JP2014035214A - Heavy machine work state specification system, heavy machine work state specification method, and heavy machine work state specification program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically specify a work state in a heavy machine.SOLUTION: A heavy machine work state specification system 10 is configured to include: vibration measurement means 140 for measuring a vibration produced in a heavy machine 5; storage means 101 for holding information showing a work state in the heavy machine 5 and vibration characteristic information showing a frequency and an amplitude of the vibration produced in the heavy machine 5 under the work state in association with each other; and arithmetic means 104 for executing the vibration measurement by the vibration measurement means 140 as regards the heavy machine 5 in operation, collating information on the frequency and the amplitude of the vibration acquired from the measurement with the vibration characteristic information of the storage means 101, and executing processing of performing evaluation of the work state corresponding to the vibration produced in the heavy machine 5.

Description

  The present invention relates to a heavy machine work situation specifying system, a heavy machine work situation specifying method, and a heavy machine work situation specifying program, and more specifically to a technique that can automatically specify a work situation in a heavy machine.

  When using heavy machinery such as backhoes and cranes, it is necessary to appropriately suppress construction vibrations that extend to nearby private houses. Accordingly, there is a case where a predetermined person in charge visually identifies each heavy machine, identifies the current work situation, and gives attention to the heavy machine operator according to the work situation. Moreover, when checking whether the work according to the construction plan is performed in the heavy equipment, the work status of the heavy equipment is specified as described above.

  In addition, as the technology related to the work situation identification such as heavy machinery, for example, the output information of the analog tachograph or the acceleration sensor output information indicating the operation of the vehicle or the change of the work state is the vehicle position information, time information and vehicle identification. A technique for transmitting the output information, the position information, the time information, and the vehicle specifying information (see Patent Document 1), which is transmitted together with the information from the vehicle side to the management center and is stored on the management center side, has been proposed. In addition, a technique for identifying a heavy machine type based on an analysis of sensing values for each heavy machine collected by a sensor such as a sound collecting microphone and automatically detecting that a specific operation has started and / or ended (Patent Document) 2) is also proposed.

JP 2003-138874 A JP 2004-78853 A

  However, no technology has been proposed for automatically identifying such various working situations for heavy machinery that changes its posture and movement from moment to moment as the construction contents change. Therefore, in the end, it becomes necessary for the person in charge or the like to monitor each heavy machine by visual inspection, and complicated and time-consuming processes occur frequently. Or, every time a heavy equipment operator starts various work, there is a concern that it will be difficult to concentrate on heavy equipment operation because it is necessary to record the relevant work or contact the designated person in charge. .

  Therefore, an object of the present invention is to provide a technique that can automatically specify the work situation in a heavy machine.

  The heavy machine work status specifying system of the present invention that solves the above problems includes vibration measuring means for measuring vibrations generated in the heavy machinery, information indicating the work status in the heavy machinery, and the frequency and amplitude of vibration generated in the heavy machinery in the work status. Storage means for associating and holding the vibration characteristic information shown, and for the heavy equipment in operation, vibration measurement by the vibration measurement means is executed, and information on the frequency and amplitude of the vibration obtained by this measurement is stored in the storage means And calculating means for executing a process of estimating a work situation corresponding to the vibration generated in the heavy machinery.

  According to this, for heavy machinery that changes its posture and operation from moment to moment as construction contents change, the vibration characteristics vary depending on the work being performed (eg, running, turning, boom up / down movement, excavation, breaker operation, etc.). Correspondingly, automatic real-time monitoring and identification of the work status of the heavy equipment is possible. Therefore, it is not necessary for the person in charge or the like to monitor each heavy machine one by one by visual observation, and the concern that a complicated and troublesome process occurs is also eliminated. In addition, every time a heavy equipment operator starts various work, there is no need to record the relevant work or to contact a designated person. The above-mentioned operator concentrates on heavy equipment operation and is stable. Can perform efficient and efficient work. Therefore, according to the present invention, it is possible to automatically specify the work situation in the heavy machinery.

  In the above-mentioned heavy machinery work situation specifying system, the storage means has, as vibration characteristic information indicating the vibration frequency and amplitude, a maximum amplitude value at all frequencies and a maximum amplitude value within a predetermined frequency range. The calculation means performs vibration measurement by the vibration measurement means for the heavy equipment in operation, and calculates the vibration obtained by this measurement. A process for identifying the maximum value of the amplitude at all frequencies from the information, a process for calculating a ratio of the maximum value of the amplitude in a predetermined frequency range determined in advance from the information on the vibration obtained by the measurement, and the specifying The information of the ratio of the maximum value of the amplitude and the ratio of the calculated maximum value of the amplitude is collated with the vibration characteristic information of the storage means, and the process for estimating the work situation corresponding to the vibration generated in the heavy machinery is executed. With things That may be.

  According to this, it is possible to more reliably estimate the work situation in the heavy equipment using information obtained by accurately classifying the characteristics of the frequency and amplitude of vibration generated in the heavy equipment according to the work situation.

  Further, in the above-described heavy machinery work situation specifying system, the calculation means specifies the frequency at which the vibration is maximum in each work situation from the vibration information obtained from the vibration measurement means, and from the specified frequency or the corresponding frequency. Apply low-pass filter processing with any one of the frequencies within the specified range as the cut-off frequency to the vibration information of each work situation, and identify the cut-off frequency at which the vibration pattern obtained after the application is distributed among the work situations Applying the processing and the low-pass filter processing of the identified cutoff frequency to the vibration information of each work situation obtained from the vibration measuring means, from the vibration information in the frequency range below the cutoff frequency obtained after the application, Specify the maximum value of the amplitude for each work situation, and divide the maximum value of the amplitude at all frequencies in the work situation by the specified maximum value. Te, the calculated ratio of the maximum value in the vibration characteristic information, and executes a process of storing in the storage means in association with the corresponding working situation may be.

  According to this, the system side calculates the ratio of the maximum value of the amplitude in a predetermined frequency range as the above-mentioned vibration characteristic information held in the storage means, that is, the reference when estimating the work situation in the heavy equipment. It can be used for estimation of the subsequent work situation. Therefore, for example, it is possible to estimate the work status on the basis of the latest and actual standard by executing the calculation process of the vibration characteristic information at regular intervals.

  Further, in the above-mentioned heavy equipment work situation specifying system, the storage means corresponds to the information on the work situation in the heavy equipment, as the vibration characteristic information, the reference image data in which the amplitude level at each frequency of vibration generated in the heavy equipment is spectrally displayed The calculation means performs vibration measurement by the vibration measurement means for the heavy equipment in operation, and the amplitude at each frequency based on the vibration frequency and amplitude information obtained by the measurement. Generate image data with spectral display of levels, pattern-match the generated image data with reference image data of each work situation that is vibration characteristic information of the storage means, and the reference that the image data is equal to or higher than a predetermined reference The image data is specified, and the work status corresponding to the corresponding reference image data is And it executes the process of estimating the work situation may be.

  According to this, since it is possible to perform processing state estimation processing by pattern matching processing between image data, even if the characteristics of vibration caused by heavy machinery are complex and the amount of data is large, estimation is performed at high speed. The processing can be performed, and the efficiency of the entire processing for specifying the heavy machinery work status can be improved.

  In addition, the heavy machinery working situation specifying method of the present invention includes a vibration measuring means for measuring vibration generated in the heavy machinery, information indicating the working status in the heavy machinery, and a vibration characteristic indicating the frequency and amplitude of vibration generated in the heavy machinery in the working status. A computer comprising storage means for storing information in association with each other performs vibration measurement by the vibration measurement means for an operating heavy machine, and stores the frequency and amplitude information of the vibration obtained by the measurement. It is characterized by collating with the vibration characteristic information of the means and executing a process of estimating the work situation corresponding to the vibration generated in the heavy machinery.

  Further, the heavy machine work status specifying program of the present invention includes a vibration measuring means for measuring vibration generated in the heavy machinery, information indicating the work status in the heavy machinery, and vibration characteristics indicating the frequency and amplitude of vibration generated in the heavy machinery in the work status. A computer having a storage unit that stores information in association with each other is subjected to vibration measurement by the vibration measurement unit with respect to an operating heavy machine, and information on the frequency and amplitude of the vibration obtained by the measurement is stored in the memory. It is characterized in that a process for estimating the work situation corresponding to the vibration generated in the heavy machinery is executed by collating with the vibration characteristic information of the means.

  According to the present invention, it is possible to automatically specify the work situation in a heavy machine.

It is a figure which shows the example of application of the heavy machinery working condition identification method in this embodiment. It is a figure which shows the example of an installation form of the vibration measurement means in the heavy machinery working condition identification method of this embodiment. It is a figure which shows the hardware constitutions in the heavy machinery working condition specific system of this embodiment. It is a figure which shows the structural example 1 of the waveform pattern information in this embodiment. It is a figure which shows the structural example 2 of the waveform pattern information in this embodiment. It is a flowchart which shows process sequence example 1 of the heavy machinery working condition identification method of this embodiment. It is a figure which shows the vibration measurement result 1 in this embodiment. It is a figure which shows the vibration measurement result 2 in this embodiment. It is a figure which shows the vibration measurement result 3 in this embodiment. It is a figure which shows the vibration measurement result 4 in this embodiment. It is a figure which shows the Fourier spectrum example 1 in this embodiment. It is a figure which shows the Fourier spectrum example 2 in this embodiment. It is a figure which shows the Fourier spectrum example 3 in this embodiment. It is a figure which shows the Fourier spectrum example 4 in this embodiment. It is a figure which shows the vibration waveform 1 after the LPF process in this embodiment. It is a figure which shows the vibration waveform 2 after the LPF process in this embodiment. It is a figure which shows the vibration waveform 3 after the LPF process in this embodiment. It is a figure which shows the vibration waveform 4 after the LPF process in this embodiment. It is a figure which shows the example of information for the waveform pattern information determination in this embodiment. It is a flowchart which shows process sequence example 2 of the heavy machinery working condition identification method of this embodiment. It is a figure which shows the example 1 of a determination in the heavy machinery working condition identification method of this embodiment. It is a figure which shows the example 2 of a determination in the heavy machinery working condition identification method of this embodiment. It is a flowchart which shows process sequence example 3 of the heavy machinery working condition identification method of this embodiment. It is a figure which shows the structural example 3 of the waveform pattern information in this embodiment. It is a figure which shows the structural example 4 of the waveform pattern information in this embodiment. It is a figure which shows the structural example 5 of the waveform pattern information in this embodiment. It is a figure which shows the structural example 6 of the waveform pattern information in this embodiment.

--- Application example ---
Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a diagram showing an application example of the heavy machinery work situation specifying method in the present embodiment. As a construction site to which the heavy machinery work situation specifying method is applied, a construction site located in an environment where vibration suppression is required is first assumed. In the example illustrated in FIG. 1, the surrounding environment of the construction site 1 is a residential area 3 in which a general building such as an individual residence 2 exists. The construction site 1 and the residential area 3 are appropriately separated by a sound insulation panel 4 or the like, but if no measures are taken as they are, the construction vibration generated by the heavy machine 5 operating at the construction site 1 is via the ground 6 or the like. Will be transmitted to the residential area 3.

  As heavy machinery 5, various types of vehicles such as backhoes, cranes, rock drills, dump trucks, trailers, mixer trucks, and concrete pumping vehicles can be envisaged. Any type is acceptable. In the present embodiment, a backhoe (hereinafter referred to as a backhoe 5) will be described as an example of the heavy machine 5 as an example.

  In such a construction site 1, before applying the heavy machinery work situation specifying method of the present embodiment, the vibration generated in the heavy machinery itself when the heavy machinery 5 is actually operating is measured, and the vibration as a result of the measurement is measured. Based on the information, it is necessary to associate vibration characteristic information indicating the frequency and amplitude of vibration generated in the heavy machine 5 with information on the work status in the heavy machine 5. In the present embodiment, the vibration in the heavy machine 5 is measured by an acceleration sensor that is the vibration measuring means 140. In the following description, “amplitude” is read as acceleration. However, a speed sensor or a displacement sensor may be adopted as the vibration measuring means 140, and the speed and displacement values that are measured values may be used for the processing.

  For example, when various operations such as running, turning, boom up / down, excavation, and the like are performed on the heavy machinery 5, vibration measurement using the vibration measuring unit 140 is performed at the measurement location 30 in the heavy machinery 5. FIG. 2 is a diagram showing an example of an installation form of vibration measuring means in the heavy machinery work situation specifying method of the present embodiment. As the vibration measuring means, that is, the vibration measuring means 140, a general instrument used for vibration measurement such as a vibration accelerometer may be adopted. More preferably, a wireless accelerometer that is small and lightweight and does not require wiring is preferably used as the vibration measuring means 140. Needless to say, the installation configuration of the vibration measuring means 140 in the heavy equipment 5 and the influence between the vibration measuring means 140 and the information processing apparatus that obtains measurement values from the vibration measuring means 140 and performs calculations, etc., on the heavy equipment operation and the entire construction are unnecessary. It is also possible to adopt a wired type accelerometer so as not to affect

  In the example shown in FIG. 2, the vibration measuring means 140 installed on the boom of the backhoe 5 is “N1”, and in this vibration measuring means 140 “N1”, the traveling direction of the backhoe 5 is the Z axis, the vertical direction is the Y axis, The left-right direction is the X axis. Further, the vibration measuring means 140 installed on the body of the backhoe 5 is “N3”, and in the vibration measuring means 140 “N3”, the traveling direction of the backhoe 5 is the Y axis, the horizontal direction is the X axis, and the vertical direction is the Z axis. It is said. It should be noted that waveform pattern information 125 which is information indicating the correlation between the frequency and acceleration of vibration generated in the operating heavy machine 5 and the work status in the heavy machine 5 based on the result obtained by the vibration measurement in the heavy machine 5. The processing for obtaining will be described later.

  The heavy machine 5 of this embodiment that operates in such a situation includes a heavy machine work situation specifying system 10. The heavy equipment work situation identification system 10 (hereinafter referred to as system 10) includes an information processing apparatus 100 composed of a computer chip or the like. As shown in FIG. 3, the information processing apparatus 100 has a configuration that should be provided as a computer. That is, the information processing apparatus 100 stores the program 102 for implementing the functions necessary for executing the heavy machinery work situation specifying method, the storage unit 101 storing the information 125 and 126, and the program 102 from the storage unit 101 into the memory 103. The calculation means 104 such as a CPU to be read and executed at the same time, the input means 105 such as a button for receiving information input from a user such as a heavy equipment operator, and a lamp, display, speaker, etc. for outputting various information such as warning signals An output unit 106 and an interface 107 that performs data communication with the vibration measurement unit 140 and obtains the measurement value are provided.

  The information processing apparatus 100 includes, in the storage unit 101, waveform pattern information 125 that is information indicating a correlation between vibration (frequency and acceleration) generated in the operating heavy machine 5 and a work situation in the heavy machine 5, and calculation The means 104 holds information on the operation parameters 126 used for various operations. Details of the waveform pattern information 125 will be described later.

  Subsequently, functions provided in the information processing apparatus 100 of the system 10 described above will be described. As described above, the functions described below can be said to be functions that are implemented by executing the program 102 included in the information processing apparatus 100. The information processing apparatus 100 according to the present embodiment performs vibration measurement by the vibration measuring unit 140 on the heavy machine 5 in operation, and uses the vibration frequency and acceleration information obtained by the measurement as waveform pattern information 125 of the storage unit 101. And a function of estimating the work situation corresponding to the vibration generated in the heavy machine 5.

  Note that the information processing apparatus 100 described above uses, as the waveform pattern information 125 in the storage unit 101, the ratio of the maximum acceleration value in all frequencies and the maximum acceleration value in a predetermined frequency range as the work status in the heavy machine 5. It is preferable that the information is stored in association with the information. In this case, the information processing apparatus 100 performs vibration measurement by the vibration measurement unit 140 on the heavy machine 5 in operation, and specifies the maximum acceleration value at all frequencies from the vibration information obtained by the measurement. The process of calculating the ratio of the maximum value of acceleration in a predetermined frequency range determined in advance from the vibration information obtained by the above measurement, the maximum value of acceleration specified above, and the maximum value of acceleration calculated above Each information of the ratio is collated with the waveform pattern information 125 in the storage unit 101, and the work situation corresponding to the vibration generated in the heavy machine 5 is estimated.

  Further, the information processing apparatus 100 identifies the frequency at which the acceleration is maximized in each work situation from the vibration information obtained from the vibration measuring unit 140, and any frequency within a predetermined range from the identified frequency or the corresponding frequency. Is applied to the vibration information of each work situation, and the function of specifying the cut-off frequency at which the vibration pattern obtained after the application is distributed among the work situations. Is preferable.

  In this case, the information processing apparatus 100 applies the low-pass filter processing of the cutoff frequency specified above to the vibration information of each work situation obtained from the vibration measuring unit 140, and a frequency range equal to or lower than the cutoff frequency obtained after the application. In the waveform pattern information 125, the maximum value of acceleration for each work situation is specified from the vibration information in the above, and the maximum value of acceleration at all frequencies in the corresponding work situation is divided by the specified maximum value. It is preferable to have a function of calculating the ratio of the maximum value and storing it in the waveform pattern information 125 of the storage unit 101 in association with the corresponding work situation.

  Further, the information processing apparatus 100 uses, as the waveform pattern information 125 in the storage unit 101, the reference image data in which the amplitude level at each frequency of vibration generated in the heavy machine 5, that is, the acceleration level, is spectrum-displayed as the work status information in the heavy machine 5. It may be held in association. In this case, the information processing apparatus 100 performs vibration measurement by the vibration measuring unit 140 on the heavy machine 5 in operation, and spectrums the acceleration level at each frequency based on the vibration frequency and acceleration information obtained by the measurement. The displayed image data is generated, and the generated image data is pattern-matched with the reference image data of each work situation as the waveform pattern information 125 in the storage unit 101, and the reference image data in which the image data is equal to or higher than a predetermined reference is obtained. It may have a function of specifying and estimating the work situation corresponding to the corresponding reference image data as the work situation in the heavy equipment 5. Of course, the information processing apparatus 100 having such a function is provided with a program for pattern matching processing existing in advance, and can call and execute the corresponding program as necessary.

  Note that the information processing apparatus 100 compares the vibration acceleration obtained from the vibration measuring unit 140 with a predetermined reference when estimating the work status of the heavy machine 5 as described above, and the vibration acceleration, that is, the amplitude level exceeds the predetermined reference. In such a case, a control signal for limiting the predetermined operation contents in the heavy machine 5 may be sent as a warning signal to the operation control computing means 150 provided in the heavy machine 5. This control signal is a control signal for limiting drive current, drive hydraulic pressure, etc., for an appropriate drive mechanism such as a hydraulic mechanism for performing acceleration / deceleration of operations such as traveling, boom up / down, and turning, and excavation and breaker hitting operations. . Alternatively, the information processing apparatus 100 may execute the above-described process of sending a warning signal to a predetermined apparatus provided in the heavy machine 5 when the amplitude level of vibration exceeds a predetermined reference. Examples of the predetermined device provided in the heavy machine 5 include an output unit 106 such as a lamp, a display, and a speaker installed in front of the heavy machine operating seat.

--- Configuration example of waveform pattern information 1--
Next, a configuration example of the waveform pattern information 125 used by the system 10, that is, the information processing apparatus 100 will be described. FIG. 4 is a diagram showing a configuration example 1 of the waveform pattern information in the present embodiment, and FIG. 5 is a diagram showing a configuration example 2 of the waveform pattern information in the present embodiment.

  The waveform pattern information 125 is information in which vibration characteristic information indicating the frequency and acceleration (amplitude) of vibration generated in the heavy machine 5 is associated with information on the work status in the heavy machine 5. The waveform pattern information 125 illustrated in FIGS. In the example of the pattern information 125, “determination 1” and “determination 2” are the characteristics of vibrations generated in the heavy machine 5 that is performing the corresponding work for each work in the heavy machine 5 such as traveling, turning, boom up / down, and excavation. Conditions are defined.

  Among them, the condition “determination 1” indicates the range of the maximum value of acceleration at all frequencies. The condition “determination 2” indicates the range of the ratio of the maximum value of acceleration in a predetermined frequency range. The condition of “determination 2” is that the frequency at which the acceleration is maximum in the corresponding work situation (that is, the frequency at which the maximum value of “determination 1” occurs) or any frequency within a predetermined range from the corresponding frequency (The details of the determination method will be described later.) From the vibration information in the frequency range below the cutoff frequency, the maximum acceleration value for each work situation is specified, and the specified maximum value (that is, in the frequency range below the cutoff frequency). (Maximum value of acceleration) is obtained by dividing the maximum value of acceleration (that is, the value indicated by “determination 1”) at all frequencies in the corresponding work situation.

  4 shows an example of the waveform pattern information 125 when one sensor as the vibration measuring means 140 is installed on the vehicle body of the heavy equipment 5, and FIG. 5 shows the vibration measuring means 140 for the vehicle body and the boom of the heavy equipment 5 respectively. The example of the waveform pattern information 125 at the time of installing a drooping sensor is shown. As in the example shown in FIG. 5, the waveform pattern information 125 in a situation where a plurality of vibration measuring means 140 are installed has a plurality of determination formulas defined as characteristics in “determination 1” and “determination 2” for one work. It can be. Thus, when there are a plurality of judgment formulas, the formulas are used in combination with logical product (AND).

  Further, it is preferable that the waveform pattern information 125 described above is prepared in advance for each type or individual of the heavy machinery 5.

--- About generation of waveform pattern information ---
Next, a process for generating the waveform pattern information 125 will be described with reference to the drawings. Various operations described below are realized by a program 102 executed by the information processing apparatus 100 configuring the system 10. And this program 102 is comprised from the code | cord | chord for performing the various operation | movement demonstrated below.

  FIG. 6 is a flowchart showing a processing procedure example 1 of the heavy machinery work situation specifying method of the present embodiment. Here, the inventors operated the backhoe 5 at an actual construction site, and performed each operation of traveling at a predetermined speed, turning, boom up / down movement, and excavation. At this time, the vibration measuring unit 140 of the information processing apparatus 100 performs vibration measurement of the measurement location 30 in the operating backhoe 5, and obtains vibration waveforms 31 to 34 which are vibration measurement results shown in FIGS. s100). The vibration measurement conditions in this embodiment are a sampling frequency of 200 Hz and a target frequency of 0 to 100 Hz. In addition, it is assumed that vibration waveforms 31 to 34 obtained by vibration measurement indicate acceleration for each time.

  As shown in the vibration waveforms 31 to 34 shown in the figure, regarding the example of the actually measured vibration waveform (dimensionless acceleration), all the dimensionless accelerations are “0” in each operation of running, turning, boom up / down, and excavation. .13 "or more, the dimensionless acceleration obtained by the vehicle body vibration measuring means 140 (" N3 "sensor) is" 1.00 "or more at the time of running and turning work, and at the time of boom up and down work, The dimensionless acceleration obtained by the vehicle body vibration measuring means 140 (“N3” sensor) was characterized by “1.00” or less. The dimensionless acceleration is a value obtained by dividing the acceleration value obtained by the vibration measuring means 140 by a predetermined reference acceleration value. With respect to such dimensionless processing, the same processing is applied in the following description. However, such a dimensionless process may not be performed, and the acceleration value obtained by the vibration measuring unit 140 may be directly applied to the subsequent processes.

  The vibration generated by the work in the backhoe 5 has characteristics specific to the magnitude of acceleration and the dominant frequency for each work. Therefore, the information processing apparatus 100 specifies the maximum acceleration for each work through all frequencies from the data of the vibration waveforms 31 to 34 obtained in step s100 described above (s101). In the maximum acceleration specifying process, the information processing apparatus 100 performs waveform analysis on each data of the vibration waveforms 31 to 34 to specify the maximum acceleration value. The maximum acceleration specified here is hereinafter referred to as “OA”.

  The above-described dominant frequency corresponds to a frequency at which the maximum acceleration “OA” is obtained. In this embodiment, since the vibration frequency is also dimensionless, the dominant frequency is also referred to as a superior dimensionless frequency. The information processing apparatus 100 specifies a frequency at which the acceleration is maximum, that is, a preeminent dimensionless frequency for each work, by specifying the maximum acceleration value in step s101 described above (s102). In specifying the superior dimensionless frequency, for example, it is preferable to perform frequency analysis (Fourier spectrum analysis) on each data of the vibration waveforms 31 to 34 and use the analysis result. FIGS. 11 to 14 show the results of Fourier spectrum analysis. In the Fourier spectra 50 to 65 illustrated in FIGS. 11 to 14, the horizontal axis is a dimensionless frequency (a value obtained by dividing the frequency by the reference frequency), and the vertical axis is a dimensionless Fourier amplitude (a value obtained by dividing the Fourier amplitude by the reference acceleration). ).

The following features can be confirmed in the Fourier spectra 50 to 65 illustrated in FIGS.
1. In the Fourier spectrum based on the vibration waveform obtained by the vibration measuring means 140 (N1-Y, N1-Z) in the boom during traveling and the vibration measuring means 140 (N3-Y, N3-Z) in the vehicle body, The preeminent dimensionless frequency is “0.01” or more.
2. In the Fourier spectrum based on the vibration waveform obtained by the vibration measuring means 140 (N1-Y, N1-Z) in the boom at the time of turning and the vibration measuring means 140 (N3-Y) in the vehicle body, the dominant dimensionless frequency is “ 0.01 "or less.
3. In the Fourier spectrum based on the vibration waveform obtained by the vibration measuring means 140 (N1-Y, N1-Z) in the boom at the time of up and down, the dominant dimensionless frequency is “0.01” or less, and the vibration measuring means 140 in the vehicle body In the Fourier spectrum based on the obtained vibration waveform, the dominant dimensionless frequency is “0.01” or more.
4). In the Fourier spectrum based on the vibration waveform obtained by the vibration measuring means 140 (N1-Y, N1-Z) in the boom during excavation, the dominant dimensionless frequency is “0.01” or less, and the vibration measuring means 140 in the vehicle body In the Fourier spectrum based on the obtained vibration waveform, the dominant dimensionless frequency is “0.01” or more.

  When identifying such a feature regarding the Fourier spectrum, the information processing apparatus 100 randomly selects one of the excellent dimensionless frequencies (identified in s102 described above) obtained for each measurement location 30 of each work (s103). ). In addition, the information processing apparatus 100 has each frequency (eg, a range up and down 0.03 centered on the superior dimensionless frequency) including the superior dimensionless frequency (eg, 0.04) selected here. The low-pass filter processing with 0.01 to 0.07) as the cutoff frequency is applied to the vibration waveforms 31 to 34 in each work situation for each cutoff frequency (s104), and the vibration waveform pattern obtained after the application is applied to each work. A cut-off frequency (for example, 0.01) that is dispersed between the two is specified (s105). The cutoff frequency specifying process including Fourier spectrum analysis and the like in steps s102 to s105 described above may be performed for heavy machinery for which the cutoff frequency has not yet been specified, and can be omitted for heavy machinery for which the cutoff frequency has already been specified. It is.

15 to 18 are diagrams illustrating vibration waveforms after LPF (low-pass filter) processing in the present embodiment. The following features can be confirmed by comparing the vibration waveforms after the low-pass filter processing in step s104 described above. The cut-off frequency (dimensionless) here is “0.01”.
1. All accelerations of the vibration measuring means 140 (N1-Y, N1-Z) in the boom during traveling and the vibration measuring means 140 (N3-Y, N3-Z) in the vehicle body were reduced by the low-pass filter processing.
2. The accelerations obtained by the vibration measuring means 140 (N1-Z) in the boom at the time of turning and the vibration measuring means 140 (N3-Y) in the vehicle body do not change much before and after the low-pass filter processing, but the vibration in the boom The accelerations obtained by the measuring means 140 (N1-Y) and the vibration measuring means 140 (N3-Z) in the vehicle body were reduced by the low-pass filter processing.
3. The acceleration obtained by the vibration measuring means 140 (N1-Y, N1-Z) in the boom at the time of vertical movement does not change much before and after the filter, but is obtained by the vibration measuring means 140 (N3-Y, N3-Z) in the vehicle body. The acceleration was reduced by low-pass filtering.
4). The acceleration obtained by the vibration measuring means 140 (N1-Y, N1-Z) in the boom during excavation is slightly reduced before and after the low-pass filter processing, but the vibration measuring means 140 (N3-Y, N3-Z) in the vehicle body. The acceleration obtained in step 1 was considerably reduced by the low-pass filter processing.

  According to the characteristics after the low-pass filter processing described above, the pattern of the vibration waveform obtained after the low-pass filter processing with the cutoff frequency “0.01” is different between the operations, that is, “0.01” is optimal. Can be identified as a low cutoff frequency. The optimum cutoff frequency value is stored in the storage unit 101 in association with each type or individual of the heavy machinery 5 in the storage unit 101. The information processing apparatus 100 calculates the average value, minimum value, maximum value, and the like of acceleration for the characteristics of the vibration waveform at each measurement point 30 of each work after the low-pass filter processing as described above, and about these calculated values. It is assumed that a program corresponding to an algorithm for comparing between vibration waveforms and determining whether there is a certain difference or not between vibration waveforms is provided.

  The specification of the cut-off frequency in such low-pass filter processing is not limited to the case where the information processing apparatus 100 executes, but the user may confirm and determine the Fourier spectra 50 to 65. In that case, the user inputs the cutoff frequency with the input unit 105, and the information processing apparatus 100 stores this in the storage unit 101.

  Subsequently, the information processing apparatus 100 applies the low-pass filter processing with “0.01” specified in step s105 as a cutoff frequency to the vibration waveform of each work, and is obtained after the low-pass filter processing is applied. The maximum value of acceleration at each work and at each measurement location 30 in the frequency range of “0.01” or less is specified (s106). The maximum acceleration value specified here is referred to as “LPF”.

  Further, the information processing apparatus 100 divides the maximum acceleration “OA” at all frequencies in the corresponding work and the corresponding measurement location 30 by the maximum acceleration “LPF” specified above. Then, the “maximum value ratio” in the waveform pattern information 125 described above is calculated (s107), and this calculated value is stored in the waveform pattern information 125 of the storage means 101 in association with the corresponding work and the corresponding measurement location 30. (S108).

  The waveform pattern information 125 obtained as described above indicates “OA” (maximum value of dimensionless acceleration) (“determination 1”) and “OA / LPF”. . ”Can be combined to determine the work on the backhoe 5.

  FIG. 19 is a diagram showing an example of data for determining waveform pattern information in the present embodiment. The information processing apparatus 100 performs “OA”, “LPF”, and “OA / LPP” at each measurement location 30 for each work obtained through the above steps. When a value such as “F.” is set in the corresponding field in the waveform pattern information 125 form, the waveform pattern information determination data 70 shown in FIG. 19 is obtained.

  In the example shown in FIG. 19, for example, “OA” generated in the vehicle body when the work content is “running” has both “Y” component and “Z” component “1 or more”. Similarly, “OA / LPF” generated in the vehicle body has “Y” component and “Z” component “5 or more”, and “OA / L.P.F.” Generated in the boom. “PF” reveals “features” such that “Y” component and “Z” component are both “5 or more”.

  In obtaining such information relating to “features”, the information processing apparatus 100 displays the waveform pattern information determination data 70 shown in FIG. 19 on the output means 106 such as a display. At 105, an input from the user is accepted. Therefore, the user browses the waveform pattern information determination data 70 and recognizes the feature, and then inputs the feature to the “feature” column 71 using the input means 105. After recognizing such characteristics, the user finally determines the setting values of the respective expressions of “determination 1” and “determination 2” of the waveform pattern information 125 illustrated in FIG. In the example shown in FIG. 4, similarly to the waveform pattern information determination data 70 described above, for example, when the work content is “running”, the range of “OA” relating to the vehicle body is represented by the “Y” component and All of the “Z” components are defined as “1 or more” and less than “999”, and the range of “OA / LPF” ranges from “Y” and “Z” components to “ “5 or more” is defined as less than “999”.

--- Example of work status identification 1 ---
Next, a process for estimating the working status of the heavy machine 5 in operation using the waveform pattern information 125 described above will be described. FIG. 20 is a flowchart showing a processing procedure example 2 of the heavy machinery work situation specifying method of the present embodiment. Here, it is assumed that the heavy machine 5 is performing actual construction work at the construction site 1. At this time, the information processing apparatus 100 performs vibration measurement by the vibration measuring unit 140 for the heavy machine 5 in operation (s200), performs waveform analysis on the vibration waveform obtained by this measurement, and calculates accelerations across all frequencies. The maximum value “OA” is specified (s201).

  Next, the information processing apparatus 100 reads the cutoff frequency value (eg, 0.01) held in the storage unit 101 with respect to the above-described heavy machine 5 and performs the low-pass filter processing at this cutoff frequency on the above-described Fourier spectrum. By applying, the maximum acceleration value “LPF” in the frequency range below the cutoff frequency is specified (s202).

  Further, the information processing apparatus 100 divides the above-described maximum acceleration value “OA” at all frequencies by “LP” specified here to obtain “OA / L. The value of “PF” is calculated (s203).

  Subsequently, the information processing apparatus 100 determines “O.A.” identified in step s201 described above and “OA / LPF” calculated in step s203 described above, as “ The value of “OA” is collated with each expression of “determination 1” of each work in the waveform pattern information 125, while the value of “OA” / LPF is compared with the waveform pattern information 125. Is collated with each expression of “determination 2” of each work (s204), and when all the expressions of “determination 1” and “determination 2” regarding a certain work are satisfied (s205: Y), the corresponding work is a heavy machine 5 is determined as being executed (S206).

  On the other hand, as a result of the collation in the above-described step s204, all the values of “OA” and “OA / LPF” are all related to any work indicated by the waveform pattern information 125. If the “determination 1” and “determination 2” expressions are not satisfied (s205: N), the information processing apparatus 100 does not have the “determination 1” and “determination 2” conditional expressions set. That is, in the example of FIG. 5, it is determined that the “digging” work is being performed by the heavy machinery 5 (s207).

  An actual example in which the values of “OA” obtained in step s201 and “OA / LPF” calculated in step s203 are applied to the waveform pattern information 125 is shown in FIG. This is shown in FIG.

  For example, “OA” in “vehicle body” obtained based on vibration measurement with actual heavy machine 5 is “2.02” (Y component), “2.38” (Z component), Assume that “OA / LPF” in the “vehicle body” is “7.35” (Y component) and “6.57” (Z component). In this case, when these values are applied to the waveform pattern information 125 shown in FIG. 4, “OA” in “vehicle body” is “1. 00 ≦ Y, Z <999 ”(both Y component and Z component), and“ OA / LPF ”in“ vehicle body ”is also“ judgment 2 ”. It is within the range of the expression “1.00 ≦ Y, Z <999” (both Y component and Z component), and it can be determined that the corresponding heavy machine 5 is “running”.

  Similarly, for example, “OA” in the “vehicle body” obtained based on vibration measurement with the actual heavy machine 5 is “0.950” (Y component), “1.06” (Z component). It is assumed that “OA / LPF” in the “vehicle body” is “0.228” (Y component) and “7.08” (Z component). In this case, when these values are applied to the waveform pattern information 125 shown in FIG. 4, “OA” (Y component) in “vehicle body” is “determination 2” regarding “vehicle body” in “turning”. It is within the range of the expression “0.00 ≦ Y <1.00” (Y component) shown, and it can be determined that the corresponding heavy machine 5 is “turning”.

  On the other hand, for example, “OA” in the “vehicle body” obtained based on vibration measurement with the actual heavy machine 5 is “0.715” (Y component) and “0.363” (Z component). It is assumed that “OA / LPF” in the “vehicle body” is “5.72” (Y component) and “2.90” (Z component). In this case, when these values are applied to the waveform pattern information 125 shown in FIG. 4, “determination regarding“ vehicle body ”in which“ OA ”(both Y component and Z component) in“ vehicle body ”is“ upper and lower ”. “0.00 ≦ Y, Z <1.00” indicated by “1”, but “1.00 ≦ Y, Z <1.00” indicated by “determination 2” regarding this “upper and lower”. Neither “5.72” (Y component) nor “2.90” (Z component) falls within the range of the above formula. Therefore, the vibration generated in the heavy machine 5 is not any work (running, turning, up and down) in which “Decision 1” and “Decision 2” are defined, and in “excavation” in which no conditional expression is defined. It can be determined that there is.

  Further, “OA / LPF” in “boom” obtained based on vibration measurement with actual heavy machine 5 is “18.2” (Y component), “23.6” ( Z component), and “OA” in “vehicle body” is “2.02” (Y component) and “2.38” (Z component), and “OA./ L.P.F ”is assumed to be“ 36.8 ”(Y component) and“ 32.8 ”(Z component). In this case, when these values are applied to the waveform pattern information 125 shown in FIG. 5, “OA / LPF” in “boom” is “determination 2 regarding“ boom ”in“ travel ”. “5.00 ≦ Y <999” (both Y component and Z component), and “OA” in “vehicle body” relates to “vehicle body” in “travel”. It is within the range of the expression “1.00 ≦ Y, Z <999” (both Y component and Z component) indicated by “determination 1”, and “OA / LPF” in “vehicle body”. ”Is within the range of the expression“ 5.00 ≦ Y, Z <999 ”(both Y component and Z component) indicated by“ determination 2 ”, and it can be determined that the corresponding heavy machine 5 is“ running ”. .

  On the other hand, for example, “OA” in the “vehicle body” obtained based on vibration measurement with the actual heavy machine 5 is “0.715” (Y component) and “0.363” (Z component). Yes, “OA / LPF” in “vehicle body” is “28.6” (Y component) and “145” (Z component), and “OA./L” in “boom”. L.P.F ”is assumed to be“ 4.03 ”(Y component) and“ 3.49 ”(Z component). In this case, when these values are applied to the waveform pattern information 125 shown in FIG. 5, “determination regarding“ vehicle body ”in which“ OA ”(both Y component and Z component) in“ vehicle body ”is“ upper and lower ”. “0.00 ≦ Y, Z <1.00”, which is within the range of the expression “0.00 ≦ Y, Z <1.00” indicated by “1”, but “0.00 ≦ Y, Z < Neither “4.03” (Y component) nor “3.49” (Z component) falls within the range of the formula of 2.50 ”(both Y and Z components). Therefore, the vibration generated in the heavy machine 5 is not any work (running, turning, up and down) in which “Decision 1” and “Decision 2” are defined, and in “excavation” in which no conditional expression is defined. It can be determined that there is.

  The information processing apparatus 100 displays the determination results at the above steps s206 and s207 on the output means 106 (s208), and ends the process.

--- Example of work status specification 2 ---
As shown in the Fourier spectra of FIGS. 11 to 14, the frequency distribution of acceleration has characteristics for each operation. Here, a method of converting the frequency distribution data into image data and specifying the work situation by matching the image data will be described. FIG. 23 is a flowchart showing a processing procedure example 3 of the heavy machinery work situation specifying method of the present embodiment.

  In this case, the information processing apparatus 100 holds reference image data in which acceleration at each frequency is spectrally displayed with respect to vibrations generated in the heavy machine 5 in advance in the storage unit 101 in association with work status information in the heavy machine 5. Shall.

  Here, as an example, the vibration waveform at each time from time A to time B (for example, 0 to 150 seconds) obtained when a predetermined work (a predetermined work) is performed by the heavy equipment 5. The image data (sonograph) displayed on the graph with the time axis as the horizontal axis, the frequency as the vertical axis, and the amplitude distribution in shades is used as the reference image data for the corresponding work. It is said.

  The above-mentioned image data takes each time on the time axis, and in the region above the corresponding time, the amplitude of each frequency (eg, 1 to 100 Hz) at the corresponding time, ie acceleration (result obtained by spectrum analysis) This is a set of dark and light pixels according to the size of. 24 to 27 show configuration examples of the reference image data 80 to 95 which are the waveform pattern information 125 in the present embodiment. In the example shown in the figure, the darker the pixel, the larger the acceleration, and the lighter the pixel, the smaller the acceleration.

  The information processing apparatus 100 that holds such reference image data as the waveform pattern information 125 performs vibration measurement by the vibration measuring unit 140 on the heavy machine 5 that is in operation whose work status is unknown (s300). A spectrum analysis is performed on the obtained vibration waveform data (s301). The information processing apparatus 100 displays the result of the spectrum analysis on a graph in which the time axis is the horizontal axis, the frequency is the vertical axis, and the amplitude distribution is expressed by shading, and image data (sonograph) is generated (s302). As described with reference image data, the image data generation method takes each time at the time of vibration measurement at s300 on the time axis, and each frequency at the corresponding time (eg: 1 to 100 Hz), that is, gray pixels corresponding to the magnitude of acceleration (results obtained by spectrum analysis) are set.

  Subsequently, the information processing apparatus 100 pattern-matches the image data generated in step s302 described above with the reference image data 80 to 95 of each work situation held in the storage unit 101 (s303). By this matching, the information processing apparatus 100 specifies reference image data in which the above-described image data matches with a predetermined reference or higher such as “matching ratio between images in pattern matching of 90% or higher” (s304: Y). The work situation corresponding to the relevant reference image data is estimated as the work situation in the heavy equipment 5 (s305).

  On the other hand, when the above-described pattern matching cannot identify the reference image data in which the above-described image data matches with a predetermined reference or higher (s304: N), the information processing apparatus 100 determines that the work status in the heavy equipment 5 is unknown. (S306).

  The information processing apparatus 100 displays the processing results in the above steps s305 and s306 on the output unit 106 (s307), and ends the processing.

  As described above, according to the present embodiment, it is possible to automatically specify the work status in the heavy machinery.

  As mentioned above, although embodiment of this invention was described concretely based on the embodiment, it is not limited to this and can be variously changed in the range which does not deviate from the summary.

DESCRIPTION OF SYMBOLS 1 Construction site 2 Private residence 3 Residential area 4 Sound insulation panel 5 Heavy machine 6 Ground 10 Heavy machine work condition specific system 30 Measurement location 31-34 Vibration waveform 41-44 The vibration waveform after LPF processing 50-65 Fourier spectrum 70 Waveform pattern information determination data 80 to 95 Reference image data 100 Information processing apparatus 101 Storage means 102 Program 103 Memory 104 Operation means 105 Input means 106 Output means 107 Interface 125 Waveform pattern information 126 Operation parameter 140 Vibration measurement means 150 For operation control CPU

Claims (6)

Vibration measuring means for measuring vibration generated in heavy machinery;
Storage means for holding information indicating the work status in the heavy machinery and vibration characteristic information indicating the frequency and amplitude of vibration generated in the heavy machinery in the work status in association with each other;
For the heavy equipment in operation, the vibration measurement by the vibration measurement means is executed, and the frequency and amplitude information of the vibration obtained by this measurement is collated with the vibration characteristic information of the storage means to cope with the vibration generated in the heavy equipment. Computing means for executing a process for estimating the work situation to be performed;
A heavy machinery working situation identification system characterized by comprising: In claim 1,
The storage means
As vibration characteristic information indicating the frequency and amplitude of the vibration, the maximum amplitude value at all frequencies and the ratio of the maximum amplitude value within a predetermined frequency range are stored in association with information on the work status in the heavy machinery. Is what
The computing means is
For the heavy equipment in operation, the vibration measurement by the vibration measuring means is executed, and from the vibration information obtained by this measurement, the maximum amplitude value at all frequencies is specified, and the vibration information obtained by the measurement is used. A process for calculating the ratio of the maximum value of the amplitude in a predetermined frequency range determined in advance, and each information of the specified maximum value of the amplitude and the ratio of the calculated maximum value of the amplitude, vibration characteristics of the storage means Checking information, and performing a process of estimating the work situation corresponding to the vibration generated in the heavy machinery,
A heavy machinery working situation identification system characterized by that. In claim 1,
The computing means is
Low-pass filter processing that identifies the frequency at which the vibration is maximum in each work situation from the vibration information obtained from the vibration measuring means, and uses the identified frequency or any frequency within a predetermined range from the corresponding frequency as a cutoff frequency Is applied to the vibration information of each work situation, and the process of identifying the cutoff frequency at which the vibration pattern obtained after the application is distributed among the work situations;
Apply the low-pass filter processing of the specified cutoff frequency to the vibration information of each work situation obtained from the vibration measuring means, and each work situation from the vibration information in the frequency range below the cutoff frequency obtained after the application The maximum value of each amplitude is specified, the maximum value of the amplitude at all frequencies in the corresponding work situation is divided by the specified maximum value, and the ratio of the maximum value in the vibration characteristic information is calculated. The process of storing in the storage means in association with the situation is executed.
A heavy machinery working situation identification system characterized by that. In claim 1,
The storage means
As the vibration characteristic information, the reference image data in which the amplitude level at each frequency of vibration generated in the heavy machinery is spectrally displayed is held in association with the information on the work situation in the heavy machinery,
The computing means is
For the heavy equipment in operation, vibration measurement is performed by the vibration measurement means, and based on the vibration frequency and amplitude information obtained by this measurement, image data is generated in which the amplitude level at each frequency is displayed as a spectrum. The image data is pattern-matched with the reference image data of each work situation that is the vibration characteristic information of the storage means, and the reference image data that matches the image data at a predetermined standard or more is specified, and the corresponding reference image data is supported. A process for estimating a work situation to be performed as a work situation in the heavy machinery,
A heavy machinery working situation identification system characterized by that. Vibration measuring means for measuring vibration generated in the heavy equipment, storage means for holding information indicating the work status in the heavy equipment and vibration characteristic information indicating the frequency and amplitude of vibration generated in the heavy equipment in the work status in association with each other A computer comprising
For the heavy equipment in operation, the vibration measurement by the vibration measurement means is executed, and the frequency and amplitude information of the vibration obtained by this measurement is collated with the vibration characteristic information of the storage means to cope with the vibration generated in the heavy equipment. A heavy machine work situation specifying method characterized by executing a process for estimating a work situation to be performed. Vibration measuring means for measuring vibration generated in the heavy equipment, storage means for holding information indicating the work status in the heavy equipment and vibration characteristic information indicating the frequency and amplitude of vibration generated in the heavy equipment in the work status in association with each other On a computer with
For the heavy equipment in operation, the vibration measurement by the vibration measurement means is executed, and the frequency and amplitude information of the vibration obtained by this measurement is collated with the vibration characteristic information of the storage means to cope with the vibration generated in the heavy equipment. A heavy machine work situation specifying program for executing a process for estimating a work situation to be performed.