System for and method of a work machine, and work machine

Abstract

To provide a system for a work machine calculating a gravity center position of a whole work machine with accuracy after a part of a component is replaced.SOLUTION: A system is for a work machine having a plurality of components including a first part. The system is provided with a storage device, an input device, and a controller. The storage device stores each of gravity center positions of the plurality of components. The input device receives an input of a first parameter for determining the gravity center position of the first part. The controller calculates a gravity center of the whole work machine based on the gravity center positions of the plurality of components. The controller sets the gravity center position of the first part using the first parameter when the first parameter is input by the input device. The controller determines the gravity center position of the whole work machine based on the gravity center positions of the plurality of components including the gravity center position of the set first part.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a system for a work machine, a method, and a work machine. [Background technology]

[0002] Conventionally, there is known a technique for calculating the position of the center of gravity of the entire work machine and determining the possibility of the work machine tipping over. For example, in Patent Document 1, a lumped mass point model is used as a calculation model for determining the position of the center of gravity of a hydraulic excavator. In the lumped mass point model, mass is considered to be concentrated at the center of gravity of each component of the hydraulic excavator. A hydraulic excavator includes a boom, an arm, a bucket, a rotating body, and a running body. The position of the center of gravity of the hydraulic excavator is determined by combining the positions of the centers of gravity of the boom, the arm, the bucket, the rotating body, and the running body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-52499 Summary of the Invention [Problem to be solved by the invention]

[0004] After a work machine is shipped, some of its components may be replaced with other parts. For example, the bucket of a hydraulic excavator may be replaced with a different type of attachment. Or, the counterweight of a rotating body may be replaced with one with different specifications. In such cases, the position of the center of gravity of the replaced component changes from the position of the center of gravity of the component before replacement. This makes it difficult to accurately calculate the position of the center of gravity of the entire work machine. An object of the present invention is to accurately calculate the position of the center of gravity of the entire work machine even after some of its components have been replaced. [Means for solving the problem]

[0005] A system according to a first aspect of the present invention is a system for a work machine having a plurality of components including a first portion. The system includes a storage device, an input device, and a controller. The storage device stores the center of gravity positions of each of the plurality of components. The input device accepts input of a first parameter for determining the center of gravity position of the first portion. The controller calculates the center of gravity position of the entire work machine based on the center of gravity positions of the plurality of components. When the first parameter is input via the input device, the controller sets the center of gravity position of the first portion using the first parameter. The controller sets the center of gravity position of the entire work machine based on the center of gravity positions of the plurality of components including the set center of gravity position of the first portion.

[0006] A method according to a second aspect of the present invention is a method for controlling a work machine having a plurality of components including a first portion, the method comprising: acquiring a center of gravity position of each of the plurality of components; calculating a center of gravity position of the entire work machine based on the center of gravity positions of the plurality of components; accepting input of a first parameter for determining the center of gravity position of the first portion via an input device; setting the center of gravity position of the first portion using the first parameter when the first parameter is input via the input device; and setting the center of gravity position of the entire work machine based on the center of gravity positions of the plurality of components including the set center of gravity position of the first portion.

[0007] A work machine according to a third aspect of the present invention includes a plurality of components, a storage device, an input device, and a controller. The plurality of components include a first part. The storage device stores the center of gravity position of each of the plurality of components. The input device accepts input of a first parameter for determining the center of gravity position of the first part. The controller calculates the center of gravity position of the entire work machine based on the center of gravity positions of the plurality of components. When the first parameter is input via the input device, the controller sets the center of gravity position of the first part using the first parameter. The controller sets the center of gravity position of the entire work machine based on the center of gravity positions of the plurality of components including the set center of gravity position of the first part. [Effects of the Invention]

[0008] According to the present invention, when a first part of a work machine is replaced, the first parameters of the replaced first part are input via an input device to set the center of gravity position of the first part. Then, the center of gravity position of the entire work machine is calculated based on the set center of gravity position of the first part. As a result, the center of gravity position of the entire work machine can be calculated with high accuracy even after the first part has been replaced. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a side view of a work machine according to an embodiment. [Figure 2] FIG. 2 is a block diagram showing the configuration of a control system for a work machine. [Figure 3] FIG. 1 is a diagram schematically illustrating a configuration of a work machine. [Figure 4] 4 is a flowchart showing a process for calculating the center of gravity position of the entire work machine. [Figure 5] FIG. 2 is a diagram showing the center of gravity positions of several components of the work machine. [Figure 6] FIG. 10 is a diagram illustrating an example of an attachment setting screen. [Figure 7] FIG. 10 is a diagram illustrating an example of an arm setting screen. [Figure 8] FIG. 10 is a diagram showing an example of a boom setting screen. [Figure 9] FIG. 10 is a diagram showing an example of a setting screen for a revolving body. [Figure 10] FIG. 10 is a diagram showing an example of a setting screen for a traveling object. [Figure 11] FIG. 10 is a diagram illustrating an example of specification data. [Figure 12] FIG. 10 is a diagram illustrating a method for calculating a tipping margin. [Figure 13] FIG. 10 is a diagram showing an example of a screen indicating the possibility of falling. [Figure 14] FIG. 10 is a diagram showing an example of a setting screen for an attachment according to a modified example. [Figure 15]FIG. 10 is a diagram showing an example of a setting screen for a boom and an arm according to a modified example. [Figure 16] FIG. 10 is a diagram showing an example of a setting screen for a revolving body and a traveling body according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0010] A work machine according to one embodiment of the present invention will now be described with reference to the drawings. Fig. 1 is a side view of a work machine 1 according to this embodiment. The work machine 1 comprises a vehicle body 2 and a work implement 3. The vehicle body 2 includes a revolving unit 4 and a running unit 5. The revolving unit 4 is supported so as to be able to revolve relative to the running unit 5. A driver's cab 6 is disposed on the revolving unit 4. A counterweight 7 is attached to the revolving unit 4.

[0011] The swing unit 4 includes a drive source 11 and a hydraulic pump 12. The drive source 11 is, for example, an internal combustion engine. However, the drive source 11 may also be an electric motor or a hybrid mechanism of an engine and an electric motor. The hydraulic pump 12 is driven by the drive source 11 and discharges hydraulic oil. The work machine 1 is equipped with a swing motor 13. Hydraulic oil discharged from the hydraulic pump 1224 is supplied to the swing motor 13. The swing motor 13 thereby causes the swing unit 4 to swing. The traveling unit 5 includes tracks 14. The work machine 1 travels as the tracks 14 rotate.

[0012] The work implement 3 is attached to the vehicle body 2. The work implement 3 is movable relative to the vehicle body 2. The work implement 3 includes a boom 15, an arm 16, and an attachment 17. The boom 15 is rotatably attached to the vehicle body 2 via a boom pin 18. The arm 16 is rotatably attached to the boom 15 via an arm pin 19. The attachment 17 is rotatably attached to the arm 16 via an attachment pin 20.

[0013] The work implement 3 includes a boom cylinder 21, an arm cylinder 22, and an attachment cylinder 23. The boom cylinder 21, the arm cylinder 22, and the attachment cylinder 23 are each a hydraulic cylinder. The boom cylinder 21, the arm cylinder 22, and the attachment cylinder 23 are driven by hydraulic oil from the hydraulic pump 12. The boom cylinder 21 extends and retracts to move the boom 15. The arm cylinder 22 extends and retracts to move the arm 16. The attachment cylinder 23 extends and retracts to move the attachment 17.

[0014] Fig. 2 is a block diagram showing the control system 10 of the work machine 1. As shown in Fig. 2, the control system 10 includes an operation device 31, an input device 32, and a display 33. The operation device 31, the input device 32, and the display 33 are arranged in the driver's cab 6. The operation device 31 is a device for operating the work implement 3, the revolving unit 4, and the running unit 5. The operation device 31 accepts operations by an operator to drive the work implement 3, the revolving unit 4, and the running unit 5, and outputs operation signals according to the operations. The operation device 31 includes, for example, levers, pedals, switches, etc.

[0015] The input device 32 accepts operations by the operator to set control of the work machine 1, and outputs an operation signal corresponding to the operation. The input device 32 is, for example, a touch screen. Alternatively, the input device 32 may include a lever or a switch. The display 33 displays an image corresponding to a command signal input to the display 33. The display 33 displays a screen for setting control of the work machine 1.

[0016] The control system 10 includes a controller 30 and a storage device 36. The controller 30 is programmed to control the work machine 1 based on acquired data. The controller 30 includes a processor 34 such as a CPU (Central Processing Unit) and a memory 35 such as a RAM (Random Access Memory) and a ROM (Read Only Memory). The storage device 36 includes a semiconductor memory, a hard disk, or the like. The storage device 36 is an example of a non-transitory recording medium readable by the controller 30. The storage device 36 stores programs and data for controlling the work machine 1. The controller 30 receives operation signals from an operating device 31 and an input device 32. The controller 30 controls the work implement 3, the revolving unit 4, and the traveling unit 5 based on the operation signals.

[0017] The control system 10 is equipped with a vehicle body position sensor 41. The vehicle body position sensor 41 detects the position of the vehicle body 2. The vehicle body position sensor 41 is arranged on the revolving unit 4. The vehicle body position sensor 41 is, for example, a position sensor that uses a Global Navigation Satellite System (GNSS). The vehicle body position sensor 41 detects the position of the revolving unit 4 in a reference coordinate system. The reference coordinate system has an origin OW (see FIG. 5) outside the work machine 1 and is, for example, a coordinate system that conforms to the World Geodetic System. The controller 30 acquires position data indicating the position of the revolving unit 4 from the vehicle body position sensor 41.

[0018] The control system 10 includes a vehicle body direction sensor 42. The vehicle body direction sensor 42 is attached to the rotating unit 4. The vehicle body direction sensor 42 detects the orientation of the rotating unit 4.

[0019] The body direction sensor 42 is, for example, an inertial measurement unit (IMU). The body direction sensor 42 detects the yaw angle, roll angle, and pitch angle of the rotating unit 4 as the orientations of the components. The controller 30 acquires direction data indicating the orientation of the rotating unit 4 from the body direction sensor 42.

[0020] The control system 10 includes a swing angle sensor 46, a boom angle sensor 47, an arm angle sensor 48, and an attachment angle sensor 49. The swing angle sensor 46 detects the swing angle of the rotating unit 4 relative to the running unit 5. The controller 30 calculates the orientation of the running unit 5 from the orientation of the rotating unit 4 and the swing angle of the rotating unit 4.

[0021] FIG. 3 is a diagram schematically showing the configuration of the work machine 1. A boom angle sensor 47 detects a boom angle θ1, which indicates the inclination angle of the boom 15 relative to the revolving unit 4. An arm angle sensor 48 detects an arm angle θ2, which indicates the inclination angle of the arm 16 relative to the boom 15. An attachment angle sensor 49 detects an attachment angle θ3, which indicates the inclination angle of the attachment 17 relative to the arm 16.

[0022] The attachment angle sensor 49 is, for example, a stroke sensor. The attachment angle sensor 49 detects the stroke amount of the attachment cylinder 23. The controller 30 calculates the attachment angle θ3 from the stroke amount. The arm angle sensor 48 and the boom angle sensor 47 are, for example, an IMU. Alternatively, the arm angle sensor 48 and the boom angle sensor 47 may be stroke sensors. The attachment angle sensor 49 may also be an IMU.

[0023] Alternatively, the boom angle sensor 47, the arm angle sensor 48, and the attachment angle sensor 49 may be angle sensors that directly detect the boom angle θ1, the arm angle θ2, and the attachment angle θ3, respectively. The controller 30 acquires angle data indicating the swing angle, boom angle θ1, arm angle θ2, and attachment angle θ3 from the swing angle sensor 46, the boom angle sensor 47, the arm angle sensor 48, and the attachment angle sensor 49.

[0024] Next, we will explain the processing executed by the controller 30 to calculate the position of the center of gravity of the entire work machine 1. In this embodiment, the work machine 1 is divided into a plurality of component parts, and the position of the center of gravity of the entire work machine 1 is found from the position and weight of the center of gravity of each component part. Figure 4 is a flowchart showing the processing for calculating the position of the center of gravity of the entire work machine 1.

[0025] As shown in FIG. 4, in step S1, the controller 30 acquires position data. The controller 30 acquires the position of the revolving unit 4 in the reference coordinate system using the position data. In step S2, the controller 30 acquires direction data. The controller 30 acquires the orientation of the revolving unit 4 using the direction data. In step S3, the controller 30 acquires angle data. The controller 30 acquires the revolving angle, boom angle θ1, arm angle θ2, and attachment angle θ3 using the angle data.

[0026] In step S4, the controller 30 acquires dimensional data. The dimensional data indicates the dimensions of each component part for calculating the position of the center of gravity of the entire work machine 1. As shown in FIG. 3, the dimensional data includes, for example, a boom length L1, an arm length L2, and an attachment length L3. The boom length L1 is the length between the boom pin 18 and the arm pin 19. The arm length L2 is the length between the arm pin 19 and the attachment pin 20. The attachment length is the length between the attachment pin 20 and the tip P1 of the attachment 17. The dimensional data is stored in the storage device 36. The controller 30 acquires the dimensional data from the storage device 36.

[0027] In step S5, the controller 30 acquires the center of gravity positions of the components. Fig. 5 is a diagram showing the center of gravity positions of multiple components of the work machine 1. The storage device 36 stores the center of gravity position G1 of the revolving unit 4, the center of gravity position G2 of the running unit 5, the center of gravity position G3 of the boom 15, the center of gravity position G4 of the arm 16, and the center of gravity position G5 of the attachment 17.

[0028] The position of the center of gravity G1 of the rotating unit 4 is represented by the coordinate system of the rotating unit 4. The coordinate system of the rotating unit 4 is a coordinate system fixed to the rotating unit 4, and has an origin O1 at the rotating unit 4. The position of the center of gravity G2 of the running unit 5 is represented by the coordinate system of the running unit 5. The coordinate system of the running unit 5 is a coordinate system fixed to the running unit 5, and has an origin O2 at the running unit 5.

[0029] The position of the center of gravity G3 of the boom 15 is represented by the coordinate system of the boom 15. The coordinate system of the boom 15 is a coordinate system fixed to the boom 15 and has an origin O3 at the boom 15. The position of the center of gravity G4 of the arm 16 is represented by the coordinate system of the arm 16. The coordinate system of the arm 16 is a coordinate system fixed to the arm 16 and has an origin O4 at the arm 16. The position of the center of gravity G5 of the attachment 17 is represented by the coordinate system of the attachment 17. The coordinate system of the attachment 17 is a coordinate system fixed to the attachment 17 and has an origin O5 at the attachment 17. The controller 30 acquires the positions of the centers of gravity G1-G5 of each component part from the storage device 36.

[0030] In step S6, the controller 30 acquires the weights of the components. The storage device 36 stores the weight of the revolving unit 4, the weight of the running unit 5, the weight of the boom 15, the weight of the arm 16, and the weight of the attachment 17. The controller 30 acquires the weight of each component from the storage device 36.

[0031] In step S7, the controller 30 acquires coordinate transformation matrices. The controller 30 acquires the transformation matrix of the revolving unit 4, the transformation matrix of the running unit 5, the transformation matrix of the boom 15, the transformation matrix of the arm 16, and the transformation matrix of the attachment 17. The transformation matrix of the revolving unit 4 is a transformation matrix from the coordinate system of the revolving unit 4 to the reference coordinate system. The transformation matrix of the running unit 5 is a transformation matrix from the coordinate system of the running unit 5 to the coordinate system of the revolving unit 4. The transformation matrix of the boom 15 is a transformation matrix from the coordinate system of the boom 15 to the coordinate system of the revolving unit 4. The transformation matrix of the arm 16 is a transformation matrix from the coordinate system of the arm 16 to the coordinate system of the boom 15. The transformation matrix of the attachment 17 is a transformation matrix from the coordinate system of the attachment 17 to the coordinate system of the arm 16.

[0032] The transformation matrix of each component changes depending on the posture of the component. The storage device 36 stores the positional relationships of the origins O1-O5 of the coordinate system of the revolving unit 4, the coordinate system of the running unit 5, the coordinate system of the boom 15, the coordinate system of the arm 16, and the coordinate system of the attachment 17. The controller 30 calculates the transformation matrix of each component based on the positional relationships of the origins O1-O5 of each coordinate system, the above-mentioned dimension data, position data, direction data, and angle data.

[0033] In step S8, controller 30 calculates the center of gravity position G0 of the entire work machine 1. Controller 30 calculates the center of gravity position G0 of the entire work machine 1 based on the center of gravity positions G1-G5 of each component, weight, and transformation matrix. In detail, controller 30 first transforms the center of gravity position of each component into the reference coordinate system using the following equations (1) to (5). world P upper = world T upper upper P (1) world P under = world T upper upper T under under P (2) world P boom = world T upper upper T boom boom P (3) world P arm = world T upper upper T boom boom T arm arm P (4) world P attachment = world T upper upper T boom boom T armarm T attachment attachment P (5) world P upper indicates the position G1 of the center of gravity of the rotating body 4 in the reference coordinate system. upper P indicates the position G1 of the center of gravity of the rotating unit 4 in the coordinate system of the rotating unit 4. world T upper indicates a transformation matrix from the coordinate system of the rotating unit 4 to the reference coordinate system.

[0034] world P under indicates the center of gravity G2 of the running object 5 in the reference coordinate system. upper T under indicates a transformation matrix from the coordinate system of the running body 5 to the coordinate system of the rotating body 4. under P indicates the position G2 of the center of gravity of the running object 5 in the coordinate system of the running object 5.

[0035] world P boom indicates the center of gravity G3 of the boom 15 in the reference coordinate system. upper T boom indicates a transformation matrix from the coordinate system of the boom 15 to the coordinate system of the rotating body 4. boom P indicates the position G3 of the center of gravity of the boom 15 in the coordinate system of the boom 15.

[0036] world P arm indicates the position G4 of the center of gravity of the arm 16 in the reference coordinate system. boom T arm indicates a transformation matrix from the coordinate system of the arm 16 to the coordinate system of the boom 15. arm P indicates the position G4 of the center of gravity of the arm 16 in the coordinate system of the arm 16.

[0037] world P attachment indicates the center of gravity G5 of the attachment 17 in the reference coordinate system. arm T attachment indicates a transformation matrix from the coordinate system of the attachment 17 to the coordinate system of the arm 16. attachment P indicates the position G5 of the center of gravity of the attachment 17 in the coordinate system of the attachment 17.

[0038] Next, the controller 30 calculates the center of gravity position G0 of the entire work machine 1 using the following equation (6). world P all = ( world P upper mass upper + world P under mass under + world P boom mass boom + world P arm mass arm + world P attachment mass attachment ) / mass all (6) world P all indicates the center of gravity G0 of the entire work machine 1 in the reference coordinate system. upper indicates the weight of the rotating body 4. under indicates the weight of the running body 5. boom indicates the weight of the boom 15. arm indicates the weight of the arm 16. attachment indicates the weight of the attachment 17. all indicates the weight of the entire work machine 1.

[0039] In step S9, the controller 30 determines whether parameters have been input via the input device 32. The input device 32 accepts input of parameters for determining the center of gravity position of each component part. In detail, the controller 30 causes the display 33 to display the setting screens shown in Figs. 6 to 10.

[0040] FIG. 6 is a diagram showing an example of a setting screen 51 for the attachment 17. The setting screen 51 for the attachment 17 displays multiple types of attachments 17. The multiple types of attachments 17 indicate types of attachments 17 that differ in size and / or weight or function. When the attachment 17 is replaced, the worker uses the input device 32 to select the type of replacement attachment 17. The controller 30 acquires the selected type of attachment 17 as a parameter for the center of gravity position G5 of the attachment 17.

[0041] 7 is a diagram showing an example of the setting screen 52 for the arm 16. The setting screen 52 for the arm 16 displays multiple types of the arm 16. The multiple types of the arm 16 indicate multiple types of the arm 16 that differ in size and / or weight. When the arm 16 is replaced, the worker selects the type of the replaced arm 16 using the input device 32. The controller 30 acquires the selected type of the arm 16 as a parameter for the center of gravity position G4 of the arm 16.

[0042] FIG. 8 is a diagram showing an example of the setting screen 53 for the boom 15. The setting screen 53 for the boom 15 displays multiple types of the boom 15. The multiple types of the boom 15 indicate multiple types of the boom 15 that differ in dimensions and / or weight. When the boom 15 is replaced, the worker selects the type of the replaced boom 15 using the input device 32. The controller 30 acquires the selected type of the boom 15 as a parameter for the center of gravity position G3 of the boom 15.

[0043] FIG. 9 is a diagram showing an example of the setting screen 54 for the revolving unit 4. The setting screen 54 for the revolving unit 4 displays multiple types of counterweight 7. The multiple types of counterweight 7 indicate multiple types of counterweight 7 with different dimensions and / or weights. When the counterweight 7 is replaced, the worker uses the input device 32 to select the type of counterweight 7 after replacement. The controller 30 acquires the selected type of counterweight 7 as a parameter for the center of gravity position G1 of the revolving unit 4.

[0044] FIG. 10 is a diagram showing an example of the setting screen 55 of the running body 5. The setting screen 55 of the running body 5 displays multiple types of tracks 14. The multiple types of tracks 14 indicate multiple types of tracks 14 with different dimensions and / or weights. When the tracks 14 are replaced, the worker uses the input device 32 to select the type of track 14 after replacement. The controller 30 acquires the selected type of track 14 as a parameter of the center of gravity position G2 of the running body 5.

[0045] When the parameter of the center of gravity position of any component part is input by the input device 32, the process proceeds to step S10. In step S10, the controller 30 updates the center of gravity position of the component part for which the parameter has been input.

[0046] For example, when the attachment 17 is replaced from bucket A to bucket B, the worker selects bucket B on the setting screen 51 for the attachment 17 using the input device 32.

[0047] The storage device 36 stores specification data for each type of attachment 17. As shown in FIG. 11, the specification data 56 includes multiple types of attachments 17 and the dimensions and weights of the attachments 17 corresponding to each of the multiple types. The dimensions of the attachments 17 include, for example, the attachment length L3 described above. The controller 30 updates the dimensional data and weight of the attachment 17 based on the dimensions and weight corresponding to the selected type. The controller 30 also updates the center of gravity position G5 of the attachment 17 based on the updated dimensional data and weight of the attachment 17.

[0048] Similarly, the storage device 36 stores specification data for each of the rotating unit 4, running unit 5, boom 15, and arm 16. The specification data for the rotating unit 4 includes multiple types of counterweight 7 and the dimensions and weight of the counterweight 7 corresponding to each of the multiple types. When the type of counterweight 7 is selected by the input device 32, the controller 30 updates the center of gravity position G1 of the rotating unit 4 based on the dimension data and weight of the selected counterweight 7.

[0049] The specification data of the running body 5 includes multiple types of the running body 5 and the dimensions and weight of the running body 5 corresponding to each of the multiple types. When the type of the track 14 is selected by the input device 32, the controller 30 updates the center of gravity position G2 of the running body 5 based on the dimension data and weight of the selected track 14.

[0050] The specification data of the boom 15 includes multiple types of the boom 15 and the dimensions and weight of the boom 15 corresponding to each of the multiple types. When the type of the boom 15 is selected by the input device 32, the controller 30 updates the center of gravity position G3 of the boom 15 based on the dimension data and weight of the selected boom 15.

[0051] The specification data of the arm 16 includes multiple types of the arm 16 and the dimensions and weight of the arm 16 corresponding to each of the multiple types. When the type of the arm 16 is selected by the input device 32, the controller 30 updates the center of gravity position G4 of the arm 16 based on the dimension data and weight of the selected arm 16.

[0052] In step S11, the controller 30 updates the weight of the component part. The controller 30 updates the weight of the component part whose parameters have been input by the input device 32, using the specification data described above. In step S12, the controller 30 updates the coordinate transformation matrix. The controller 30 updates the transformation matrix of the component part whose parameters have been input by the input device 32, using the specification data described above. Then, the processing returns to steps S1 to S8, and the controller 30 updates the center of gravity position G0 of the entire work machine 1, based on the center of gravity positions of the multiple component parts, including the updated center of gravity position of the component part.

[0053] For example, when the attachment 17 is replaced, the type of replacement attachment 17 is selected using the input device 32, thereby updating the center of gravity position G5, weight, and transformation matrix of the attachment 17. Then, the center of gravity position G0 of the entire work machine 1 is updated by calculating the center of gravity position G0 of the entire work machine 1 using the updated center of gravity position G5, weight, and transformation matrix of the attachment 17 and the center of gravity positions G1-G4, weights, and transformation matrices of the other components using the above-mentioned equations (1) to (6).

[0054] For ease of explanation, the widthwise dimensions of the work machine 1 and each of its components have been omitted in the above description. However, the widthwise dimensions of the work machine 1 and each of its components may be taken into consideration when calculating the center of gravity position.

[0055] As described above, the controller 30 calculates the center of gravity position G0 of the entire work machine 1. The controller 30 determines the possibility of the work machine 1 tipping over based on the center of gravity position G0 of the entire work machine 1. For example, as shown in FIG. 12, the controller 30 may determine the possibility of the work machine 1 tipping over based on the tolerance for tipping Q. The tolerance for tipping Q is indicated by the difference between the maximum height H1 of the trajectory A1 traced by the center of gravity position G0 of the entire work machine 1 when the work machine 1 tips over, and the initial height H0 of the center of gravity position. The greater the tolerance for tipping Q, the lower the possibility of tipping over.

[0056] The controller 30 may cause the display 33 to display a warning display in accordance with the tolerance for tipping Q. For example, as shown in Fig. 13, the controller 30 may cause the display 33 to display a screen 57 indicating the possibility of tipping. Screen 57 indicating the possibility of tipping displays an image 61 of the work machine 1 together with areas 62A-62L obtained by dividing the periphery of the work machine 1 into a plurality of areas.

[0057] The controller 30 calculates the tipping margin Q of the work machine 1 in the direction of each of the areas 62A-62L. The controller 30 displays each of the areas 62A-62L in a different color depending on the tipping margin Q. For example, the areas 62H-62J in which the tipping margin Q is equal to or less than the threshold are displayed in a color different from the other areas.

[0058] In the control system 10 of the work machine 1 according to the present embodiment described above, when some of the components of the work machine 1 are replaced, the parameters of the replaced component are input via the input device 32, thereby updating the center of gravity position of that component. Then, the center of gravity position G0 of the entire work machine 1 is calculated based on the updated center of gravity position of the component. As a result, the center of gravity position G0 of the entire work machine 1 can be calculated with high accuracy even after some of the components have been replaced.

[0059] Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the gist of the invention.

[0060] The work machine 1 is not limited to the hydraulic excavator described above, but may be other work machines such as a bulldozer, a wheel loader, or a motor grader. The structure of the work implement 3 is not limited to that of the above-described embodiment, and may be modified. For example, the work implement 3 is not limited to a three-axle structure of the boom 15, the arm 16, and the attachment 17, but may have a structure with four or more axes.

[0061] The work machine 1 may be a remotely controlled vehicle. In that case, part of the control system 103 may be located outside the work machine 1. For example, the controller 30 may be located outside the work machine 1. The operation device 31, input device 32, and display 33 may be located outside the work machine 1. The input device 32 and display 33 may be a computer separate from the work machine 1. For example, the input device 32 and display 33 may be included in a computer operated by a service technician of the work machine 1.

[0062] The controller 30 may include multiple controllers that are separate from each other. The processing by the controller 30 described above may be distributed and executed by the multiple controllers. The controller 30 may include multiple processors. The processing by the controller 30 described above may be distributed and executed by the multiple processors.

[0063] The processing by the controller 30 is not limited to that of the above embodiment and may be modified. Part of the above-described processing may be omitted. Alternatively, part of the above-described processing may be modified. For example, in the above embodiment, in order to calculate the center of gravity position G0 of the entire work machine 1, the work machine 1 is divided into five components: the revolving unit 4, the running unit 5, the boom 15, the arm 16, and the attachment 17. However, the number of components is not limited to five and may be less than five or more than five.

[0064] In the above embodiment, the controller 30 displays a warning message on the display 33 in accordance with the tolerance for tipping Q. However, the controller 30 may also emit a warning sound in accordance with the tolerance for tipping Q. In the above embodiment, the controller 30 calculates the tolerance for tipping Q based on the center of gravity position G0 of the entire work machine 1. However, the controller 30 may simply display the center of gravity position G0 of the entire work machine 1 on the display 33.

[0065] In the above embodiment, the type of component is selected using the input device 32 as a parameter for calculating the center of gravity of the component. However, the parameter is not limited to the type of component, and may be the center of gravity of each component. Alternatively, the parameter may be the size and weight of each component.

[0066] For example, Fig. 14 is a diagram showing an example of a setting screen 58 for an attachment 17 according to a modified example. As shown in Fig. 14, the setting screen 58 for the attachment 17 may include an input field 71 for inputting the dimensions of the attachment 17 and an input field 72 for inputting the weight of the attachment 17.

[0067] Fig. 15 is a diagram showing an example of a setting screen 59 for the boom 15 and the arm 16 according to a modified example. As shown in Fig. 15, the setting screen 59 for the boom 15 and the arm 16 may include an input field 73 for inputting the dimensions of the boom 15 and an input field 74 for inputting the weight. The setting screen 59 for the boom 15 and the arm 16 may also include an input field 75 for inputting the dimensions of the arm 16 and an input field 76 for inputting the weight.

[0068] Fig. 16 is a diagram showing an example of a setting screen 60 for the revolving unit 4 and the running unit 5 according to a modified example. As shown in Fig. 16, the setting screen 60 for the revolving unit 4 and the running unit 5 may include input fields 77A, 77B for the dimensions of the revolving unit 4 and an input field 78 for the weight. Alternatively, the setting screen 60 for the revolving unit 4 and the running unit 5 may include input fields for the dimensions and weight of the counterweight 7.

[0069] 16, the setting screen 60 for the rotating body 4 and the running body 5 may include input fields 79A-79C for the dimensions of the running body 5 and an input field 80 for the weight. Alternatively, the setting screen 60 for the rotating body 4 and the running body 5 may include input fields for the dimensions and weight of the tracks 14. [Industrial Applicability]

[0070] According to the present invention, the position of the center of gravity of the entire work machine can be calculated with high accuracy even after some of the components of the work machine have been replaced. [Explanation of symbols]

[0071] 2: Body 3: Work equipment 4: Rotating body 5: Running body 7: Counterweight 14: Tracks 17: Attachment 36:Storage device 32: Input device 30: Controller G0: Center of gravity of the entire work machine G1-G5: Center of gravity of components

Claims

1. 1. A system for a work machine having a plurality of components including a first portion, comprising: a storage device that stores the center of gravity positions of the plurality of components; an input device that accepts input of a first parameter for determining the center of gravity position of the first portion; A controller; Equipped with The controller calculating a center of gravity position of the entire work machine based on the center of gravity positions of the plurality of component parts; When the first parameter is input by the input device, a center of gravity position of the first part is set by the first parameter; setting a center of gravity position of the entire work machine based on the center of gravity positions of the plurality of component parts including the set center of gravity position of the first part. system.

2. the storage device stores specification data including a plurality of types of the first portion and dimensions and weights of the first portion corresponding to each of the plurality of types; the first parameter is selected from a plurality of types of the first part; The system of claim 1 .

3. the first parameters include a size and a weight of the first portion; The system of claim 1 .

4. the first parameter includes a center of gravity position of the first portion; The system of claim 1 .

5. the plurality of components further includes a second portion; the input device accepts input of a second parameter for determining a center of gravity position of the second portion; when the second parameter is input by the input device, the controller sets a center of gravity position of the second part according to the second parameter; setting a center of gravity position of the entire work machine based on the center of gravity positions of the plurality of component parts including the set center of gravity position of the second part. A system according to any one of claims 1 to 4.

6. the storage device stores specification data including a plurality of types of the second part and dimensions and weights of the second part corresponding to each of the plurality of types; The second parameter is selected from a plurality of types of the second part. The system of claim 5.

7. the second parameters include a size and a weight of the second portion; The system of claim 5.

8. the second parameter includes a center of gravity position of the second portion; The system of claim 5.

9. It also has a display, the controller causes the display to display an input field for the first parameter; A system according to any one of claims 1 to 4.

10. It also has a display, the controller causes the display to display an input field for the second parameter; A system according to any one of claims 5 to 8.

11. The work machine includes: The car body and a work machine including an interchangeable attachment and operable relative to the vehicle body; and The first part is the attachment. A system according to any one of claims 1 to 10.

12. the work machine has a rotating body including a counterweight, the first portion is the rotating body, The first parameter indicates the type of the counterweight or the size and weight of the counterweight. A system according to any one of claims 1 to 10.

13. the work machine has a running body including a track, the first portion is the traveling body, The first parameter indicates the type of the track or the size and weight of the track. A system according to any one of claims 1 to 10.

14. 1. A method for controlling a work machine having a plurality of components including a first portion, comprising: obtaining a center of gravity position of each of the plurality of components; calculating a center of gravity position of the entire work machine based on the center of gravity positions of the plurality of component parts; receiving an input of a first parameter for determining a center of gravity position of the first portion via an input device; When the first parameter is input by the input device, setting a center of gravity position of the first part by the first parameter; setting a center of gravity position of the entire work machine based on the center of gravity positions of the plurality of component parts including the set center of gravity position of the first part; A method for providing

15. the plurality of components further includes a second portion; the input device accepts input of a second parameter for determining a center of gravity position of the second portion; When the second parameter is input by the input device, setting a center of gravity position of the second part by the second parameter; setting a center of gravity position of the entire work machine based on the center of gravity positions of the plurality of component parts including the set center of gravity position of the second part; The method of claim 14 further comprising:

16. A work machine, a plurality of components including a first portion; a storage device that stores the center of gravity positions of the plurality of components; an input device that accepts input of a first parameter for determining the center of gravity position of the first portion; A controller; Equipped with The controller calculating a center of gravity position of the entire work machine based on the center of gravity positions of the plurality of component parts; When the first parameter is input by the input device, a center of gravity position of the first part is set by the first parameter; setting a center of gravity position of the entire work machine based on the center of gravity positions of the plurality of component parts including the set center of gravity position of the first part. Work machinery.

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