EP4345218A1 - Système de machine de travail - Google Patents

Système de machine de travail Download PDF

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Publication number
EP4345218A1
EP4345218A1 EP22837406.2A EP22837406A EP4345218A1 EP 4345218 A1 EP4345218 A1 EP 4345218A1 EP 22837406 A EP22837406 A EP 22837406A EP 4345218 A1 EP4345218 A1 EP 4345218A1
Authority
EP
European Patent Office
Prior art keywords
amount
bucket
earth
sand
work machine
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.)
Pending
Application number
EP22837406.2A
Other languages
German (de)
English (en)
Inventor
Nobuhiro FUKUO
Koji Yamashita
Daisuke Noda
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kobelco Construction Machinery Co Ltd
Original Assignee
Kobelco Construction Machinery Co Ltd
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 Kobelco Construction Machinery Co Ltd filed Critical Kobelco Construction Machinery Co Ltd
Publication of EP4345218A1 publication Critical patent/EP4345218A1/fr
Pending legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/267—Diagnosing or detecting failure of vehicles

Definitions

  • the present invention relates to a work machine system for automatic operation of a work machine.
  • Patent Literature 1 discloses a work machine that calculates a load of a work object held by a tip attachment based on thrust information about an actuator and estimates whether a load has slipped during transportation of the work object.
  • the amount of the work object held by the tip attachment is smaller than a target value at a time point when the tip attachment releases the work object.
  • a similar situation may occur in a case where the amount of the work object held by the tip attachment is smaller than the target value when the tip attachment holds the work object, or in a case where a sufficient amount of the work object cannot be held by the tip attachment because the amount of the work object to be held by the tip attachment is not sufficient.
  • Patent Literature 1 JP 2019-157362 A
  • An object of the present invention is to provide a work machine system capable of specifying a factor that makes an amount of a work object held by a tip attachment smaller than a target value.
  • a work machine system of the present invention includes a lower travelling body, an upper slewing body slewably attached to an upper portion of the lower travelling body, an attachment that has a tip attachment capable of holding a work object and is rotatably attached to the upper slewing body, and a controller.
  • the controller controls the upper slewing body and the attachment so that the upper slewing body and the attachment perform a series of operations having a plurality of operation phases, detects an amount of the work object held by the tip attachment, sets a target amount that is a target of the amount of the work object, and specifies, as an abnormal phase, an operation phase in which an amount of the work object held by the tip attachment is smaller than the target amount.
  • the upper slewing body and the attachment are controlled so that the upper slewing body and the attachment perform a series of operations having a plurality of operation phases. Then, an operation phase in which the amount of the work object held by the tip attachment is smaller than the target amount is specified as an abnormal phase. Therefore, the operation phase in which the amount of the work object held by the tip attachment is smaller than the target value can be specified from the plurality of operation phases. This makes it possible to specify a factor that makes the amount of the work object held by the tip attachment smaller than the target value.
  • the slewing is specified as the abnormal phase.
  • the excavation amount of the earth and sand is smaller than a target amount, the excavation is specified as the abnormal phase.
  • a work machine system is a system for automatic operation of a work machine.
  • the work machine system includes a work machine 20 and a cockpit 71.
  • the work machine 20 is a machine that performs work with an attachment 30, and is, for example, a hydraulic excavator.
  • the work machine 20 has a machine main body 24 including a lower travelling body 21 and an upper slewing body 22, the attachment 30, and cylinders 40.
  • the lower travelling body 21 is a portion that causes the work machine 20 to travel, and includes, for example, a crawler.
  • the upper slewing body 22 is slewably attached to an upper part of the lower travelling body 21 via a slewing device 25.
  • a cab (driver's cabin) 23 is provided at a front part of the upper slewing body 22.
  • the attachment 30 is attached to the upper slewing body 22 to be rotatable about a slewing axis extending in an up-and-down direction.
  • the attachment 30 includes a boom 31, an arm 32, and a bucket 33.
  • the boom 31 is attached to the upper slewing body 22 to be rotatable in the up-and-down direction (capable of rising and contracting).
  • the arm 32 is attached to the boom 31 to be rotatable in the up-and-down direction.
  • the bucket 33 is a tip attachment which is a tip portion of the attachment 30, and can hold earth and sand (work object).
  • the bucket 33 is attached to the arm 32 to be rotatable in a front-and-rear direction.
  • the bucket 33 is a portion that performs work including excavation, leveling, and scooping of earth and sand.
  • the work object that is held by the bucket 33 is not limited to earth and sand, and may be a stone or a waste (industrial waste or the like).
  • the tip attachment is not limited to the bucket 33, and may be a grapple, a lifting magnet, or the like.
  • the cylinders 40 can hydraulically turn the attachment 30.
  • the cylinders 40 are hydraulic telescopic cylinders.
  • the cylinders 40 include a boom cylinder 41, an arm cylinder 42, and a bucket cylinder 43.
  • the boom cylinder 41 rotationally moves the boom 31 with respect to the upper slewing body 22.
  • the boom cylinder 41 has a base end portion rotatably attached to the upper slewing body 22.
  • the boom cylinder 41 has a tip portion rotatably attached to the boom 31.
  • the arm cylinder 42 rotationally moves the arm 32 with respect to the boom 31.
  • the arm cylinder 42 has a base end portion rotatably attached to the boom 31.
  • the arm cylinder 42 has a tip portion rotatably attached to the arm 32.
  • the bucket cylinder 43 rotationally moves the bucket 33 with respect to the arm 32.
  • the bucket cylinder 43 has a base end portion rotatably attached to the arm 32.
  • the bucket cylinder 43 has a tip portion rotatably attached to a link member 34 rotatably attached to the bucket 33.
  • the work machine 20 further includes an angle sensor 52, and inclination angle sensors 60.
  • the angle sensor 52 detects a slewing angle of the upper slewing body 22 with respect to the lower travelling body 21.
  • the angle sensor 52 is, for example, an encoder, a resolver, or a gyro sensor.
  • the slewing angle of the upper slewing body 22 at a time when a front side of the upper slewing body 22 coincides with a front side of the lower travelling body 21 is 0°.
  • the inclination angle sensors 60 detect an orientation of the attachment 30.
  • the inclination angle sensors 60 include a boom inclination angle sensor 61, an arm inclination angle sensor 62, and a bucket inclination angle sensor 63.
  • the boom inclination angle sensor 61 is attached to the boom 31 and detects an orientation of the boom 31.
  • the boom inclination angle sensor 61 is a sensor that acquires an inclination angle of the boom 31 with respect to a horizontal line, and is, for example, an inclination sensor (acceleration sensor) or the like.
  • the boom inclination angle sensor 61 may be a rotation angle sensor that detects a rotation angle of a boom foot pin (a base end of the boom) or a stroke sensor that detects a stroke amount of the boom cylinder 41.
  • the arm inclination angle sensor 62 is attached to the arm 32 to detect an orientation of the arm 32.
  • the arm inclination angle sensor 62 is a sensor that acquires an inclination angle of the arm 32 with respect to the horizontal line, and is, for example, an inclination sensor (acceleration sensor) or the like.
  • the arm inclination angle sensor 62 may be a rotation angle sensor that detects a rotation angle of an arm connection pin (a base end of the arm) or a stroke sensor that detects a stroke amount of the arm cylinder 42.
  • the bucket inclination angle sensor 63 is attached to the link member 34 to detect an orientation of the bucket 33.
  • the bucket inclination angle sensor 63 is a sensor that acquires an inclination angle of the bucket 33 with respect to the horizontal line, and is, for example, an inclination sensor (acceleration sensor) or the like.
  • the bucket inclination angle sensor 63 may be a rotation angle sensor that detects a rotation angle of a bucket connection pin (a base end of the bucket) or a stroke sensor that detects a stroke amount of the bucket cylinder 43.
  • the work machine 20 further includes a Light Detection and Ranging or Laser Imaging Detection and Ranging (LiDAR) 55.
  • the LiDAR 55 is attached to the boom 31, but may be attached to the upper slewing body 22.
  • the LiDAR 55 acquires point cloud data indicating the distance from the position where the LiDAR 55 is attached to the earth and sand of the bucket 33.
  • a stereo camera, a time of flight (TOF) sensor, or the like may be used instead of the LiDAR 55.
  • the operator remotely teaches an operation to such a work machine 20 from the cockpit 71 installed at a place distant from the work machine 20.
  • the work machine 20 performs automatic operation based on the taught work content.
  • the work machine system includes a controller.
  • the controller of the work machine system includes control means, amount detection means, target amount setting means, specifying means, and notification means.
  • the controller of the work machine system includes a work machine side controller 11 included in the work machine 20 and a cockpit side controller 72 included in the cockpit 71.
  • the work machine 20 includes the work machine side controller 11, a work machine side communication device 12, and a storage device 13.
  • the controller 11 receives information about a slewing angle (orientation) of the upper slewing body 22 with respect to the lower travelling body 21, the slewing angle being detected by the angle sensor 52. Further, the controller 11 receives information about the orientation of the boom 31, the orientation being detected by the boom inclination angle sensor 61. The controller 11 further receives information about the orientation of the arm 32, the orientation being detected by the arm inclination angle sensor 62. The controller 11 further receives information about the orientation of the bucket 33, the orientation being detected by the bucket inclination angle sensor 63.
  • controller 11 receives the point cloud data acquired by the LiDAR 55.
  • the controller 11 operates the slewing device 25 and the attachment 30 based on the work content taught from the cockpit 71.
  • the work machine side communication device 12 is communicable with a cockpit side communication device 74, to be described later, of the cockpit 71.
  • the storage device 13 stores the work content taught remotely from the cockpit 71.
  • the cockpit 71 includes the cockpit side controller 72, an operation device 73, the cockpit side communication device 74, and a display 75.
  • the operation device 73 includes a device necessary for remotely operating the work machine 20, such as an operation lever and an operation button.
  • the cockpit side communication device 74 can communicate with the work machine side communication device 12 of the work machine 20.
  • the work machine 20 When teaching is performed from the cockpit 71, the work machine 20 is set to a teaching mode by a remote operation from the cockpit 71.
  • the operator remotely operates the work machine 20 by operating the operation device 73.
  • a landscape through a vehicle window (landscape outside the window) imaged by a camera provided in the cab 23 of the work machine 20 is displayed on the display 75.
  • the operation content by the remote operation is stored in the storage device 13.
  • the work machine 20 is set to an automatic operation mode by a remote operation from the cockpit 71.
  • the work machine 20 When the work machine 20 is set to the automatic operation mode, the work machine 20 performs an automatic operation. That is, the controller 11 of the work machine 20 controls the operations of the upper slewing body 22 and the attachment 30 based on the taught work content (the work content stored in the storage device 13) and automatically operates the work machine 20.
  • the content of the automatic operation performed by the work machine 20 is to repeat an operation for excavating earth and sand from an earth and sand pit (not illustrated) with the bucket 33, slewing the upper slewing body 22 toward a dump truck (not illustrated) while holding the earth and sand, discharging the earth and sand to a loading platform (not illustrated) of the dump truck, and then slewing the upper slewing body 22 toward the earth and sand pit.
  • a series of operations by the automatic operation has a plurality of operation phases.
  • the plurality of operation phases includes excavation, scooping, lifting and slewing, and discharging of earth and sand.
  • the controller 11 controls the upper slewing body 22 and the attachment 30 so that the upper slewing body 22 and the attachment 30 perform the series of operations having the plurality of operation phases.
  • the controller 11 detects the amount of earth and sand held by the bucket 33. Specifically, for example, the controller 11 detects the shape of the earth and sand in the bucket 33 based on the point cloud data acquired by the LiDAR 55. The controller 11 then calculates the amount of the earth and sand in the bucket 33 based on the shape of the earth and sand in the bucket 33.
  • the method for detecting the amount of the earth and sand (the amount of the work object) by the controller 11 is not limited to the above specific example.
  • the controller 11 may detect the amount of earth and sand in the bucket 33 using a measurement result by a pressure sensor, not illustrated, that measures the pressure of the boom cylinder 41.
  • the controller 11 sets a target amount that is a target of the amount of earth and sand.
  • the target amount is set via the cockpit 71 during teaching.
  • the set target amount is stored in the storage device 13.
  • the controller 11 specifies, as an abnormal phase, an operation phase in which an amount of earth and sand held by the bucket 33 is smaller than the target amount.
  • the controller 11 specifies the abnormal phase based on whether each of the amount of earth and sand held by the bucket 33 at the start point of the operation phase and the amount of earth and sand held by the bucket 33 at the end point of the operation phase is smaller than the target amount.
  • the controller 11 determines whether the amount of earth and sand held by the bucket 33 at the start point of the operation phase is smaller than the target amount, determines whether the amount of earth and sand held by the bucket 33 at the end point of the operation phase is smaller than the target amount, and specifies the abnormal phase based on these determination results.
  • FIGS. 3 and 4 illustrate temporal changes in the amount of earth and sand held by the bucket 33 in each operation phase of excavation, scooping, and lifting and slewing.
  • the amount of earth and sand held by the bucket 33 increases from the start point toward the end point of the operation phase of excavation.
  • the amount of earth and sand held by the bucket 33 at the end point of the excavation operation phase is smaller than the target amount indicated by a broken line.
  • the amounts of earth and sand held by the bucket 33 at the start point and the end point of the excavation operation phase are smaller than the target amount, presence of a problem in the excavation operation is specified.
  • the amount of earth and sand held by the bucket 33 at the end point of the slewing operation phase is smaller than the target amount even if the amount of earth and sand held by the bucket 33 at the start point of the slewing operation phase is equal to or greater than the target amount indicated by a broken line. In this case, occurrence of load slippage during the slewing is specified.
  • the controller 11 may determine whether not only the amount of earth and sand held by the bucket 33 at the start point of the operation phase and the amount of earth and sand held by the bucket 33 at the end point of the operation phase but also the amount of earth and sand held by the bucket 33 at an intermediate point between the start point and the end point is smaller than the target amount. That is, the controller 11 may specify the abnormal phase based on whether each of the amount of earth and sand held by the bucket 33 at the start point of the operation phase, the amount of earth and sand held by the bucket 33 at the end point of the operation phase, and the amount of earth and sand held by the bucket 33 at the intermediate point between the start point and the end point is smaller than the target amount.
  • the controller 11 may determine whether the amount of earth and sand held by the bucket 33 at the start point of the operation phase is smaller than the target amount, determine whether the amount of earth and sand held by the bucket 33 at the intermediate point of the operation phase is smaller than the target amount, determine whether the amount of earth and sand held by the bucket 33 at the end point of the operation phase is smaller than the target amount, and specify the abnormal phase based on these determination results.
  • FIG. 5 also illustrates a temporal change in the amount of earth and sand held by the bucket 33 in each operation phase of excavation, scooping, and lifting and slewing.
  • the operation phase is excavation
  • the amount of earth and sand held by the bucket 33 at the end point of the excavation operation phase is smaller than the target amount, presence of a problem in the excavation operation is specified.
  • the amount of earth and sand held by the bucket 33 at the intermediate point of the excavation operation phase is smaller than the target amount, and no change occurs in the amount of earth and sand held by the bucket 33 at the intermediate point and the end point of the excavation operation phase, the amount of earth and sand to be held by the bucket 33 in the earth and sand pit is not sufficient rather than there is something wrong in the excavation operation. Therefore, it is possible to specify a factor that a sufficient amount of earth and sand cannot be held in the bucket 33.
  • the timing or position of each of the start point, the intermediate point, and the end point of the operation phase may be stored in the storage device 13 at the time of teaching, for example.
  • the controller 11 may determine whether the amount of earth and sand at the stored start point of the operation phase is smaller than the target amount, determine whether the amount of earth and sand at the stored intermediate point of the operation phase is smaller than the target amount, and determine whether the amount of earth and sand at the stored end point is smaller than the target amount.
  • the operator may designate the timings of the start point, the intermediate point, and the end point of the operation phase using an input device, not illustrated.
  • the controller 11 may determine whether the amount of earth and sand at the designated start point of the operation phase is smaller than the target amount, determine whether the amount of earth and sand at the designated intermediate point of the operation phase is smaller than the target amount, and determine whether the amount of earth and sand at the designated end point is smaller than the target amount.
  • the timing or position of each of the start point, the intermediate point, and the end point of the operation phase may be determined by a method other than the above two specific examples.
  • the operation phase in which the amount of earth and sand held by the bucket 33 is smaller than the target amount is specified as the abnormal phase. Therefore, an operation phase in which the amount of earth and sand held by the bucket 33 is smaller than the target value can be specified among the plurality of operation phases. This makes it possible to specify a factor that makes the amount of earth and sand held by the bucket 33 smaller than the target value. For example, as illustrated in FIG. 4 , in a case where load slippage occurs during the slewing and the amount of earth and sand becomes smaller than the target amount, the slewing is specified as the abnormal phase. Further, as illustrated in FIG. 3 , in a case where the excavation amount of the earth and sand is smaller than the target amount, the excavation is specified as the abnormal phase.
  • the abnormal phase is specified based on whether each of the amount of earth and sand held by the bucket 33 at the start point of the operation phase and the amount of earth and sand held by the bucket 33 at the end point of the operation phase is smaller than the target amount.
  • This makes it possible to suitably specify a factor that makes the amount of earth and sand held by the bucket 33 smaller than the target value. For example, in a case where the amount of earth and sand held by the bucket 33 at the start point of a certain operation phase is equal to or greater than the target amount and the amount of earth and sand held by the bucket 33 at the end point of this operation phase is smaller than the target amount, occurrence of load slippage during this operation phase can be specified.
  • the operation phase is an operation phase (excavation) for holding earth and sand and the amounts of earth and sand held by the bucket 33 at the start point and the end point of this operation phase are smaller than the target amount, presence of a problem in the operation for holding earth and sand can be specified.
  • the abnormal phase may be specified based on whether each of the amount of earth and sand held by the bucket 33 at the start point of a certain operation phase, the amount of earth and sand held by the bucket 33 at the end point of this operation phase, and the amount of earth and sand held by the bucket 33 at the intermediate point between the start point and the end point of this operation phase is smaller than the target amount.
  • This makes it possible to specifically specify a factor that makes the amount of earth and sand held by the bucket 33 smaller than the target value. For example, as illustrated in FIG. 5 , it can be specified that a sufficient amount of earth and sand cannot be held in the bucket 33 because the amount of earth and sand to be held by the bucket 33 in the earth and sand pit is not sufficient.
  • the information about the abnormal phase is stored in the storage device 13 and transmitted to the cockpit 71 together with the identification number of the work machine 20.
  • the cockpit side controller 72 (notification means of the controller) sends a notification of the abnormal phase.
  • the cockpit side controller 72 causes the display 75 to display the information about the abnormal phase together with the identification number of the work machine 20.
  • the operator can recognize the factor that makes the amount of earth and sand held by the bucket 33 smaller than the target value in the corresponding work machine 20.
  • the operator can correct the operations of the upper slewing body 22 and the attachment 30 so that the amount of earth and sand held by the bucket 33 becomes equal to or greater than the target value by teaching the work machine 20 again.
  • the operator who operates various devices in the cockpit 71 teaches another work machine or remotely operates another work machine. Therefore, if the abnormal phase is notified every time the abnormal phase is specified, the operator cannot concentrate on other work.
  • the abnormal phase specified by the controller 11 is stored in the storage device 13.
  • the predetermined period is a period longer than a period during which a series of operations is performed once.
  • the information about the abnormal phase stored in the storage device 13 is transmitted to the cockpit 71 to be notified by the cockpit side controller 72.
  • the frequency of the notification can be reduced as compared with the case where the abnormal phase is notified every time the abnormal phase is specified. By reducing the frequency of the notification, the operator can concentrate on other work, and thus a decrease in the efficiency of the operator can be suppressed.
  • the abnormal phase specified by the controller 11 may be continuously stored in the storage device 13 until a specific operation is performed by an operator who operates a device in the cockpit 71, and when the operator performs the specific operation, information about all the abnormal phases stored in the storage device 13 may be notified. According to this, the notification can be performed at a timing desired by the operator.
  • the upper slewing body 22 and the attachment 30 are controlled so that the upper slewing body 22 and the attachment 30 perform a series of operations having a plurality of operation phases. Thereafter, the operation phase in which the amount of earth and sand held by the bucket 33 is smaller than the target amount is specified as the abnormal phase. Therefore, an operation phase in which the amount of earth and sand held by the bucket 33 is smaller than the target value can be specified among the plurality of operation phases. This makes it possible to specify a factor that makes the amount of earth and sand held by the bucket 33 smaller than the target value.
  • the slewing is specified as the abnormal phase.
  • the excavation amount of the earth and sand is smaller than a target amount, the excavation is specified as the abnormal phase.
  • the abnormal phase is specified based on whether each of the amount of earth and sand held by the bucket 33 at the start point of the operation phase and the amount of earth and sand held by the bucket 33 at the end point of the operation phase is smaller than the target amount.
  • This makes it possible to suitably specify a factor that makes the amount of earth and sand held by the bucket 33 smaller than the target value. For example, in a case where the amount of earth and sand held by the bucket 33 at the start point of a certain operation phase is equal to or greater than the target amount and the amount of earth and sand held by the bucket 33 at the end point of this operation phase is smaller than the target amount, occurrence of load slippage during this operation phase can be specified.
  • the operation phase is an operation phase for holding earth and sand and the amounts of earth and sand held by the bucket 33 at the start point and the end point of this operation phase are smaller than the target amount, presence of a problem in the operation for holding earth and sand can be specified.
  • the abnormal phase is specified based on whether each of the amount of earth and sand held by the bucket 33 at the start point of a certain operation phase, the amount of earth and sand held by the bucket 33 at the end point of this operation phase, and the amount of earth and sand held by the bucket 33 at the intermediate point between the start point and the end point of this operation phase is smaller than the target amount. This makes it possible to specifically specify a factor that makes the amount of earth and sand held by the bucket 33 smaller than the target value.
  • the operation phase is an operation phase for holding earth and sand
  • the amount of earth and sand held by the bucket 33 increases from the start point to the intermediate point of this operation phase, but the amount of earth and sand held by the bucket 33 at the intermediate point of this operation phase is smaller than the target amount, and the amounts of earth and sand held by the bucket 33 at the intermediate point and the end point of this operation phase do not change
  • the abnormal phase is notified. This makes it possible to recognize a factor that makes the amount of earth and sand held by the bucket 33 smaller than the target value. Therefore, the operations of the upper slewing body 22 and the attachment 30 can be corrected so that the amount of earth and sand held by the bucket 33 becomes equal to or greater than the target value.
  • the abnormal phase stored in the storage device 13 is notified.
  • the frequency of the notification can be reduced as compared with the case where the abnormal phase is notified every time the abnormal phase is specified.
  • the operator often performs other work while the work machine 20 is automatically operated. By reducing the frequency of the notification, the operator can concentrate on other work, and thus a decrease in the efficiency of the operator can be suppressed.
  • the work machine system includes the work machine 20 and the cockpit 71, but the cockpit 71 is not an essential configuration in the work machine system and may be omitted.
  • the cockpit side controller 72 notifies the operator of the abnormal phase by displaying the information about the abnormal phase on the display 75 of the cockpit 71.
  • the work machine system may not include the cockpit.
  • the machine other than the cockpit 71 include a work machine
  • examples of the device other than the cockpit 71 include information devices such as a personal computer, a server, and a portable information terminal.
  • the operator remotely teaches the work content (operation) to the work machine 20 from the cockpit 71 installed at a place distant from the work machine 20.
  • the operator may teach the work content to the work machine 20 by operating the operation device in the cab 23 at the driver's seat in the cab 23 of the work machine 20.
  • the work machine system may not include the cockpit 71.
  • control means, the amount detection means, the target amount setting means, and the specifying means are included in the work machine side controller 11, but some or all of the control means, the amount detection means, the target amount setting means, and the specifying means may be included in the cockpit side controller 72.
  • the notification means is included in the cockpit side controller 72, but may be included in the work machine side controller 11.
  • the work machine side controller 11 and the cockpit side controller 72 may be constituted by one controller.
  • the work machine 20 may include the one controller
  • the cockpit 71 may include the one controller.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)
EP22837406.2A 2021-07-09 2022-06-13 Système de machine de travail Pending EP4345218A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021113918A JP2023010087A (ja) 2021-07-09 2021-07-09 作業機械
PCT/JP2022/023601 WO2023281988A1 (fr) 2021-07-09 2022-06-13 Système de machine de travail

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EP4345218A1 true EP4345218A1 (fr) 2024-04-03

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Application Number Title Priority Date Filing Date
EP22837406.2A Pending EP4345218A1 (fr) 2021-07-09 2022-06-13 Système de machine de travail

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EP (1) EP4345218A1 (fr)
JP (1) JP2023010087A (fr)
CN (1) CN117561358A (fr)
WO (1) WO2023281988A1 (fr)

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US8977445B2 (en) * 2013-06-18 2015-03-10 Caterpillar Inc. System and method for dig detection
JP6849623B2 (ja) 2018-03-07 2021-03-24 日立建機株式会社 作業機械
KR20210143792A (ko) * 2019-03-29 2021-11-29 스미도모쥬기가이고교 가부시키가이샤 쇼벨
JP7276056B2 (ja) * 2019-09-30 2023-05-18 コベルコ建機株式会社 作業機械
JP7355624B2 (ja) * 2019-12-02 2023-10-03 株式会社小松製作所 作業機械および作業機械の制御方法

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