System, method, and working machine for working machine

Abstract

The system is a system for a work machine having a plurality of components including a first part. The system comprises a memory device, an input device, and a controller. The memory device stores the center position of each of the plurality of components. The input device receives input of a first parameter for determining the center position of the first part. The controller calculates the center position of the entire work machine based on the center positions of the plurality of components. When the first parameter is input by the input device, the controller sets the center position of the first part based on the first parameter. The controller sets the center position of the entire work machine based on the center positions of the plurality of components including the set center position of the first part.

Description

Technology Field

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

[0002] Conventionally, a technique for determining the possibility of the working machine tipping over by calculating the center of gravity of the entire working machine is known. For example, in Patent Document 1, a concentrated mass point model is used as a calculation model for determining the center of gravity of a hydraulic shovel. In the concentrated mass point model, it is assumed that mass is concentrated at the center of each component of the hydraulic shovel. The hydraulic shovel is equipped with a boom, an arm, a bucket, a slewing body, and a traveling body. The center of gravity of the hydraulic shovel is determined by combining the center of gravity of the boom, the center of gravity of the arm, the center of gravity of the bucket, the center of gravity of the slewing body, and the center of gravity of the traveling body. Prior art literature

[0003] Japanese Patent Publication No. 2019-52499 The problem to be solved

[0004] After a work machine is shipped, some of its components may be replaced with different parts. For example, the bucket of a hydraulic shovel may be replaced with a different type of attachment. Or, the counterweight of a slewing body may be replaced with one of a different specification. In such cases, the center position of the component after replacement changes from the center position of the component before replacement. Therefore, it becomes difficult to calculate the center position of the entire work machine with good precision. The objective of the present invention is to calculate the center position of the entire work machine with good precision, even after some of its components have been replaced. means of solving the problem

[0005] A system related to the first aspect of the present invention is a system for a work machine having a plurality of components including a first part. The system comprises a memory device, an input device, and a controller. The memory device stores the center position of each of the plurality of components. The input device receives input of a first parameter for determining the center position of the first part. The controller calculates the center position of the entire work machine based on the center positions of the plurality of components. When the first parameter is input by the input device, the controller sets the center position of the first part based on the first parameter. The controller sets the center position of the entire work machine based on the center positions of the plurality of components including the set center position of the first part.

[0006] A method related to a second aspect of the present invention is a method for controlling a work machine having a plurality of components including a first part. The method comprises acquiring a center position of each of the plurality of components, calculating a center position of the entire work machine based on the center positions of the plurality of components, receiving input of a first parameter for determining the center position of the first part through an input device, setting the center position of the first part by the first parameter when the first parameter is input by the input device, and setting the center position of the entire work machine based on the center positions of the plurality of components including the set center position of the first part.

[0007] A working machine related to the third aspect of the present invention comprises a plurality of components, a memory device, an input device, and a controller. The plurality of components includes a first component. The memory device stores the center position of each of the plurality of components. The input device receives input of a first parameter for determining the center position of the first component. The controller calculates the center position of the entire working machine based on the center positions of the plurality of components. When the first parameter is input by the input device, the controller sets the center position of the first component based on the first parameter. The controller sets the center position of the entire working machine based on the center positions of the plurality of components including the set center position of the first component. Effects of the invention

[0008] According to the present invention, when a first part of a working machine is replaced, a first parameter of the first part after replacement is input through an input device, thereby setting the center position of the first part. Then, based on the set center position of the first part, the center position of the entire working machine is calculated. Thus, even after the first part is replaced, the center position of the entire working machine is calculated with good precision. Brief explanation of the drawing

[0009] [Fig. 1] This is a side view of a working machine related to an embodiment. [Fig. 2] This is a block diagram showing the configuration of the control system of a working machine. [Fig. 3] This is a diagram schematically showing the configuration of a working machine. [Fig. 4] This is a flowchart showing the process for calculating the center position of the entire working machine. [Fig. 5] This is a drawing showing the center positions of multiple components of a working machine. [Fig. 6] This is a diagram showing an example of the attachment setting screen. [Fig. 7] This is a diagram showing an example of the arm's setting screen. [Fig. 8] This is a drawing showing an example of a boom setting screen. [Fig. 9] This is a drawing showing an example of a setting screen for a swivel body. [Fig. 10] This is a drawing showing an example of a setting screen for a vehicle. [Fig. 11] This is a drawing showing an example of specification data. [Fig. 12] This is a diagram showing the method for calculating the conduction margin. [Fig. 13] This is a drawing showing an example of a screen indicating the possibility of conduction. [Fig. 14] This is a drawing showing an example of a setting screen for an attachment related to a modified example. [Fig. 15] This is a drawing showing an example of a setting screen for a boom and arm related to a modified example. [Fig. 16] This is a drawing showing an example of a setting screen for a turning body and a driving body related to a modified example. Specific details for implementing the invention

[0010] Hereinafter, a work machine related to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view of a work machine (1) related to the embodiment. The work machine (1) is equipped with a vehicle body (2) and a work machine (3). The vehicle body (2) includes a slewing body (4) and a driving body (5). The slewing body (4) is supported so as to be slewing relative to the driving body (5). A driver's cab (6) is disposed on the slewing body (4). A counterweight (7) is mounted on the slewing body (4).

[0011] The slewing body (4) includes a driving source (11) and a hydraulic pump (12). The driving source (11) is, for example, an internal combustion engine. However, the driving source (11) may be an electric motor or a hybrid mechanism of an engine and an electric motor. The hydraulic pump (12) is driven by the driving source (11) and discharges hydraulic fluid. The working machine (1) is equipped with a slewing motor (13). The hydraulic fluid discharged from the hydraulic pump (1224) is supplied to the slewing motor (13). Thereby, the slewing motor (13) rotates the slewing body (4). The driving body (5) includes crawler belts (14). The working machine (1) travels by the rotation of the crawler belts (14).

[0012] The work device (3) is mounted on the vehicle body (2). The work device (3) is operable relative to the vehicle body (2). The work device (3) includes a boom (15), an arm (16), and an attachment (17). The boom (15) is rotatably mounted on the vehicle body (2) via a boom pin (18). The arm (16) is rotatably mounted on the boom (15) via an arm pin (19). The attachment (17) is rotatably mounted on the arm (16) via an attachment pin (20).

[0013] The working device (3) includes a boom cylinder (21), an arm cylinder (22), and an attachment cylinder (23). The boom cylinder (21), the arm cylinder (22), and the attachment cylinder (23) are each hydraulic cylinders. The boom cylinder (21), the arm cylinder (22), and the attachment cylinder (23) are driven by hydraulic fluid from a hydraulic pump (12). As the boom cylinder (21) extends and retracts, the boom (15) operates. As the arm cylinder (22) extends and retracts, the arm (16) operates. As the attachment cylinder (23) extends and retracts, the attachment (17) operates.

[0014] FIG. 2 is a block diagram showing a control system (10) of a work machine (1). As shown in FIG. 2, the control system (10) is equipped with an operating device (31), an input device (32), and a display (33). The operating device (31), the input device (32), and the display (33) are placed in the driver's cab (6). The operating device (31) is a device for operating a work machine (3), a rotating body (4), and a driving body (5). The operating device (31) receives an operation by an operator to drive the work machine (3), the rotating body (4), and the driving body (5), and outputs an operation signal according to the operation. The operating device (31) includes, for example, a lever, a pedal, a switch, etc.

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

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

[0017] The control system (10) is equipped with a vehicle body position sensor (41). The vehicle body position sensor (41) detects the position of the vehicle body (2). The vehicle body position sensor (41) is positioned on the turning body (4). The vehicle body position sensor (41) is a position sensor using, for example, GNSS (Global Navigation Satellite System). The vehicle body position sensor (41) detects the position of the turning body (4) in a reference coordinate system. The reference coordinate system has an origin OW (see FIG. 5) outside the working machine (1) and is a coordinate system following, for example, the global geodetic system. The controller (30) obtains position data indicating the position of the turning body (4) from the vehicle body position sensor (41).

[0018] The control system (10) is equipped with a vehicle body direction sensor (42). The vehicle body direction sensor (42) is mounted on the turning body (4). The vehicle body direction sensor (42) detects the direction of the turning body (4).

[0019] The vehicle body direction sensor (42) is, for example, an Inertial Measurement Unit (IMU). The vehicle body direction sensor (42) detects the yaw angle, roll angle, and pitch angle of the turning body (4) as the direction of the component. The controller (30) obtains direction data indicating the direction of the turning body (4) from the vehicle body direction sensor (42).

[0020] The control system (10) includes a swivel angle sensor (46), a boom angle sensor (47), an arm angle sensor (48), and an attachment angle sensor (49). The swivel angle sensor (46) detects the swivel angle of the swivel body (4) relative to the vehicle body (5). The controller (30) calculates the direction of the vehicle body (5) from the direction of the swivel body (4) and the swivel angle of the swivel body (4).

[0021] FIG. 3 is a schematic diagram showing the configuration of a work machine (1). A boom angle sensor (47) detects a boom angle θ1. The boom angle θ1 represents the angle of inclination of the boom (15) relative to the slewing body (4). An arm angle sensor (48) detects an arm angle θ2. The arm angle θ2 represents the angle of inclination of the arm (16) relative to the boom (15). An attachment angle sensor (49) detects an attachment angle θ3. The attachment angle θ3 represents the angle of inclination of the attachment (17) relative to the arm (16).

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

[0023] Alternatively, the boom angle sensor (47), the arm angle sensor (48), and the attachment angle sensor (49) may each be angle sensors that directly detect the boom angle θ1, the arm angle θ2, and the attachment angle θ3. The controller (30) obtains angle data representing the swivel angle, the boom angle θ1, the arm angle θ2, and the attachment angle θ3 from the swivel angle sensor (46), the boom angle sensor (47), the arm angle sensor (48), and the attachment angle sensor (49).

[0024] Next, the processing performed by the controller (30) to calculate the center position of the entire working machine (1) is described. In this embodiment, the working machine (1) is divided into a plurality of components, and the center position of the entire working machine (1) is obtained from the center position and weight of each component. FIG. 4 is a flowchart showing the processing for calculating the center position of the entire working machine (1).

[0025] As shown in FIG. 4, in step S1, the controller (30) acquires position data. The controller (30) acquires the position of the swivel body (4) in the reference coordinate system based on the position data. In step S2, the controller (30) acquires direction data. The controller (30) acquires the direction of the swivel body (4) based on the direction data. In step S3, the controller (30) acquires angle data. The controller (30) acquires the swivel angle, boom angle θ1, arm angle θ2, and attachment angle θ3 based on the angle data.

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

[0027] In step S5, the controller (30) obtains the center position of the components. FIG. 5 is a diagram showing the center positions of a plurality of components of the working machine (1). The memory device (36) stores the center position G1 of the slewing body (4), the center position G2 of the traveling body (5), the center position G3 of the boom (15), the center position G4 of the arm (16), and the center position G5 of the attachment (17).

[0028] The center position G1 of the turning body (4) is indicated in the coordinate system of the turning body (4). The coordinate system of the turning body (4) is a coordinate system fixed to the turning body (4) and has an origin O1 on the turning body (4). The center position G2 of the driving body (5) is indicated in the coordinate system of the driving body (5). The coordinate system of the driving body (5) is a coordinate system fixed to the driving body (5) and has an origin O2 on the driving body (5).

[0029] The center position G3 of the boom (15) is indicated by the coordinate system of the boom (15). The coordinate system of the boom (15) is a coordinate system fixed to the boom (15) and has an origin O3 on the boom (15). The center position G4 of the arm (16) is indicated in the coordinate system of the arm (16). The coordinate system of the arm (16) is a coordinate system fixed to the arm (16) and has an origin O4 on the arm (16). The center position G5 of the attachment (17) is indicated in the coordinate system of the attachment (17). The coordinate system of the attachment (17) is a coordinate system fixed to the attachment (17) and has an origin O5 on the attachment (17). The controller (30) obtains the center positions G1-G5 of each component from the memory device (36).

[0030] In step S6, the controller (30) obtains the weight of the components. The memory device (36) stores the weight of the slewing body (4), the weight of the traveling body (5), the weight of the boom (15), the weight of the arm (16), and the weight of the attachment (17). The controller (30) obtains the weight of each component from the memory device (36).

[0031] In step S7, the controller (30) obtains a coordinate transformation matrix. The controller (30) obtains a transformation matrix of the swivel body (4), a transformation matrix of the vehicle body (5), a transformation matrix of the boom (15), a transformation matrix of the arm (16), and a transformation matrix of the attachment (17). The transformation matrix of the swivel body (4) is a transformation matrix from the coordinate system of the swivel body (4) to the reference coordinate system. The transformation matrix of the vehicle body (5) is a transformation matrix from the coordinate system of the vehicle body (5) to the coordinate system of the swivel body (4). The transformation matrix of the boom (15) is a transformation matrix from the coordinate system of the boom (15) to the coordinate system of the swivel body (4). The transformation matrix of the arm (16) is a transformation matrix from the coordinate system of the arm (16) to the coordinate system of the boom (15). The transformation matrix of the attachment (17) is a transformation matrix from the coordinate system of the attachment (17) to the coordinate system of the arm (16).

[0032] The transformation matrix of each component changes according to the attitude of each component. The memory device (36) stores the positional relationship of the origins O1-O5 of the coordinate system of the swivel body (4), the coordinate system of the vehicle body (5), the coordinate system of the boom (15), the coordinate system of the arm (16), and the coordinate system of the attachment (17). The controller (30) calculates the transformation matrix of each component based on the positional relationship of the origins O1-O5 of each coordinate system, the aforementioned dimension data, position data, direction data, and angle data.

[0033] In step S8, the controller (30) calculates the center position G0 of the entire working machine (1). The controller (30) calculates the center position G0 of the entire working machine (1) based on the center positions G1-G5 of each component and the weight and transformation matrix. Specifically, the controller (30) first converts the center positions of each component into a reference coordinate system according to the following equations (1) to (5).

[0034] world P upper = world T upper upper P (1)

[0035] world P under = world T upper upper T under under P (2)

[0036] world P boom = world T upper upper T boom boom P (3)

[0037] world P arm = world T upper upper T boom boom T arm arm P (4)

[0038] world P attachment = world T upper upper T boom boom T arm arm T attachment attachment P (5)

[0039] world P upper represents the center position G1 of the rotating body (4) in the reference coordinate system. upper P represents the center position G1 of the rotating body (4) in the coordinate system of the rotating body (4). world T upper represents the transformation matrix from the coordinate system of the rotating body (4) to the reference coordinate system.

[0040] world P under represents the center position G2 of the vehicle body (5) in the reference coordinate system. upper T under represents a transformation matrix from the coordinate system of the driving body (5) to the coordinate system of the turning body (4). under P represents the center position G2 of the vehicle (5) in the coordinate system of the vehicle (5).

[0041] world P boom G3 represents the center position of the boom (15) in the reference coordinate system. upper T boom This represents a transformation matrix from the coordinate system of the boom (15) to the coordinate system of the swivel body (4). boom P represents the center position G3 of the boom (15) in the coordinate system of the boom (15).

[0042] world P arm G4 represents the center position of the arm (16) in the reference coordinate system. boom T arm This represents a transformation matrix from the coordinate system of the arm (16) to the coordinate system of the boom (15). armP represents the center position G4 of the arm (16) in the coordinate system of the arm (16).

[0043] world P attachment represents the center position G5 of the attachment (17) in the reference coordinate system. arm T attachment represents a transformation matrix from the coordinate system of the attachment (17) to the coordinate system of the arm (16). attachment P represents the center position G5 of the attachment (17) in the coordinate system of the attachment (17).

[0044] Next, the controller (30) calculates the center position G0 of the entire working machine (1) by the following equation (6).

[0045] world P all =( world P upper · mass upper + world P under · mass under + world P boom · mass boom + world P arm · mass arm + world P attachment · mass attachment ) / mass all (6)

[0046] world P all represents the center position G0 of the entire working machine (1) in the reference coordinate system. mass upper represents the weight of the swivel body (4). mass under represents the weight of the vehicle body (5). mass boom represents the weight of the boom (15). mass arm represents the weight of the arm (16). mass attachment represents the weight of the attachment (17). mass all It represents the total weight of the working machine (1).

[0047] In step S9, the controller (30) determines whether there is input of a parameter through the input device (32). The input device (32) receives input of a parameter for determining the center position of each component part. Specifically, the controller (30) displays the setting screen shown in FIGS. 6 to 10 on the display (33).

[0048] FIG. 6 is a drawing showing an example of a setting screen (51) of an attachment (17). In the setting screen (51) of the attachment (17), multiple types of attachments (17) are displayed. The multiple types of attachments (17) represent types of attachments (17) that differ in dimensions and / or weight or function. When an attachment (17) is replaced, the operator selects the type of attachment (17) after replacement using an input device (32). The controller (30) obtains the selected type of attachment (17) as a parameter of the center position G5 of the attachment (17).

[0049] FIG. 7 is a drawing showing an example of a setting screen (52) of an arm (16). In the setting screen (52) of the arm (16), multiple types of the arm (16) are displayed. The multiple types of the arm (16) represent multiple types of arms (16) that differ in dimensions and / or weight. When the arm (16) is replaced, the operator selects the type of arm (16) after replacement using an input device (32). The controller (30) obtains the selected type of arm (16) as a parameter of the center position G4 of the arm (16).

[0050] FIG. 8 is a drawing showing an example of a setting screen (53) of a boom (15). In the setting screen (53) of the boom (15), multiple types of booms (15) are displayed. The multiple types of booms (15) represent multiple types of booms (15) that differ in dimensions and / or weight. When a boom (15) is replaced, the operator uses an input device (32) to select the type of boom (15) after replacement. The controller (30) acquires the selected type of boom (15) as a parameter of the center position G3 of the boom (15).

[0051] FIG. 9 is a drawing showing an example of a setting screen (54) of a rotating body (4). In the setting screen (54) of the rotating body (4), a plurality of types of counterweights (7) are displayed. The plurality of types of counterweights (7) represent a plurality of types of counterweights (7) with different dimensions and / or weights. When a counterweight (7) is replaced, the operator uses an input device (32) to select the type of counterweight (7) after replacement. The controller (30) acquires the selected type of counterweight (7) as a parameter of the center position G1 of the rotating body (4).

[0052] FIG. 10 is a drawing showing an example of a setting screen (55) of a vehicle (5). In the setting screen (55) of the vehicle (5), a plurality of types of crawler belts (14) are displayed. The plurality of types of crawler belts (14) represent a plurality of types of crawler belts (14) that differ in dimensions and / or weight. When a crawler belt (14) is replaced, the operator uses an input device (32) to select the type of crawler belt (14) after replacement. The controller (30) obtains the selected type of crawler belt (14) as a parameter of the center position G2 of the vehicle (5).

[0053] When a parameter of the center position of one of the components is input by the input device (32), the processing proceeds to step S10. In step S10, the controller (30) updates the center position of the component for which the parameter was input.

[0054] For example, when the attachment (17) is exchanged from bucket A to bucket B, the operator selects bucket B using the input device (32) on the setting screen (51) of the attachment (17).

[0055] The memory device (36) stores specification data for each type of attachment (17). As shown in FIG. 11, the specification data (56) includes a plurality of types of attachment (17) and the dimensions and weight of the attachment (17) corresponding to each of the plurality of types. The dimensions of the attachment (17) include, for example, the aforementioned attachment length L3. The controller (30) updates the dimension data and weight of the attachment (17) based on the dimensions and weight corresponding to the selected type. Additionally, the controller (30) updates the center position G5 of the attachment (17) based on the updated dimension data and weight of the attachment (17).

[0056] Likewise, for the slewing body (4), the traveling body (5), the boom (15), and the arm (16), the memory device (36) stores specification data for each of the slewing body (4), the traveling body (5), the boom (15), and the arm (16). The specification data of the slewing body (4) includes a plurality of types of counterweights (7) and the dimensions and weights of the counterweights (7) corresponding to each of the plurality of types. When a type of counterweight (7) is selected by the input device (32), the controller (30) updates the center position G1 of the slewing body (4) based on the dimension data and weight of the selected counterweight (7).

[0057] The specification data of the vehicle body (5) includes multiple types of the vehicle body (5) and the dimensions and weights of the vehicle body (5) corresponding to each of the multiple types. When a type of crawler belt (14) is selected by the input device (32), the controller (30) updates the center position G2 of the vehicle body (5) based on the dimension data and weight of the selected crawler belt (14).

[0058] The specification data of the boom (15) includes multiple types of the boom (15) and the dimensions and weight of each type of boom (15) corresponding to each type. When a type of boom (15) is selected by the input device (32), the controller (30) updates the center position G3 of the boom (15) based on the dimension data and weight of the selected boom (15).

[0059] The specification data of the arm (16) includes multiple types of the arm (16) and the dimensions and weights of each arm (16) corresponding to each type. When a type of arm (16) is selected by the input device (32), the controller (30) updates the center position G4 of the arm (16) based on the dimension data and weight of the selected arm (16).

[0060] In step S11, the controller (30) updates the weight of the component part. The controller (30) updates the weight of the component part, for which parameters are input via the input device (32), based on the aforementioned specification data. In step S12, the controller (30) updates the coordinate transformation matrix. The controller (30) updates the transformation matrix of the component part, for which parameters are input via the input device (32), based on the aforementioned specification data. Then, the process returns to steps S1 through S8, and the controller (30) updates the center position G0 of the entire working machine (1) based on the center positions of a plurality of component parts, including the center positions of the updated component parts.

[0061] For example, when the attachment (17) is replaced, the type of the attachment (17) after replacement is selected by the input device (32), thereby updating the center position G5 and weight and conversion matrix of the attachment (17). Then, by calculating the center position G0 of the entire working machine (1) using the center position G5 and weight and conversion matrix of the updated attachment (17) and the center positions G1-G4 and weight and conversion matrices of other components according to the above-mentioned equations (1) to (6), the center position G0 of the entire working machine (1) is updated.

[0062] Also, for ease of explanation, the dimensions in the width direction of the working machine (1) and each component part are omitted in the above description. However, the dimensions in the width direction of the working machine (1) and each component part may be taken into account when calculating the center position.

[0063] As described above, the controller (30) calculates the center position G0 of the entire work machine (1). Based on the center position G0 of the entire work machine (1), the controller (30) determines the possibility of the work machine (1) tipping over. For example, as shown in FIG. 12, the controller (30) may determine the possibility of the work machine (1) tipping over based on the tipping margin Q. The tipping margin Q is represented by the difference between the maximum height H1 of the trajectory (A1) drawn by the center position G0 of the entire work machine (1) when the work machine (1) tipps over and the initial height H0 of the center position. The larger the tipping margin Q, the lower the possibility of tipping over.

[0064] The controller (30) may display a warning indication on the display (33) according to the conduction margin Q. For example, as shown in FIG. 13, the controller (30) may display a screen (57) indicating the possibility of conduction on the display (33). In the screen (57) indicating the possibility of conduction, an image (61) of the work machine (1) and a plurality of areas (62A-62L) around the work machine (1) are displayed.

[0065] The controller (30) calculates the conductivity margin Q of the working machine (1) in the direction of each area (62A-62L). The controller (30) displays each area (62A-62L) in a different color according to the conductivity margin Q. For example, areas (62H-62J) where the conductivity margin Q is below a threshold value are displayed in a different color from other areas.

[0066] In the control system (10) of the work machine (1) related to the above-described embodiment, when a part of the component of the work machine (1) is replaced, the parameter of the component after replacement is input through the input device (32), thereby updating the center position of the corresponding component. Then, based on the updated center position of the component, the center position G0 of the entire work machine (1) is calculated. Thus, even after a part of the component is replaced, the center position G0 of the entire work machine (1) is calculated with good precision.

[0067] Although an embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible within the scope of the invention.

[0068] The work machine (1) is not limited to the hydraulic shovel described above, but may be any other work machine such as a bulldozer, wheel loader, or motor grader. The structure of the work machine (3) is not limited to that of the embodiment described above and may be modified. For example, the work machine (3) is not limited to a three-axis structure of a boom (15), an arm (16), and an attachment (17), but may have a structure of four or more axes.

[0069] The work machine (1) may be a remotely controllable vehicle. In that case, part of the control system (103) may be placed outside the work machine (1). For example, the controller (30) may be placed outside the work machine (1). The operating device (31), input device (32), and display (33) may be placed outside the work machine (1). The input device (32) and display (33) may be separate computers from the work machine (1). For example, the input device (32) and display (33) may be included in a computer operated by a service man of the work machine (1).

[0070] The controller (30) may include multiple separate controllers. Processing by the aforementioned controller (30) may be executed by distributing it among multiple controllers. The controller (30) may include multiple processors. Processing by the aforementioned controller (30) may be executed by distributing it among multiple processors.

[0071] The processing by the controller (30) is not limited to that of the above embodiment and may be modified. Some of the above processing may be omitted. Or, some of the above processing may be modified. For example, in the above embodiment, in order to calculate the center position G0 of the entire working machine (1), the working machine (1) is divided into five components: a slewing body (4), a traveling body (5), a boom (15), an arm (16), and an attachment (17). However, the number of components is not limited to five, and may be fewer than five or more than five.

[0072] In the above embodiment, the controller (30) displays a warning indication on the display (33) according to the conductivity margin Q. However, the controller (30) may emit a warning sound according to the conductivity margin Q. In the above embodiment, the controller (30) calculates the conductivity margin Q based on the center position G0 of the entire working machine (1). However, the controller (30) may simply display the center position G0 of the entire working machine (1) on the display (33).

[0073] In the above embodiment, the type of component is selected using an input device (32) as a parameter for calculating the center position of the component. However, the parameter is not limited to the type of component and may be the center position of each component. Alternatively, the parameter may be the dimensions and weight of each component.

[0074] For example, FIG. 14 is a drawing showing an example of a setting screen (58) of an attachment (17) related to a modified example. As shown in FIG. 14, the setting screen (58) of the attachment (17) may include an input field (71) for the dimensions of the attachment (17) and an input field (72) for the weight.

[0075] FIG. 15 is a drawing showing an example of a setting screen (59) of a boom (15) and an arm (16) related to a modified example. As shown in FIG. 15, the setting screen (59) of the boom (15) and the arm (16) may include an input field (73) for the dimensions of the boom (15) and an input field (74) for the weight. The setting screen (59) of the boom (15) and the arm (16) may include an input field (75) for the dimensions of the arm (16) and an input field (76) for the weight.

[0076] FIG. 16 is a drawing showing an example of a setting screen (60) of a turning body (4) and a driving body (5) related to a modified example. As shown in FIG. 16, the setting screen (60) of the turning body (4) and the driving body (5) may include input fields (77A, 77B) for the dimensions of the turning body (4) and an input field (78) for the weight. Alternatively, the setting screen (60) of the turning body (4) and the driving body (5) may include input fields for the dimensions of the counterweight (7) and an input field for the weight.

[0077] As shown in FIG. 16, the setting screen (60) of the turning body (4) and the driving body (5) may include input fields (79A-79C) for the dimensions of the driving body (5) and input fields (80) for the weight. Alternatively, the setting screen (60) of the turning body (4) and the driving body (5) may include input fields for the dimensions of the crawler belt (14) and input fields for the weight.

[0078] [Industrial Applicability]

[0079] According to the present invention, in a working machine, the center position of the entire working machine can be calculated with good precision even after some components have been replaced. Explanation of the symbols

[0080] 2: Chassis 3: Work Log 4: Rotating body 5: Driving body 7: Counterweight 14: Crawler belt 17: Attachment 36: Memory 32: Input device 30: Controller G0: Center position of the entire working machine G1-G5: Center position of the component

Claims

Claim 1 A system for a work machine having a plurality of components including a first part, comprising: a memory device storing the center position of each of the plurality of components; an input device receiving input of a first parameter for determining the center position of the first part; and a controller; wherein the controller calculates the center position of the entire work machine based on the center positions of the plurality of components stored in the memory device, and when the first parameter is input by the input device, sets the center position of the first part by the first parameter, and sets the center position of the entire work machine based on the center positions of the plurality of components including the set center position of the first part. Claim 2 In claim 1, the memory device stores specification data including a plurality of types of the first part and the dimensions and weight of the first part corresponding to each of the plurality of types, and the first parameter is selected from the plurality of types of the first part, the system. Claim 3 In claim 1, the first parameter comprises the dimensions and weight of the first part, in a system. Claim 4 In claim 1, the system, wherein the first parameter includes the center position of the first part. Claim 5 A system according to any one of claims 1 to 4, wherein the plurality of components further comprises a second component, the input device receives input of a second parameter for determining the center position of the second component, and the controller, when the second parameter is input by the input device, sets the center position of the second component by the second parameter, and sets the center position of the entire working machine based on the center position of the plurality of components including the set center position of the second component. Claim 6 In claim 5, the memory device stores specification data including a plurality of types of the second part and the dimensions and weight of the second part corresponding to each of the plurality of types, and the second parameter is selected from any one of the plurality of types of the second part, a system. Claim 7 In paragraph 5, the system, wherein the second parameter includes the dimensions and weight of the second part. Claim 8 In paragraph 5, the system, wherein the second parameter includes the center position of the second part. Claim 9 A system according to any one of claims 1 to 4, further comprising a display, wherein the controller displays an input field of the first parameter on the display. Claim 10 In paragraph 5, the system further comprises a display, wherein the controller displays an input field of the second parameter on the display. Claim 11 In claim 1, the work machine comprises a vehicle body and an interchangeable attachment, and has a work machine operable on the vehicle body, wherein the first part is the attachment, a system. Claim 12 In claim 1, the working machine has a rotating body including a counterweight, the first part is the rotating body, and the first parameter indicates the type of the counterweight, or the dimensions and weight of the counterweight, a system. Claim 13 In claim 1, the work machine has a drive body including crawler belts, the first part is the drive body, and the first parameter indicates the type of crawler belt, or the dimensions and weight of the crawler belt, a system. Claim 14 A method for controlling a work machine having a plurality of components including a first part, comprising: a step of obtaining a center position of each of the plurality of components from a memory device; a step of calculating a center position of the entire work machine based on the center positions of the plurality of components; a step of receiving input of a first parameter for determining the center position of the first part through an input device; a step of setting the center position of the first part by the first parameter when the first parameter is input by the input device; and a step of setting the center position of the entire work machine based on the center positions of the plurality of components including the set center position of the first part. Claim 15 A method according to claim 14, wherein the plurality of components further include a second component, and the input device receives input of a second parameter for determining the center position of the second component, and when the second parameter is input by the input device, the method further includes the step of setting the center position of the second component by the second parameter, and the step of setting the center position of the entire working machine based on the center position of the plurality of components including the set center position of the second component. Claim 16 A working machine comprising: a plurality of components including a first part; a memory device storing the center position of each of the plurality of components; an input device receiving input of a first parameter for determining the center position of the first part; and a controller; wherein the controller calculates the center position of the entire working machine based on the center positions of the plurality of components stored in the memory device, and when the first parameter is input by the input device, sets the center position of the first part based on the first parameter, and sets the center position of the entire working machine based on the center positions of the plurality of components including the set center position of the first part.

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