other known low-pass filter.

[0118] The controller 70 may, for example, calculate the holding amount based on the difference between the filtered load value and the weight of the bucket device 10. Alternatively, the controller 70 may calculate a corrected value by correcting the filtered load value using the specifications data and the luffing angle of the luffing member 104, and then calculate the holding amount based on the difference between the calculated corrected value and the weight of the bucket device 10. The specifications data of the luffing member 104 may, for example, include the weight of the luffing member 104, or it may include the length of the luffing member 104. When correcting the filtered load value to the corrected value, the controller 70 may use a predetermined conversion formula.

[0119] An example of a method for determining the holding state and the empty state will be described. The controller 70 may determine that the state of buckets 13, 13 is the holding state if, for example, the open / closed state of buckets 13, 13 is not a predetermined open state, and the difference between the filter applied load value and the weight of the bucket device 10 (or the difference between the correction value and the weight of the bucket device 10) is greater than or equal to a predetermined threshold value, which is the holding state threshold. Alternatively, the controller 70 may determine that the state of buckets 13, 13 is the empty state if, for example, the open / closed state of buckets 13, 13 is not a predetermined closed state, and the difference between the filter applied load value and the weight of the bucket device 10 (or the difference between the correction value and the weight of the bucket device 10) is less than a predetermined threshold value, which is the empty state threshold. The empty state threshold may be a value less than the holding state threshold, or it may be the same value as the holding state threshold.

[0120] An example of a method for determining the open state and the closed state will be described below. The controller 70 may determine that the buckets 13, 13 are in the open state if, for example, the bucket opening degree, which is the degree of opening of the buckets 13, 13, is greater than or equal to a predetermined threshold, which is the open state threshold. Alternatively, the controller 70 may determine that the buckets 13, 13 are in the closed state if, for example, the bucket opening degree is less than or equal to a predetermined threshold, which is the closed state threshold. If the state in which the buckets 13, 13 are fully open is defined as a bucket opening degree of 100%, and the state in which the buckets 13, 13 are fully closed is defined as a bucket opening degree of 0%, the open state threshold may be, for example, 80%, 90%, or any other value. The closed state threshold may be, for example, 20%, or 10%.

[0121] The controller 70 can calculate the bucket opening degree of the buckets 13, 13 based on a first rotation amount ωm input from the first drum rotation detector 81 and a second rotation amount ωa input from the second drum rotation detector 82.

[0122] The controller 70 may determine the holding amount based on the maximum value of the filter applied load during the time period from the holding state to the empty state. The time period from the holding state to the empty state is the time period during which the buckets 13, 13 are in the holding state, as shown in Figure 11. The maximum value is the value indicated by the black circle in Figure 11.

[0123] Figure 12 is a flowchart showing an example of the calculation process performed by the controller 70.

[0124] In step S11, the controller 70 determines whether the state of buckets 13, 13 has changed from empty to held.

[0125] If the state of buckets 13, 13 has not transitioned from empty to held (NO in step S11), the controller 70 repeats the process in step S13.

[0126] If the state of buckets 13, 13 changes from empty to held (YES in step S11), the controller 70 stores a first position, which is the position of the crane 100 at the time the state of buckets 13, 13 changed from empty to held (step S12).

[0127] In step S13, the controller 70 determines whether the state of buckets 13, 13 is the holding state and whether the load value detected by the load value detector 94 is greater than the provisional holding amount at that time. The provisional holding amount is the maximum value among one or more load values ​​detected by the load value detector 94 up to that point.

[0128] If the conditions that the state of buckets 13, 13 is the holding state and the load value detected by the load value detector 94 is greater than the provisional holding amount are not met (NO in step S13), the controller 70 performs the process in step S15.

[0129] If the conditions are met that the state of buckets 13, 13 is the holding state and the load value detected by the load value detector 94 is greater than the provisional holding amount (YES in step S13), the controller 70 updates the provisional holding amount to the load value detected by the load value detector 94 at that time (step S14).

[0130] In step S15, the controller 70 determines whether the state of the buckets 13, 13 has transitioned from the holding state to the empty state, and whether the degree of change in attitude from the first attitude is greater than or equal to the predetermined degree.

[0131] If the conditions that the state of buckets 13, 13 transitions from the holding state to the empty state and the degree of change in attitude from the first attitude is greater than or equal to the predetermined degree are not met (NO in step S15), the controller 70 does not perform the processing in steps S16 and S17.

[0132] If the condition is met that the state of buckets 13, 13 transitions from the holding state to the empty state and the degree of change in posture from the first posture is greater than or equal to the predetermined degree (YES in step S15), then in step S16, the controller 70 calculates the amount to be transported. The controller 70 determines the amount to be held based on the filtered load value and calculates the amount to be transported, which is the cumulative value obtained by adding the determined amount to the cumulative amount to be held up to that point.

[0133] Specifically, as shown in Figure 11, the controller 70 determines the holding amount based on the maximum value of the filtered load values ​​during the time period from the holding state to the empty state. That is, during the time period from the holding state to the empty state, the controller 70 sequentially updates the maximum value of the filtered load values, and when it determines the holding amount and calculates the transport amount in step S16, it resets the maximum value of the excess amount (i.e., the provisional holding amount) (step S17).

[0134] The controller 70 then repeatedly executes a control loop that includes the control flow of steps S11 to S17 shown in Figure 12, as well as other control flows not shown in the figure.

[0135] [Differentiation] This disclosure is not limited to the embodiments described above. This disclosure includes, for example, the following modifications:

[0136] (A) Regarding the specifications of the crane The crane according to the embodiment shown in Figure 1 does not have a jib and struts, but the specifications of the crane are not limited to those shown in Figure 1. The crane according to this disclosure may be a luffing crane equipped with a jib, front struts and rear struts, or it may be a fixed jib crane equipped with a jib and one strut. Furthermore, the crane according to the embodiment shown in Figure 1 is equipped with a gantry 107, but the construction machine according to this disclosure may be equipped with a mast instead of a gantry 107.

[0137] In the above embodiment, the luffing member 104 shown in Figure 1 is a boom having a lattice structure (lattice boom), but the luffing member may include a boom having a lattice structure and a jib having a lattice structure, or it may be an extendable boom (telescopic boom). The construction machine may be placed on the ground, on a structure, or on a ship. In any of these cases, the lower body of the construction machine may have a crawler running device as shown in Figure 1, a running device including tires, or it may be composed of a structure such as a support platform that cannot move on its own.

[0138] (B) Regarding construction machinery control devices In the above embodiment, the construction machine control device 200 is installed on the crane 100, but the construction machine control device in this disclosure does not necessarily have to be installed on a construction machine such as the crane 100, and may be located at a location away from the construction machine. In this case, the construction machine control device is configured to be able to send and receive information between the construction machine control device and the construction machine via a network such as the internet or a mobile phone network.

[0139] (C) About filtering Transfer function K of the digital filter d (z) may also be expressed by, for example, the following equation (1).

[0140]

number

[0141] In the above equation (1), "a l " and "b k " is the filter coefficient. "a l " is a coefficient that mainly relates to the filter output, and "b k " are coefficients mainly related to the filter input. These coefficients are determined so that the desired characteristics are obtained in the digital filter. -l " and "z -k Each of these is a delay element.

[0142] The above transfer function K d While there are no particular limitations on the specific calculation method for a digital filter that can realize the characteristics of (z), the direct type of IIR filter can be expressed, for example, by the following equation (2).

[0143]

number

[0144] In the above formula (2), "y" is the filter output (output signal) output from the filter, "u" is the filter input (input signal) input to the filter, and "t s " is the update period (control period) of the filter. "y(t)" is the filter output at that time (current time), and "y(t - lt s )" is the filter output "lt s " periods before, and "u(t - kt s )" is the filter input "kt s " periods before. When "k = 0", "u(t - kt s )" is "u(t)", which represents the filter input at that time (current time).

Explanation of Signs

[0145] 10: Bucket device 22: Undulation member angle detector 23: Swivel angle detector 70: Controller 94: Load value detector 100: Crane (an example of construction machinery) 101: Lower body 102: Upper slewing body 104: Undulation member 108: Guy line 200: Construction machinery control device R1: First winch rope R2: Second winch rope R3: Hoisting rope θ1: Swivel angle difference θ2: Undulation angle difference Tθ1: Predetermined swivel angle threshold Tθ2: Predetermined undulation angle threshold

Claims

1. A construction machine control device for a construction machine comprising: a lower body; an upper slewing body rotatably supported by the lower body; a luffing member that can be raised and lowered relative to the upper slewing body; a bucket device having a bucket for holding an object to be transported and supported by a winch rope hanging from the luffing member; and a load value detector for detecting a load value correlated with the amount of the object to be transported held in the bucket, the above A construction machine control device comprising a controller that stores a first posture, which is the posture of the construction machine when the state of the bucket transitions from an empty state where the object to be transported is not held in the bucket to a held state where the object to be transported is held in the bucket, and determines the amount to be held based on the load value when the state of the bucket transitions from the held state to the empty state and the degree of change in posture from the first posture is greater than or equal to a predetermined degree.

2. The system further includes a rope member that supports the aforementioned undulating member, The construction machinery control device according to claim 1, wherein the load value detector is configured to detect the load value acting on the rope member.

3. The construction machinery control device according to claim 1, wherein the controller calculates a transport volume which is a cumulative value obtained by adding the determined holding amounts.

4. The construction machine control device according to claim 1, wherein the controller calculates the number of times the object to be transported is transported based on the number of times the conditions are met that the state of the bucket transitions from the holding state to the empty state and the degree of the change in posture is greater than or equal to a predetermined degree.

5. The construction machinery control device according to claim 1, wherein the controller determines the holding amount based on a filtered load value, which is a value obtained by applying a low-pass filter to the load value.

6. The construction machinery control device according to claim 5, wherein the controller determines the holding amount based on the maximum value among the filtered load values ​​during the time period from the holding state to the empty state.

7. The construction machine further includes a slewing angle detector for detecting the slewing angle of the upper slewing body, The aforementioned controller, The rotation angle when the bucket transitions from the empty state to the holding state is stored as the first posture. The construction machinery control device according to claim 1, wherein the holding amount is determined based on the load value when the state of the bucket transitions from the holding state to the empty state and the amount of change in the slewing angle from the first posture is greater than or equal to a predetermined slewing angle threshold.

8. The construction machine further includes a luffing member angle detector for detecting the luffing angle of the luffing member, The aforementioned controller, The elevation angle when the bucket transitions from the empty state to the holding state is stored as the first posture. The construction machine control device according to claim 1, wherein the holding amount is determined based on the load value when the state of the bucket transitions from the holding state to the empty state and the amount of change in the elevation angle from the first posture is greater than or equal to a predetermined elevation angle threshold.

9. The construction machine further comprises a slewing angle detector for detecting the slewing angle of the upper slewing body and a luffing member angle detector for detecting the luffing angle of the luffing member, The aforementioned controller, The rotation angle and elevation angle when the bucket transitions from the empty state to the holding state are stored as the first posture. The construction machine control device according to claim 1, wherein the holding amount is determined based on the load value when the state of the bucket transitions from the holding state to the empty state and the amount of change in the slewing angle from the first posture is greater than or equal to a predetermined slewing angle threshold, or when the state of the bucket transitions from the holding state to the empty state and the amount of change in the elevation angle from the first posture is greater than or equal to a predetermined elevation angle threshold.

10. The lower body and, The aforementioned upper rotating body, The aforementioned undulating member and, The load value detector and, The aforementioned bucket device, A construction machine comprising a construction machine control device according to any one of claims 1 to 9.

11. A construction machine control method for a construction machine comprising: a lower body; an upper slewing body rotatably supported by the lower body; a luffing member that can be raised and lowered relative to the upper slewing body; a bucket device having a bucket for holding an object to be transported and supported by a winch rope hanging from the luffing member; and a load value detector for detecting a load value correlated with the amount of the object to be transported held in the bucket. A construction machine control method comprising: storing a first posture, which is the posture of the construction machine when the state of the bucket transitions from an empty state where the object to be transported is not held in the bucket to a held state where the object to be transported is held in the bucket; and when the state of the bucket transitions from the held state to the empty state, and the degree of change in posture from the first posture is greater than or equal to a predetermined degree, the controller determines the amount to be held based on the load value.

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