Control system, loading machine, and control method

Abstract

A control system for controlling a loading machine including working equipment having a bucket includes a controller. The controller calculates traction force of the loading machine during excavation work of excavating an object to be excavated with the bucket. The controller acquires a bucket angle representing an angle of the bucket with respect to the horizontal plane during the excavation work. The controller calculates a weight of an excavated object, which is the object to be excavated, held by the bucket based on the traction force, the bucket angle, and bucket data indicating a shape and a dimension of the bucket.

1 . A control system for controlling a loading machine including working equipment having a bucket, the control system comprising:
 a controller, wherein   the controller   calculates traction force of the loading machine during excavation work of excavating an object to be excavated with the bucket,   acquires a bucket angle representing an angle of the bucket with respect to a horizontal plane during the excavation work, and   calculates a weight of an excavated object, which is the object to be excavated, held by the bucket based on the traction force, the bucket angle, and bucket data indicating a shape and a dimension of the bucket.   
     
     
         2 . The control system according to  claim 1 , wherein
 the controller   calculates a load height representing a height of the object to be excavated inside the bucket based on the traction force, and   calculates a weight of the excavated object based on the load height.   
     
     
         3 . The control system according to  claim 2 , wherein
 the controller   stores an earth pressure coefficient of the object to be excavated, and   calculates the load height based on the traction force and the earth pressure coefficient.   
     
     
         4 . The control system according to any one of  claims 1 to 3 , wherein
 the loading machine excavates the object to be excavated with the bucket while moving forward,   a surface of the excavated object includes a first surface that slopes upwardly toward a front, and a second surface that is connected to a front end of the first surface and slopes downwardly toward the front, and   the controller   calculates a weight of the excavated object based on a near-side load angle representing an angle of the first surface with respect to a horizontal plane and a blade edge side load angle representing an angle of the second surface with respect to the horizontal plane.   
     
     
         5 . The control system according to  claim 4 , wherein
 the controller   stores an angle of repose of the object to be excavated, and   the blade edge side load angle includes the angle of repose.   
     
     
         6 . The control system according to  claim 5 , wherein
 the controller   calculates the angle of repose based on the excavated object held by the bucket, and   stores the angle of repose calculated.   
     
     
         7 . The control system according to any one of  claims 1 to 6 , wherein
 the controller   controls a posture of the working equipment such that the weight calculated becomes a target weight.   
     
     
         8 . A loading machine comprising:
 the control system according to any one of claims  1  to  7 .   
     
     
         9 . A control method for controlling a loading machine including working equipment having a bucket, the control method comprising:
 calculating traction force of the loading machine during excavation work of excavating an object to be excavated with the bucket;   calculating a bucket angle representing an angle of the bucket with respect to a horizontal plane during the excavation work; and   calculating a weight of an excavated object, which is the object to be excavated, held by the bucket based on the traction force, the bucket angle, and bucket data indicating a shape and a dimension of the bucket.