JP4338678B2 - Load detection method and apparatus for work vehicle - Google Patents

Load detection method and apparatus for work vehicle Download PDF

Info

Publication number
JP4338678B2
JP4338678B2 JP2005164907A JP2005164907A JP4338678B2 JP 4338678 B2 JP4338678 B2 JP 4338678B2 JP 2005164907 A JP2005164907 A JP 2005164907A JP 2005164907 A JP2005164907 A JP 2005164907A JP 4338678 B2 JP4338678 B2 JP 4338678B2
Authority
JP
Japan
Prior art keywords
load
boom
detector
work
speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP2005164907A
Other languages
Japanese (ja)
Other versions
JP2006336390A (en
Inventor
修治 斉藤
和宏 遠藤
Original Assignee
Ｔｃｍ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ｔｃｍ株式会社 filed Critical Ｔｃｍ株式会社
Priority to JP2005164907A priority Critical patent/JP4338678B2/en
Publication of JP2006336390A publication Critical patent/JP2006336390A/en
Application granted granted Critical
Publication of JP4338678B2 publication Critical patent/JP4338678B2/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Shovels (AREA)
  • Component Parts Of Construction Machinery (AREA)

Description

本発明は、たとえばホイールローダなどの作業用車両により、作業アームを介してバケットを駆動し土砂などの荷役物を積み込む荷役作業において、バケットにより掬い取られた荷役物の重量（荷重）を検出する作業用車両の荷重検出方法および装置に関する。   The present invention detects the weight (load) of a cargo handled by the bucket in a cargo handling operation in which a bucket is driven by a work vehicle such as a wheel loader and a cargo handling material such as earth and sand is loaded via a work arm. The present invention relates to a load detection method and apparatus for a working vehicle.

従来の荷重検出装置としては、たとえば特許文献１に示されたものがある。
特許文献１では、制御部において、無負荷時荷重補正手段により、ブームシリンダのテール圧検出部で検出した圧力からロッド圧検出部で検出した圧力を差し引くことで、バケットの無負荷時の荷重補正を行い、速度補正手段により、荷重検出開始時と荷重検出終了時の位置検出器の位置検出信号との差を測定時間で除算してブームの速度を求め、それに対する荷重の補正を行い、ブーム位置変化補正手段により、位置検出器の位置信号によりブームの位置により変化する検出荷重を補正するものであった。
実公平６−７３６号公報 An example of a conventional load detection device is disclosed in Patent Document 1.
In Patent Document 1, the load correction unit at the time of no load of the bucket is obtained by subtracting the pressure detected by the rod pressure detection unit from the pressure detected by the tail pressure detection unit of the boom cylinder by the no load load correction unit in the control unit. The speed correction means calculates the boom speed by dividing the difference between the position detection signal of the position detector at the start of load detection and the position detection signal at the end of load detection by the measurement time, and corrects the load accordingly. The position change correction means corrects the detected load that changes depending on the position of the boom by the position signal of the position detector.
No. 6-736

しかしながら、たとえば搬送用のダンプカーなどへの積込に対して、道路では積載量が規制されたり、また搬送量を正確に知る必要が生じることから、より高精度に積込量を検出できる荷重検出装置が求められている。   However, for example, when loading on a dump truck for transportation, the load amount is regulated on the road, and it is necessary to know the transportation amount accurately, so load detection can detect the loading amount with higher accuracy. A device is sought.

本発明は、任意な動作状態であっても、より高精度に荷重を検出することができる作業用車両の荷重検出方法および装置を提供することを目的とする。   An object of the present invention is to provide a load detection method and apparatus for a work vehicle that can detect a load with higher accuracy even in an arbitrary operation state.

請求項１記載の作業用車両の荷重検出方法は、車両本体に、油圧ポンプから供給される油圧により駆動されるブームシリンダと、前記ブームシリンダにより上下方向に回動される作業ブームと、作業ブームの先端側に設けられた荷役具とを具備した作業用車両の荷役作業時に、前記荷役具に保持された荷役物の荷重を検出するに際し、前記ブームシリンダのテール側油室の油圧およびロッド側油室の油圧と、前記作業ブームの傾斜角度と、作業ブームの回動速度と、エンジンの回転数と、車両本体の走行速度とを検出し、予め形成された前記テール側油圧検出器の検出値に基いて選択された荷役物の基準荷重と、前記テール側油圧検出器とロッド側油圧検出器の検出値の差圧と、作業ブームのブーム位置検出器の検出値との関係を表した基準マップに、さらに作業ブームの回動速度と、エンジンの回転数と、車両本体の走行速度による補正データが追加された複数の補正マップを形成しておき、前記各検出値により選択された前記補正マップに基いて荷重を演算するものである。   According to a first aspect of the present invention, there is provided a load detection method for a work vehicle, wherein a boom cylinder driven by hydraulic pressure supplied from a hydraulic pump is provided on a vehicle main body, a work boom rotated up and down by the boom cylinder, and a work boom. When detecting the load of the cargo handling object held by the cargo handling equipment during the cargo handling work of the working vehicle provided with the cargo handling equipment provided at the tip side of the hydraulic pressure of the tail side oil chamber of the boom cylinder and the rod side Detection of the oil pressure in the oil chamber, the tilt angle of the work boom, the rotation speed of the work boom, the rotational speed of the engine, and the traveling speed of the vehicle body, and detection by the tail side hydraulic pressure detector formed in advance. The relationship between the reference load of the cargo item selected based on the value, the differential pressure between the detected values of the tail-side oil pressure detector and the rod-side oil pressure detector, and the detected value of the boom position detector of the work boom is shown. Standard In addition, a plurality of correction maps to which correction data based on the rotation speed of the work boom, the number of revolutions of the engine, and the traveling speed of the vehicle main body are added are formed, and the selected map is selected based on each detection value. The load is calculated based on the correction map.

請求項２記載の作業用車両の荷重検出装置は、車両本体に、油圧ポンプから供給される油圧により駆動されるブームシリンダと、前記ブームシリンダにより上下方向に回動される作業ブームと、作業ブームの先端側に設けられた荷役具とを具備し、前記荷役具により保持された荷役物の荷重を検出する作業用車両の荷重検出装置であって、前記ブームシリンダのテール側油室の油圧とロッド側油室の油圧とそれぞれ検出するテール側油圧検出器およびロッド側油圧検出器と、前記作業ブームの傾斜角を検出するブーム位置検出器と、前記油圧ポンプを駆動するエンジンの回転数を検出するエンジン回転数検出器と、車両本体の走行速度を検出する車速検出器とを具備し、前記各検出器の検出値に基いて荷役物の荷重を演算し表示装置に表示する荷重検出コントローラを設け、前記荷重検出コントローラは、前記テール側油圧検出器の検出値に基いて選択された荷役物の基準荷重と、前記テール側油圧検出器とロッド側油圧検出器の検出値の差圧と、作業ブームのブーム位置検出器の検出値との関係を表した基準マップに、作業ブームの回動速度と、エンジンの回転数と、車両本体の走行速度による補正データが追加された複数の補正マップを有し、前記検出値に基いて補正マップを選択し、該補正マップに基いて荷重を演算するように構成されたものである。   A load detecting device for a working vehicle according to claim 2, wherein a boom cylinder driven by hydraulic pressure supplied from a hydraulic pump, a working boom rotated up and down by the boom cylinder, and a working boom are provided on the vehicle body. A load detecting device for a working vehicle for detecting a load of a load held by the load handling equipment, comprising: a hydraulic pressure of a tail side oil chamber of the boom cylinder; Tail-side oil pressure detector and rod-side oil pressure detector that detect the oil pressure in the rod-side oil chamber, respectively, a boom position detector that detects the tilt angle of the work boom, and the number of revolutions of the engine that drives the hydraulic pump And a vehicle speed detector for detecting the traveling speed of the vehicle body, and calculates the load of the cargo item based on the detection value of each detector and displays it on the display device. A load detection controller is provided, and the load detection controller includes a reference load of a cargo item selected based on a detection value of the tail side oil pressure detector, and detection values of the tail side oil pressure detector and the rod side oil pressure detector. Correction data based on the rotation speed of the work boom, the number of revolutions of the engine, and the traveling speed of the vehicle body has been added to the reference map that represents the relationship between the differential pressure and the detection value of the boom position detector of the work boom. A plurality of correction maps are provided, a correction map is selected based on the detected value, and a load is calculated based on the correction map.

上記構成によれば、予め、ブームシリンダのテール側油室の検出値から得られた荷重を複数に区分するとともに、この荷重区分毎に作業ブームの角度に対応するブームシリンダのテール側油室とロッド側油室の差圧の関係を示す基準マップを作成し、さらにこの基準マップのデータに、ブームの回動速度とエンジンの回転数と車速の補正データを追加した補正マップを作成しておき、テール側油室の検出値に基いて荷重区分を選択し、ブームの回動速度とエンジンの回転数と車速の検出値に対応する補正マップを選択し、前記補正マップに基いてブームシリンダの油室の差圧と作業ブームの角度から荷役物の荷重を演算するので、荷役物の重量変動やエンジンの回転数による油圧ポンプからのブームシリンダへの油圧の変動、車体速度による荷重変動に効果的に補正することができ、より高精度に荷役物の荷重を検出することができる。   According to the above configuration, the load obtained from the detected value of the boom cylinder tail side oil chamber is divided into a plurality of parts, and the boom cylinder tail side oil chamber corresponding to the angle of the work boom for each load section Create a reference map that shows the relationship between the pressure differentials in the rod-side oil chamber, and then create a correction map that adds correction data for boom rotation speed, engine speed, and vehicle speed to the reference map data. The load classification is selected based on the detected value of the tail side oil chamber, the correction map corresponding to the detected values of the rotation speed of the boom, the engine speed and the vehicle speed is selected, and the boom cylinder is selected based on the correction map. Since the load on the cargo handling object is calculated from the differential pressure in the oil chamber and the angle of the work boom, the oil pressure changes from the hydraulic pump to the boom cylinder due to the weight fluctuation of the cargo handling, the engine speed, and the vehicle speed. Can be effectively corrected to heavy fluctuations, it is possible to detect the load of the cargo material with higher accuracy.

以下、本発明の実施の形態を図面に基づいて説明する。
［実施の形態１］
ホイールローダなどの作業用車両の荷重検出装置に関するものである。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[Embodiment 1]
The present invention relates to a load detection device for a working vehicle such as a wheel loader.

図１に示すように、ホイールローダの車両本体１は、左右一対の前輪７Ｆと後輪７Ｒとを有するとともに、前部に車幅方向の支軸２に作業ブーム３が上下方向に回動自在に支持されている。前記作業ブーム３は、ブームシリンダ４により駆動され、その先端部に荷役具であるバケット５が水平軸５ａを介して上下方向に回動自在に支持されている。このバケット５は、バケット回動シリンダ６によりリンク部材６ａを介して上下に回動される。   As shown in FIG. 1, a vehicle body 1 of a wheel loader has a pair of left and right front wheels 7F and a rear wheel 7R, and a work boom 3 is pivotable in a vertical direction on a support shaft 2 in the vehicle width direction at the front. It is supported by. The work boom 3 is driven by a boom cylinder 4, and a bucket 5 serving as a cargo handling tool is supported at the tip of the work boom 3 so as to be rotatable in the vertical direction via a horizontal shaft 5a. The bucket 5 is rotated up and down by a bucket rotating cylinder 6 via a link member 6a.

このホイールローダには、バケット５に保持された土砂などの荷役物の荷重を検出するために、ブームシリンダ４のテール側油室の油圧を検出するテール側油圧検出器１１Ａと、ロッド側油室の油圧を検出するロッド側油圧検出器１１Ｂと、作業ブーム３の角度位置を検出するブーム位置検出器１２と、バケット５の角度を検出するバケット角度検出器（または後傾を検出する近接スイッチでも可）１３と、ブームシリンダ４に油圧を供給する油圧ポンプ（図示せず）を駆動するエンジンＥの回転数を検出するエンジン回転数検出器１４と、前輪７Ｆの回転数からホイールローダの走行速度（車速）を検出する車速検出器１５とが設けられている。   The wheel loader includes a tail-side oil pressure detector 11A that detects the oil pressure in the tail-side oil chamber of the boom cylinder 4 and a rod-side oil chamber in order to detect the load of a cargo item such as earth and sand held in the bucket 5. A rod-side oil pressure detector 11B that detects the oil pressure of the working boom 3, a boom position detector 12 that detects the angular position of the work boom 3, and a bucket angle detector that detects the angle of the bucket 5 (or a proximity switch that detects backward tilt) 13), an engine speed detector 14 for detecting the rotational speed of the engine E that drives a hydraulic pump (not shown) for supplying hydraulic pressure to the boom cylinder 4, and the traveling speed of the wheel loader from the rotational speed of the front wheels 7F. A vehicle speed detector 15 for detecting (vehicle speed) is provided.

また前記各検出器１１Ａ，１１Ｂ，１２，１４，１５の検出値に基いて、荷重を演算する荷重検出コントローラ２１と、演算された荷重値を表示する表示装置２２と、前記荷重値を印字するプリンタ２３または荷重値を記録するメモリーカードと、荷重検出を開始または再開始するためのキャンセルスイッチ２４とが具備されている。   Further, based on the detection values of the detectors 11A, 11B, 12, 14, and 15, a load detection controller 21 that calculates a load, a display device 22 that displays the calculated load value, and the load value are printed. A printer 23 or a memory card for recording a load value, and a cancel switch 24 for starting or restarting load detection are provided.

前記表示装置２２は、図２に示すように、各検出器１１Ａ，１１Ｂ，１２，１３，１４，１５の検出値に基いて荷重検出コントローラ２１によりそれぞれ荷重値を演算し、１度の荷役動作で複数回検出されて演算され平均化された荷重値を表示する荷重表示部２２ａと、積込回数表示部２２ｂと、累積荷重表示部２２ｃとが設けられている。   As shown in FIG. 2, the display device 22 calculates the load value by the load detection controller 21 based on the detection values of the detectors 11A, 11B, 12, 13, 14, and 15, and performs one cargo handling operation. A load display unit 22a for displaying a load value detected, calculated and averaged a plurality of times, a loading number display unit 22b, and a cumulative load display unit 22c are provided.

前記荷重検出コントローラ２１には、図３に示すように、テール側油圧検出器１１Ａとロッド側油圧検出器１１Ｂの検出値から差圧を検出する差圧検出部３１と、テール側油圧検出器１１Ａの検出値に基いて、予め設定された荷重区分（任意設定可能）［たとえば（０または）小荷重：Ａ，中荷重：Ｂ，大荷重：Ｃ］から選択する荷重区分選択部３２と、測定開示時と測定終了時のブーム位置検出器１２の検出値から作業ブーム３の昇降速度を求め、予め設定されたブーム昇降速度区分［たとえば高速上昇：Ｖｕ２，低速上昇：Ｖｕ１，停止：Ｖ０，低速下降：Ｖｄ１，高速下降：Ｖｄ２］を選択するブーム速度演算・区分選択部３３と、エンジン回転数検出器１４の検出値に基いて予め設定された回転数区分［たとえば低速アイドル回転：ＮＬｏ，Ｎ１回転：Ｎ１，Ｎ２回転：Ｎ２１，高速アイドル回転：ＮＨｉ］に選択するエンジン回転数区分選択部３４と、車速検出器１５の検出値に基いて予め設定された速度区分［たとえば高速前進：Ｈ２，低速前進：Ｈ１，停止：Ｓ，後進：Ｂ］に特定する車速区分選択部３５と、荷重演算部３０と、荷重記録部３６とを具備している。   As shown in FIG. 3, the load detection controller 21 includes a differential pressure detection unit 31 that detects a differential pressure from detection values of the tail side hydraulic pressure detector 11A and the rod side hydraulic pressure detector 11B, and a tail side hydraulic pressure detector 11A. Based on the detected value, a load category selection unit 32 for selecting from preset load categories (can be arbitrarily set) [for example (0 or) small load: A, medium load: B, large load: C], and measurement The lifting speed of the work boom 3 is obtained from the detection values of the boom position detector 12 at the time of disclosure and at the end of measurement, and a boom lifting speed category set in advance [for example, high speed rising: Vu2, low speed rising: Vu1, stop: V0, low speed. A boom speed calculation / section selection unit 33 for selecting descent: Vd1, high speed descent: Vd2], and a rotation speed section set in advance based on the detection value of the engine speed detector 14 [for example, low speed idle rotation: Lo, N1 rotation: N1, N2 rotation: N21, high-speed idle rotation: NHi] and an engine speed classification selection unit 34 selected based on the detection value of the vehicle speed detector 15 [for example, high-speed forward : H2, low speed forward: H1, stop: S, reverse: B], a vehicle speed category selection unit 35, a load calculation unit 30, and a load recording unit 36 are provided.

前記荷重演算部３０では、予め、テール側油圧検出器１１Ａおよびロッド側油圧検出器１１Ｂの差圧と作業ブーム３の角度との関係が、荷重区分Ａ〜Ｃ毎に表された基準荷重値Ｆ０〜Ｆ２により表された基準マップＭ１が作成される。そして、前記基準マップＭ１に、作業ブーム３の昇降速度Ｖｄ２，Ｖｄ１，Ｖ０，Ｖｕ１，Ｖｕ２と、エンジンの回転数ＮＬｏ，Ｎ１，Ｎ２１，ＮＨｉと、車両本体１の走行速度Ｂ、Ｓ、Ｈ１、Ｈ２による補正データが追加されて補正荷重値が表された補正マップＭ２〜４が作成されている。これにより各検出値に基いて対応する補正マップＭ４が選択され、この補正マップＭ４に基いて荷重値が演算される。 In the load calculation unit 30, the reference load value F0 in which the relationship between the differential pressure between the tail-side oil pressure detector 11A and the rod-side oil pressure detector 11B and the angle of the work boom 3 is expressed in advance for each load category A to C. A reference map M1 represented by -F2 is created. In the reference map M1, the lifting speed Vd2, Vd1, V0, Vu1, Vu2 of the work boom 3, the engine speeds NLo, N1, N21, NHi, the traveling speeds B, S, H1, Correction maps M2 to M4 in which correction data by H2 are added and correction load values are expressed are created. Accordingly, a corresponding correction map M4 is selected based on each detected value, and a load value is calculated based on this correction map M4.

前記基準マップＭ１と補正マップＭ２〜４を作成するための初期データの取得モードについて、図４，図６，図７を参照して説明する。
図７に示すように、作業ブーム３を０°〜９０°にわたって上昇させ、この時のブームシリンダ４のテール側油圧検出器１１Ａおよびロッド側油圧検出器１１Ｂの検出値の差圧を、たとえばブーム位置検出器１２により検出された作業ブーム３の角度毎、たとえば３°毎に検出して、差圧に対応する基準荷重値Ｆ０〜Ｆ２が記録される。この時、バケット５の荷重を複数たとえば３つの荷重区分Ａ〜Ｃが任意に設定されて、荷重区分Ａ〜Ｃ毎に基準荷重値Ｆ０〜Ｆ２が表され、基準マップＭ１が作成される［図４，図７（ａ）］。 An initial data acquisition mode for creating the reference map M1 and the correction maps M2 to M4 will be described with reference to FIGS.
As shown in FIG. 7, the work boom 3 is raised from 0 ° to 90 °, and the differential pressure between the detected values of the tail-side hydraulic pressure detector 11A and the rod-side hydraulic pressure detector 11B of the boom cylinder 4 at this time is, for example, the boom Reference load values F0 to F2 corresponding to the differential pressure are recorded for each angle of the work boom 3 detected by the position detector 12, for example, every 3 °. At this time, a plurality of loads, for example, three load sections A to C are arbitrarily set as the load of the bucket 5, the reference load values F0 to F2 are represented for each of the load sections A to C, and the reference map M1 is created [FIG. 4, FIG. 7 (a)].

次いで、作業ブーム３を０°〜９０°にわたって上昇させるとともに、ブーム位置検出器１２により測定開示時と測定終了時の検出して、ブーム速度演算・区分選択部３３で選択された作業ブーム３の昇降速度Ｖｄ２，Ｖｄ１，Ｖ０，Ｖｕ１，Ｖｕ２毎に、ブーム角度に対する差圧の補正値が取得される。そして、基準荷重値Ｆ０，Ｆ１，Ｆ２に補正データを追加した補正荷重値Ｆ０−１，Ｆ１−１，Ｆ２−１が表された補正マップＭ２が、各荷重区分毎に作成される［図７（ｂ）］。 Next, the work boom 3 is raised from 0 ° to 90 °, and the boom position detector 12 detects when the measurement is disclosed and at the end of the measurement, and the boom speed calculation / section selection unit 33 selects the work boom 3. A correction value for the differential pressure with respect to the boom angle is acquired for each of the lifting speeds Vd2, Vd1, V0, Vu1, and Vu2. Then, a correction map M2 showing correction load values F0-1, F1-1, F2-1 obtained by adding correction data to the reference load values F0, F1, F2 is created for each load category [FIG. (B)].

同様にして、エンジン回転数検出器１４により検出されたエンジンの回転数ＮＬｏ，Ｎ１，Ｎ２１，ＮＨｉ毎に、ブーム角度に対する差圧の補正値を取得し、前記補正荷重値Ｆ０−１，Ｆ１−１，Ｆ２−１に補正データを追加した補正荷重値Ｆ０−２，Ｆ１−２，Ｆ２−２が表された補正マップＭ３が、各荷重区分毎および速度区分毎に作成される［図７（ｃ）］。 Similarly, for each engine speed NLo, N1, N21, NHi detected by the engine speed detector 14, a correction value for the differential pressure with respect to the boom angle is acquired, and the corrected load values F0-1, F1- 1, correction map M3 in which correction load values F0-2, F1-2, and F2-2 obtained by adding correction data to F2-1 are generated is created for each load segment and each speed segment [FIG. c)].

さらに同様に、車速検出器１５により検出された車両本体１の走行速度Ｂ、Ｓ、Ｈ１、Ｈ２毎に、車速に対する補正差圧値を取得し、補正荷重値Ｆ０−２，Ｆ１−２，Ｆ２−２に補正データを追加した補正荷重値Ｆ０−３，Ｆ１−３，Ｆ２−３が表された補正マップＭ４が、各荷重区分毎および速度区分毎ならびにエンジン回転数区分毎に作成される［図７（ｄ）］。 Further, similarly, a corrected differential pressure value with respect to the vehicle speed is acquired for each traveling speed B, S, H1, H2 of the vehicle body 1 detected by the vehicle speed detector 15, and corrected load values F0-2, F1-2, F2 are acquired. A correction map M4 representing correction load values F0-3, F1-3, and F2-3 obtained by adding correction data to -2 is created for each load category, each speed category, and each engine speed category [ FIG. 7 (d)].

Ａ）荷重区分Ａの場合、
Ｗ１＝Ｆ１／（Ｐ２−Ｐ１）×（ＰＤ１−Ｐ１）…（１式）
ここで、ＰＤ１：検出差圧値、Ｐ１：ブーム角度α上のＦ０の差圧値、
Ｐ２：ブーム角度α上のＦ２の基準差圧値である。 A) For load classification A,
W1 = F1 / (P2-P1) × (PD1-P1) (1 formula)
Here, PD1: detected differential pressure value, P1: differential pressure value of F0 on the boom angle α,
P2: F2 reference differential pressure value on the boom angle α.

Ｂ）荷重区分Ｂの場合、
Ｗ２＝［Ｆ１＋（Ｆ２−Ｆ１）］／（Ｐ３−Ｐ２）×（ＰＤ２−Ｐ２）…（２式）
ここで、ＰＤ２：検出差圧値、Ｐ２：ブーム角度α上のＦ２の差圧値、
Ｐ３：ブーム角度α上のＦ３の基準差圧値である。 B) For load classification B,
W2 = [F1 + (F2-F1)] / (P3-P2) × (PD2-P2) (2 formulas)
Here, PD2: detected differential pressure value, P2: differential pressure value of F2 on the boom angle α,
P3: Reference differential pressure value of F3 on the boom angle α.

Ｃ）荷重区分Ｃの場合、
Ｗ３＝［Ｆ２＋（Ｆ２−Ｆ１）］／（Ｐ３−Ｐ２）×（ＰＤ３−Ｐ３）…（３式）
ここで、ＰＤ２：検出差圧値、Ｐ２：ブーム角度α上のＦ２の差圧値、Ｐ３：ブーム角度α上のＦ３の基準差圧値である。 C) For load category C:
W3 = [F2 + (F2-F1)] / (P3-P2) × (PD3-P3) (3 formulas)
Here, PD2 is a detected differential pressure value, P2 is a differential pressure value of F2 on the boom angle α, and P3 is a reference differential pressure value of F3 on the boom angle α.

次に上記構成における荷重検出の手順を図８を参照して説明する。
１）バケット角度検出器１３によりバケット５が後傾姿勢であることが確認される（STEP1）と、ブーム位置検出器１２により検出開始時の作業ブーム３の位置が検出される（STEP2）。 Next, the load detection procedure in the above configuration will be described with reference to FIG.
1) When the bucket angle detector 13 confirms that the bucket 5 is tilted backward (STEP 1), the boom position detector 12 detects the position of the work boom 3 at the start of detection (STEP 2).

２）ロッド側油圧検出器１１Ｂによりブームシリンダ４のロッド側油室の油圧が検出され（STEP3）、ついでテール側油圧検出器１１Ａによりブームシリンダ４のロッド側油室の油圧が検出される（STEP4）。   2) The rod side oil pressure detector 11B detects the oil pressure in the rod side oil chamber of the boom cylinder 4 (STEP 3), and the tail side oil pressure detector 11A detects the oil pressure in the rod side oil chamber of the boom cylinder 4 (STEP 4). ).

３）エンジン回転数検出器１４により、エンジンの回転数が検出され（STEP5）、車速検出器１５により車両本体１の車速（走行速度）が検出される（STEP6）。
４）ブーム位置検出器１２により検出終了時の作業ブーム３の位置が検出される（STEP7）。 3) The engine speed detector 14 detects the engine speed (STEP 5), and the vehicle speed detector 15 detects the vehicle speed (traveling speed) of the vehicle body 1 (STEP 6).
4) The position of the work boom 3 at the end of detection is detected by the boom position detector 12 (STEP 7).

５）ブーム速度演算・区分選択部３３により、検出開始時と検出終了時の作業ブーム３の位置（角度）からブーム速度が演算されてブーム速度区分が選択される。そして荷重区分選択部３２による荷重区分データと、エンジン回転数区分選択部３３によるエンジン回転数区分データと、前記ブーム速度区分選択部３４によるブーム速度区分データとに対応する補正マップＭ４が選択される（STEP8）。そして、選択された補正マップＭ４に基いて荷重値が演算される（STEP9）。   5) The boom speed calculation / section selection unit 33 calculates the boom speed from the position (angle) of the work boom 3 at the start of detection and at the end of detection, and selects the boom speed section. Then, the correction map M4 corresponding to the load category data by the load category selector 32, the engine speed category data by the engine speed category selector 33, and the boom speed category data by the boom speed category selector 34 is selected. (STEP8). Then, the load value is calculated based on the selected correction map M4 (STEP 9).

６）実際の計測荷重は、保持直後では実荷重より大きい値を示し、時間が経過すると、実荷重より一旦小さくなった後に、実荷重に接近するため、サンプリング２回目以後の演算値が、前回の演算値より大きくなるまでサンプリングを複数回実施し、前回の演算値と今回の演算値の差が最も小さくなるまでサンプリングし（STEP10,11）、演算値の変動幅が最も小さくなった複数回の演算値を平均化し（STEP12）、表示装置２２の荷重表示部２２ａに表示する（STEP13）。さらに荷重記録部３６に記録される（STEP14）。そしてこれらの計測値はプリンタ２３により印字されるか、または記録媒体であるメモリカードに記録される。   6) The actual measured load shows a value that is greater than the actual load immediately after holding, and when the time elapses, it becomes smaller than the actual load and then approaches the actual load. Sampling is performed several times until the calculated value becomes larger than the calculated value, and sampling is performed until the difference between the previous calculated value and the current calculated value becomes the smallest (STEP10,11). Are averaged (STEP 12) and displayed on the load display section 22a of the display device 22 (STEP 13). Further, it is recorded in the load recording unit 36 (STEP 14). These measured values are printed by the printer 23 or recorded on a memory card which is a recording medium.

上記荷役作業において、バケット５に荷役物を規定以上に積み込んだ場合や、荷重表示部２２ａに表示された荷重値が明らかに誤測であるとオペーレータが判断した場合には、キャンセルスイッチ２４が押され、演算値がキャンセルされて再測定に移行される。   In the above loading / unloading work, when the cargo handling material is loaded in the bucket 5 or more than specified, or when the operator determines that the load value displayed on the load display portion 22a is clearly erroneous measurement, the cancel switch 24 is pressed. The calculated value is canceled and the process moves to remeasurement.

上記構成によれば、ブームシリンダ４のテール側油室の油圧を、テール側油圧検出器１１Ａにより検出し、荷重検出コントローラ２１により、バケット５に保持された荷役物の荷重を、複数の荷重区分Ａ〜Ｃから選択して演算するので、計測精度をより向上させることができる。   According to the above configuration, the oil pressure in the tail side oil chamber of the boom cylinder 4 is detected by the tail side oil pressure detector 11A, and the load of the cargo handling object held in the bucket 5 is detected by the load detection controller 21 in a plurality of load categories. Since the calculation is performed by selecting from A to C, the measurement accuracy can be further improved.

また、作業ブーム３の角度位置や回動速度に加えて、エンジンＥの回転数に対応して基準値を補正するとともに、車両本体１の移動速度に対応して基準値を補正した補正マップＭ４を使用して荷重値を演算するので、エンジンＥの回転数により油圧ポンプの吐出油圧が変動することがあっても、高精度に荷重値を演算することができる。また車両本体１が停止状態や高速または低速での前進移動、あるいは後進移動している状態であっても、荷重値の精度が低下することがない。   Further, in addition to the angular position and rotation speed of the work boom 3, a correction map M4 that corrects the reference value in accordance with the rotational speed of the engine E and corrects the reference value in accordance with the moving speed of the vehicle body 1. Therefore, even if the discharge hydraulic pressure of the hydraulic pump fluctuates depending on the rotation speed of the engine E, the load value can be calculated with high accuracy. Further, even when the vehicle body 1 is in a stopped state, a forward movement at a high speed or a low speed, or a reverse movement, the accuracy of the load value does not decrease.

したがって、バケット５により保持された土砂などの荷役物の荷重を、あらゆる作業状態で、従来に比較してより高精度に検出することができる。   Therefore, it is possible to detect the load of the cargo handling object such as earth and sand held by the bucket 5 with higher accuracy than in the past in any work state.

本発明に係る作業用車両の荷重検出装置の実施の形態を示す構成図である。It is a block diagram which shows embodiment of the load detection apparatus of the working vehicle which concerns on this invention. 同荷重検出装置の表示装置を示す正面図である。It is a front view which shows the display apparatus of the load detection apparatus. 同荷重検出装置の荷重検出コントローラを示す構成図である。It is a block diagram which shows the load detection controller of the load detection apparatus. 同荷重検出コントローラの荷重演算部で作成された基準マップを示す図である。It is a figure which shows the reference | standard map produced in the load calculating part of the load detection controller. 同マップに基く荷重の演算式を説明する説明図である。It is explanatory drawing explaining the calculation formula of the load based on the map. 同基準マップおよび補正マップを作成するデータ取得手順の説明図である。It is explanatory drawing of the data acquisition procedure which produces the same reference map and correction map. （ａ）〜（ｄ）は、補正マップの一部を示す説明図である。(A)-(d) is explanatory drawing which shows a part of correction | amendment map. 同荷重検出装置の測定動作を説明するフロー図である。It is a flowchart explaining the measurement operation | movement of the load detection apparatus.

符号の説明Explanation of symbols

１ 車両本体
２ 支軸
３ 作業ブーム
４ ブームシリンダ
５ バケット
５ａ 水平軸
６ バケット回動シリンダ
７Ｆ 前輪
７Ｒ 後輪
１１Ａ テール側油圧検出器
１１Ｂ ロッド側油圧検出器
１２ ブーム位置検出器
１３ バケット角度検出器
１４ エンジン回転数検出器
１５ 車速検出器
２１ 荷重検出コントローラ
２２ 表示装置
２３ プリンタ
２４ キャンセルスイッチ
３０ 荷重演算部 DESCRIPTION OF SYMBOLS 1 Vehicle main body 2 Support shaft 3 Working boom 4 Boom cylinder 5 Bucket 5a Horizontal shaft 6 Bucket rotation cylinder 7F Front wheel 7R Rear wheel 11A Tail side oil pressure detector 11B Rod side oil pressure detector 12 Boom position detector 13 Bucket angle detector 14 Engine speed detector 15 Vehicle speed detector 21 Load detection controller 22 Display device 23 Printer 24 Cancel switch 30 Load calculation unit

Claims (2)

車両本体に、油圧ポンプから供給される油圧により駆動されるブームシリンダと、前記ブームシリンダにより上下方向に回動される作業ブームと、作業ブームの先端側に設けられた荷役具とを具備した作業用車両の荷役作業時に、前記荷役具に保持された荷役物の荷重を検出するに際し、
前記ブームシリンダのテール側油室の油圧およびロッド側油室の油圧と、前記作業ブームの傾斜角度と、作業ブームの回動速度と、エンジンの回転数と、車両本体の走行速度とを検出し、
予め形成された前記テール側油圧検出器の検出値に基いて選択された荷役物の基準荷重と、前記テール側油圧検出器とロッド側油圧検出器の検出値の差圧と、作業ブームのブーム位置検出器の検出値との関係を表した基準マップに、さらに作業ブームの回動速度と、エンジンの回転数と、車両本体の走行速度による補正データが追加された複数の補正マップを形成しておき、前記各検出値により選択された前記補正マップに基いて荷重を演算する
作業用車両の荷重検出方法。 A work provided with a boom cylinder driven by hydraulic pressure supplied from a hydraulic pump, a work boom rotated in the vertical direction by the boom cylinder, and a cargo handling device provided on the front end side of the work boom. When detecting the load of the cargo handling object held by the cargo handling equipment during the cargo handling operation of the vehicle,
The hydraulic pressure of the tail side oil chamber and the rod side oil chamber of the boom cylinder, the inclination angle of the work boom, the rotation speed of the work boom, the engine speed, and the traveling speed of the vehicle body are detected. ,
The reference load of the cargo item selected based on the detection value of the tail side hydraulic detector formed in advance, the differential pressure between the detection values of the tail side hydraulic detector and the rod side hydraulic detector, and the boom of the work boom A plurality of correction maps in which correction data based on the rotation speed of the work boom, the rotation speed of the engine, and the traveling speed of the vehicle body are further added to the reference map that represents the relationship with the detection values of the position detector. A load detection method for a working vehicle that calculates a load based on the correction map selected based on the detection values. 車両本体に、油圧ポンプから供給される油圧により駆動されるブームシリンダと、前記ブームシリンダにより上下方向に回動される作業ブームと、作業ブームの先端側に設けられた荷役具とを具備し、前記荷役具により保持された荷役物の荷重を検出する作業用車両の荷重検出装置であって、
前記ブームシリンダのテール側油室の油圧とロッド側油室の油圧とそれぞれ検出するテール側油圧検出器およびロッド側油圧検出器と、
前記作業ブームの傾斜角を検出するブーム位置検出器と、
前記油圧ポンプを駆動するエンジンの回転数を検出するエンジン回転数検出器と、
車両本体の走行速度を検出する車速検出器とを具備し、
前記各検出器の検出値に基いて荷役物の荷重を演算し表示装置に表示する荷重検出コントローラを設け、
前記荷重検出コントローラは、前記テール側油圧検出器の検出値に基いて選択された荷役物の基準荷重と、前記テール側油圧検出器とロッド側油圧検出器の検出値の差圧と、作業ブームのブーム位置検出器の検出値との関係を表した基準マップに、作業ブームの回動速度と、エンジンの回転数と、車両本体の走行速度による補正データが追加された複数の補正マップを有し、前記検出値に基いて補正マップを選択し、該補正マップに基いて荷重を演算するように構成された
作業用車両の荷重検出装置。 The vehicle main body includes a boom cylinder driven by hydraulic pressure supplied from a hydraulic pump, a work boom that is turned up and down by the boom cylinder, and a cargo handling tool provided on the front end side of the work boom, A load detection device for a working vehicle for detecting a load of a cargo handling object held by the cargo handling equipment,
A tail-side oil pressure detector and a rod-side oil pressure detector for detecting the oil pressure in the tail-side oil chamber and the oil pressure in the rod-side oil chamber of the boom cylinder, respectively;
A boom position detector for detecting an inclination angle of the work boom;
An engine speed detector for detecting the engine speed for driving the hydraulic pump;
A vehicle speed detector for detecting the traveling speed of the vehicle body,
A load detection controller for calculating the load of the cargo handling object based on the detection value of each detector and displaying it on the display device is provided.
The load detection controller includes a reference load of a cargo item selected based on a detection value of the tail side hydraulic pressure detector, a differential pressure between detection values of the tail side hydraulic pressure detector and the rod side hydraulic pressure detector, and a work boom. A reference map that represents the relationship between the detected value of the boom position detector and a plurality of correction maps to which correction data based on the rotation speed of the work boom, the engine speed, and the traveling speed of the vehicle body is added. A load detection device for a working vehicle configured to select a correction map based on the detected value and calculate a load based on the correction map.
JP2005164907A 2005-06-06 2005-06-06 Load detection method and apparatus for work vehicle Expired - Fee Related JP4338678B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2005164907A JP4338678B2 (en) 2005-06-06 2005-06-06 Load detection method and apparatus for work vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2005164907A JP4338678B2 (en) 2005-06-06 2005-06-06 Load detection method and apparatus for work vehicle

Publications (2)

Publication Number Publication Date
JP2006336390A JP2006336390A (en) 2006-12-14
JP4338678B2 true JP4338678B2 (en) 2009-10-07

Family

ID=37557178

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2005164907A Expired - Fee Related JP4338678B2 (en) 2005-06-06 2005-06-06 Load detection method and apparatus for work vehicle

Country Status (1)

Country Link
JP (1) JP4338678B2 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111501865A (en) * 2020-04-26 2020-08-07 三一重机有限公司 Operation method of electronic fence for excavator, electronic fence and excavator
US11926995B2 (en) 2019-01-08 2024-03-12 Hitachi Construction Machinery Co., Ltd. Work machine

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8156048B2 (en) * 2008-03-07 2012-04-10 Caterpillar Inc. Adaptive payload monitoring system
JP5138438B2 (en) * 2008-03-27 2013-02-06 株式会社小松製作所 Wheel loader load capacity measuring apparatus and load load measuring method
US8903612B2 (en) 2013-04-26 2014-12-02 Caterpillar Inc. Method of determining when a payload loading event is occurring in a hauling machine
US8700274B1 (en) 2013-04-26 2014-04-15 Caterpillar Inc. Method of determining when a bed of a hauling machine is empty
KR102040335B1 (en) * 2013-12-24 2019-11-04 두산인프라코어 주식회사 Load weighing apparatus of construction equipment and method thereof
KR102076373B1 (en) * 2013-12-26 2020-02-11 두산인프라코어 주식회사 Map formation method for load weight of wheel loader
KR102452805B1 (en) * 2015-05-12 2022-10-11 현대두산인프라코어 주식회사 Method and system for controlling wheel loader
US10094704B2 (en) 2015-10-30 2018-10-09 Caterpillar Inc. System for estimating a mass of a payload in a hauling machine
JP6749878B2 (en) * 2017-09-29 2020-09-02 日立建機株式会社 Wheel loader and bucket load calculation method
KR102613270B1 (en) * 2017-12-27 2023-12-12 스미토모 겐키 가부시키가이샤 shovel
JP6971888B2 (en) * 2018-03-05 2021-11-24 株式会社小松製作所 Work vehicle, system including work vehicle, and load weight calculation method for work vehicle
JP6849623B2 (en) * 2018-03-07 2021-03-24 日立建機株式会社 Work machine
JP7091167B2 (en) * 2018-06-29 2022-06-27 株式会社小松製作所 Work machines and systems including work machines
JP7374763B2 (en) * 2019-12-27 2023-11-07 株式会社小松製作所 Work machines, weighing methods, and systems containing work machines

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11926995B2 (en) 2019-01-08 2024-03-12 Hitachi Construction Machinery Co., Ltd. Work machine
CN111501865A (en) * 2020-04-26 2020-08-07 三一重机有限公司 Operation method of electronic fence for excavator, electronic fence and excavator

Also Published As

Publication number Publication date
JP2006336390A (en) 2006-12-14

Similar Documents

Publication Publication Date Title
JP4338678B2 (en) Load detection method and apparatus for work vehicle
US9163384B2 (en) System and method for detecting a crest
AU2013206696B2 (en) System and method for adjusting a boundary for a machine
US9593469B2 (en) System and method for controlling a work vehicle based on a monitored tip condition of the vehicle
US11174618B2 (en) System and method for automated payload target tipoff
US20140032132A1 (en) System and Method for Operating a Machine
JP6703942B2 (en) Work vehicle control system, control method, and work vehicle
WO2016208275A1 (en) Wheel loader and automatic accumulation method for transport work information of wheel loader
KR102402518B1 (en) working machine
CN107407591B (en) The load measuring device of Work machine
CN114321359A (en) System and method for monitoring machines operating at a worksite
JP2019173409A (en) Wheel loader
US11136040B2 (en) IMU based traction control for wheeled or tracked machine
JP2012215495A (en) Load measuring device
CN105143839A (en) Method of estimating mass of a payload in a hauling machine
US20230392350A1 (en) Method and control device for operating a self-driving working machine
CN117396650A (en) System and method for controlling an electrically driven power machine
EP4030002A1 (en) Work machine, measurement method, and system including work machine
WO2020202651A1 (en) Wheel loader
JP7152629B2 (en) work vehicle
JP7386099B2 (en) work vehicle
US20240110366A1 (en) Systems and methods for control of electrically powered power machines
JP2014119275A (en) Stress measuring device of dump truck
WO2024004984A1 (en) Work machine
WO2023100706A1 (en) Management system for work vehicle, management method for work vehicle, and work vehicle

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20070918

RD04 Notification of resignation of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7424

Effective date: 20080430

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20090218

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20090303

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20090417

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20090602

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20090630

R150 Certificate of patent or registration of utility model

Ref document number: 4338678

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

Free format text: JAPANESE INTERMEDIATE CODE: R150

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20120710

Year of fee payment: 3

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20130710

Year of fee payment: 4

S531 Written request for registration of change of domicile

Free format text: JAPANESE INTERMEDIATE CODE: R313531

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20130710

Year of fee payment: 4

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20130710

Year of fee payment: 4

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20130710

Year of fee payment: 4

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313111

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20130710

Year of fee payment: 4

R360 Written notification for declining of transfer of rights

Free format text: JAPANESE INTERMEDIATE CODE: R360

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20130710

Year of fee payment: 4

R370 Written measure of declining of transfer procedure

Free format text: JAPANESE INTERMEDIATE CODE: R370

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313113

S531 Written request for registration of change of domicile

Free format text: JAPANESE INTERMEDIATE CODE: R313531

S533 Written request for registration of change of name

Free format text: JAPANESE INTERMEDIATE CODE: R313533

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313111

S531 Written request for registration of change of domicile

Free format text: JAPANESE INTERMEDIATE CODE: R313531

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313111

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

LAPS Cancellation because of no payment of annual fees