Loading weight measurement method of construction machine
In a method of measuring weight of a load in a construction machine, weight of a load loaded in a bucket is measured while performing a construction work using a working apparatus of the construction machine. Whether or not a bucket unloading condition is satisfied is determined at any point in time during the construction work. A link parameter is calculated using output values collected from sensors attached to the construction machine when the bucket unloading is satisfied. A difference between the calculated link parameter (hereinafter, referred to as a new link parameter) and a link parameter that has been used to measure the weight of the load (hereinafter, referred to as a previous link parameter) is compared, to update the previous link parameter with the new link parameter.
1. A method of measuring weight of a load in a construction machine, the method comprising:
measuring weight of a load loaded in a bucket while performing a construction work using a working apparatus of the construction machine, the working apparatus including an arm and the bucket;
determining whether or not a bucket unloading condition is satisfied at any point in time during the construction work;
calculating a link parameter, as a new link parameter, using output values collected from sensors attached to the construction machine in response to the bucket unloading condition being satisfied, the link parameter being related to a linkage structure connecting the bucket to the arm of the working apparatus;
comparing a difference between the new link parameter and a previous link parameter that has been used to measure the weight of the load, to update the previous link parameter with the new link parameter;
measuring weight of the load loaded in the bucket based on the new link parameter; and
performing the construction work based on the weight of the load measured based on the new link parameter,
wherein determining whether the bucket unloading condition is satisfied includes determining that the bucket unloading condition is satisfied in response to no load being loaded in the bucket or no external force being acting on the working apparatus at any point in time during the construction work.
2. The method of claim 1 , wherein determining whether the bucket unloading condition is satisfied includes comparing the new link parameter calculated through the output values from the sensors with the previous link parameter.
3. The method of claim 1 , wherein calculating the new link parameter in response to the bucket unloading condition being satisfied includes:
collecting the output values from the sensors when the working apparatus is operating; and
calculating the new link parameter by applying the collected output values to a dynamic equation.
4. The method of claim 1 , wherein calculating the new link parameter in response to the bucket unloading condition being satisfied includes:
collecting the output values from the sensors in a plurality of operation states of the working apparatus; and
calculating the new link parameter by applying the collected output values to a dynamic equation.
5. The method of claim 1 , wherein the sensors include pressure sensors for measuring head-side pressure and rod-side pressure of each of cylinders of the working apparatus.
6. The method of claim 1 , wherein determining whether the bucket unloading condition is satisfied includes determining that the bucket unloading condition is satisfied in response to no load being loaded in the bucket at any point in time during the construction work.
7. The method of claim 1 , wherein determining whether the bucket unloading condition is satisfied includes determining that the bucket unloading condition is satisfied in response to no external force being acting on the working apparatus at any point in time during the construction work.
8. A method of measuring weight of a load in a construction machine, the method comprising:
measuring weight of a load loaded in a bucket while performing a construction work using a working apparatus of the construction machine, the working apparatus including an arm and the bucket;
determining whether or not a bucket unloading condition is satisfied at any point in time during the construction work;
calculating a link parameter, as a new link parameter, using output values collected from sensors attached to the construction machine, the link parameter being related to a linkage structure connecting the bucket to the arm of the working apparatus;
comparing a difference between the new link parameter and a previous link parameter that has been used to measure the weight of the load, to update the previous link parameter with the new link parameter;
measuring weight of the load loaded in the bucket based on the new link parameter; and
performing the construction work based on the weight of the load measured based on the new link parameter,
wherein determining whether the bucket unloading condition is satisfied includes comparing a change value of the previous link parameter through the output values from the sensors, and
wherein calculating the new link parameter in response to the bucket unloading condition being satisfied includes:
collecting the output values from the sensors when the working apparatus is operating; and
calculating the new link parameter by applying the collected output values to a dynamic equation.