Work machine and work machine support system

Abstract

The purpose of the present invention is to provide a work machine and a work machine assistance system that accurately calculate the weight of a load, the work machine being configured to hold and carry a long load.　A work machine comprising an attachment that is pivotably attached to an upper turning body, a holding unit that is rotatably attached to the attachment and holds a long load, and a load weight calculation unit that calculates the weight of the load on the basis of a torque of pivoting operation of the attachment, wherein the work machine calculates the weight of the load at a predetermined rotation position of the holding unit.

Description

[Technical Field]

[0001] The present disclosure relates to work machines and assistance systems for work machines. [Background technology]

[0002] For example, a forestry machine has been disclosed that includes an engine, a hydraulic pump that discharges hydraulic oil using the power of the engine, and a harvester device that is driven by the hydraulic oil discharged from the hydraulic pump and includes a chainsaw that cuts logs, and that is characterized by increasing the discharge flow rate of the hydraulic pump at least when operation of the chainsaw is selected (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-62355 Summary of the Invention [Problem to be solved by the invention]

[0004] BACKGROUND ART In a work machine that grips and transports long objects such as logs with a grapple, it is required to calculate the weight of the objects.

[0005] In view of the above, an object of the present invention is to provide a work machine and a work machine support system that can accurately calculate the weight of a long object to be transported, in a work machine that grips and transports the object. [Means for solving the problem]

[0006] In order to achieve the above object, in one embodiment of the present invention, The vehicle width direction of the upper rotating body is set as the first rotation axis, an attachment rotatably attached to the upper rotating body; An axis on a plane normal to the first rotation axis is defined as a second rotation axis,A work machine is provided which includes a gripping section rotatably attached to the attachment for gripping a long transported object, and a transported object weight calculation section which calculates the weight of the transported object based on the torque applied to rotate the attachment, and which calculates the weight of the transported object at a predetermined rotation position of the gripping section where the longitudinal direction of the transported object gripped by the gripping section is perpendicular to the front direction of the upper rotating body. [Effects of the Invention]

[0007] According to the above-described embodiment, it is possible to provide a work machine and a work machine support system that accurately calculate the weight of a long object to be transported in a work machine that grips and transports the object. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a side view of a work machine according to a first embodiment. [Figure 2] 1 is a diagram showing an example of the configuration of a work machine according to a first embodiment. [Figure 3] 2 is a diagram showing an example of components related to a transported object weight detection function in the work machine according to the first embodiment. FIG. [Figure 4] FIG. 4 is a block diagram illustrating the processing of a transported object weight calculation unit. [Figure 5] FIG. 10 is a block diagram illustrating an adjustment operation for adjusting the center of gravity of an object to be transported. [Figure 6] FIG. 1 is a plan view of a work machine gripping a long object to be transported. [Figure 7A] 10A and 10B are diagrams illustrating a method for detecting the longitudinal direction of a long object gripped by a grapple. [Figure 7B] 10A and 10B are diagrams illustrating a method for detecting the longitudinal direction of a long object gripped by a grapple. [Figure 8] FIG. 10 is a block diagram illustrating the processing of a transported object weight calculation unit in a work machine according to a fourth embodiment. [Figure 9]FIG. 11 is a block diagram illustrating the processing of a transported object weight calculation unit 61 in a work machine according to a fifth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the invention will be described with reference to the drawings.

[0010] [Overview of the work machine] First, an overview of a work machine 100 according to this embodiment will be described with reference to FIG.

[0011] 1 is a side view of a work machine 100 according to this embodiment. The work machine 100 according to this embodiment grips a long object W to be transported, such as a log (lumber), with a grapple 6, and transports the object W. The object W transported by the work machine 100 is loaded onto, for example, a dump truck (not shown).

[0012] The work machine 100 according to this embodiment comprises a lower running body 1, an upper rotating body 3 mounted on the lower running body 1 so as to be freely rotatable via a rotating mechanism 2, a boom 4, an arm 5, and a grapple 6 constituting an attachment (work machine), and a cabin 10.

[0013] The pair of left and right crawlers of the lower traveling body 1 are hydraulically driven by hydraulic traveling motors 1L, 1R (see FIG. 2, which will be described later), thereby causing the working machine 100 to travel. In other words, the pair of hydraulic traveling motors 1L, 1R (an example of a traveling motor) drive the lower traveling body 1 (crawlers) as a driven part.

[0014] The upper rotating body 3 is driven by a hydraulic swing motor 2A (see FIG. 2 described later) to rotate relative to the lower traveling body 1. In other words, the hydraulic swing motor 2A is a swing drive part that drives the upper rotating body 3 as a driven part, and can change the orientation of the upper rotating body 3.

[0015] The upper rotating body 3 may be electrically driven by an electric motor (hereinafter referred to as "swing electric motor") instead of the swing hydraulic motor 2A. In other words, the swing electric motor is a swing drive part that drives the upper rotating body 3 as a driven part, similar to the swing hydraulic motor 2A, and can change the orientation of the upper rotating body 3.

[0016] The boom 4 is pivotally attached to the front center of the upper rotating body 3 so as to be able to tilt up and down, an arm 5 is pivotally attached to the tip of the boom 4 so as to be able to rotate up and down, and a grapple 6 serving as an end attachment is pivotally attached to the tip of the arm 5 so as to be able to rotate up and down. The boom 4, arm 5, and grapple 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and an end attachment cylinder 9, each serving as a hydraulic actuator.

[0017] The end attachment cylinder 9 is used to rotate (tilt) the grapple 6. The grapple 6 also includes an openable and closable claw (gripping portion) 6a, a grapple open / close cylinder 6b that opens and closes the claw 6a, and a rotary hydraulic motor 6c that rotates the claw 6a around a rotary shaft 6d.

[0018] The grapple 6 is an example of an end attachment, and instead of the grapple 6, another end attachment, such as a harvester equipped with a cutting machine that grasps the trunk of a tree and moves the grasped tree axially to cut off branches, may be attached to the tip of the arm 5 depending on the work content, etc.

[0019] The cabin 10 is a cab in which an operator sits, and is mounted on the front left side of the upper rotating body 3.

[0020] [Excavator configuration] Next, with reference to FIG. 2 in addition to FIG. 1, a specific configuration of the work machine 100 according to the first embodiment will be described.

[0021] FIG. 2 is a diagram that schematically shows an example of the configuration of a work machine 100 according to the first embodiment.

[0022] In FIG. 2, the mechanical power system, hydraulic oil lines, pilot lines, and electrical control system are indicated by double lines, solid lines, dashed lines, and dotted lines, respectively.

[0023] The drive system of the work machine 100 according to the first embodiment includes the engine 11, regulator 13, main pump 14, and control valve 17. Furthermore, the hydraulic drive system of the work machine 100 according to the first embodiment includes hydraulic actuators such as traveling hydraulic motors 1L, 1R, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and end attachment cylinder 9 that hydraulically drive the lower traveling structure 1, upper rotating structure 3, boom 4, arm 5, and grapple 6, respectively, as described above.

[0024] The engine 11 is the main power source in the hydraulic drive system, and is mounted, for example, on the rear of the upper rotating body 3. Specifically, the engine 11 rotates at a constant speed at a preset target speed under direct or indirect control by a controller 30 (described later), and drives the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses diesel as fuel.

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

[0026] The main pump 14 is mounted, for example, on the rear of the upper rotating body 3, similar to the engine 11, and supplies hydraulic oil to the control valve 17 through a high-pressure hydraulic line. As described above, the main pump 14 is driven by the engine 11. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, under the control of the controller 30, the tilt angle of the swash plate is adjusted by the regulator 13, thereby adjusting the stroke length of the piston and controlling the discharge flow rate (discharge pressure).

[0027] The control valve 17 is a hydraulic control device that is mounted, for example, in the center of the upper swing body 3 and controls the hydraulic drive system in response to an operator's operation of the control device 26. As described above, the control valve 17 is connected to the main pump 14 via a high-pressure hydraulic line, and selectively supplies hydraulic oil supplied from the main pump 14 to the hydraulic actuators (travel hydraulic motors 1L, 1R, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and end attachment cylinder 9) in response to the operating state of the control device 26. Specifically, the control valve 17 includes control valves 171 to 178 that control the flow rate and flow direction of hydraulic oil supplied from the main pump 14 to each of the hydraulic actuators. More specifically, the control valve 171 corresponds to the travel hydraulic motor 1L, the control valve 172 corresponds to the travel hydraulic motor 1R, and the control valve 173 corresponds to the swing hydraulic motor 2A. Furthermore, control valve 174 corresponds to the end attachment cylinder 9, control valve 175 corresponds to the boom cylinder 7, and control valve 176 corresponds to the arm cylinder 8. Furthermore, control valve 177 corresponds to the grapple opening / closing cylinder 6b, and control valve 178 corresponds to the rotary hydraulic motor 6c.

[0028] The operation system of the work machine 100 according to the first embodiment includes a pilot pump 15 and an operation device 26. The operation system of the work machine 100 also includes a shuttle valve 32 as a component related to the machine control function of the controller 30, which will be described later.

[0029] The pilot pump 15 is mounted, for example, on the rear of the upper rotating body 3, and supplies pilot pressure to the operating device 26 via a pilot line. The pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the engine 11 as described above.

[0030] The operation device 26 is provided near the cockpit of the cabin 10 and serves as an operation input means through which the operator operates various operating elements (such as the undercarriage 1, the upper rotating body 3, the boom 4, the arm 5, and the grapple 6). In other words, the operation device 26 is an operation input means through which the operator operates the hydraulic actuators that drive the respective operating elements (i.e., the travel hydraulic motors 1L and 1R, the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, and the end attachment cylinder 9). The operation devices 26 are connected to the control valves 17 directly through their secondary pilot lines or indirectly via shuttle valves 32 (described later) that are provided in the secondary pilot lines. This allows pilot pressures corresponding to the operating states of the undercarriage 1, the upper rotating body 3, the boom 4, the arm 5, and the grapple 6 in the operation device 26 to be input to the control valves 17. Therefore, the control valves 17 can drive the respective hydraulic actuators according to the operating states of the operation device 26. The operating device 26 includes, for example, a lever device that operates the arm 5 (arm cylinder 8). The operating device 26 also includes, for example, lever devices that operate each of the boom 4 (boom cylinder 7), grapple 6 (end attachment cylinder 9), and upper rotating body 3 (swing hydraulic motor 2A). The operating device 26 also includes, for example, lever devices and pedal devices that operate each of the pair of left and right crawlers (travel hydraulic motors 1L, 1R) of the lower traveling body 1.

[0031] The shuttle valve 32 has two inlet ports and one outlet port, and outputs hydraulic oil having a higher pilot pressure of the two pilot pressures input to the two inlet ports to the outlet port. One of the two inlet ports of the shuttle valve 32 is connected to the operating device 26, and the other is connected to the proportional valve 31. The outlet port of the shuttle valve 32 is connected to the pilot port of the corresponding control valve in the control valve 17 via a pilot line. Therefore, the shuttle valve 32 can apply the higher of the pilot pressure generated by the operating device 26 or the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve. In other words, the controller 30 (described later) can control the corresponding control valve and the operation of various operating elements by causing the proportional valve 31 to output a pilot pressure higher than the secondary pilot pressure output from the operating device 26.

[0032] The operating device 26 (left operating lever, right operating lever, left travel lever, and right travel lever) may be an electric type that outputs an electric signal instead of a hydraulic pilot type that outputs a pilot pressure. In this case, the electric signal from the operating device 26 is input to the controller 30, and the controller 30 controls the control valves 171 to 178 in the control valve 17 in accordance with the input electric signal, thereby realizing the operation of various hydraulic actuators in accordance with the operation of the operating device 26. For example, the control valves 171 to 178 in the control valve 17 may be electromagnetic solenoid spool valves that are driven by commands from the controller 30. Also, for example, solenoid valves that operate in accordance with electric signals from the controller 30 may be arranged between the pilot pump 15 and the pilot ports of the control valves 171 to 178. In this case, when manual operation is performed using the electric operating device 26, the controller 30 controls the solenoid valve using an electrical signal corresponding to the amount of operation (e.g., the amount of lever operation) to increase or decrease the pilot pressure, thereby operating each control valve 171 to 178 in accordance with the operation content of the operating device 26.

[0033] The control system of the work machine 100 according to the first embodiment includes a controller 30, a discharge pressure sensor 28, an operating pressure sensor 29, a proportional valve 31, a display device 40, an input device 42, an audio output device 43, a memory device 47, a boom angle sensor S1, an arm angle sensor S2, an end attachment angle sensor S3, a machine body inclination sensor S4, a turning state sensor S5, an imaging device S6, a positioning device P1, and a communication device T1.

[0034] The controller 30 (an example of a control device) is provided, for example, inside the cabin 10, and controls the drive of the work machine 100. The functions of the controller 30 may be realized by any hardware, software, or a combination thereof. For example, the controller 30 is configured mainly with a microcomputer including a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), a non-volatile auxiliary storage device, various input / output interfaces, etc. The controller 30 realizes various functions by, for example, executing various programs stored in the ROM or non-volatile auxiliary storage device on the CPU.

[0035] For example, the controller 30 sets a target rotation speed based on a work mode or the like that is set in advance by a predetermined operation by an operator or the like, and performs drive control to rotate the engine 11 at a constant speed.

[0036] Furthermore, for example, the controller 30 outputs a control command to the regulator 13 as necessary to change the discharge rate of the main pump 14.

[0037] Furthermore, for example, the controller 30 performs control relating to a machine guidance function that guides (instructs) the operator in manually operating the work machine 100 via the operation device 26. Furthermore, the controller 30 performs control relating to a machine control function that automatically assists the operator in manually operating the work machine 100 via the operation device 26. In other words, the controller 30 includes a machine guidance unit 50 as a functional unit related to the machine guidance function and the machine control function. Furthermore, the controller 30 includes a transported object weight processing unit 60, which will be described later.

[0038] Note that some of the functions of the controller 30 may be realized by another controller (control device). That is, the functions of the controller 30 may be realized in a distributed manner by a plurality of controllers. For example, the machine guidance function and the machine control function may be realized by a dedicated controller (control device).

[0039] The discharge pressure sensor 28 detects the discharge pressure of the main pump 14. A detection signal corresponding to the discharge pressure detected by the discharge pressure sensor 28 is input to the controller 30.

[0040] As described above, the operating pressure sensor 29 detects the secondary pilot pressure of the operating device 26, that is, the pilot pressure corresponding to the operating state (for example, the operation content such as the operation direction and the operation amount) of each operating element (that is, the hydraulic actuator) in the operating device 26. The detection signal of the pilot pressure by the operating pressure sensor 29 corresponding to the operating state of the undercarriage 1, the upper rotating body 3, the boom 4, the arm 5, the grapple 6, etc. in the operating device 26 is input to the controller 30.

[0041] In addition, instead of the operating pressure sensor 29, other sensors capable of detecting the operating state of each operating element in the operating device 26, such as an encoder or potentiometer capable of detecting the operating amount (tilting amount) and tilting direction of a lever device, etc., may be provided.

[0042] The proportional valve 31 is provided in a pilot line connecting the pilot pump 15 and the shuttle valve 32, and is configured so that its flow path area (the cross-sectional area through which hydraulic oil can flow) can be changed. The proportional valve 31 operates in response to a control command input from the controller 30. This allows the controller 30 to supply hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the proportional valve 31 and the shuttle valve 32, even when the operating device 26 (specifically, the lever device) is not operated by the operator.

[0043] The display device 40 is provided in a location that is easily visible to an operator seated in the cabin 10, and displays various information images under the control of the controller 30. The display device 40 may be connected to the controller 30 via an in-vehicle communication network such as a Controller Area Network (CAN), or may be connected to the controller 30 via a one-to-one dedicated line.

[0044] The input device 42 is provided within reach of an operator seated in the cabin 10, accepts various operational inputs from the operator, and outputs signals corresponding to the operational inputs to the controller 30. The input device 42 includes a touch panel mounted on the display of a display device that displays various information images, a knob switch provided at the tip of a lever portion of a lever device, and button switches, levers, toggles, rotary dials, etc. provided around the display device 40. A signal corresponding to the content of an operation on the input device 42 is taken into the controller 30.

[0045] The audio output device 43 is provided, for example, inside the cabin 10, connected to the controller 30, and outputs audio under the control of the controller 30. The audio output device 43 is, for example, a speaker or a buzzer. The audio output device 43 outputs various types of information by audio in response to an audio output command from the controller 30.

[0046] The storage device 47 is provided, for example, inside the cabin 10, and stores various types of information under the control of the controller 30. The storage device 47 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices while the work machine 100 is in operation, or may store information obtained via various devices before operation of the work machine 100 is started. The storage device 47 may store, for example, data related to a target construction surface that is obtained via the communication device T1 or the like, or that is set via the input device 42 or the like. The target construction surface may be set (saved) by the operator of the work machine 100, or may be set by a construction manager or the like.

[0047] The boom angle sensor S1 is attached to the boom 4 and detects the elevation / depression angle of the boom 4 relative to the upper rotating structure 3 (hereinafter referred to as the "boom angle"), for example, the angle formed by a line connecting the fulcrums at both ends of the boom 4 relative to the rotation plane of the upper rotating structure 3 in a side view. The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), etc. The boom angle sensor S1 may also include a potentiometer using a variable resistor, a cylinder sensor that detects the stroke amount of a hydraulic cylinder (boom cylinder 7) corresponding to the boom angle, etc. The same applies to the arm angle sensor S2 and the end attachment angle sensor S3 below. A detection signal corresponding to the boom angle detected by the boom angle sensor S1 is input to the controller 30.

[0048] The arm angle sensor S2 is attached to the arm 5 and detects the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as the "arm angle"), for example, the angle formed by a line connecting the fulcrums at both ends of the arm 5 with a line connecting the fulcrums at both ends of the boom 4 in a side view. A detection signal corresponding to the arm angle detected by the arm angle sensor S2 is input to the controller 30.

[0049] The end attachment angle sensor S3 is attached to the grapple 6 and detects the rotation angle of the grapple 6 relative to the arm 5 (hereinafter referred to as the "tilt angle of the grapple 6"), for example, the angle formed by the rotation axis 6d of the grapple 6 with respect to a line connecting the fulcrums at both ends of the arm 5 in a side view. A detection signal corresponding to the tilt angle of the grapple 6 detected by the end attachment angle sensor S3 is input to the controller 30.

[0050] The machine body tilt sensor S4 detects the tilt state of the machine body (the upper rotating body 3 or the undercarriage 1) relative to a horizontal plane. The machine body tilt sensor S4 is attached to, for example, the upper rotating body 3, and detects the tilt angles around two axes in the fore-aft and lateral directions of the work machine 100 (i.e., the upper rotating body 3) (hereinafter referred to as the "fore-aft tilt angle" and the "lateral tilt angle"). The machine body tilt sensor S4 may include, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU, etc. Detection signals corresponding to the tilt angles (fore-aft tilt angle and lateral tilt angle) detected by the machine body tilt sensor S4 are input to the controller 30.

[0051] The rotation state sensor S5 outputs detection information related to the rotation state of the upper rotating body 3. The rotation state sensor S5 detects, for example, the rotation angular velocity and rotation angle of the upper rotating body 3. The rotation state sensor S5 may include, for example, a gyro sensor, a resolver, a rotary encoder, etc. The detection signals corresponding to the rotation angle and rotation angular velocity of the upper rotating body 3 detected by the rotation state sensor S5 are input to the controller 30.

[0052] The imaging device S6, which serves as a spatial recognition device, captures images of the area around the work machine 100. The imaging device S6 includes a camera S6F that captures images in front of the work machine 100, a camera S6L that captures images to the left of the work machine 100, a camera S6R that captures images to the right of the work machine 100, and a camera S6B that captures images behind the work machine 100.

[0053] Camera S6F is attached, for example, to the ceiling of cabin 10, i.e., inside cabin 10. Camera S6F may also be attached to the exterior of cabin 10, such as the roof of cabin 10 or the side of boom 4. Camera S6L is attached to the left end of the upper surface of the upper rotating body 3, camera S6R is attached to the right end of the upper surface of the upper rotating body 3, and camera S6B is attached to the rear end of the upper surface of the upper rotating body 3.

[0054] The imaging device S6 (cameras S6F, S6B, S6L, and S6R) is, for example, a monocular wide-angle camera having a very wide angle of view. The imaging device S6 may also be a stereo camera or a distance imaging camera. Images captured by the imaging device S6 are input to the controller 30 via the display device 40.

[0055] The imaging device S6 serving as a spatial recognition device may function as an object detection device. In this case, the imaging device S6 may detect objects present around the work machine 100. Objects to be detected may include, for example, people, animals, vehicles, construction machinery, buildings, holes, etc. The imaging device S6 may also calculate the distance from the imaging device S6 or the work machine 100 to the recognized object. The imaging device S6 serving as an object detection device may include, for example, a stereo camera, a range image sensor, etc. The spatial recognition device is, for example, a monocular camera having an imaging element such as a CCD or CMOS, and outputs captured images to the display device 40. The spatial recognition device may also be configured to calculate the distance from the spatial recognition device or the work machine 100 to the recognized object. In addition to the imaging device S6, other object detection devices such as, for example, an ultrasonic sensor, millimeter-wave radar, LIDAR, or infrared sensor may be provided as the spatial recognition device. When a millimeter wave radar, ultrasonic sensor, laser radar, or the like is used as a spatial recognition device, multiple signals (laser light, etc.) may be emitted to an object, and the reflected signals may be received, from which the distance and direction of the object may be detected.

[0056] The imaging device S6 may be directly connected to the controller 30 so as to be able to communicate with it.

[0057] A boom rod pressure sensor S7R and a boom bottom pressure sensor S7B are attached to the boom cylinder 7. An arm rod pressure sensor S8R and an arm bottom pressure sensor S8B are attached to the arm cylinder 8. An end attachment rod pressure sensor S9R and an end attachment bottom pressure sensor S9B are attached to the end attachment cylinder 9. The boom rod pressure sensor S7R, boom bottom pressure sensor S7B, arm rod pressure sensor S8R, arm bottom pressure sensor S8B, end attachment rod pressure sensor S9R, and end attachment bottom pressure sensor S9B are collectively referred to as the "cylinder pressure sensors."

[0058] Boom rod pressure sensor S7R detects the pressure in the rod-side oil chamber of boom cylinder 7 (hereinafter referred to as "boom rod pressure"), and boom bottom pressure sensor S7B detects the pressure in the bottom-side oil chamber of boom cylinder 7 (hereinafter referred to as "boom bottom pressure"). Arm rod pressure sensor S8R detects the pressure in the rod-side oil chamber of arm cylinder 8 (hereinafter referred to as "arm rod pressure"), and arm bottom pressure sensor S8B detects the pressure in the bottom-side oil chamber of arm cylinder 8 (hereinafter referred to as "arm bottom pressure"). End attachment rod pressure sensor S9R detects the pressure in the rod-side oil chamber of end attachment cylinder 9 (hereinafter referred to as "end attachment rod pressure"), and end attachment bottom pressure sensor S9B detects the pressure in the bottom-side oil chamber of end attachment cylinder 9 (hereinafter referred to as "end attachment bottom pressure").

[0059] The grapple rotation angle sensor S10 is attached to the grapple 6 and detects the rotation angle of the grapple 6 around the rotation axis 6d. The grapple rotation angle sensor S10 may include, for example, a gyro sensor, a resolver, a rotary encoder, etc. A detection signal corresponding to the rotation angle of the grapple 6 detected by the grapple rotation angle sensor S10 is input to the controller 30.

[0060] The positioning device P1 measures the position and orientation of the upper rotating body 3. The positioning device P1 is, for example, a Global Navigation Satellite System (GNSS) compass, and detects the position and orientation of the upper rotating body 3, and a detection signal corresponding to the position and orientation of the upper rotating body 3 is input into the controller 30. Furthermore, the function of detecting the orientation of the upper rotating body 3, which is one of the functions of the positioning device P1, may be substituted by a direction sensor attached to the upper rotating body 3.

[0061] The communication device T1 communicates with external devices through a predetermined network including a mobile communication network with a base station as an end, a satellite communication network, the Internet, etc. The communication device T1 is, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network.

[0062] The machine guidance unit 50, for example, executes control of the work machine 100 related to the machine guidance function. The machine guidance unit 50 communicates work information to the operator, for example, via the display device 40, audio output device 43, etc. The machine guidance unit 50 notifies the operator of the work information via the display device 40, audio output device 43, etc., and guides the operator in operating the work machine 100 via the operating device 26.

[0063] Furthermore, the machine guidance unit 50 executes control of the work machine 100, for example, related to the machine control function. The machine guidance unit 50 has a grapple angle control unit 51. The grapple angle control unit 51 controls the rotary hydraulic motor 6c to rotate the gripping portion (jaws 6a) of the grapple 6.

[0064] [Transported object weight processing section 60] Next, details of the configuration related to the transported item weight detection function of the work machine 100 according to the first embodiment will be described with reference to Fig. 3. Fig. 3 is a diagram that schematically shows an example of components related to the transported item weight detection function of the work machine 100 according to the first embodiment.

[0065] As described above with reference to FIG. 3, the controller 30 includes the transported object weight processing unit 60 as a functional unit related to the function of detecting the weight of the transported object W gripped and transported by the grapple 6.

[0066] The transported object weight processing unit 60 includes a transported object weight calculation unit 61 , a maximum load amount detection unit 62 , an added load amount calculation unit 63 , and a remaining load amount calculation unit 64 .

[0067] The transported object weight calculation unit 61 calculates the weight of the transported object W transported by the grapple 6. The transported object weight calculation unit 61 calculates the weight of the transported object W based on the thrust of the boom cylinder 7. The transported object weight calculation unit 61 calculates the weight of the transported object W in a state where the transported object W is a long piece of wood or the like and is gripped by the gripping portion (jaw 6a) of the grapple 6 of the work machine 100. The method of calculating the weight of the transported object W in the transported object weight calculation unit 61 will be described later.

[0068] The maximum load capacity detection unit 62 detects the maximum load capacity of a dump truck (not shown) onto which the transported article W is to be loaded. For example, the maximum load capacity detection unit 62 identifies the dump truck onto which the transported article W is to be loaded based on an image captured by the imaging device S6. Next, the maximum load capacity detection unit 62 detects the maximum load capacity of the dump truck based on the image of the identified dump truck. For example, the maximum load capacity detection unit 62 determines the vehicle type (size, etc.) of the dump truck based on the image of the identified dump truck. The maximum load capacity detection unit 62 has a table that associates vehicle types with maximum load capacities, and calculates the maximum load capacity of the dump truck based on the vehicle type determined from the image and the table. Note that the maximum load capacity, vehicle type, etc. of the dump truck may be input via the input device 42, and the maximum load capacity detection unit 62 may calculate the maximum load capacity of the dump truck based on the input information from the input device 42.

[0069] The additional load amount calculation unit 63 calculates the total weight of the transported goods W loaded on the bed of the dump truck. That is, every time the grapple 6 loads the transported goods W onto the bed of the dump truck, the additional load amount calculation unit 63 adds the weight of the transported goods W transported by the grapple 6 calculated by the transported goods weight calculation unit 61 to calculate the total weight (additional load amount) of the transported goods W loaded on the bed of the dump truck. Note that when the dump truck to which the transported goods W are to be loaded becomes a new dump truck, the additional load amount is reset.

[0070] The remaining load calculation unit 64 calculates the remaining load as the difference between the maximum load of the dump truck detected by the maximum load detection unit 62 and the current added load calculated by the added load calculation unit 63. The remaining load is the remaining weight of the transported goods W that can be loaded onto the dump truck.

[0071] The display device 40 may display the weight of the transported object W to be grasped and transported by the grapple 6 calculated by the transported object weight calculation unit 61, the maximum load capacity of the dump truck detected by the maximum load capacity detection unit 62, the added load capacity of the dump truck (the total weight of the transported objects W loaded on the loading platform) calculated by the added load capacity calculation unit 63, and the remaining load capacity of the dump truck (the remaining weight of the transported objects W that can be loaded) calculated by the remaining load capacity calculation unit 64.

[0072] Note that the display device 40 may be configured to issue a warning when the added load amount exceeds the maximum load amount. Also, the display device 40 may be configured to issue a warning when the calculated weight of the object W to be gripped and transported by the grapple 6 exceeds the remaining load amount. Note that the warning does not necessarily have to be displayed on the display device 40, but may also be output as an audio message by the audio output device 43. This makes it possible to prevent the object W from being loaded in excess of the maximum load amount of the dump truck.

[0073] [Transported object weight calculation unit 61] Next, using Figure 4, we will explain the method of calculating the weight of the transported object W to be grasped and transported by the grapple 6 in the transported object weight calculation unit 61, which calculates the weight of the transported object W to be grasped and transported by the grapple 6 based on the thrust of the boom cylinder 7.

[0074] 4 is a block diagram illustrating the processing of the transported object weight calculation unit 61. The transported object weight calculation unit 61 has a torque calculation unit 71, an inertia force calculation unit 72, a centrifugal force calculation unit 73, a stationary torque calculation unit 74, a transported object center of gravity distance calculation unit 75, and a weight conversion unit 76.

[0075] The torque calculation unit 71 calculates the torque (detected torque) around the foot pin of the boom 4. The calculation is based on the pressure of the hydraulic oil in the boom cylinder 7 (boom rod pressure sensor S7R, boom bottom pressure sensor S7B).

[0076] The inertia force calculation unit 72 calculates the torque (inertia term torque) around the foot pin of the boom 4 due to the inertial force. The inertia term torque is calculated based on the angular acceleration around the foot pin of the boom 4 and the moment of inertia of the boom 4. The angular acceleration around the foot pin and the moment of inertia of the boom 4 are calculated based on the outputs of attitude sensors (for example, boom angle sensor S1, arm angle sensor S2, end attachment angle sensor S3, machine body tilt sensor S4, and turning state sensor S5).

[0077] The centrifugal force calculation unit 73 calculates the torque (centrifugal torque) around the foot pin of the boom 4 due to Coriolis and centrifugal forces. The centrifugal torque is calculated based on the angular velocity of the boom 4 around the foot pin and the weight of the boom 4. The angular velocity of the boom 4 around the foot pin is calculated based on the output of the attitude sensor. The weight of the boom 4 is known.

[0078] The stationary torque calculation unit 74 calculates a stationary torque τ , which is the torque around the foot pin of the boom 4 when the attachment is stationary, based on the detected torque of the torque calculation unit 71, the inertia term torque of the inertia force calculation unit 72, and the centrifugal term torque of the centrifugal force calculation unit 73. WHere, the equation for the torque around the foot pin of the boom 4 is shown in equation (1). Note that τ on the left side of equation (1) represents the detected torque, the first term on the right side represents the inertia term torque, the second term on the right side represents the centrifugal term torque, and the third term on the right side represents the static torque τ W Shows.

[0079]

number

[0080] As shown in equation (1), the static torque τ is calculated by subtracting the inertial torque and centrifugal torque from the detected torque τ. W This makes it possible to compensate for the influence caused by the rotational movement of the boom or the like around the pin in the first embodiment.

[0081] The transported object center of gravity distance calculation unit 75 calculates the horizontal distance (center of gravity distance in the front direction) in the front direction of the work machine 100 (upper rotating body 3) from the foot pin of the boom 4 to the center of gravity of the transported object W gripped by the grapple 6. The front direction of the work machine 100 (upper rotating body 3) is the direction in which the attachment extends and retracts (the +X direction in Figure 1 and Figure 6 described below). In other words, the front direction of the work machine 100 (upper rotating body 3) is the direction defined by the intersection of a plane having the rotation axis of the rotating boom 4 (foot pin of the boom 4) as its normal line and a horizontal plane. The method of calculating the center of gravity distance in the front direction by the transported object center of gravity distance calculation unit 75 will be described later.

[0082] The weight conversion unit 76 converts the static torque τ calculated by the static torque calculation unit 74 into W The weight of the transported object W is calculated based on the center of gravity distance in the front direction calculated by the transported object center of gravity distance calculation unit 75. The weight of the transported object W is calculated based on the stationary torque τ W The torque can be calculated by subtracting the torque when the grapple 6 is not gripping the transported object W from the torque, and dividing the result by the center of gravity distance in the front direction calculated by the transported object center of gravity distance calculation unit 75.

[0083] In this way, the transported object weight calculation unit 61 can calculate the weight of the transported object W by compensating for the inertial term and the centrifugal term when the boom 4 is in operation.

[0084] Next, a method for calculating the horizontal distance (center of gravity distance in the front direction) from the foot pin of the boom 4 to the center of gravity of the transported object W grasped by the grapple 6 in the transported object center of gravity distance calculation unit 75 will be explained using Figures 5 and 6.

[0085] Fig. 5 is a configuration block diagram illustrating an adjustment operation for adjusting the position of the center of gravity of the transported object W. Fig. 6 is a plan view of the work machine 100 gripping a long transported object W.

[0086] As shown in Fig. 5, the rotation angle of the grapple 6 detected by the grapple rotation angle sensor S10 is input to the controller 30. The controller 30 has a grapple angle control unit 51 of the machine guidance unit 50. As shown in Fig. 2, the grapple angle control unit 51 is configured to be able to control the proportional valve 31 and control the control valve 178 of the control valve 17. In this way, the grapple angle control unit 51 can control the operation of the rotation hydraulic motor 6c.

[0087] Next, the operation of calculating the weight of the article W will be described.

[0088] First, the operator operates the operating device 26 to grip and lift the long object W with the grapple 6. An example of the object W gripped by the grapple 6 is shown by the dashed line in FIG. 6. The position at which the grapple 6 grips the object W is not necessarily the center of the object W in the longitudinal direction, but is gripped at a position offset to one side of the object W in the longitudinal direction, as shown by the dashed line in FIG. 6. For this reason, the center of gravity WG of the object W is not determined.

[0089] Next, the operator rotates the grapple by operating the operating device 26 for the grapple. The grapple angle control unit 51 detects the longitudinal direction of the long transported object W based on the rotation angle of the grapple 6 detected by the grapple rotation angle sensor S10, and rotates the gripping portion of the grapple 6 to a predetermined rotation position.

[0090] Here, the gripping portion of the grapple 6 is rotated so that the longitudinal direction of the long transported object W gripped by the grapple 6 is perpendicular to the front direction (+X direction) of the work machine 100 (upper rotating body 3). In other words, the gripping portion of the grapple 6 is rotated so that the longitudinal direction of the long transported object W gripped by the grapple 6 is aligned with the vehicle width direction of the work machine 100 (upper rotating body 3). In yet other words, the gripping portion of the grapple 6 is rotated so that the longitudinal direction of the long transported object W gripped by the grapple 6 is aligned with the rotation axis of the boom 4 that rotates (foot pin of the boom 4).

[0091] The transported object W after rotation is shown by a solid line. As shown in Figure 6, even if the position at which the grapple 6 grips the transported object W is biased to one side in the longitudinal direction of the transported object W, the horizontal distance (center of gravity distance in the front direction) L1 from the foot pin of the boom 4 to the center of gravity WG of the transported object W gripped by the grapple 6 in the front direction of the work machine 100 (upper rotating body 3) can be determined.

[0092] This allows the transported object center of gravity distance calculation unit 75 (see Figure 4) to calculate the center of gravity distance L1 in the forward direction based on the outputs of the posture sensors (e.g., boom angle sensor S1, arm angle sensor S2, end attachment angle sensor S3, machine body inclination sensor S4, and turning state sensor S5).

[0093] Next, the operator operates the operating device 26 to raise the boom 4. That is, the boom 4 is rotated around the foot pin of the boom 4 as the rotation axis. When the boom is raised, the transported object weight processing unit 60 (transported object weight calculation unit 61) calculates the weight of the transported object W (see FIG. 4). Note that the distance L2 from the position where the grapple 6 grips the transported object W to the center of gravity WG of the transported object W does not affect the torque when the boom is raised. Furthermore, the transported object weight processing unit 60 may calculate the weight of the transported object W at a predetermined control cycle, and may use the weight calculated when the longitudinal direction of the gripped long transported object W is perpendicular to the front direction (+X direction) of the work machine 100 (upper rotating body 3) as the weight of the transported object W.

[0094] As described above, according to the method for calculating the weight of an object W in the work machine 100 of the first embodiment, the center-of-gravity distance L1 in the front direction can be accurately calculated by orienting the longitudinal direction of the long object W gripped by the grapple 6 so that it is perpendicular to the front direction. Furthermore, the object weight calculation unit 61 can accurately calculate the weight of the object W by using the accurately calculated center-of-gravity distance L1 in the front direction. Therefore, when the work machine 100 of this embodiment loads the object W onto a dump truck, overloading and underloading of the dump truck can be reduced, improving transportability by the dump truck.

[0095] The grapple angle control unit 51 has been described as detecting the longitudinal direction of the long transported object W based on the rotation angle of the grapple 6 detected by the grapple rotation angle sensor S10, and rotating the gripping portion of the grapple 6 to a predetermined rotation position, but this is not limited to this.

[0096] In the work machine 100 of the second embodiment, a camera S6F that images the area in front of the work machine 100 captures an image of the long object W gripped by the grapple 6. The grapple angle control unit 51 may be configured to detect the longitudinal direction of the long object W based on the captured image of the object W, and rotate the gripping portion of the grapple 6 to a predetermined rotation position. Note that the camera that captures the image of the long object W gripped by the grapple 6 is not limited to the camera S6F installed on the ceiling or inside the cabin 10, and may be a camera attached to the arm 5, for example.

[0097] This allows the transported object center-of-gravity distance calculation unit 75 (see FIG. 4) to calculate the center-of-gravity distance L1 (see FIG. 6) in the front direction based on the output of the attitude sensor. Then, when the boom is raised, the transported object weight processing unit 60 (transported object weight calculation unit 61) calculates the weight of the transported object W (see FIG. 4).

[0098] According to the weight calculation method for the transported object W in the work machine 100 of the second embodiment, similar to the weight calculation method of the first embodiment, the center of gravity distance L1 in the front direction can be calculated with high accuracy, and the weight of the transported object W can be calculated with high accuracy.

[0099] The work machine 100 of the third embodiment may be configured to detect the longitudinal direction of the long transported object W based on torque fluctuations (fluctuations in the pressure of the hydraulic oil in the boom cylinder 7) caused by centrifugal force when the transported object W is rotated around the rotation axis 6d, and rotate the gripping portion of the grapple 6 to a predetermined rotation position. Figures 7A and 7B are diagrams illustrating a method for detecting the longitudinal direction of the long transported object W gripped by the grapple 6.

[0100] 7A, with the grapple 6 gripping the transported object W, the grapple angle control unit 51 controls the rotary hydraulic motor 6c to rotate the gripping portion of the grapple 6 around the rotation axis 6d (see the dashed arrow). Then, while the gripping portion of the grapple 6 is rotating, the torque calculation unit 71 of the transported object weight calculation unit 61 calculates the torque (detected torque) around the foot pin of the boom 4.

[0101] 7A, examples of rotating transported goods W are shown as goods W1 to W4, and the direction of centrifugal force in the goods W1 to W4 is shown by solid arrows.

[0102] At the rotational position shown for transported item W1, the centrifugal force is directed in the +X direction. Therefore, the torque calculated by the torque calculation unit 71 is increased by the +X direction component of the centrifugal force. At the rotational position shown for transported item W2, the +X direction component of the centrifugal force is reduced compared to the rotational position shown for transported item W1, and the torque calculated by the torque calculation unit 71 is also reduced compared to the rotational position shown for transported item W1. At the rotational position shown for transported item W3, the +X direction component of the centrifugal force becomes zero, and the torque calculated by the torque calculation unit 71 is also reduced compared to the rotational position shown for transported item W2. At the rotational position shown for transported item W4, the centrifugal force has a -X direction component, and the torque calculated by the torque calculation unit 71 is also reduced compared to the rotational position shown for transported item W3. At a position (not shown) rotated 180° from the rotational position shown for transported item W1, the centrifugal force is directed in the -X direction, and the torque calculated by the torque calculation unit 71 is also reduced compared to the rotational position shown for transported item W3.

[0103] 7B is a graph showing fluctuations in torque τ calculated by the torque calculation unit 71 when the gripping portion of the grapple 6 is rotated. The horizontal axis represents time, and the vertical axis represents torque τ calculated by the torque calculation unit 71.

[0104] As shown in FIG. 7B, by rotating the gripping portion of the grapple 6 and rotating the transported object W around the rotation axis 6d, the torque τ calculated by the torque calculation unit 71 becomes a maximum value τ max and the minimum value τ min In addition, the maximum value τ max The minimum value τ min And the maximum value τ max and the minimum value τ min and the median τ medIn this case, the longitudinal direction of the long transported object W gripped by the grapple 6 is perpendicular to the front direction (+X direction) of the work machine 100 (upper rotating body 3). In this way, the longitudinal direction of the long transported object W can be detected based on the fluctuation in torque caused by centrifugal force when the transported object W is rotated around the rotation axis 6d.

[0105] The grapple angle control unit 51 rotates the gripping portion of the grapple 6, and the maximum value τ of the torque τ calculated by the torque calculation unit 71 max and the minimum value τ min Then, the grapple angle control unit 51 calculates the torque τ calculated by the torque calculation unit 71 as the median value τ med The rotation of the gripping portion of the grapple 6 is stopped at the rotation position where the rotation of the gripping portion of the grapple 6 is stopped. This allows the longitudinal direction of the long transported object W gripped by the grapple 6 to be perpendicular to the front direction (+X direction) of the work machine 100 (upper rotating body 3).

[0106] The grapple rotation angle sensor S10 may also be used in combination. That is, the grapple angle control unit 51 rotates the gripping portion of the grapple 6, acquires the relationship between the rotation angle detected by the grapple rotation angle sensor S10 and the torque τ calculated by the torque calculation unit 71, and calculates the maximum value τ of the torque τ. max and the minimum value τ min Then, the grapple angle control unit 51 calculates the torque τ calculated by the torque calculation unit 71 as the median value τ med The rotation angle at which the work machine 100 can move is specified, and the gripping portion of the grapple 6 is rotated to the specified rotation angle. This allows the longitudinal direction of the long transported object W gripped by the grapple 6 to be perpendicular to the front direction (+X direction) of the work machine 100 (upper rotating body 3).

[0107] This allows the transported object center-of-gravity distance calculation unit 75 (see FIG. 4) to calculate the center-of-gravity distance L1 (see FIG. 6) in the front direction based on the output of the attitude sensor. Then, when the boom is raised, the transported object weight processing unit 60 (transported object weight calculation unit 61) calculates the weight of the transported object W (see FIG. 4).

[0108] According to the weight calculation method for the transported object W in the work machine 100 of the third embodiment, similar to the weight calculation method of the first embodiment, the center of gravity distance L1 in the front direction can be calculated with high accuracy, and the weight of the transported object W can be calculated with high accuracy.

[0109] Next, a method for calculating the weight of a long transported object W in the work machine 100 of the fourth embodiment will be described. Fig. 8 is a block diagram illustrating the processing of the transported object weight calculation unit 61 in the work machine 100 of the fourth embodiment.

[0110] The transported object weight calculation unit 61 in the work machine 100 of the fourth embodiment has a torque calculation unit 71, an inertia force calculation unit 72, a centrifugal force calculation unit 73, a stationary torque calculation unit 74, a transported object center of gravity distance calculation unit 75, a weight conversion unit 76, and a right-angle state estimation unit 77.

[0111] Here, in the work machine 100 of the first to third embodiments, the grapple 6 grasps the long transported object W, and the gripping portion of the grapple 6 is rotated so that the longitudinal direction of the long transported object W is perpendicular to the front direction (+X direction) of the work machine 100 (upper rotating body 3), and then a boom-raising operation is performed, and the weight of the transported object W is calculated during the boom-raising operation.

[0112] In contrast, in the work machine 100 of the fourth embodiment, after the grapple 6 grasps the long transported object W, the gripping portion of the grapple 6 is rotated and a boom-raising operation is performed, and the weight of the transported object W is calculated during the boom-raising operation.

[0113] The torque calculation unit 71, inertia force calculation unit 72, centrifugal force calculation unit 73, and stationary torque calculation unit 74 are the same as those in the work machine 100 of the first embodiment (see FIG. 4), and therefore redundant explanations will be omitted.

[0114] Here, the stationary torque τ calculated by the stationary torque calculation unit 74 W fluctuates due to the centrifugal force when the transported object W is rotated around the rotation axis 6d.

[0115] The right-angle state estimation unit 77 estimates the stationary torque τ W Based on this, the perpendicularity state estimation unit 77 estimates a state in which the longitudinal direction of the transported object W is perpendicular to the front direction (+X direction) of the work machine 100 (upper rotating body 3), and outputs the stationary torque at that time. W The maximum and minimum values ​​of the static torque τ W When the value of the longitudinal direction of the load W is the median value between the maximum and minimum values, it is estimated that the longitudinal direction of the load W is perpendicular to the front direction (+X direction) of the work machine 100 (upper rotating body 3).

[0116] In addition, the transported object center of gravity distance calculation unit 75 calculates the center of gravity distance L1 in the front direction (see Figure 6) based on the output of the attitude sensor at the time when it is estimated that the longitudinal direction of the transported object W is perpendicular to the front direction (+X direction) of the work machine 100 (upper rotating body 3).

[0117] The weight conversion unit 76 calculates the stationary torque τ at the time when it is estimated that the longitudinal direction of the transported object W is perpendicular to the front direction (+X direction) of the work machine 100 (upper rotating body 3). W and the distance L1 of the center of gravity in the front direction, the weight of the transported object W is calculated. In this way, the weight conversion unit 76 estimates whether the transported object W has rotated to a predetermined rotation position based on the thrust for performing the boom-raising operation, and calculates the weight of the transported object W based on the boom-raising thrust when the transported object W has rotated to the predetermined rotation position.

[0118] According to the method for calculating the weight of an object W in the work machine 100 of the fourth embodiment, the center of gravity distance L1 in the front direction can be calculated with high accuracy, as with the weight calculation method of the first embodiment, and the weight of the object W can be calculated with high accuracy. Furthermore, since the operation of rotating the gripping portion of the grapple 6 before the boom-raising operation can be eliminated, the workability of the transporting operation by the work machine 100 can be improved. Furthermore, the transported object weight processing unit 60 may calculate the weight of the object W at a predetermined control cycle, and use the weight calculated when it is estimated that the longitudinal direction of the gripped long object W is perpendicular to the front direction (+X direction) of the work machine 100 (upper rotating body 3) as the weight of the object W.

[0119] Next, a method for calculating the weight of a long transported object W in the work machine 100 of the fifth embodiment will be described. Fig. 9 is a block diagram illustrating the processing of the transported object weight calculation unit 61 in the work machine 100 of the fifth embodiment.

[0120] The transported object weight calculation unit 61 in the work machine 100 of the fifth embodiment has a torque calculation unit 71, an inertia force calculation unit 72, a centrifugal force calculation unit 73, a stationary torque calculation unit 74, a weight conversion unit 76, and a center of gravity position estimation unit 78.

[0121] In the work machine 100 of the fifth embodiment, the long transported object W gripped by the grapple 6 is imaged by the camera S6F that images the area in front of the work machine 100.

[0122] The center of gravity position estimation unit 78 detects the total longitudinal length of the transported object W, the distance from the end of the transported object W to the position where it is grasped by the grapple 6, and the longitudinal rotation angle of the transported object W around the rotation axis 6d based on the captured image of the transported object W. In addition, the position of the grapple 6 can be calculated based on the output of the attitude sensor. In addition, the center position of the transported object W in the longitudinal direction is defined as the center of gravity position of the transported object W.

[0123] This allows the center-of-gravity position estimating unit 78 to estimate the center-of-gravity position of the transported object W. Furthermore, based on the estimated center-of-gravity position of the transported object W, the center-of-gravity position estimating unit 78 can estimate the horizontal distance (center-of-gravity distance in the front direction) from the foot pin of the boom 4 to the center-of-gravity position WG of the transported object W gripped by the grapple 6 in the front direction of the work machine 100 (upper rotating body 3).

[0124] The weight conversion unit 76 converts the static torque τ W The weight of the transported object W is calculated based on the center of gravity distance in the front direction estimated by the center of gravity position estimation unit 78.

[0125] According to the method for calculating the weight of an object W to be transported in a work machine 100 of the fifth embodiment, it is possible to estimate the center of gravity distance in the front direction and to accurately calculate the weight of the object W to be transported. Furthermore, since it is possible to eliminate the need to rotate the gripping portion of the grapple 6 before and during the boom-raising operation, it is possible to improve the workability of the transporting operation by the work machine 100.

[0126] Next, a method for calculating the weight of a long transported object W in the work machine 100 of the sixth embodiment will be described.

[0127] The transported object weight calculation unit 61 in the work machine 100 of the sixth embodiment has a torque calculation unit 71, an inertia force calculation unit 72, a centrifugal force calculation unit 73, a stationary torque calculation unit 74, a weight conversion unit 76, and a center of gravity position estimation unit 78, similar to the transported object weight calculation unit 61 of the fifth embodiment (see Figure 9).

[0128] In the construction machine 100 of the sixth embodiment, a camera S6F that captures an image in front of the construction machine 100 captures an image of a long object W gripped by the grapple 6. The controller 30 acquires the total longitudinal length of the object W based on the captured image of the object W. The grapple 6 is also provided with an angle sensor (not shown) that detects the opening and closing angle of the claws 6a. The controller 30 estimates the diameter of the object W gripped by the gripping portion of the grapple 6 based on this angle sensor. The controller 30 also estimates the material of the object W based on the captured image of the object W. The material may be input by the operator. The storage device 47 also has a table that associates materials with densities. As a result, the controller 30 calculates a tentative weight of the object W based on the total longitudinal length of the object W, the diameter of the object W, and the material (density) of the object W.

[0129] Furthermore, the controller 30 (grapple angle control unit 51) controls the rotary hydraulic motor 6c to rotate the long transported object W gripped by the grapple 6 around the rotation axis 6d.

[0130] The center of gravity position estimating unit 78 estimates the center of gravity position of the transported object W based on the calculated virtual weight of the transported object W and the rotational torque when the rotary hydraulic motor 6c rotates the transported object W. In addition, the center of gravity position estimating unit 78 can estimate the horizontal distance (center of gravity distance in the front direction) in the front direction of the work machine 100 (upper rotating body 3) from the foot pin of the boom 4 to the center of gravity position WG of the transported object W gripped by the grapple 6 based on the estimated center of gravity position of the transported object W.

[0131] The weight conversion unit 76 converts the static torque τ W The weight of the transported object W is calculated based on the center of gravity distance in the front direction estimated by the center of gravity position estimation unit 78.

[0132] According to the method for calculating the weight of the transported object W in the work machine 100 of the sixth embodiment, it is possible to estimate the center of gravity distance in the front direction and accurately calculate the weight of the transported object W. Furthermore, with the weight calculation method of the sixth embodiment, there is no limit to the rotation angle of the transported object W when the boom is raised. This makes it possible to improve the workability of transport work by the work machine 100.

[0133] The above describes the embodiments of the work machine 100, but the present invention is not limited to the above embodiments, and various modifications and improvements are possible within the scope of the gist of the present invention as set forth in the claims.

[0134] The transported item weight processing unit 60 (transported item weight calculation unit 61) has been described as being provided in the controller 30 of the work machine 100, as shown in Figures 2, 3, 5, etc., but this is not limited to this. For example, the transported item weight processing unit 60 (transported item weight calculation unit 61) may be provided in a management device (work machine support system) that is provided separately from the work machine 100.

[0135] In this configuration, the work machine 100 transmits detection values ​​detected by the various sensors to the management device via the communication device T1. The transported item weight processing unit 60 (transported item weight calculation unit 61) of the management device calculates the load weight of the transported item loaded on the vehicle based on the detection values ​​of the various sensors. The other configurations are the same as when the transported item weight processing unit 60 (transported item weight calculation unit 61) is provided in the controller 30 of the work machine 100, and therefore redundant explanations will be omitted.

[0136] It may also be applied to a remotely operated work machine 100. In this case, the system is configured to send and receive information between the controller 30 of the work machine 100 and the remote control room via wireless communication by the communication device T1. This causes the work machine 100 to operate based on the operation of a remote operator seated in the driver's seat of the remote control room connected to the work machine 100 via wireless communication.

[0137] This application claims priority based on Japanese Patent Application No. 2021-060109, filed on March 31, 2021, the entire contents of which are incorporated herein by reference. [Explanation of symbols]

[0138] W Conveyed object 100 Work Machinery 4. Boom 5 Arm 6. Grapple 6a Claw 6b Grapple opening and closing cylinder 6c Rotary hydraulic motor 6d rotation axis 7 Boom cylinder 8 Arm Cylinder 9 End attachment cylinder 30 Controllers 60 Transported object weight processing section 61 Transported object weight calculation unit 62 Maximum load detector 63 Added load calculation unit 64 Remaining load calculation unit 71 Torque calculation unit 72 Inertia force calculation section 73 Centrifugal force calculation unit 74 Stationary torque calculation section 75 Center of gravity distance calculation unit for transported objects 76 Weight conversion section 77 Right-angle state estimation unit 78 Center of gravity position estimation part S1 Boom Angle Sensor S2 Arm Angle Sensor S3 End Attachment Angle Sensor S4 aircraft tilt sensor S5 Turning status sensor S6 imaging device S7R Boom Rod Pressure Sensor S7B Boom Bottom Pressure Sensor S10 Grapple Rotation Angle Sensor

Claims

1. An attachment that is rotatably attached to the upper rotating body with the vehicle width direction of the upper rotating body as a first rotation axis; a gripping unit rotatably attached to the attachment with a second rotation axis being an axis on a plane normal to the first rotation axis, the gripping unit gripping a long object to be transported; a transported object weight calculation unit that calculates a weight of the transported object based on a torque that rotates the attachment, Calculating the weight of the transported object at a predetermined rotation position of the gripping unit where the longitudinal direction of the transported object gripped by the gripping unit is perpendicular to the front direction of the upper rotating body. Work machinery.

2. a sensor for detecting a rotational position of the gripping portion; rotating the gripping portion to a predetermined rotation position based on the sensor; 2. The work machine according to claim 1.

3. an imaging device that images the grip portion, detecting a rotational position of the transported object based on the image captured by the imaging device, and rotating the gripping unit to a predetermined rotational position; 2. The work machine according to claim 1.

4. a rotational position of the transported object is detected based on a change in torque that rotates the attachment when the gripping unit is rotated, and the gripping unit is rotated to a predetermined rotational position; 2. The work machine according to claim 1.

5. An attachment rotatably attached to the upper rotating body with the vehicle width direction of the upper rotating body as a first rotation axis; a gripping unit rotatably attached to the attachment with a second rotation axis being an axis on a plane normal to the first rotation axis, the gripping unit gripping a long object to be transported; a transported object weight calculation unit that calculates a weight of the transported object based on a torque that rotates the attachment, The gripping portion is rotated and the attachment is rotated; based on the thrust force that rotates the attachment, it is estimated whether the gripper has rotated to a predetermined rotation position where the longitudinal direction of the transported object gripped by the gripper is perpendicular to the front direction of the upper rotating body; calculating a weight of the transported object based on the thrust of the attachment when the gripping portion rotates to a predetermined rotation position; Work machinery.

6. An attachment rotatably attached to the upper rotating body with the vehicle width direction of the upper rotating body as a first rotation axis; a gripping unit rotatably attached to the attachment with a second rotation axis being an axis on a plane normal to the first rotation axis, the gripping unit gripping a long object to be transported; a transported object weight calculation unit that calculates a weight of the transported object based on a torque that rotates the attachment, the transported object weight calculation unit calculates the weight of the long transported object in a state where the long transported object is gripped by the gripping unit so that the longitudinal direction of the transported object is perpendicular to the front direction of the upper rotating body. Work machinery.

7. A support system for a work machine comprising: an attachment rotatably attached to an upper rotating body with the width direction of the upper rotating body as a first rotation axis; and a gripping unit rotatably attached to the attachment with an axis on a plane normal to the first rotation axis as a second rotation axis, and configured to grip a long transported object, a transported object weight calculation unit that calculates a weight of the transported object based on a torque that rotates the attachment; the transported object weight calculation unit calculates the weight of the long transported object in a state where the long transported object is gripped by the gripping unit of the work machine so that the longitudinal direction of the transported object is perpendicular to the front direction of the upper rotating body. Work machine assistance systems.

Images