Work machine, system, and method of controlling work machine

Abstract

A payload calculation value (CalcuPayload) of a load within a bucket is calculated based on load of a boom cylinder. An amount of change per unit time in information on at least one of an operation command value for operating the boom cylinder and a speed of extension and contraction of the boom cylinder is sensed. A payload value is determined by correcting based on the amount of change per unit time, the payload calculation value (CalcuPayload) obtained by calculation.

1 . A work machine comprising:
 a boom;   an arm attached to a tip end of the boom;   a bucket attached to a tip end of the arm;   a boom cylinder that drives the boom; and   a controller that calculates a payload calculation value of a load within the bucket based on load of the boom cylinder, detects an amount of change per unit time in information on at least one of an operation command value for operating the boom cylinder and a speed of extension and contraction of the boom cylinder, and determines a payload value by correcting based on the amount of change per unit time, the payload calculation value obtained by calculation.   
     
     
         2 . The work machine according to  claim 1 , wherein
 the controller determines the payload value by calculating a weighted average of payload calculation values with a weight at time when the amount of change per unit time is large being made smaller and with a weight at time when the amount of change per unit time is small being made larger.   
     
     
         3 . The work machine according to  claim 2 , wherein
 the controller calculates a plurality of weights, and determines the payload value by calculating the weighted average of the payload calculation values large in weight among the plurality of weights, rather than the payload calculation values small in weight among the plurality of weights.   
     
     
         4 . The work machine according to  claim 1 , wherein
 the operation command value and the speed of extension and contraction of the boom cylinder refer to the operation command value and the speed of extension and contraction of the boom cylinder in an operation to raise the boom, respectively.   
     
     
         5 . A system comprising:
 a work machine including a boom, an arm attached to a tip end of the boom, a bucket attached to a tip end of the arm, and a boom cylinder that drives the boom; and   a controller that obtains an amount of change per unit time in information on at least one of an operation command value for operating the boom cylinder and a speed of extension and contraction of the boom cylinder, calculates a payload calculation value of a load within the bucket based on load of the boom cylinder, and determines a payload value by correcting based on the amount of change per unit time, the payload calculation value obtained by calculation.   
     
     
         6 . A method of controlling a work machine, the work machine including a boom, an arm attached to a tip end of the boom, a bucket attached to a tip end of the arm, and a boom cylinder that drives the boom, the method comprising:
 calculating a payload calculation value of a load within the bucket based on load of the boom cylinder; and   obtaining an amount of change per unit time in information on at least one of an operation command value for operating the boom cylinder and a speed of extension and contraction of the boom cylinder and determining a payload value by correcting based on the amount of change per unit time, the payload calculation value obtained by calculation.