JP2011038273A - Remote diagnosis system for working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a remote diagnosis system for a working machine, which can make the diagnosis of a deterioration in hydraulic output performance laborsaving and more efficient. <P>SOLUTION: This working machine M includes controllers 36 and 38 which have a radio communication function and the computing function of measuring pump pressure, supplied to a hydraulic cylinder increasing/decreasing a load, from a mounted hydraulic pump, by a pump pressure sensor, of computing a cycle time from the start of a load increasing operation to the completion of it and average pump pressure from a change in the pump pressure, and of computing average hydraulic output measuring data in one cycle from the cycle time, the average pump pressure and the amount of change in the volume of the hydraulic cylinder by the increase of the load. In a server 46s of a management section 46, the plurality of hydraulic output measuring data transmitted from the controllers 36 and 38 of the working machine M are acquired and accumulated in a time-series manner. A serviceman gets access to the server 46s of the management section 46 from terminal equipment 48, and acquires the accumulated hydraulic output measuring data. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a remote diagnosis system for a work machine that diagnoses performance degradation of a remote work machine on a terminal device.

  As shown in FIG. 9, a work machine M such as a hydraulic excavator includes a machine controller 2 that controls the operation of the machine 1 of the work machine M, and an engine that controls fuel injection of an engine mounted on the work machine M. A controller 3, a monitor controller for controlling a monitor 4 that also serves as an input device by an operator in the aircraft cab, and a dynamic management controller 5 are connected by a data link line 6, and one end of the data link line 6 is connected. Is connected to the service tool vehicle-side connector 7.

  In order to determine whether the performance of the work machine M, such as engine output, is appropriate, a service person goes to the site where the work machine M is located and attaches the communication adapter 8 to the vehicle-side connector 7 for the service tool of the work machine M. A measuring instrument or a notebook personal computer (hereinafter referred to as “personal computer”) 9 or the like, and using the fault diagnosis software Sof1 operating on the personal computer 9, the controller of the body controller 2, the engine controller 3 or the monitor 4. In addition, there is a failure diagnosis support tool for service personnel that acquires sensor information and failure diagnosis results from the dynamic management controller 5 and displays data on the personal computer 9 (see, for example, Patent Document 1 or 2).

Japanese Patent Laying-Open No. 2005-179929 (first page, FIG. 2) JP 2006-350499 A (first page, FIG. 1)

  In order to use the fault diagnosis software Sof1, it is not easy because a service person needs to go to the machine operation site with the personal computer 9 and the communication adapter 8 which is an interface device between the personal computer and the machine.

  Further, since it is difficult to operate the personal computer 9 and the fault diagnosis software Sof1, it is necessary to educate a service person in order to use the fault diagnosis software Sof1, and normally, as shown in FIG. A service person or engineer A1, A2, A3, or A4 who has been trained in the use of diagnostic software, is accompanied by a service person or engineer B1, B2, B3, or B4 who is less proficient in using fault diagnosis software. It is common to go to the operation site for each machine M1, M2, M3, and M4, and perform fault diagnosis while assisting service personnel or engineers B1, B2, B3, and B4 with low proficiency. Such trouble diagnosis work is expensive and inefficient.

  Similarly, when performing the performance degradation diagnosis work of the hydraulic output performance, the service person goes to the operation site of the work machine M, and connects the measuring tool or the personal computer 9 to the service tool vehicle side connector 7 via the communication adapter 8. Therefore, it is necessary to collect measurement data from the airframe controller 2 and the motion management controller 5, and it is not easy to perform the performance degradation diagnosis work because the service person needs to go to the machine operation site. It is expensive and inefficient.

  The present invention has been made in view of these points, and an object of the present invention is to provide a remote diagnosis system for a work machine that can save labor and increase efficiency in performance degradation diagnosis work of hydraulic output performance.

  The invention described in claim 1 includes an airframe, a working device that is moved up and down by a hydraulic cylinder relative to the airframe, and a pump pressure sensor that measures a pump pressure supplied to the hydraulic cylinder from a hydraulic pump mounted on the airframe. Measure the cycle time from the start to the end of the load increase operation by detecting the start and end of the load increase operation where the hydraulic cylinder raises the work device, and log the pump pressure during the load increase operation detected by the pump pressure sensor Then, the average pump pressure for one cycle of the load raising operation is calculated, and one cycle of the load raising operation is calculated from the three data of the cycle time, the average pump pressure, and the volume change amount of the hydraulic cylinder in the preset one cycle of the load raising operation. A controller with a calculation function and a wireless communication function that repeats the calculation operation to calculate the average hydraulic pressure generated in A management machine that acquires a plurality of hydraulic output measurement data sent from the controller of the work machine and accumulates it in time series, and accesses the management part server in time series A remote diagnosis system for a work machine including a terminal device that acquires accumulated hydraulic pressure output measurement data.

  According to a second aspect of the present invention, the server of the management unit in the remote diagnosis system for the work machine according to the first aspect includes hydraulic output performance reference data used as a reference for performance determination. The performance measurement result is output by comparing with the output measurement data.

  According to a third aspect of the present invention, the terminal device in the work machine remote diagnosis system according to the first or second aspect includes failure diagnosis software for acquiring hydraulic output measurement data from a controller of the work machine through a server of the management unit. It is a thing.

  According to a fourth aspect of the present invention, there is provided a remote control pressure detection method in which the work machine in the remote diagnosis system for a work machine according to any one of the first to third aspects detects a remote control pressure for remotely operating a control valve that controls the hydraulic cylinder. The controller includes a switch, and the controller monitors the pump pressure by the pump pressure sensor and also monitors the remote control pressure detection switch signal output from the remote control pressure detection switch. The hydraulic cylinder has a function of measuring the cycle time from the start to the end of the load increasing operation by detecting the start and end of the load increasing operation for the hydraulic cylinder to raise the working device from the pressure change at which the pump pressure rises.

  According to the first aspect of the present invention, the controller of the work machine detects the start and end of the load raising operation in which the hydraulic cylinder raises the work device, and measures the cycle time from the start to the end of the load raising operation. The pump pressure during the load increasing operation detected by the pump pressure sensor is logged to calculate the average pump pressure in one cycle of the load increasing operation, and the cycle time, the average pump pressure, and the hydraulic pressure in the preset one cycle of the load increasing operation are calculated. The calculation operation to calculate the average hydraulic pressure generated in one cycle of the load increase operation from the three data of the volume change of the cylinder is repeated over time, and the obtained multiple hydraulic output measurement data is wirelessly transmitted from the controller. The time series of oil stored in the server of the management unit through communication, accessed from the terminal device, and stored in the server Since the output measurement data is acquired, it is possible to accurately and easily perform remote diagnosis of the hydraulic output performance of the work machine with a large amount of hydraulic output measurement data that cannot be processed by the work machine controller by operating the terminal device. In addition, the number of workers dispatched to the operation site can be kept to a minimum, and the labor and efficiency of the hydraulic output performance diagnosis work can be reduced.

  According to the second aspect of the present invention, the server of the management unit includes hydraulic output performance reference data serving as a reference for performance determination, and compares the hydraulic output performance reference data with the hydraulic output measurement data to determine the performance. Since the determination result is output, it is possible to easily determine whether the hydraulic pressure output is appropriate.

  According to the third aspect of the present invention, since the fault diagnosis software of the terminal device can access the work machine at a remote location through the server of the management unit and directly collect the hydraulic output measurement data, the latest hydraulic pressure can be collected. Output measurement data can be obtained.

  According to the invention described in claim 4, under the state where the remote control pressure detection switch signal for operating the hydraulic cylinder remote control rises, the start and end of the load raising operation are detected from the pressure change at which the pump pressure rises. Since the cycle time from the start to the end of the load raising operation is measured, only the pressure change of the pump pressure under a limited condition can be detected and the cycle time can be accurately measured.

1 is a schematic diagram of a work machine remote operation management system showing an embodiment of a work machine remote diagnosis system according to the present invention. It is a circuit diagram which shows the hydraulic circuit and control circuit of a working machine carrying a diagnostic system same as the above. It is a side view at the time of measurement of the working machine carrying a diagnostic system same as the above. It is a flowchart which shows the control procedure of the remote diagnosis method of a diagnostic system same as the above. It is a flowchart which shows the example of troubleshooting of a diagnostic system same as the above. It is a flowchart which shows the hydraulic output measurement data processing flow of a diagnostic system same as the above. It is a flowchart which shows the hydraulic output measurement procedure of a diagnostic system same as the above. It is a characteristic view which shows the change of the pump pressure and remote control pressure in a diagnostic system same as the above. It is a block diagram which shows the conventional body diagnostic system. It is explanatory drawing which shows the problem of the conventional airframe diagnostic system.

  Hereinafter, the present invention will be described in detail with reference to one embodiment shown in FIGS.

  FIG. 3 shows a work machine M such as a hydraulic excavator, and an upper swing body 13 is provided on the lower traveling body 12 as a machine body 11 so that the upper swing body 13 can swing, and on the upper swing body 13, a power unit 14, a cab 15, and a machine body are provided. A working device 16 that is pivotally supported so as to be rotatable in the vertical direction with respect to 11 is mounted.

  The lower traveling body 12 includes left and right traveling hydraulic motors (referred to as traveling motors) 17tr, and the upper swing body 13 includes a swing hydraulic motor (referred to as a swing motor) 17sw.

  The work device 16 has a boom 18bm pivotally supported on the machine body 11, a stick 18st pivotally supported on the tip of the boom 18bm, and a bucket 18bk pivotable on the tip of the stick 18st. A hydraulic cylinder (referred to as a boom cylinder) 18bmcy that is pivotally supported and pivots the boom 18bm up and down, a hydraulic cylinder (referred to as a stick cylinder) 18stcy that operates the stick 18st in the front-rear direction, and a bucket 18bk that operates inward and outward. And a hydraulic cylinder (bucket cylinder) 18bkcy.

  As shown in FIG. 2, in the power unit 14 installed on the upper swing body 13, a main pump 22 and a pilot pump 23 as two hydraulic pumps are connected to the mounted engine 21, and the suction port of the main pump 22 is Connected to the hydraulic oil tank 24, the discharge port passes through a plurality of actuator control spools 26 in the control valve 25, the hydraulic motor 17 such as the traveling motor 17tr and the swing motor 17sw, the boom cylinder 18bmcy, the stick cylinder 18stcy and the bucket cylinder 18bkcy Etc. are connected to a hydraulic cylinder 18.

  Since at least the boom cylinder 18bmcy requires a flow rate, the circuit configuration is such that hydraulic oil can be supplied from the two main pumps 22 via the two actuator control spools 26. One pump discharge side circuit is omitted.

  Each actuator control spool 26 of the control valve 25 is displaced according to the lever operation amount by the pilot pressure (remote control pressure) supplied from the pilot valve (so-called remote control valve) 28 operated by the operation lever 27 through the pilot passage 29. The

  The control valve 25 includes a center bypass passage 30 that has the largest opening when all the actuator control spools 26 are in the neutral position, and takes out a negative flow control pressure (referred to as a negative control pressure) from the rearmost portion of the center bypass passage 30. A negative control passage 30nc is drawn out, and this negative control passage 30nc is connected to a capacity variable control means (such as a regulator for controlling the tilt angle of the pump swash plate) 22c of the main pump 22.

  When all the actuator control spools 26 are in the neutral position, the negative control pressure in the negative control passage 30nc is the highest, the capacity of the main pump 22 is controlled to the minimum or zero, and the discharge flow rate of the main pump 22 is the minimum or Adjusted to zero. Further, when the actuator control spool 26 is displaced by the pilot pressure, the negative control pressure in the negative control passage 30nc decreases, and as the negative control pressure decreases, the capacity of the main pump 22 increases, the pump discharge flow rate increases, and the main pump The pump pressure discharged from 22 also increases.

  The discharge lines of the two main pumps 22 are provided with pump pressure sensors 31a and 31b for detecting pump pressures discharged from these main pumps 22, and the pilot valve 28 has a control for controlling at least the boom cylinder 18bmcy. A remote control pressure detection switch 33 for detecting a pilot pressure (remote control pressure) for remotely controlling the actuator control spool 26 of the valve 25 is provided, and the monitor 34 which is an output device also serving as an input device by an operator in the cab has a normal display mode. A mode switch button switch 35 is provided for switching to a hydraulic pressure output measurement mode.

  The pump pressure sensors 31a and 31b are analog sensors that detect the pump pressure of hydraulic oil discharged from the main pump 22 and supplied to the hydraulic cylinder 18 and the like. These pump pressure sensors 31a and 31b, remote control pressure detection switch 33 The monitor 34 is connected to a machine controller (machine ECM) 36 as a controller for controlling the operation of the machine 11.

  This airframe controller 36 detects the start and end of the load raising operation in which the boom cylinder 18bmcy as a hydraulic cylinder raises the work device 16 as a load, and measures the cycle time T from the start to the end of the load raising operation. The pump pressure during the load increasing operation detected by the pressure sensors 31a and 31b is logged to calculate the average pump pressure P for one cycle of the load increasing operation, and the cycle time T, the average pump pressure P, and the preset load increasing operation 1 are calculated. A function for calculating and accumulating an average hydraulic pressure output generated in one cycle of the load increasing operation from three data of the volume change amount V of the boom cylinder 18bmcy in the cycle is provided.

  At that time, the airframe controller 36 monitors the pump pressure by the pump pressure sensors 31a and 31b and also monitors the remote control pressure detection switch signal output from the remote control pressure detection switch 33, and the remote control pressure detection switch signal rises. Under the condition, it has a function of detecting the start and end of the load raising operation from the pressure change at which the pump pressure measured by the pump pressure sensors 31a and 31b rises, and measuring the cycle time T of the load raising operation. .

  Further, the airframe controller 36 includes an engine controller 37 that controls fuel injection of the mounted engine 21 mounted on the airframe 11, and a dynamic management controller 38 as a controller for wireless communication with an external management unit server. It is connected so that it can communicate within the aircraft.

  The body controller 36 and the motion management controller 38 can be configured integrally. Hereinafter, when simply referred to as the controllers 36 and 38, the body controller 36 and the movement management controller 38 are integrally configured.

  Next, FIG. 1 shows an outline of a work machine remote operation management system 41. The work machine remote operation management system 41 performs the dynamic management of the body 11 of the work machine M having a dynamic management data storage function and a wireless communication function. This is performed remotely using wireless communication.

  In the work machine M, an airframe controller (machine ECM) 36 that controls various devices of the airframe 11 and an engine controller (engine ECM) that controls fuel injection (injection amount, pressure, timing) of the mounted engine 21 via an electronic governor. 37), a monitor controller (monitor ECM) that controls the monitor 34, which is a display device having an input function, and a dynamic management controller 38 are connected by a data link line 42, and one end of the data link line 42 is It is connected to the service tool vehicle side connector 43.

  The service tool vehicle-side connector 43 can be connected to a notebook personal computer (notebook personal computer) or the like via a communication adapter. It is also possible to display machine information in real time on a notebook computer.

  This work machine remote operation management system 41 is a system suitable for accumulating, analyzing and tracking a plurality of hydraulic output measurement data in time series, and without using the service tool vehicle side connector 43, the work machine M The dynamic management of the airframe 11 is performed remotely using wireless communication.

  Therefore, the dynamic management controller 38 of the work machine M has a dynamic management data storage function and a wireless communication function, and also has a function of positioning the position of the work machine M using a global positioning system satellite (so-called GPS). The dynamic management controller 38 is configured to be capable of wireless communication with the server 46s of the management unit 46 via the relay station 44 and a wireless carrier network (mobile phone circuit network) 45 as a wireless communication network.

  The management unit 46 is mainly configured by a server 46s installed in a manufacturer or the like that produces the work machine M. The server 46s of the management unit 46 is connected to a customer personal computer or an Internet or an intranet communication line network 47. A terminal device 48 such as an in-house personal computer and a mobile phone are configured to be communicable.

  The server 46s of the management unit 46 receives and stores the movement management data of the work machine M transmitted by wireless communication from the movement management controller 38 of the work machine M, processes the movement management data, and processes the website. The information is reflected on the (member site), and information is provided to the customer and the manufacturer of the work machine M or the engineer or serviceman of the sales store through the communication line network 47 on the Web (Web) or mailer.

  The dynamic management data of the work machine M includes vehicle information (vehicle name (unit information), model, construction machine main body serial number, etc.), position information (map display by GPS), operation information (operation time, remaining fuel amount, etc.). , Machine information (engine speed, temperature, pressure, hydraulic output status such as hydraulic output measurement data), warning information (unapproved key insertion, hydraulic output drop abnormality, etc.), maintenance information (oil change time, filter change time, etc.) ) Etc.

  The terminal device 48 is a personal computer (customer, serviceman or engineer) that accesses the management unit 46 through the communication network 47 and browses the dynamic management data of the work machine M owned or in charge by a web browser or mailer. Hereinafter, it is simply referred to as “PC”. The failure diagnosis software Sof1 operating on the terminal device 48 enables the terminal device 48 to acquire data from the dynamic management controller 38 of the work machine M via the server 46s of the management unit 46. The failure diagnosis software Sof1 has a data acquisition function and a troubleshooting function for failure diagnosis on the work machine M.

  Next, the outline of the remote diagnosis system for work machines will be described with reference to FIG. 1. This remote diagnosis system includes an in-vehicle network (data link) connecting the controller of the in-vehicle controller 36, the engine controller 37, and the monitor 34. Dynamic management controller 38 having a data relay function with an external wireless carrier network 45, server relay software Sof2 that operates on the server 46s of the management unit 46 and relays data, and operates on the terminal device 48 and fails Sends the conceptual description language (CDL) transmission data and control data to the PC relay software Sof3 that relays the data sent and received by the diagnostic software Sof1 to the server 46s, and transmits the conceptual description language (CDL) reception data and control data. Receive.

  Then, a terminal device 48 such as a serviceman or engine nearer is connected to the server 46s of the management unit 46 via the communication network 47, and the server 46s is designated as the work machine designated by the terminal device 48 via the wireless carrier network 45. Connected to M's dynamic management controller 38, but only if the connection from these terminal devices 48 to the work machine M designated by the terminal device 48 is correct and this confirmation work is completed, The failure diagnosis software Sof1 is started on the terminal device 48, and the work machine M is operated from the terminal device 48 through the communication network 47, the server 46s, and the wireless carrier network 45 through the controller 38 for dynamic management of the designated work machine M. Allow and execute troubleshooting.

  At that time, in accordance with the instruction operation displayed on the display of the terminal device 48, the operator, the service person or the engineer who operates the work machine M is informed using the mobile phone or the like that the operation will be performed within the predetermined time. Then, it is determined whether or not the actual operation within a certain period of time transmitted from the controller 38 for dynamic management of the work machine M to the terminal device 48 via the wireless carrier network 45, the server 46s and the communication line network 47 matches the instruction operation. The terminal device 48 and the work machine M designated by the terminal device 48 are connected to the communication line network 47, the server 46s, and the wireless carrier network by confirming that the actual operation and the instruction operation within a certain time match. Check that the connection is correct via 45.

  The instruction operation includes an operation of turning the key switch of the mounted engine 21 of the work machine M from the off position to the on position. A plurality of instructions are transmitted and actual operations are confirmed.

  Troubleshooting is permitted on condition that the key switch for starting the mounted engine 21 of the work machine M is in the ON position. Further, troubleshooting involves performance diagnosis, setting change, and test output in addition to failure diagnosis.

  The server 46s of the management unit 46 transmits the movement management data periodically transmitted from the movement management controller 38 of the work machine M even when the key switch for starting the engine 21 mounted on the work machine M is in the OFF position. Since it is received via 45 and stored in time series, troubleshooting can be performed even when the work machine M is stopped.

  Next, the control procedure of the remote diagnosis method will be described with reference to the flowchart shown in FIG. The circled numbers in this flowchart are step numbers indicating control procedures.

(Step 1)
The PC relay software Sof3 is started on the terminal device 48 at the office.

(Step 2)
Judge whether or not the PC relay software Sof3 has been started.

(Step 3)
When the activation of the personal computer relay software Sof3 is completed, a user ID and a password are input to the terminal device 48, and connection with the server relay software Sof2 on the server 46s of the management unit 46 is attempted.

(Step 4)
It is determined whether or not the server relay software Sof2 of the management unit 46 is connected, that is, whether or not the user is authenticated.

(Step 5)
When the user authentication is completed, the work machine M to be connected is specified through the personal computer relay software Sof3 of the terminal device 48, that is, the product ID is input from the terminal device 48, and the server relay software Sof2 and the dynamic management controller for the work machine M Attempt to connect with 38.

(Step 6)
It is determined whether or not the server relay software Sof2 and the movement management controller 38 of the work machine M are connected, that is, whether or not the product ID input from the terminal device 48 is authenticated by the movement management controller 38 of the work machine M. .

(Step 7)
After authenticating the product ID, the terminal device 48 completes the connection with the work machine M through the server 46s and the like.

(Step 8)
Select whether to use the troubleshooting function other than the data acquisition function from the vehicle among the functions of the fault diagnosis software Sof1.

(Step 9)
When only the data acquisition function is selected in step 8 (in the case of NO), the confirmation step for confirming the connection destination work machine M is omitted, and the data held by the work machine M is transferred to the server 46s of the management unit 46 or Obtained from the dynamic management controller 38 of the work machine M.

  For example, the hydraulic output measurement data stored in the server 46s of the management unit 46 and the hydraulic output measurement data stored in the dynamic management controller 38 of the work machine M can be used as a terminal device 48 by the data acquisition function of the failure diagnosis software Sof1. Can be taken out.

(Step 10)
When using the troubleshooting function of the fault diagnosis software Sof1, it is essential to confirm that the work machine M specified by the terminal device 48 matches the work machine M connected by the communication circuit. In accordance with the instruction content (for example, key switch ON) displayed on the display device of the terminal device 48, the service person or engineer on the terminal device 48 side sends the service person or engineer at the operation site of the work machine M Using a mobile phone, etc., communicate that the operation is performed according to the instructions within a certain time.

(Step 11)
The personal computer relay software Sof3 of the terminal device 48 confirms whether or not an instruction operation has been executed based on information obtained from the dynamic management controller 38 of the work machine M.

(Step 12)
When execution of one instruction operation is confirmed, according to other same or different instruction contents displayed on the PC relay software Sof3, use a mobile phone etc. again for a certain time for a serviceman or engineer at the operation site To perform other operations that are the same or different according to the instruction content, and confirms whether or not these different instruction operations have been executed.

(Step 13)
When the execution of a plurality of predetermined instruction operations is confirmed, the confirmation work for confirming that the work machine M connected to the terminal device 48 by the communication circuit is the work machine M being operated by the serviceman or engineer is completed. .

(Step 14)
The terminal device 48 determines whether the key switch for starting the engine 21 mounted on the work machine M is in the off position or in another position (on position or start position) based on a signal from the dynamic management controller 38. To display.

(Step 15)
When the key switch is in the OFF position, a serviceman or engineer on the terminal device 48 side instructs the worker of the work machine M to set the key switch to the ON position or the start position using a mobile phone or the like.

(Step 16)
The fault diagnosis software Sof1 is started with the PC relay software Sof3 on the terminal device 48 being started for the work machine M whose connection has been confirmed while the key switch is in the ON position or the start position.

(Step 17)
The fault diagnosis software Sof1 performs fault diagnosis, hydraulic output performance diagnosis, setting change, test output, and troubleshooting in cooperation with service personnel or engineers at the operation site.

  For example, if the latest hydraulic output measurement data for hydraulic output performance diagnosis is not sufficiently accumulated, the service diagnostics software Sof1 allows the service person or engineer on the terminal device 48 side to work through the server 46s of the management unit 46. Collecting hydraulic output measurement data in cooperation with the operator or serviceman of the work machine M while instructing the operator or serviceman of the machine M about the measurement method for measuring the hydraulic output.

  Next, with reference to the flowchart shown in FIG. 5, a work flow in the case of troubleshooting a failure occurrence location or failure location of the work machine M from a remote location will be described. Note that the circled numbers in this flowchart are step numbers indicating work procedures.

(Step 21)
Warning information detected by sensors of various devices of the work machine M, that is, an error log (error code) and hydraulic output measurement data calculated by the controllers 36 and 38 of the work machine M are sent from the controllers 36 and 38 to the management unit 46. It is periodically transmitted or is accumulated in time series in the database in the server 46s of the management unit 46 in response to an acquisition request from the management unit 46.

  The service person or engineer accesses the server 46s of the management unit 46 from the terminal device 48 using the failure diagnosis software Sof1, reads the error log (error code) and hydraulic pressure output measurement data generated from the work machine M, Identify the location and content of the defect.

(Step 22)
Acquire data (pressure, temperature, hydraulic pressure output, etc.) of the location where the failure occurred and compare it with reference data (pressure reference data, temperature reference data, hydraulic output performance reference data, etc.) serving as a basis for determining the performance. For example, the hydraulic output measurement data is compared with the hydraulic output performance reference data.

(Step 23)
It is determined whether or not the error between the defect occurrence data and the reference data is outside the allowable range.

(Step 24)
If it is determined in step 23 that the error between the data of a certain failure occurrence point and the reference data is within the allowable range (NO in step 23), the error between the data of all the failure occurrence points and the reference data is an allowable value. If there is an error that is not within the allowable range (NO), return to step 21 to check the failure status, and if all errors are within the allowable range Ends the troubleshooting.

(Step 25)
If it is determined in step 23 that the error between the failure location data and the reference data is outside the allowable value range, a list of failure occurrence statuses outside the allowable value range is created and a failure is detected for each failure occurrence status. Determine whether remote adjustment by diagnostic software Sof1 is possible.

(Step 26)
When the failure diagnosis software Sof1 can be used to change the machine control program of the work machine M, the failure status can be resolved. The data input from the terminal device 48 is used for the dynamic management of the work machine M via the server 46s of the management unit 46, etc. The setting value of the trouble occurrence point of the work machine M is transmitted from the controller 38 to the machine controller (machine ECM) 36 or the engine controller (engine ECM) 37 and the setting value in the machine control program or the engine control program is changed. Perform remote adjustment such as changing.

  For example, by changing the setting value of the airframe controller 36 and changing the setting value of the regulator that controls the angle of the pump swash plate of the main pump 22 to variably adjust the pump capacity, or changing the setting value of the engine controller 37 It variably adjusts the engine speed and fuel injection control, and variably adjusts the gain or time constant of other control systems. Further, the hydraulic output can be variably adjusted by variably adjusting the main pump 22 and the mounted engine 21.

(Step 27)
When remote adjustment by the failure diagnosis software Sof1 is impossible, an instruction is given to the serviceman or engineer of the work machine M through the mobile phone 17ph or the monitor 34.

(Step 28)
Replacement of consumable parts and damaged parts of the work machine M, adjustment of parts that cannot be adjusted in step 26, and the like are performed.

  Next, FIG. 6 is a flowchart of a processing flow for collecting and utilizing the hydraulic output measurement data using the work machine remote operation management system 41. Note that the circled numbers in this flowchart are step numbers indicating processing procedures.

(Step 31)
When the latest hydraulic output measurement data of the work machine M is required, an administrator such as an engineer or a serviceman can use the work machine remote operation management system 41 from the terminal device 48 even when the work machine M is at the operation site. Then, the hydraulic output measurement data is collected while instructing the operator or serviceman of the work machine M about the measurement method (operation method, number of times, etc.) for measuring the hydraulic output.

  For example, the working device 16 of the working machine M is grounded to the ground level with the bucket 18bk in the state where the stick cylinder 18stcy and the bucket cylinder 18bkcy are reduced to the shortest and the arm is extended to the maximum as shown by a two-dot chain line in FIG. The operator or service person is instructed to start the hydraulic output measurement operation by starting the hydraulic output measurement mode with the mode switch button switch 35 and operating the hydraulic output measurement data. Collect.

(Step 32)
The collection of the hydraulic output measurement data is repeated at intervals, once stored in the memory of the machine controller 36 of the work machine M, and further stored in the memory of the dynamic management controller 38.

(Step 33)
In the server 46s of the management unit 46, the key management switch for starting the engine 21 mounted on the work machine M is in the off position, and the dynamic management controller 38 of the work machine M is activated even when the machine controller 36 is in the off state. Therefore, the hydraulic output measurement data stored in the memory of the dynamic management controller 38 is acquired via the wireless carrier network 45 and stored in time series in the memory in the server 46s.

(Step 34)
In the server 46s of the management unit 46, hydraulic output performance reference data that is a reference value or reference range for performance determination is set. The server 46s compares the hydraulic output performance reference data with the accumulated hydraulic output measurement data to make a performance determination regarding the hydraulic output.

(Step 35)
The server 46s of the management unit 46 is stored in the memory in the server 46s in time series with respect to the terminal device 48 of the engineer or service engineer of the manufacturer or dealer who accessed the server 46s of the management unit 46 via the communication network 47. Along with the measured hydraulic output measurement data, a performance determination result relating to the hydraulic output is output and displayed on the display of the terminal device 48.

(Step 36)
By monitoring the change in the hydraulic output measurement data displayed on the display of the terminal device 48 and the performance determination result, the engineer or serviceman monitors the performance degradation state of the work machine M and monitors the fuel used.

  For example, it is possible to predict and warn when it is determined that a failure will occur from the actual measurement value of hydraulic output measurement data and the rate of performance degradation of hydraulic output, and the time of overhaul, and the fuel used is changed Thus, if a decrease in hydraulic output performance is observed, it is possible to warn to that effect.

  Next, a method for collecting hydraulic output measurement data will be described with reference to FIGS. Note that the circled numbers in the flowchart shown in FIG. 7 are step numbers indicating control procedures.

(Step 41)
As shown by the two-dot chain line in FIG. 3, with the stick cylinder 18stcy and the bucket cylinder 18bkcy contracted to the shortest and the arms extended, the boom cylinder 18bmcy extends from the resting position with the bucket 18bk grounded to the ground level. Since the amount of oil (volume change amount V) required to raise the boom 18bm to the end is determined for each type of work machine M and the work device, the volume change amount V to the end of extension of the boom cylinder 18bmcy is determined in advance. Set in the software of Aircraft Controller (Machine ECM) 36.

  In addition, the machine controller 36 is programmed in advance so that the hydraulic output measurement mode can be activated by the monitor 34. When collecting the hydraulic output measurement data, the machine body 11 is set in advance, and the hydraulic output measurement mode is activated by the mode switching button switch 35 in the resting posture in which the work device 16 is grounded.

(Step 42)
The remote control pressure detection switch signal output from the remote control pressure detection switch 33 that detects the remote control pressure for operating the boom cylinder is monitored, and it is determined whether or not the remote control pressure detection switch signal has risen.

(Step 43)
When the operator operates the boom operation lever 27 to the boom raising side and supplies the boom control pilot pressure (remote control pressure) from the boom pilot valve 28 to the actuator control spool 26, the remote control pressure rises first. The remote control pressure detection switch 33 is activated and a remote control pressure detection switch signal is output as shown in FIG. Next, when the actuator control spool 26 is displaced by the remote control pressure, the negative control pressure in the negative control passage 30nc decreases, and as the negative control pressure decreases, the capacity of the main pump 22 increases, the pump discharge flow rate increases, and the main pump The pump pressure discharged from 22 also increases.

  As shown in FIG. 8, the first pump pressure discharged from the first main pump 22 directly connected to the mounted engine 21 and the second pump pressure discharged from the other second main pump 22. The pump pressure rise of the hydraulic fluid supplied to the boom cylinder 18bmcy is maintained at a high pressure at the moment when the load raising operation (that is, the boom raising operation) for raising the work device 16 by the boom cylinder 18bmcy is started. Therefore, the airframe controller 36 first determines whether or not there is a first rise of the pump pressure and a high pressure maintaining state under the state where the remote control pressure detection switch signal output from the remote control pressure detection switch 33 rises. Determine.

(Step 44)
The point in time when the first rise of pump pressure changes to the high pressure maintenance state is the moment when the boom cylinder 18bmcy enters the load lifting operation, and the fuselage controller 36 sets the first rise of pump pressure to the high pressure maintenance state. It is possible to automatically detect that the load raising operation by the boom cylinder 18bmcy has started, with the change time as a trigger for starting measurement.

(Step 45)
As shown in FIG. 8, even if there is a pilot pressure (remote control pressure) for raising the boom, when the piston of the boom cylinder 18bmcy moves to the extension end of the cylinder body and collides, After the first and second pump pressures rise and the load raising operation by the boom cylinder 18bmcy stops, the rises of these pump pressures are maintained at a high pressure, so the body controller 36 outputs from the remote control pressure detection switch 33. Under the state in which the remote control pressure detection switch signal is raised, it is determined whether or not there is a second rise in pump pressure and a high pressure maintaining state.

(Step 46)
When the pump pressure sensors 31a and 31b detect the second rising of the pump pressure generated by the cylinder end collision operation of the boom cylinder 18bmcy after the boom 18bm has actuated the predetermined operation amount, The end of the load raising operation by the boom cylinder 18bmcy can be automatically detected by using the time when the rise of the second pump pressure changes to the high pressure maintaining state as a trigger for the end of measurement.

(Step 47)
In this way, the airframe controller 36 monitors the pump pressure with the pump pressure sensors 31a and 31b and also monitors the remote control pressure with the remote control pressure detection switch 33, and starts and ends the load raising operation (ie, the boom raising operation). By automatically detecting, the cycle time T, which is the time required from the start to the end of the load increasing operation, is measured using a clock in the body controller 36.

(Step 48)
The airframe controller 36 logs the pump pressure during the load increase operation detected by the pump pressure sensors 31a and 31b (for example, sampling rate: 4 times / second), and calculates the average pump pressure P for one cycle of the load increase operation within the cycle time. calculate.

(Step 49)
The airframe controller 36 automatically detects the cycle time T, the average pump pressure P acquired from the pump pressure sensors 31a and 31b, and the volume change amount V of the boom cylinder 18bmcy in one cycle of a predetermined load increasing operation determined by the model. From the three data (that is, the amount of oil necessary for raising the boom), the average hydraulic pressure output generated in one cycle of the load raising operation is calculated.

  In short, the hydraulic output can be calculated by the flow rate x pressure, and when the front working device 16 is lifted from the ground level state shown by the two-dot chain line in FIG. 3 until the boom cylinder 18bmcy reaches the maximum extension state. The average flow rate V / T is calculated from the cycle time T and the volume change amount V in one cycle of the boom cylinder, and the hydraulic output is calculated using the average pump pressure P in one cycle as follows.

Hydraulic output (PS) = ((V (m ³ ) / T (s)) × P (KPa) × 10 ³ ) / 735

(Step 50)
The calculated hydraulic pressure output is stored in the memory of the machine controller 36 and further in the memory of the dynamic management controller 38, and is displayed on the monitor 34 connected to the machine controller 36.

  Next, the effect obtained by the above embodiment will be described.

  When the change of the hydraulic output measurement data and the performance determination result are monitored using the work machine remote operation management system 41, the service person can easily obtain the hydraulic output measurement data at the terminal device 48 without going to the work machine M. Therefore, it is possible to grasp the hydraulic output performance whenever necessary.

  Further, since the hydraulic output measurement data stored in the dynamic management controller 38 can be stored in the server 46s in time series in response to a request from the server 46s side of the management unit 46, the hydraulic output measurement data is stored in the server 46s of the management unit 46. An engineer or service person accessing from the terminal device 48 analyzes and tracks the accumulated time-series hydraulic output measurement data to monitor the performance degradation status of the vehicle (understand the appropriate overhaul time, determine the presence of defects) Etc.), the fuel used can be easily monitored, and it becomes easy to detect defects early and to objectively judge performance degradation.

  Going further, through the work machine remote operation management system 41, an administrator such as an engineer or service person instructs the operator or service person of the work machine M about the measurement method for hydraulic output measurement, and the terminal as well as troubleshooting. It is also possible to perform hydraulic output measurement by remote control from the device 48. For example, even when the work machine M is at the operation site, the latest hydraulic output measurement data is collected and the body controller 36 is further used for dynamic management. It can be stored in the controller 38 and further stored in the server 46s of the management unit 46.

  The pump pressure supplied from the main pump 22 to the boom cylinder 18bmcy is measured by the pump pressure sensors 31a and 31b, and the cycle time T from the start to the end of the load raising operation by the boom cylinder 18bmcy and the load raising operation are measured by the body controller 36. Load increase operation based on three data: average pump pressure P for one cycle of load increase operation calculated by logging the pump pressure inside and volume change amount V of boom cylinder 18bmcy for one cycle of load increase operation Since the average hydraulic output generated in one cycle is calculated, it is possible to provide a hydraulic output measuring device that can easily obtain an appropriate hydraulic output, and to provide a work machine M equipped with this hydraulic output measuring device.

  The airframe controller 36 detects the start and end of the load raising operation from the pressure change at which the pump pressure measured by the pump pressure sensors 31a and 31b rises, and measures the cycle time T of the load raising operation. Both the cycle time T and the average pump pressure P can be calculated efficiently from the data.

  At that time, under the condition that the remote control pressure detection switch signal from the remote control pressure detection switch 33 for detecting the remote control pressure for boom cylinder control rises, the load raising operation starts and ends from the pressure change at which the pump pressure rises. Is detected, and the cycle time T of the load raising operation is measured. Therefore, it is possible to accurately measure the cycle time T by detecting only the pressure change of the pump pressure under a limited condition.

  Next, as shown in FIG. 8, when the cycle time T is measured using the clock of the airframe controller 36, the pump pressure generated by the load lifting operation is started at the start of measurement when the hydraulic cylinder 18 is operated. Is input to the airframe controller 36 as a trigger for starting measurement, and at the end of the measurement of the hydraulic cylinder 18, the rise of pump pressure generated by the cylinder end collision operation is input to the airframe controller 36 as a trigger for completion of measurement. However, other means may be used for these measurement start / end triggers.

  For example, as shown in FIG. 3, the base end of the boom 18bm of the work device 16 is pivotally supported with respect to the machine body 11, and the boom 18bm has a base end of the work device 16 with respect to the machine body 11. Since an angle sensor 39 such as a rotation type potentiometer for detecting the rotation angle is provided, this angle sensor 39 detects the presence of the angular velocity from 0 to serve as a start trigger for the load raising operation, and detects the angular velocity from 0 to 0. Thus, a method of measuring the cycle time T of the load increasing operation with a clock in the machine controller 36 may be adopted by using the end trigger for the load increasing operation.

  In this way, the angle sensor 39 that detects the rotation angle of the work device 16 with respect to the body 11 detects the start and end of the load raising operation in which the boom cylinder 18bmcy raises the work device 16, and the cycle time T of the load raising operation. Is measured, the cycle time T can be accurately measured by grasping the actual movement of the work device 16.

  As described above, the work machine remote operation management system 41 allows the service person to easily obtain the hydraulic output measurement data from a remote location without going to the operation site of the work machine M. It is possible to easily grasp the hydraulic output performance without being done.

  In addition, the operator or service person of the work machine M can collect the hydraulic output measurement data as necessary, so that the latest hydraulic output measurement data can be stored in the controllers 36 and 38 in time series. By analyzing and tracking the hydraulic output measurement data, it is possible to properly and easily monitor the performance degradation of the vehicle (ascertain the appropriate overhaul time, determine whether there is a malfunction), monitor the fuel used, etc. Early detection and objective judgment of performance degradation become easier.

  For example, it is possible to warn by predicting the time when it is judged that there is a problem, that is, the overhaul time, from the current value of the hydraulic output measurement data and the rate of decrease in hydraulic output performance, and changing the fuel used Thus, if a decrease in hydraulic output performance is observed, it is possible to warn to that effect.

  Next, the operational effects of this embodiment will be described together.

  As shown in FIG. 1, a service person or engineer who has been trained in the fault diagnosis software Sof1 uses the fault diagnosis software Sof1 on the terminal device 48 to be a service person or engineer at a plurality of work machine operating sites. Troubleshoot from remote locations in cooperation with.

  At that time, by using in-vehicle wireless devices mounted on multiple work machines M as a relay device, it is possible to use the fault diagnosis software Sof1 from a remote location, eliminating the need to bring a personal computer or the like to the operation site, saving labor. Can be achieved.

  In addition, since the operation of the fault diagnosis software Sof1 can be performed at the office, there is no need for a skilled service person or engineer to visit each work machine M operation site, and the cost required for education of the service person or engineer Can also be reduced.

  That is, the failure diagnosis software Sof1 is started on one terminal device 48, and troubleshooting of the work machine M is executed from the terminal device 48 through the server 46s and the like through the dynamic management controller 38 of the plurality of work machines M. The number of workers dispatched to the operation site of the work machine M and operating the work machine M, that is, service personnel or engineers, can be minimized, and labor saving and efficiency improvement of the failure diagnosis work can be achieved.

  At this time, only when it is confirmed that the terminal device 48 and the work machine M connected to the terminal device 48 are correctly connected via the server 46s or the like, troubleshooting of the work machine M is permitted. A malfunction during troubleshooting due to a connection error of the machine M can be prevented, and labor saving and efficiency can be ensured.

  Since troubleshooting involves setting change and test output in addition to failure diagnosis and performance diagnosis, not only failure diagnosis and performance diagnosis but also remote adjustment of the work machine M is possible.

  Even when the key switch of the work machine M is in the OFF position, the server 46 s of the management unit 46 periodically transmits the work machine M movement management data (operation information (operation time (operation time)) transmitted from the work machine M movement management controller 38. Etc.), machine information (hydraulic output measurement data, etc.), warning information (hydraulic output drop abnormality, etc.) are stored, the terminal device 48 accesses the server 46s of the management unit 46, and this server 46s The accumulated movement management data of the work machine M can be easily obtained.

  And by the troubleshooting and remote adjustment as described above, the maintenance of the work machine M before the failure can be performed in a timely manner, the reliability of the work machine M is improved, the downtime due to the failure is reduced, and the productivity is thereby improved. Improvements can be made.

  In addition, the controller 36, 38 of the work machine M detects the start and end of the load raising operation in which the hydraulic cylinder 18 raises the work device 16, and measures the cycle time T from the start to the end of the load raising operation to determine the pump pressure. The pump pressure during the load increase operation detected by the sensors 31a and 31b is logged to calculate the average pump pressure P for one cycle of the load increase operation, and the cycle time T, the average pump pressure P, a preset load increase operation one cycle are calculated. The calculation operation of calculating the average hydraulic pressure generated in one cycle of the load increase operation from the three data of the volume change amount V of the hydraulic cylinder 18 at the time is repeated over time, and a plurality of obtained hydraulic output measurements are obtained. Data is accumulated in the time series in the server 46s of the management unit 46 by wireless communication from the controllers 36 and 38, and the server 46s is accessed from the terminal device 48 and accumulated in the server 46s. Since time-series hydraulic output measurement data is acquired, the terminal device 48 is operated, and the hydraulic output performance of the work machine is accurately and accurately determined by a large amount of hydraulic output measurement data that cannot be processed by the controllers 36 and 38 of the work machine M. The remote diagnosis can be performed easily, and the number of workers dispatched to the operation site can be minimized, so that the hydraulic output performance diagnosis work can be labor-saving and efficient.

  The server 46s of the management unit 46 includes hydraulic output performance reference data that serves as a reference for performance determination, compares the hydraulic output performance reference data with the hydraulic output measurement data, and outputs a performance determination result. It is possible to easily judge suitability.

  Because the fault diagnosis software Sof1 of the terminal device 48 can access the controllers 36 and 38 of the work machine M in the remote location through the server 46s of the management unit 46 and collect the hydraulic output measurement data directly, the latest hydraulic output measurement Data can be obtained.

  INDUSTRIAL APPLICABILITY The present invention can be used for a hydraulic excavator and a working machine including a working device that uses a hydraulic excavator as a base machine.

M work machine
11 Airframe
16 Work equipment
18 Hydraulic cylinder
22 Main pump as a hydraulic pump
31a, 31b Pump pressure sensor
33 Remote control pressure detection switch
36, 38 controller
46 Administration Department
46s server
48 Terminal equipment
Sof1 fault diagnosis software

Claims (4)

Airframe, working device moved up and down by hydraulic cylinder relative to airframe, pump pressure sensor for measuring pump pressure supplied to hydraulic cylinder from hydraulic pump mounted on airframe, and load that hydraulic cylinder raises working device Measure the cycle time from the start to the end of the load raising operation by detecting the start and end of the load raising operation, log the pump pressure during the load raising operation detected by the pump pressure sensor, and average the pump for one cycle of the load raising operation Calculate the pressure and calculate the average hydraulic pressure output generated in one cycle of load increasing operation from three data of cycle time, average pump pressure, and volume change of hydraulic cylinder in one cycle of load increasing operation set in advance. A work machine provided with a controller having a calculation function and a wireless communication function for repeating the calculation operation after a time;
A server of a management unit that acquires a plurality of hydraulic output measurement data transmitted from the controller of the work machine and accumulates them in time series;
A remote diagnosis system for a working machine, comprising: a terminal device that accesses a server of a management unit and acquires hydraulic output measurement data accumulated in time series. The server of the management unit is provided with hydraulic output performance reference data used as a reference for performance determination, and compares the hydraulic output performance reference data with the hydraulic output measurement data and outputs a performance determination result. The remote diagnosis system for work machines according to 1. 3. The work machine remote diagnosis system according to claim 1, wherein the terminal device includes failure diagnosis software that acquires hydraulic output measurement data from a controller of the work machine through a server of the management unit. Work machine
A remote control pressure detection switch for detecting the remote control pressure to remotely control the control valve that controls the hydraulic cylinder is provided.
The controller
While monitoring the pump pressure with the pump pressure sensor, the remote control pressure detection switch signal output from the remote control pressure detection switch is monitored, and the pressure change at which the pump pressure rises when this remote control pressure detection switch signal rises 4. A function of measuring a cycle time from the start to the end of the load increasing operation by detecting the start and end of the load increasing operation from the load increasing operation of the work machine according to claim 1. Remote diagnostic system.

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