Work machine and work machine support system

Abstract

The purpose of the present invention is to provide: a work machine that accurately calculates the weight of carried material; and a support system for the work machine.　According to the present invention, a work machine comprises a weight calculation unit that calculates a load weight for carried material that has been loaded onto a vehicle, an input unit that inputs a weighbridge measurement value, and a correction value generation unit that generates a correction value on the basis of the weighbridge measurement value inputted by the input unit and the load weight calculated by the weight calculation unit. The weight calculation unit calculates a load weight that has been corrected by the correction value.

Description

[Technical Field]

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

[0002] For example, Patent Document 1 discloses a shovel that calculates the weight of an excavated object, such as earth and sand, excavated by an excavation attachment as an excavation weight, and calculates the weight of the load loaded on a dump truck. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2019 / 031551 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in a work machine that calculates the weight of an object being transported by an attachment, the calculated weight of the object may vary depending on factors such as the ambient temperature, the skill of the operator, the trajectory of the transport operation, the layout of the work machine and dump truck at the work site, etc. For this reason, there is a need to adjust the weight calculation unit that calculates the weight of the object.

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

[0006] In order to achieve the above object, in one embodiment of the present invention, an attachment for loading an object onto a vehicle is provided. and a control device; A work machine comprising: The control devicea weight calculation unit that calculates the load weight of the transported object loaded onto the vehicle using the attachment; an input unit that inputs a platform weight measurement value that is the load weight of the transported object loaded onto the vehicle measured by a platform weight device; and a correction value generation unit that generates a correction value for the load weight based on the platform weight measurement value input by the input unit and the load weight calculated by the weight calculation unit, The control device is configured to be able to execute the steps of: when the transported object is loaded onto the vehicle using the attachment, calculating the load weight of the transported object using the weight calculation unit; after the transported object is loaded onto the vehicle, inputting the platform weight measurement value measured by the platform weight device from the input unit; and generating a correction value for the load weight using the correction value generation unit. The weight calculation unit calculates the loaded weight corrected with the correction value. [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 transported object. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a top view showing an example of a yard in which a shovel according to the present embodiment is used. [Figure 2] FIG. [Figure 3] FIG. 1 is a diagram illustrating an example of a configuration of a shovel. [Figure 4] FIG. 1 is a diagram schematically illustrating an example of the configuration of a hydraulic system of a shovel. [Figure 5] FIG. 2 is a diagram illustrating an example of components related to a transported object weight detection function. [Figure 6] FIG. 4 is a block diagram illustrating the processing of a transported object weight calculation unit. [Figure 7A] 10 is an example of a history recorded in a storage device of a shovel. [Figure 7B] 10 is an example of a history recorded in a storage device of a shovel. DETAILED DESCRIPTION OF THE INVENTION

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

[0010] <yards> An example of a yard 500 in which a shovel 100, which is an example of a work machine according to this embodiment, is used will be described with reference to Fig. 1. Fig. 1 is a top view showing an example of a yard 500 in which a shovel 100 according to this embodiment is used.

[0011] The yard 500 is provided with, for example, a collection point 510, a work device 520, a collection point 530, a loading position 540, and a platform lifting device 550.

[0012] The shovel 100A (100) unloads scrap from the bed of a dump truck (not shown) that has come to unload the scrap into the collection site 510. The shovel 100A also throws the scrap from the collection site 510 into the inlet of the working device 520. The working device 520 is, for example, a crusher that crushes the scrap thrown into the inlet. The working device 520 may also be provided with a line sorter, a vibrating screen, or the like that separates the crushed scrap. The scrap processed by the working device 520 (for example, crushed and separated scrap) is accumulated in the collection site 530.

[0013] The shovel 100B (100) loads processed scrap (hereinafter referred to as transported goods) accumulated in the collection site 530 onto the bed of a dump truck DT that has come to load scrap and is parked at the loading position 540. The shovel 100B (100) also has a function to calculate the weight of the transported goods loaded onto the bed of the dump truck DT in one loading operation. The shovel 100B (100) also has a function to calculate the load weight of the transported goods loaded onto the bed of the dump truck DT by adding up the weights of the transported goods calculated in multiple loading operations.

[0014] The platform weighing device 550 is a device that weighs the weight of the dump truck DT. The dump truck DT, which has been loaded with an article at the loading position 540, moves from the loading position 540 to the platform weighing device 550, and the weight of the dump truck DT is weighed by the platform weighing device 550. The weight of the article loaded on the dump truck DT (platform weighing measurement value) is then calculated by subtracting the weight of the empty dump truck DT from the weight of the dump truck DT loaded with the article. Note that the weight of the empty dump truck DT may be weighed by the platform weighing device 550 when the empty dump truck DT enters the yard 500, for example, or a table that associates the vehicle type of the dump truck DT with the weight when empty may be prepared in advance, and the weight when empty may be set based on the vehicle type of the dump truck DT.

[0015] If the load weight of the dump truck DT measured by the platform weighing device 550 (platform weighing value) exceeds the maximum load capacity, the dump truck DT returns to the loading position 540, and the excavator 100B (100) unloads the excess transported goods from the bed of the dump truck DT. Then, the dump truck DT moves again from the loading position 540 to the platform weighing device 550, and the weight of the dump truck DT is measured again by the platform weighing device 550, and the load weight (platform weighing value) is calculated.

[0016] On the other hand, if the load weight of the dump truck DT measured by the platform weighing device 550 (platform weighing value) is insufficient for the maximum load capacity, the dump truck DT returns to the loading position 540, and the excavator 100B (100) further loads the shortage of transported goods onto the bed of the dump truck DT. Then, the dump truck DT again moves from the loading position 540 to the platform weighing device 550, and the weight of the dump truck DT is measured again by the platform weighing device 550, and the load weight (platform weighing value) is calculated.

[0017] Then, when the excess or deficiency in the load weight of the dump truck DT is corrected, the dump truck DT leaves the yard 500 and moves to the intended destination.

[0018] [Outline of the Excavator] Next, an overview of the shovel 100 according to this embodiment will be described with reference to FIG.

[0019] FIG. 2 is a side view of the shovel 100 according to this embodiment.

[0020] The excavator 100 of 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 bucket 6 constituting an attachment (working machine), and a cabin 10.

[0021] The lower traveling body 1 has a pair of left and right crawlers that are hydraulically driven by hydraulic traveling motors 1L, 1R (see FIG. 3, which will be described later), thereby causing the excavator 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.

[0022] The upper rotating body 3 is driven by a swing hydraulic motor 2A (see FIG. 3 described later) to swing relative to the lower traveling body 1. In other words, the swing hydraulic motor 2A is a swing driving part that drives the upper rotating body 3 as a driven part, and can change the orientation of the upper rotating body 3.

[0023] 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.

[0024] The boom 4 is pivotally mounted 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 mounted to the tip of the boom 4 so as to be able to rotate up and down, and a bucket 6 serving as an end attachment is pivotally mounted to the tip of the arm 5 so as to be able to rotate up and down. The boom 4, arm 5, and bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, each serving as a hydraulic actuator.

[0025] The bucket 6 is an example of an end attachment, and other end attachments, such as a slope bucket, a dredging bucket, a breaker, a lifting magnet, a grapple, etc., may be attached to the tip of the arm 5 instead of the bucket 6, depending on the work content, etc.

[0026] 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.

[0027] [Excavator configuration] Next, with reference to FIG. 3 in addition to FIG. 2, a specific configuration of the shovel 100 according to this embodiment will be described.

[0028] FIG. 3 is a diagram schematically showing an example of the configuration of the shovel 100 according to this embodiment.

[0029] In FIG. 3, 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.

[0030] The drive system of the excavator 100 according to this embodiment includes the engine 11, the regulator 13, the main pump 14, and the control valve 17. Furthermore, the hydraulic drive system of the excavator 100 according to this embodiment includes hydraulic actuators such as the traveling hydraulic motors 1L, 1R, the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 that hydraulically drive the lower traveling structure 1, the upper rotating structure 3, the boom 4, the arm 5, and the bucket 6, respectively, as described above.

[0031] 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.

[0032] 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. The regulator 13 includes, for example, regulators 13L and 13R (see FIG. 4), as described below.

[0033] The main pump 14 is mounted on the rear of the upper rotating body 3, for example, 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). The main pump 14 includes, for example, main pumps 14L and 14R (see FIG. 4), as will be described later.

[0034] The control valve 17 is a hydraulic control device mounted, for example, at 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 bucket cylinder 9) in response to the operating state of the control device 26. Specifically, the control valve 17 includes control valves 171 to 176 that control the flow rate and 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, the control valve 174 corresponds to the bucket cylinder 9, the control valve 175 corresponds to the boom cylinder 7, and the control valve 176 corresponds to the arm cylinder 8. Furthermore, the control valve 175 includes, for example, control valves 175L and 175R (see FIG. 4), as will be described later, and the control valve 176 includes, for example, control valves 176L and 176R (see FIG. 4), as will be described later. The control valves 171 to 176 will be described later in detail.

[0035] The operation system of the shovel 100 according to this embodiment includes a pilot pump 15 and an operation device 26. The operation system of the shovel 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.

[0036] 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.

[0037] 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 structure 3, the boom 4, the arm 5, and the bucket 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 bucket cylinder 9). The operation device 26 is connected to the control valve 17 directly through a secondary pilot line thereof or indirectly via a shuttle valve 32 (described later) provided in the secondary pilot line. This allows pilot pressures corresponding to the operating states of the undercarriage 1, the upper rotating structure 3, the boom 4, the arm 5, and the bucket 6, etc., in the operation device 26 to be input to the control valve 17. Therefore, the control valve 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 (not shown) 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), bucket 6 (bucket 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.

[0038] 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.

[0039] 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 176 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 176 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 176. 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 176 in accordance with the operation content of the operating device 26.

[0040] The control system of the excavator 100 according to this 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, a bucket 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.

[0041] The controller 30 (an example of a control device) is provided, for example, in the cabin 10 and controls the driving of the excavator 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.

[0042] 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.

[0043] 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.

[0044] Furthermore, for example, the controller 30 performs control related to a machine guidance function that guides (instructs) the operator in manually operating the shovel 100 via the operation device 26. Furthermore, the controller 30 performs control related to a machine control function that automatically assists the operator in manually operating the shovel 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.

[0045] 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).

[0046] 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. The discharge pressure sensor 28 includes, for example, discharge pressure sensors 28L and 28R (see FIG. 4), as described below.

[0047] 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 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 lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, the bucket 6, etc. in the operating device 26 is input to the controller 30.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] The storage device 47 is provided, for example, in the cabin 10, and stores various pieces 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 during operation of the shovel 100, or may store information obtained via various devices before operation of the shovel 100 is started. The storage device 47 may store, for example, data related to a target construction plane 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 plane may be set (saved) by the operator of the shovel 100, or may be set by a construction manager or the like.

[0054] 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 bucket 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.

[0055] 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.

[0056] The bucket angle sensor S3 is attached to the bucket 6 and detects the rotation angle of the bucket 6 relative to the arm 5 (hereinafter referred to as the "bucket angle"), for example, the angle formed by a line connecting the fulcrum of the bucket 6 and the tip (cutting edge) 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 bucket angle by the bucket angle sensor S3 is input to the controller 30.

[0057] 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 of the excavator 100 (i.e., the upper rotating body 3) about two axes in the fore-aft and lateral directions (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. The 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.

[0058] 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.

[0059] The imaging device S6, which serves as a spatial recognition device, captures images of the periphery of the shovel 100. The imaging device S6 includes a camera S6F that captures an image in front of the shovel 100, a camera S6L that captures an image to the left of the shovel 100, a camera S6R that captures an image to the right of the shovel 100, and a camera S6B that captures an image behind the shovel 100.

[0060] 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.

[0061] 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.

[0062] The imaging device S6 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 shovel 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 shovel 100 to the recognized object. The imaging device S6 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 a CMOS, and outputs a captured image to the display device 40. The spatial recognition device may also be configured to calculate the distance from the spatial recognition device or the shovel 100 to the recognized object. In addition to the imaging device S6, other object detection devices such as an ultrasonic sensor, millimeter-wave radar, LIDAR, or infrared sensor may also 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.

[0063] The imaging device S6 may be directly connected to the controller 30 so as to be able to communicate with it.

[0064] 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. A bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B are attached to the bucket cylinder 9. The boom rod pressure sensor S7R, boom bottom pressure sensor S7B, arm rod pressure sensor S8R, arm bottom pressure sensor S8B, bucket rod pressure sensor S9R, and bucket bottom pressure sensor S9B are collectively referred to as "cylinder pressure sensors."

[0065] The boom rod pressure sensor S7R detects the pressure in the rod-side oil chamber of the boom cylinder 7 (hereinafter referred to as the "boom rod pressure"), and the boom bottom pressure sensor S7B detects the pressure in the bottom-side oil chamber of the boom cylinder 7 (hereinafter referred to as the "boom bottom pressure"). The arm rod pressure sensor S8R detects the pressure in the rod-side oil chamber of the arm cylinder 8 (hereinafter referred to as the "arm rod pressure"), and the arm bottom pressure sensor S8B detects the pressure in the bottom-side oil chamber of the arm cylinder 8 (hereinafter referred to as the "arm bottom pressure"). The bucket rod pressure sensor S9R detects the pressure in the rod-side oil chamber of the bucket cylinder 9 (hereinafter referred to as the "bucket rod pressure"), and the bucket bottom pressure sensor S9B detects the pressure in the bottom-side oil chamber of the bucket cylinder 9 (hereinafter referred to as the "bucket bottom pressure").

[0066] A temperature sensor S10 is also provided to detect the temperature of the hydraulic oil. The temperature sensor S10 may be provided, for example, in a hydraulic oil tank to detect the temperature of the hydraulic oil in the hydraulic oil tank. The temperature sensor S10 may also be provided, for example, in a hydraulic oil flow path that supplies hydraulic oil discharged from the main pump 14 to a hydraulic actuator such as the boom cylinder 7 to detect the temperature of the hydraulic oil supplied to the hydraulic actuator. The temperature sensor S10 may also detect the temperature of the hydraulic oil in a hydraulic actuator, for example. For example, the temperature sensor S10 may be provided to detect the temperature of the hydraulic oil in a chamber on the bottom side of the boom cylinder 7. The temperature of the hydraulic oil detected by the temperature sensor S10 is input to the controller 30.

[0067] 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.

[0068] 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.

[0069] The machine guidance unit 50, for example, controls the excavator 100 with respect to the machine guidance function. The machine guidance unit 50 communicates work information, such as the distance between the target construction surface and the tip of the attachment (specifically, the working portion of the end attachment), to the operator via the display device 40, the audio output device 43, etc. Data regarding the target construction surface is, for example, pre-stored in the storage device 47, as described above. Data regarding the target construction surface is expressed, for example, in a reference coordinate system. The reference coordinate system is, for example, the World Geodetic System. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with the origin at the center of gravity of the Earth, the X axis pointing toward the intersection of the Greenwich meridian and the equator, the Y axis pointing toward 90 degrees east longitude, and the Z axis pointing toward the North Pole. The operator may designate any point on the construction site as a reference point and set the target construction surface relative to the reference point via the input device 42. The working part of the bucket 6 is, for example, the tip of the bucket 6, the back of the bucket 6, etc. Furthermore, if, for example, a breaker is used as the end attachment instead of the bucket 6, the tip of the breaker corresponds to the working part. The machine guidance unit 50 notifies the operator of work information via the display device 40, the audio output device 43, etc., and guides the operator in operating the excavator 100 via the operating device 26.

[0070] Furthermore, the machine guidance unit 50 executes, for example, control of the excavator 100 related to a machine control function. For example, when an operator is manually performing a scooping operation, the machine guidance unit 50 may automatically operate at least one of the boom 4, the arm 5, and the bucket 6 so that the tip position of the bucket 6 coincides with the target construction surface.

[0071] The machine guidance unit 50 acquires information from the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine body inclination sensor S4, turning state sensor S5, imaging device S6, positioning device P1, communication device T1, input device 42, etc. Then, the machine guidance unit 50, for example, calculates the distance between the bucket 6 and the target construction surface based on the acquired information, notifies the operator of the distance between the bucket 6 and the target construction surface by audio from the audio output device 43 and an image displayed on the display device 40, and automatically controls the operation of the attachment so that the tip of the attachment (specifically, working parts such as the tip and back of the bucket 6) coincides with the target construction surface. The machine guidance unit 50 includes, as detailed functional configurations related to the machine guidance function and the machine control function, a position calculation unit 51, a distance calculation unit 52, an information transmission unit 53, an automatic control unit 54, a turning angle calculation unit 55, and a relative angle calculation unit 56.

[0072] The position calculation unit 51 calculates the position of a predetermined positioning target. For example, the position calculation unit 51 calculates the coordinate point in a reference coordinate system of the tip of the attachment, specifically, the working part such as the tip or back of the bucket 6. Specifically, the position calculation unit 51 calculates the coordinate point of the working part of the bucket 6 from the respective elevation and depression angles of the boom 4, arm 5, and bucket 6 (boom angle, arm angle, and bucket angle).

[0073] Distance calculation unit 52 calculates the distance between two positioning targets. For example, distance calculation unit 52 calculates the distance between the tip of the attachment, specifically, the working part such as the tip or back of bucket 6, and the target construction surface. Distance calculation unit 52 may also calculate the angle (relative angle) between the back of bucket 6 as the working part and the target construction surface.

[0074] The information transmission unit 53 transmits (notifies) various pieces of information to the operator of the shovel 100 through predetermined notification means such as the display device 40 or the audio output device 43. The information transmission unit 53 notifies the operator of the shovel 100 of the magnitude (degree) of various distances, etc. calculated by the distance calculation unit 52. For example, the information transmission unit 53 notifies the operator of the distance (magnitude) between the tip of the bucket 6 and the target construction surface using at least one of visual information from the display device 40 and audio information from the audio output device 43. The information transmission unit 53 may also notify the operator of the relative angle (magnitude) between the back surface of the bucket 6 as the working portion and the target construction surface using at least one of visual information from the display device 40 and audio information from the audio output device 43.

[0075] Specifically, the information transmission unit 53 uses intermittent sounds from the audio output device 43 to communicate to the operator the distance (e.g., vertical distance) between the working portion of the bucket 6 and the target construction surface. In this case, the information transmission unit 53 may shorten the intervals of the intermittent sounds as the vertical distance decreases, and may lengthen the intervals of the intermittent sounds as the vertical distance increases. The information transmission unit 53 may also use a continuous sound, or may express differences in the vertical distance by varying the pitch, intensity, etc. of the sound. The information transmission unit 53 may also issue an alarm through the audio output device 43 when the tip of the bucket 6 is lower than the target construction surface, that is, when the tip of the bucket 6 has exceeded the target construction surface. The alarm is, for example, a continuous sound that is significantly louder than the intermittent sound.

[0076] Furthermore, the information transmission unit 53 may cause the display device 40 to display, as work information, the distance between the tip of the attachment, specifically the working portion of the bucket 6, and the target construction surface, the magnitude of the relative angle between the back surface of the bucket 6 and the target construction surface, etc. Under the control of the controller 30, the display device 40 displays, for example, image data received from the imaging device S6 and the work information received from the information transmission unit 53. The information transmission unit 53 may communicate the magnitude of the vertical distance to the operator using, for example, an image of an analog meter or a bar graph indicator.

[0077] The automatic control unit 54 automatically assists the operator in manually operating the excavator 100 via the operation device 26 by automatically operating the actuators. Specifically, as described below, the automatic control unit 54 can individually and automatically adjust the pilot pressures acting on the control valves (specifically, the control valves 173, 175L, 175R, and 174) corresponding to multiple hydraulic actuators (specifically, the swing hydraulic motor 2A, the boom cylinder 7, and the bucket cylinder 9). This allows the automatic control unit 54 to automatically operate each hydraulic actuator. Control related to the machine control function by the automatic control unit 54 may be performed, for example, when a predetermined switch included in the input device 42 is pressed. The predetermined switch may be, for example, a machine control switch (hereinafter referred to as an "MC (Machine Control) switch"), and may be arranged as a knob switch at the tip of a portion of the operation device 26 (for example, a lever device corresponding to operation of the arm 5) that is gripped by the operator. The following description will be given on the assumption that the machine control function is enabled when the MC switch is pressed.

[0078] For example, when an MC switch or the like is pressed, the automatic control unit 54 automatically extends and retracts at least one of the boom cylinder 7 and the bucket cylinder 9 in accordance with the operation of the arm cylinder 8 to support excavation work and shaping work. Specifically, when the operator manually performs a closing operation of the arm 5 (hereinafter referred to as an "arm closing operation"), the automatic control unit 54 automatically extends and retracts at least one of the boom cylinder 7 and the bucket cylinder 9 so that the target construction surface coincides with the position of a work part such as the tip or back of the bucket 6. In this case, the operator can close the arm 5 while aligning the tip, etc. of the bucket 6 with the target construction surface, simply by performing an arm closing operation on a lever device corresponding to the operation of the arm 5, for example.

[0079] Furthermore, when an MC switch or the like is pressed, the automatic control unit 54 may automatically rotate the swing hydraulic motor 2A (an example of an actuator) to orient the upper rotating body 3 directly toward the target construction surface. Hereinafter, the control by the controller 30 (automatic control unit 54) to orient the upper rotating body 3 toward the target construction surface will be referred to as "orientation control." This allows an operator or the like to orient the upper rotating body 3 toward the target construction surface simply by pressing a predetermined switch, or, with the switch pressed, by operating a lever device (described below) corresponding to the swing operation. Furthermore, by simply pressing the MC switch, the operator can orient the upper rotating body 3 toward the target construction surface and start the machine control function related to the excavation work or the like on the target construction surface described above.

[0080] For example, a state in which the upper rotating body 3 of the shovel 100 is directly facing the target construction surface is a state in which the tip of the attachment (for example, the tip or back as the working part of the bucket 6) can be moved along the inclination direction of the target construction surface in accordance with the operation of the attachment. Specifically, a state in which the upper rotating body 3 of the shovel 100 is directly facing the target construction surface is a state in which the working surface of the attachment (attachment working surface) perpendicular to the rotation plane of the shovel 100 includes the normal to the target construction surface corresponding to the cylindrical body (in other words, a state in which it is along the normal line).

[0081] If the attachment operating surface of the shovel 100 does not include the normal to the target construction surface corresponding to the cylinder, the tip of the attachment cannot move the target construction surface in the inclined direction. As a result, the shovel 100 cannot properly construct the target construction surface. In response to this, the automatic control unit 54 can automatically rotate the swing hydraulic motor 2A to orient the upper swing body 3 directly. This allows the shovel 100 to properly construct the target construction surface.

[0082] In the facing control, the automatic control unit 54 determines that the excavator is facing the target construction surface, for example, when the left edge vertical distance between the coordinate point of the left end of the toe of the bucket 6 and the target construction surface (hereinafter simply referred to as the "left edge vertical distance") and the right edge vertical distance between the coordinate point of the right end of the toe of the bucket 6 and the target construction surface (hereinafter simply referred to as the "right edge vertical distance") become equal. Furthermore, the automatic control unit 54 may determine that the excavator 100 is facing the target construction surface not when the left edge vertical distance and the right edge vertical distance become equal (i.e., when the difference between the left edge vertical distance and the right edge vertical distance becomes zero), but when the difference becomes equal to or less than a predetermined value.

[0083] Furthermore, in the facing control, the automatic control unit 54 may operate the swing hydraulic motor 2A based on, for example, the difference between the vertical distance at the left end and the vertical distance at the right end. Specifically, when a lever device corresponding to a swing operation is operated with a predetermined switch such as an MC switch pressed, the automatic control unit 54 determines whether the lever device is operated in a direction that causes the upper swing body 3 to face the target construction surface. For example, if the lever device is operated in a direction that increases the vertical distance between the tip of the bucket 6 and the target construction surface, the automatic control unit 54 does not execute facing control. On the other hand, if the swing operation lever is operated in a direction that decreases the vertical distance between the tip of the bucket 6 and the target construction surface, the automatic control unit 54 executes facing control. As a result, the automatic control unit 54 can operate the swing hydraulic motor 2A so as to reduce the difference between the vertical distance at the left end and the vertical distance at the right end. Thereafter, when the difference becomes equal to or less than a predetermined value or becomes zero, the automatic control unit 54 stops the swing hydraulic motor 2A. Furthermore, the automatic control unit 54 may set a swing angle at which the difference is equal to or less than a predetermined value or zero as a target angle, and control the operation of the swing hydraulic motor 2A so that the angle difference between the target angle and the current swing angle (specifically, the detected value based on the detection signal of the swing state sensor S5) becomes zero. In this case, the swing angle is, for example, the angle of the front-rear axis of the upper swing body 3 with respect to the reference direction.

[0084] As described above, when a swing electric motor is mounted on the excavator 100 instead of the swing hydraulic motor 2A, the automatic control unit 54 performs facing control with the swing electric motor (an example of an actuator) as the control target.

[0085] The slewing angle calculation unit 55 calculates the slewing angle of the upper slewing body 3. This allows the controller 30 to identify the current orientation of the upper slewing body 3. The slewing angle calculation unit 55 calculates the angle of the front-to-rear axis of the upper slewing body 3 relative to a reference direction as the slewing angle, for example, based on the output signal of a GNSS compass included in the positioning device P1. The slewing angle calculation unit 55 may also calculate the slewing angle based on a detection signal from the slewing state sensor S5. Furthermore, if a reference point is set at the construction site, the slewing angle calculation unit 55 may use the direction of the reference point as seen from the slewing axis as the reference direction.

[0086] The rotation angle indicates the direction in which the attachment operating plane extends relative to the reference direction. The attachment operating plane is, for example, an imaginary plane that cuts the attachment longitudinally and is positioned so as to be perpendicular to the rotation plane. The rotation plane is, for example, an imaginary plane that includes the bottom surface of the rotating frame that is perpendicular to the rotation axis. For example, when the controller 30 (machine guidance unit 50) determines that the upper rotating body 3 is directly facing the target construction surface, the controller 30 (machine guidance unit 50) determines that the attachment operating plane includes the normal to the target construction surface.

[0087] The relative angle calculation unit 56 calculates the swing angle (relative angle) required to make the upper swing body 3 face the target construction surface. The relative angle is, for example, the relative angle formed between the direction of the front-rear axis of the upper swing body 3 when the upper swing body 3 is faced directly with the target construction surface and the current direction of the front-rear axis of the upper swing body 3. The relative angle calculation unit 56 calculates the relative angle based on, for example, data related to the target construction surface stored in the storage device 47 and the swing angle calculated by the swing angle calculation unit 55.

[0088] When a lever device corresponding to a swing operation is operated with a predetermined switch, such as an MC switch, pressed, the automatic control unit 54 determines whether the upper swing body 3 has been rotated in a direction to face the target construction surface. If the automatic control unit 54 determines that the upper swing body 3 has been rotated in a direction to face the target construction surface, it sets the relative angle calculated by the relative angle calculation unit 56 as the target angle. If the change in the swing angle after the lever device is operated reaches the target angle, the automatic control unit 54 determines that the upper swing body 3 is facing the target construction surface and may stop the movement of the swing hydraulic motor 2A. In this way, the automatic control unit 54 can face the upper swing body 3 to the target construction surface based on the configuration shown in FIG. 3. Although the above-mentioned embodiment of facing control has shown an example of facing control with respect to the target construction surface, the present invention is not limited to this. For example, even in the scooping operation when loading a temporarily placed transported object onto a dump truck, a target excavation trajectory corresponding to the target volume may be generated, and facing control of the swing operation may be performed so that the attachment faces the target excavation trajectory. In this case, the target excavation trajectory is changed each time a scooping operation is performed. Therefore, after discharging soil onto the dump truck, facing control is performed to the newly changed target excavation trajectory.

[0089] The swing hydraulic motor 2A has a first port 2A1 and a second port 2A2. The hydraulic sensor 21 detects the pressure of the hydraulic oil at the first port 2A1 of the swing hydraulic motor 2A. The hydraulic sensor 22 detects the pressure of the hydraulic oil at the second port 2A2 of the swing hydraulic motor 2A. Detection signals corresponding to the discharge pressures detected by the hydraulic sensors 21 and 22 are input to the controller 30.

[0090] Furthermore, the first port 2A1 is connected to a hydraulic oil tank via a relief valve 23. The relief valve 23 opens when the pressure on the first port 2A1 side reaches a predetermined relief pressure, and discharges the hydraulic oil on the first port 2A1 side to the hydraulic oil tank. Similarly, the second port 2A2 is connected to the hydraulic oil tank via a relief valve 24. The relief valve 24 opens when the pressure on the second port 2A2 side reaches a predetermined relief pressure, and discharges the hydraulic oil on the second port 2A2 side to the hydraulic oil tank.

[0091] [Excavator hydraulic system] Next, the hydraulic system of the excavator 100 according to this embodiment will be described with reference to FIG.

[0092] FIG. 4 is a diagram schematically showing an example of the configuration of a hydraulic system of the excavator 100 according to this embodiment.

[0093] In FIG. 4, 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, as in FIG. 3 and other figures.

[0094] The hydraulic system realized by the hydraulic circuit circulates hydraulic oil from each of main pumps 14L, 14R driven by engine 11 through center bypass oil passages C1L, C1R and parallel oil passages C2L, C2R to a hydraulic oil tank.

[0095] The center bypass oil passage C1L starts from the main pump 14L, passes through control valves 171, 173, 175L, and 176L arranged in the control valve 17 in this order, and reaches the hydraulic oil tank.

[0096] The center bypass oil passage C1R starts from the main pump 14R, passes through the control valves 172, 174, 175R, and 176R arranged in the control valve 17 in this order, and reaches the hydraulic oil tank.

[0097] The control valve 171 is a spool valve that supplies hydraulic oil discharged from the main pump 14L to the traveling hydraulic motor 1L and discharges hydraulic oil discharged from the traveling hydraulic motor 1L to a hydraulic oil tank.

[0098] The control valve 172 is a spool valve that supplies hydraulic oil discharged from the main pump 14R to the traveling hydraulic motor 1R and discharges hydraulic oil discharged from the traveling hydraulic motor 1R to a hydraulic oil tank.

[0099] The control valve 173 is a spool valve that supplies the hydraulic oil discharged from the main pump 14L to the swing hydraulic motor 2A and discharges the hydraulic oil discharged from the swing hydraulic motor 2A to a hydraulic oil tank.

[0100] The control valve 174 is a spool valve that supplies the hydraulic oil discharged from the main pump 14R to the bucket cylinder 9 and also discharges the hydraulic oil in the bucket cylinder 9 to a hydraulic oil tank.

[0101] The control valves 175L and 175R are spool valves that supply the hydraulic oil discharged from the main pumps 14L and 14R to the boom cylinder 7 and discharge the hydraulic oil in the boom cylinder 7 to a hydraulic oil tank, respectively.

[0102] The control valves 176L, 176R supply the hydraulic oil discharged by the main pumps 14L, 14R to the arm cylinder 8, and also discharge the hydraulic oil in the arm cylinder 8 to a hydraulic oil tank.

[0103] The control valves 171, 172, 173, 174, 175L, 175R, 176L, and 176R adjust the flow rate of hydraulic oil supplied to or discharged from the hydraulic actuators and switch the flow direction, depending on the pilot pressure acting on the pilot port.

[0104] The parallel oil passage C2L supplies hydraulic oil for the main pump 14L to the control valves 171, 173, 175L, and 176L in parallel with the center bypass oil passage C1L. Specifically, the parallel oil passage C2L branches off from the center bypass oil passage C1L upstream of the control valve 171 and is configured to be able to supply hydraulic oil for the main pump 14L in parallel to each of the control valves 171, 173, 175L, and 176R. This allows the parallel oil passage C2L to supply hydraulic oil to a downstream control valve when the flow of hydraulic oil through the center bypass oil passage C1L is restricted or blocked by any of the control valves 171, 173, and 175L.

[0105] The parallel oil passage C2R supplies hydraulic oil for the main pump 14R to the control valves 172, 174, 175R, and 176R in parallel with the center bypass oil passage C1R. Specifically, the parallel oil passage C2R branches off from the center bypass oil passage C1R upstream of the control valve 172 and is configured to be able to supply hydraulic oil for the main pump 14R in parallel to each of the control valves 172, 174, 175R, and 176R. When the flow of hydraulic oil through the center bypass oil passage C1R is restricted or blocked by any of the control valves 172, 174, and 175R, the parallel oil passage C2R can supply hydraulic oil to a control valve further downstream.

[0106] Under the control of the controller 30, the regulators 13L and 13R adjust the tilt angles of the swash plates of the main pumps 14L and 14R, thereby adjusting the discharge amounts of the main pumps 14L and 14R.

[0107] The discharge pressure sensor 28L detects the discharge pressure of the main pump 14L, and a detection signal corresponding to the detected discharge pressure is input to the controller 30. The same applies to the discharge pressure sensor 28R. This allows the controller 30 to control the regulators 13L, 13R in accordance with the discharge pressures of the main pumps 14L, 14R.

[0108] Negative control throttles (hereinafter referred to as "negative control throttles") 18L, 18R are provided in the center bypass oil passages C1L, C1R between the hydraulic oil tank and the most downstream control valves 176L, 176R, respectively. As a result, the flow of hydraulic oil discharged by the main pumps 14L, 14R is restricted by the negative control throttles 18L, 18R. The negative control throttles 18L, 18R then generate a control pressure (hereinafter referred to as "negative control pressure") for controlling the regulators 13L, 13R.

[0109] The negative control pressure sensors 19L and 19R detect the negative control pressure, and the detection signal corresponding to the detected negative control pressure is input to the controller 30.

[0110] The controller 30 may control the regulators 13L, 13R in accordance with the discharge pressures of the main pumps 14L, 14R detected by the discharge pressure sensors 28L, 28R to adjust the discharge rates of the main pumps 14L, 14R. For example, the controller 30 may control the regulator 13L in accordance with an increase in the discharge pressure of the main pump 14L to adjust the swash plate tilt angle of the main pump 14L to reduce the discharge rate. The same applies to the regulator 13R. In this way, the controller 30 can perform total horsepower control of the main pumps 14L, 14R so that the absorption horsepower of the main pumps 14L, 14R, which is expressed as the product of the discharge pressure and the discharge rate, does not exceed the output horsepower of the engine 11.

[0111] The controller 30 may also adjust the discharge rates of the main pumps 14L, 14R by controlling the regulators 13L, 13R in accordance with the negative control pressure detected by the negative control pressure sensors 19L, 19R. For example, the controller 30 decreases the discharge rates of the main pumps 14L, 14R as the negative control pressure increases, and increases the discharge rates of the main pumps 14L, 14R as the negative control pressure decreases.

[0112] Specifically, when the excavator 100 is in a standby state (the state shown in FIG. 4 ) in which none of the hydraulic actuators are operated, the hydraulic oil discharged from the main pumps 14L, 14R passes through the center bypass oil passages C1L, C1R and reaches the negative control throttles 18L, 18R. The flow of the hydraulic oil discharged from the main pumps 14L, 14R increases the negative control pressure generated upstream of the negative control throttles 18L, 18R. As a result, the controller 30 reduces the discharge rate of the main pumps 14L, 14R to the allowable minimum discharge rate, thereby suppressing pressure loss (pumping loss) when the discharged hydraulic oil passes through the center bypass oil passages C1L, C1R.

[0113] On the other hand, when any of the hydraulic actuators is operated via the operating device 26, the hydraulic oil discharged from the main pumps 14L, 14R flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator. The flow of hydraulic oil discharged from the main pumps 14L, 14R reduces or eliminates the amount of hydraulic oil reaching the negative control throttles 18L, 18R, lowering the negative control pressure generated upstream of the negative control throttles 18L, 18R. As a result, the controller 30 increases the discharge rate of the main pumps 14L, 14R, circulating sufficient hydraulic oil to the hydraulic actuator to be operated, thereby reliably driving the hydraulic actuator to be operated.

[0114] [Configuration details for excavator transported object weight detection function] Next, details of the configuration related to the transported object weight detection function of the shovel 100 according to this embodiment will be described with reference to Fig. 5. Fig. 5 is a diagram schematically showing an example of components related to the transported object weight detection function of the shovel 100 according to this embodiment.

[0115] 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 transported by the bucket 6.

[0116] 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 , a remaining load amount calculation unit 64 , and a load center of gravity calculation unit 65 .

[0117] Here, an example of the operation of loading an object onto a dump truck by the excavator 100 according to this embodiment will be described.

[0118] First, the shovel 100 controls the attachment at the scooping position to scoop up the transported material in the accumulation area 530 (see FIG. 1 ) with the bucket 6 (scooping operation). Next, the shovel 100 rotates the upper rotating body 3 to move the bucket 6 from the scooping position to the discharge position (swinging operation). Below the discharge position is located the bed of the dump truck DT. Next, at the discharge position, the shovel 100 controls the attachment to discharge the transported material in the bucket 6, thereby loading the transported material in the bucket 6 onto the bed of the dump truck DT (loading operation). Next, the shovel 100 rotates the upper rotating body 3 to move the bucket 6 from the discharge position to the scooping position (swinging operation). By repeating these operations, the shovel 100 loads the scooped transported material into the bed of the dump truck.

[0119] The transported object weight calculation unit 61 calculates the weight of the transported object in the bucket 6. The transported object weight calculation unit 61 calculates the weight of the transported object based on the thrust of the boom cylinder 7. The method of calculating the weight of the transported object in the transported object weight calculation unit 61 will be described later.

[0120] The maximum load capacity detection unit 62 detects the maximum load capacity of the dump truck DT to be loaded with the transported goods. For example, the maximum load capacity detection unit 62 identifies the dump truck DT to be loaded with the transported goods 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 DT based on the image of the identified dump truck DT. For example, the maximum load capacity detection unit 62 determines the vehicle type (size, etc.) of the dump truck DT based on the image of the identified dump truck DT. 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 DT 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 DT may be input by the input device 42, and the maximum load capacity detection unit 62 may calculate the maximum load capacity of the dump truck DT based on the input information of the input device 42.

[0121] The additional load amount calculation unit 63 calculates the weight (load weight) of the transported goods loaded on the dump truck DT. That is, every time the transported goods in the bucket 6 are discharged onto the bed of the dump truck DT, the additional load amount calculation unit 63 adds up the weight of the transported goods in the bucket 6 calculated by the transported goods weight calculation unit 61, and calculates the additional load amount (load weight, total weight), which is the sum of the weights of the transported goods loaded onto the bed of the dump truck DT. Note that when the dump truck DT to which the transported goods are to be loaded becomes a new dump truck DT, the additional load amount is reset.

[0122] The remaining load calculation unit 64 calculates the remaining load as the difference between the maximum load of the dump truck DT 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 transported goods that can be loaded onto the dump truck DT.

[0123] The load center of gravity calculation unit 65 calculates the center of gravity of the load in the bucket 6. For example, the load center of gravity calculation unit 65 may calculate the center of gravity of the load based on the values ​​of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, etc., assuming that the positional relationship between the toe position of the bucket 6 and the center of gravity of the load is known. Note that the calculation method is not limited to this, and various methods can be used.

[0124] The display device 40 may display the weight of the transported goods in the bucket 6 calculated by the transported goods weight calculation unit 61, the maximum load capacity of the dump truck DT detected by the maximum load capacity detection unit 62, the added load capacity of the dump truck DT (the total weight of the transported goods loaded on the loading platform) calculated by the added load capacity calculation unit 63, and the remaining load capacity of the dump truck DT (the remaining weight of the transported goods that can be loaded) calculated by the remaining load capacity calculation unit 64.

[0125] 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 transported object in the bucket 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 by the audio output device 43. This makes it possible to prevent the transported object from being loaded in excess of the maximum load amount of the dump truck DT.

[0126] [Calculation method for transported item weight] Next, a method for calculating the weight of the transported object in the bucket 6 in the transported object weight calculation unit 61, which calculates the weight of the transported object based on the thrust of the boom cylinder 7, will be described with reference to FIG.

[0127] 6 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 weight conversion unit 75, a loaded weight calculation unit 76, a platform weight input unit 77, and a correction value generation unit 78.

[0128] 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).

[0129] 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 of the boom 4 and the moment of inertia are calculated based on the output of the attitude sensor.

[0130] 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.

[0131] 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. W Here, 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.

[0132]

number

[0133] 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 of the rotation of the boom or the like around the pin.

[0134] The weight conversion unit 75 calculates the static torque τ W The weight W1 of the transported object is calculated based on the following equation. The weight W1 of the transported object is calculated based on the following equation: WThe torque when no load is loaded on the attachment can be calculated by subtracting the torque when no load is loaded on the bucket 6 from the torque when no load is loaded on the bucket 6, and dividing the result by the horizontal distance from the foot pin of the boom 4 to the center of gravity of the load. Note that the torque when no load is loaded on the attachment may be calculated based on the respective center-of-gravity positions of the boom 4, arm 5, and bucket 6 calculated based on the detection values ​​of the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3, and the respective weights of the boom 4, arm 5, and bucket 6. The horizontal distance from the foot pin of the boom 4 to the center of gravity of the load may also be calculated based on the center-of-gravity position of the load calculated by the load center-of-gravity calculation unit 65. In this way, the load weight calculation unit 61 can calculate the weight W1 of the load by compensating for the inertia term and centrifugal term during operation of the boom 4.

[0135] The weight conversion unit 75 also outputs the weight W (=α×W1) of the transported object obtained by multiplying the calculated weight W1 of the transported object by a correction coefficient α generated by the correction value generation unit 78, which will be described later. The initial value of the correction coefficient α is set to 1.

[0136] Alternatively, the weight conversion unit 75 outputs the weight W (=W1+β) of the transported object obtained by adding the calculated weight W1 of the transported object to an offset value β generated by the correction value generation unit 78, which will be described later. The initial value of the offset value β is set to 0.

[0137] Similar to the additional load amount calculation unit 63 (see Figure 5), the load weight calculation unit 76 adds the weight W of the transported objects calculated by the weight conversion unit 75 each time the transported objects in the bucket 6 are released onto the bed of the dump truck DT, and calculates the load weight (additional load amount, total weight), which is the sum of the weights of the transported objects loaded onto the bed of the dump truck DT.

[0138] In addition, as shown in Figures 7A and 7B described below, the transported object weight processing unit 60 records vehicle identification information (e.g., vehicle number) for identifying the dump truck DT, the load weight of the transported object loaded on the dump truck DT calculated by the load weight calculation unit 76, the correction value (correction coefficient α or offset value β) used in the weight conversion unit 75, and the number of loadings as history in the storage device 47.

[0139] The platform weight input unit 77 inputs the loaded weight (platform weighing value) measured by the platform weighing device 550. For example, the platform weighing device 550 and the controller 30 of the shovel 100 may be connected to be able to communicate with each other, and the loaded weight (platform weighing value) measured by the platform weighing device 550 may be transmitted (input) to the controller 30. In this case, the platform weighing device 550 associates the dump truck DT to be weighed with the dump truck DT to be loaded by the shovel 100, and the shovel 100 sets a correction value. An imaging device for identifying the dump truck DT to be weighed may be provided in the platform weighing device 550. The shovel 100 can associate the dump truck DT to be weighed with the dump truck DT to be loaded by the shovel 100 based on the license plate of the dump truck DT detected by the imaging device of the platform weighing device 550 and the license plate of the dump truck DT detected by the spatial recognition device of the shovel 100. Furthermore, the shovel 100 may associate the dump truck DT to be weighed with the dump truck DT to be loaded by the shovel 100, based on the history of the GNSS installed in the dump truck DT. Furthermore, the shovel 100 may use the GNSS of a mobile terminal carried by the driver of the dump truck DT. The load weight (platform weight measurement value) measured by the platform weight device 550 may be transmitted to the shovel 100 via a management device (not shown) of the yard 500. Furthermore, the operator of the dump truck DT or a manager in the yard 500 may communicate the load weight (platform weight measurement value) measured by the platform weight device 550 to the operator of the shovel 100. Then, the operator of the shovel 100 may operate the input device 42 to input the load weight (platform weight measurement value) measured by the platform weight device 550 to the controller 30 (platform weight input unit 77).

[0140] The correction value generation unit 78 generates a correction value based on the history recorded by the transported object weight processing unit 60 and the loaded weight (platform weight measurement value) input by the platform weight input unit 77. The generated correction value is input to the weight conversion unit 75.

[0141] 7A and 7B are examples of the history recorded in the storage device 47 of the excavator 100. In the following description, it is assumed that the maximum load capacity of the dump truck DT is 25 tons.

[0142] <Example of correcting the weight of the transported object using the correction coefficient α> First, a case where the weight W1 of the conveyed object calculated by the weight conversion unit 75 is corrected using the correction coefficient α to calculate the weight W of the conveyed object will be described with reference to FIG. 7A.

[0143] First, the excavator 100 performs a first loading operation on the first dump truck DT. Here, the excavator 100 loads the maximum load of transported goods onto the loading platform of the dump truck DT identified by the vehicle number XXXXXX.

[0144] Here, the correction coefficient α is set to 1, and the weight W of the transported object is calculated by the weight conversion unit 75. Then, the loading operation is repeated until the load weight of the transported object calculated by the load weight calculation unit 76 becomes 25 tons. In the following explanation, it is assumed that the number of loading operations required to load 25 tons of transported object is 30.

[0145] When the loaded weight calculated by the loaded weight calculation unit 76 reaches 25 tons, the loading operation is terminated. The transported object weight processing unit 60 records the vehicle identification information "Vehicle No. XXX", the loaded weight "25 tons", the correction coefficient α "1", and the number of loadings "3" in the storage device 47 as history 1-1.

[0146] The dump truck DT moves from the loading position 540 to the platform weight device 550, and the load weight (platform weight measurement value) of the transported goods loaded onto the dump truck DT is measured. Here, the platform weight measurement value measured by the platform weight device 550 is assumed to be 20 tons. In this case, the dump truck DT returns to the loading position 540 again.

[0147] The platform weight measurement value "20t" is input to the platform weight input unit 77. In addition, the transported object weight processing unit 60 records the platform weight measurement value "20t" input to the platform weight input unit 77 in association with history 1-1.

[0148] The correction value generation unit 78 generates a correction coefficient α based on the history. Specifically, the correction coefficient α is generated from the ratio (platform weight measurement value / loaded weight) between the platform weight input value input by the platform weight input unit 77 and the loaded weight calculated by the loaded weight calculation unit 76. For example, from the platform weight measurement value of "20t" and the loaded weight of "25t" in history 1-1, the correction coefficient α is calculated to be "0.8" (=20 / 25). The correction coefficient α is then input to the weight conversion unit 75.

[0149] Next, the excavator 100 performs a second loading operation on the first dump truck DT. Here, the excavator 100 loads the missing amount of transported goods onto the loading platform of the dump truck DT with vehicle number XXXXXX. Here, the missing amount is the difference of 5 tons between the maximum load capacity of 25 tons and the platform weight value of 20 tons. As a result, the excavator 100 loads the maximum load capacity (20 tons already loaded + missing amount of 5 tons) of transported goods onto the loading platform of the dump truck DT identified by vehicle number XXXXXX.

[0150] Here, the correction coefficient α is set to 0.8, and the weight W of the transported object is calculated by the weight conversion unit 75. Then, the loading operation is repeated until the loaded weight of the transported object calculated by the loaded weight calculation unit 76 becomes 5 tons (in other words, until the loaded weight of the transported object becomes 25 tons, including the 20 tons already loaded).

[0151] When the loaded weight calculated by the loaded weight calculation unit 76 reaches 5 tons (in other words, when the loaded weight of the transported goods reaches 25 tons, including the 20 tons already loaded), the loading operation is terminated. The transported goods weight processing unit 60 records the vehicle identification information "Vehicle No. XXX", the loaded weight "5 tons", the correction coefficient α "0.8", and the number of loadings in the storage device 47 as history 1-2.

[0152] The dump truck DT moves from the loading position 540 to the platform weight device 550, where the load weight (platform weight measurement value) of the transported object loaded onto the dump truck DT is measured. Here, the weight W of the transported object calculated by the weight conversion unit 75 is corrected by the correction coefficient α, so that the weight conversion unit 75 can accurately calculate the weight W of the transported object. Furthermore, the load weight calculation unit 76 can accurately calculate the load weight of the dump truck DT. As a result, the platform weight measurement value measured by the platform weight device 550 can approach the maximum load capacity. Here, the description will be given assuming that the platform weight measurement value measured by the platform weight device 550 is 25 tons. The platform weight measurement value "25 tons" is input to the platform weight input unit 77. Furthermore, the transported object weight processing unit 60 records the platform weight measurement value "25 tons" input by the platform weight input unit 77 in association with history 1-2.

[0153] Next, the excavator 100 performs a first loading operation on the second dump truck DT. Here, the excavator 100 loads the maximum load of transported goods onto the loading platform of the dump truck DT identified by the vehicle number △△△△△. Here, the correction coefficient α is set to 0.8, and the weight conversion unit 75 calculates the weight W of the transported goods. Then, the loading operation is repeated until the load weight of the transported goods calculated by the load weight calculation unit 76 reaches 25 tons.

[0154] When the loaded weight calculated by the loaded weight calculation unit 76 reaches 25 tons, the loading operation is terminated. The transported object weight processing unit 60 records the vehicle identification information "Vehicle No. △△△△△", the loaded weight "25 tons", the correction coefficient α "0.8", and the number of loadings in the storage device 47 as history 2-1.

[0155] The second dump truck DT moves from the loading position 540 to the platform weight device 550 and measures the load weight (platform weight measurement value) of the transported object loaded onto the dump truck DT. Here, the weight W of the transported object calculated by the weight conversion unit 75 is corrected by the correction coefficient α, so that the weight conversion unit 75 can accurately calculate the weight W of the transported object. Furthermore, the load weight calculation unit 76 can accurately calculate the load weight of the dump truck DT. As a result, the platform weight measurement value measured by the platform weight device 550 can approach the maximum load capacity. Here, the description will be given assuming that the platform weight measurement value measured by the platform weight device 550 is 25 tons. The platform weight measurement value "25 tons" is input to the platform weight input unit 77. Furthermore, the transported object weight processing unit 60 records the platform weight measurement value "25 tons" input to the platform weight input unit 77 in association with the history 2-1.

[0156] As described above, according to the excavator 100 of this embodiment, the weight W of the transported object calculated by the weight conversion unit 75 can be corrected by the correction coefficient α, so that the weight W of the transported object can be calculated with high accuracy. Furthermore, the loaded weight calculation unit 76 can accurately calculate the loaded weight of the dump truck DT. This can reduce the number of times the dump truck DT returns from the platform loading device 550 to the loading position 540. Furthermore, this can contribute to improving the transport efficiency of the dump truck DT and preventing overloading.

[0157] <Example of correcting the weight of the transported object using the offset value β> Next, a case where the weight W1 of the conveyed object calculated by the weight conversion unit 75 is corrected using the offset value β to calculate the weight W of the conveyed object will be described with reference to FIG. 7B.

[0158] First, the excavator 100 performs a first loading operation on the first dump truck DT. Here, the excavator 100 loads the maximum load of transported goods onto the loading platform of the dump truck DT identified by the vehicle number XXXXXX.

[0159] Here, the offset value β is set to 0, and the weight W of the transported object is calculated by the weight conversion unit 75. Then, the loading operation is repeated until the load weight of the transported object calculated by the load weight calculation unit 76 becomes 25 tons. In the following explanation, it is assumed that the number of loading operations required to load 25 tons of transported object is 30.

[0160] When the loaded weight calculated by the loaded weight calculation unit 76 reaches 25 tons, the loading operation is terminated. The transported object weight processing unit 60 records the vehicle identification information "Vehicle No. XXX", the loaded weight "25 tons", the offset value β "0", and the number of loadings "3" in the storage device 47 as history 1-1.

[0161] The dump truck DT moves from the loading position 540 to the platform weight device 550, and the load weight (platform weight measurement value) of the transported goods loaded onto the dump truck DT is measured. Here, the platform weight measurement value measured by the platform weight device 550 is assumed to be 20 tons. In this case, the dump truck DT returns to the loading position 540 again.

[0162] The platform weight measurement value "20t" is input to the platform weight input unit 77. In addition, the transported object weight processing unit 60 records the platform weight measurement value "20t" input to the platform weight input unit 77 in association with history 1-1.

[0163] The correction value generation unit 78 generates an offset value β based on the history. Specifically, the offset value β is generated from the difference between the platform weight input unit 77 and the loaded weight calculated by the loaded weight calculation unit 76, divided by the number of loadings ((platform weight input unit - loaded weight) / number of loadings). For example, from the platform weight input unit 77 of "20t," the loaded weight of "25t," and the number of loadings of "3" in history 1-1, the offset value β is calculated as "-1.66t" (=(20-25) / 3). The offset value β is then input to the weight conversion unit 75.

[0164] Next, the excavator 100 performs a second loading operation on the first dump truck DT. Here, the excavator 100 loads the missing amount of transported goods onto the loading platform of the dump truck DT with vehicle number XXXXXX. Here, the missing amount is the difference of 5 tons between the maximum load capacity of 25 tons and the platform weight value of 20 tons. As a result, the excavator 100 loads the maximum load capacity (20 tons already loaded + missing amount of 5 tons) of transported goods onto the loading platform of the dump truck DT identified by vehicle number XXXXXX.

[0165] Here, the offset value β is set to -1.66t, and the weight W of the transported object is calculated by the weight conversion unit 75. Then, the loading operation is repeated until the loaded weight of the transported object calculated by the loaded weight calculation unit 76 becomes 5t (in other words, until the loaded weight of the transported object becomes 25t, including the 20t already loaded).

[0166] When the loaded weight calculated by the loaded weight calculation unit 76 reaches 5 tons (in other words, when the loaded weight of the transported goods reaches 25 tons, including the 20 tons already loaded), the loading operation is terminated. The transported goods weight processing unit 60 records the vehicle identification information "Vehicle No. XXX", the loaded weight "5 tons", the offset value β "-1.66 tons", and the number of loadings in the storage device 47 as history 1-2.

[0167] The dump truck DT moves from the loading position 540 to the platform weight device 550, where the load weight (platform weight measurement value) of the transported object loaded onto the dump truck DT is measured. Here, the weight W of the transported object calculated by the weight conversion unit 75 is corrected by the offset value β, so that the weight conversion unit 75 can accurately calculate the weight W of the transported object. Furthermore, the load weight calculation unit 76 can accurately calculate the load weight of the dump truck DT. As a result, the platform weight measurement value measured by the platform weight device 550 can approach the maximum load capacity. Here, the description will be given assuming that the platform weight measurement value measured by the platform weight device 550 is 25 tons. The platform weight measurement value "25 tons" is input to the platform weight input unit 77. Furthermore, the transported object weight processing unit 60 records the platform weight measurement value "25 tons" input by the platform weight input unit 77 in association with history 1-2.

[0168] Next, the shovel 100 performs a first loading operation on the second dump truck DT. Here, the shovel 100 loads the maximum load of transported goods onto the loading platform of the dump truck DT identified by the vehicle number △△△△△. Here, the offset value β = -1.66 t, and the weight conversion unit 75 calculates the weight W of the transported goods. Then, the loading operation is repeated until the load weight of the transported goods calculated by the load weight calculation unit 76 becomes 25 t.

[0169] When the loaded weight calculated by the loaded weight calculation unit 76 reaches 25 tons, the loading operation is terminated. The transported object weight processing unit 60 records the vehicle identification information "Vehicle No. △△△△△", the loaded weight "25 tons", the offset value β "-1.66 tons", and the number of loadings in the storage device 47 as history 2-1.

[0170] The second dump truck DT moves from the loading position 540 to the platform weight device 550 and measures the load weight (platform weight measurement value) of the transported object loaded onto the dump truck DT. Here, the weight W of the transported object calculated by the weight conversion unit 75 is corrected by the offset value β, so that the weight conversion unit 75 can accurately calculate the weight W of the transported object. Furthermore, the load weight calculation unit 76 can accurately calculate the load weight of the dump truck DT. As a result, the platform weight measurement value measured by the platform weight device 550 can approach the maximum load capacity. Here, the description will be given assuming that the platform weight measurement value measured by the platform weight device 550 is 25 tons. The platform weight measurement value "25 tons" is input to the platform weight input unit 77. Furthermore, the transported object weight processing unit 60 records the platform weight measurement value "25 tons" input by the platform weight input unit 77 in association with history 2-1.

[0171] As described above, according to the excavator 100 of this embodiment, the weight W of the transported object calculated by the weight conversion unit 75 can be corrected by the offset value β, so that the weight W of the transported object can be calculated with high accuracy. Furthermore, the loaded weight calculation unit 76 can accurately calculate the loaded weight of the dump truck DT. This can reduce the number of times the dump truck DT returns from the platform loading device 550 to the loading position 540. Furthermore, this can contribute to improving the transport efficiency of the dump truck DT and preventing overloading.

[0172] The above describes embodiments of the shovel 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 described in the claims.

[0173] The transported object weight processing unit 60 (loaded object weight calculation unit 61) has been described as being provided in the controller 30 of the shovel 100, as shown in Figures 3 and 5, but this is not limited to this. For example, the transported object weight processing unit 60 (loaded object weight calculation unit 61) may be provided in a management device (work machine support system) provided in a yard 500, etc.

[0174] In this configuration, the shovel (work machine) 100 transmits detection values ​​detected by the various sensors to the management device via the communication device T1. A transported object weight processing unit 60 (load weight calculation unit 61) of the management device calculates the load weight of the object loaded on the vehicle based on the detection values ​​of the various sensors. The management device also has an input unit that inputs the load weight (platform weight measurement value) of the object loaded on the dump truck DT. For example, the management device is communicably connected to a platform weight device 550, and the load weight (platform weight measurement value) of the object loaded on the dump truck DT measured by the platform weight device 550 is transmitted to the management device. The other configuration is the same as when the transported object weight processing unit 60 (load weight calculation unit 61) is provided in the controller 30 of the shovel 100, and redundant explanations will be omitted.

[0175] This application claims priority based on Japanese Patent Application No. 2021-060110, filed on March 31, 2021, the entire contents of which are incorporated herein by reference. [Explanation of symbols]

[0176] 60 Transported object weight processing section 61 Transported object weight calculation unit 71 Torque calculation unit 72 Inertia force calculation section 73 Centrifugal force calculation unit 74 Stationary torque calculation section 75 Weight conversion section 76 Load weight calculation unit 77 Base weight input section 78 Correction value generator 100 Excavator (Construction Machine) 500 yards 510 Collection Site 520 Work Equipment 530 Collection point 540 Loading position 550 Stand-through device DT dump truck

Claims

1. A work machine including an attachment for loading an object onto a vehicle and a control device, The control device a weight calculation unit that calculates a load weight of the transported object loaded on the vehicle using the attachment; an input unit for inputting a platform weight value, which is the load weight of the transported object loaded on the vehicle, measured by a platform weight device; a correction value generating unit that generates a correction value for the load weight based on the platform weight input by the input unit and the load weight calculated by the weight calculating unit, The control device a step of calculating a loaded weight of the transported object using the weight calculation unit when the transported object is loaded onto the vehicle using the attachment; a step of inputting the platform weight measured by the platform weight measuring device from the input unit after the platform weight measuring device has loaded the transported article onto the vehicle; generating a correction value for the loaded weight using the correction value generating unit, The weight calculation unit calculates the loaded weight corrected by the correction value. Work machinery.

2. The input unit receives the platform weight measurement value from the platform weight measurement device that measures the weight of the vehicle.

2. The work machine according to claim 1.

3. The input unit allows an operator to input the platform weight value.

2. The work machine according to claim 1.

4. The correction value generating unit generates the correction value based on a ratio between the loaded weight and the platform weight value. A work machine according to any one of claims 1 to 3.

5. The correction value generating unit generates the correction value based on a value obtained by dividing the difference between the loaded weight and the platform weight by the number of loadings. A work machine according to any one of claims 1 to 3.

6. The platform weight measurement value is the weight of the transported article loaded on the vehicle measured by the platform weight device. A work machine according to any one of claims 1 to 5.

7. An assistance system for a work machine equipped with an attachment for loading an object onto a vehicle, The assistance system includes: a weight calculation unit that calculates a load weight of the transported object loaded on the vehicle using the attachment; an input unit for inputting a platform weight value, which is the load weight of the transported object loaded on the vehicle, measured by a platform weight device; a correction value generating unit that generates a correction value for the load weight based on the platform weight input by the input unit and the load weight calculated by the weight calculating unit, The assistance system includes: a step of calculating a loaded weight of the transported object using the weight calculation unit when the transported object is loaded onto the vehicle using the attachment; a step of inputting the platform weight measured by the platform weight measuring device from the input unit after the platform weight measuring device has loaded the transported article onto the vehicle; generating a correction value for the loaded weight using the correction value generating unit, The weight calculation unit calculates the loaded weight corrected by the correction value. Work machine assistance systems.

8. The input unit receives the platform weight measurement value from the platform weight measurement device that measures the weight of the vehicle.

8. An assistance system for a work machine according to claim 7.

9. The platform weight measurement value is the weight of the transported article loaded on the vehicle measured by the platform weight device.

9. The support system for a work machine according to claim 7 or 8.

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