JP2018001282A - Operational state detection method, operational state detection system and operational state detection program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect an operational state of a breaker.SOLUTION: An operational state detection method includes a measurement step and an analysis step. The measurement step measures oscillation and hydraulic pressure of a breaker that is operable by hydraulic pressure and attached to a tip of a work arm included in a work machine. The analysis step analyzes an operational state of the breaker based on the measurement result of the measurement step.SELECTED DRAWING: Figure 8A

Description

  The embodiment of the disclosure relates to an operation state detection method, an operation state detection system, and an operation state detection program.

  2. Description of the Related Art Conventionally, a technique for monitoring an operation time or the like for a construction machine such as a hydraulic excavator or a bulldozer is known (see, for example, Patent Document 1).

  The technology disclosed in Patent Document 1 detects machine information mainly relating to functions as a moving body of a construction machine such as an engine, a rotating body, a suspension and other devices (such as an air conditioner) of the construction machine, and is based on the machine information. The next scheduled maintenance date of the construction machine itself is specified.

  An attachment such as a hydraulic breaker (hereinafter referred to as “breaker”) is usually attached to a work arm of a construction machine. For example, a breaker is an attachment that is operatively operated by hydraulic pressure and that destroys an object by hitting a chisel.

JP 2013-224568 A

  However, when the above-described conventional technology is used, it is possible to grasp the operation status of the construction machine as a moving body, but it is not possible to grasp the operation status of the breaker itself.

  Specifically, the same breaker is often installed and used with different combinations among a plurality of different construction machines, for example, when the breaker is lent to an end user by a lease contract. For this reason, the operating status (for example, operating time etc.) of the breaker individual usually does not match the operating status of the construction machine.

  In addition, the breaker may be used in an inappropriate usage that is not recommended, such as “empty driving” or “sweeping operation” (hereinafter referred to as “inappropriate use”). If such improper use accumulates, there is a risk of causing an abnormality in the breaker. For these reasons, a technology that can detect and grasp the operating status of a breaker individual has been desired.

  One aspect of the embodiments has been made in view of the above, and an object thereof is to provide an operation state detection method, an operation state detection system, and an operation state detection program capable of detecting an operation state of a breaker. .

  The operation status detection method according to one aspect of the embodiment includes a measurement process and an analysis process. The measurement step is provided so as to be operable by hydraulic pressure, and measures the vibration of the breaker attached to the tip of the work arm of the work machine and the hydraulic pressure. The analysis step analyzes the operation status of the breaker based on the measurement result of the measurement step.

  According to one aspect of the embodiment, the operating status of the breaker can be detected.

FIG. 1A is a schematic explanatory diagram (part 1) of an operation status detection system according to an embodiment. FIG. 1B is a schematic explanatory diagram (part 2) of the operation status detection system according to the embodiment. FIG. 1C is a schematic explanatory diagram (part 3) of the operation status detection system according to the embodiment. FIG. 1D is a schematic explanatory diagram (part 4) of the operation status detection system according to the embodiment. FIG. 2A is a diagram illustrating a configuration of a hydraulic excavator. FIG. 2B is a diagram illustrating a configuration of the measurement unit. FIG. 3 is a block diagram of the operating status detection system according to the embodiment. FIG. 4A is an explanatory diagram of a “sweep operation” that is an example of improper use during non-operation. FIG. 4B is an explanatory diagram of “empty driving” which is an example of a usage state during operation. FIG. 5A is an explanatory diagram (part 1) of the non-operation analysis process. FIG. 5B is an explanatory diagram (part 2) of the non-operation analysis process. FIG. 5C is an explanatory diagram (part 3) of the non-operating analysis process. FIG. 6A is an explanatory diagram (part 1) of the analysis process during operation. FIG. 6B is an explanatory diagram (part 2) of the operation analysis process. FIG. 6C is an explanatory diagram (part 3) of the analysis processing at the time of operation. FIG. 7A is an explanatory diagram (part 1) of each use state during operation. Drawing 7B is an explanatory view (the 2) of each use state at the time of operation. FIG. 8A is a flowchart (part 1) illustrating a processing procedure executed by the operating state detection system. FIG. 8B is a flowchart (part 2) illustrating a processing procedure executed by the operating state detection system. FIG. 8C is a flowchart (part 3) illustrating a processing procedure executed by the operating state detection system. FIG. 9 is a hardware configuration diagram illustrating an example of a computer that realizes the function of the terminal device. FIG. 10 is a block diagram of an operation status detection system according to another embodiment.

  Hereinafter, embodiments of an operation status detection method, an operation status detection system, and an operation status detection program disclosed in the present application will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by embodiment shown below.

  In the following, a case where the work machine to which the breaker is attached is a “hydraulic excavator” will be described as a main example. In the following, when there are a plurality of the same constituent elements, the reference numerals of the constituent elements may be numbered in the form of “−n” (n is a natural number) and each may be identified. In addition, when naming such a component generically, the above-mentioned numbering is not performed.

  First, the outline | summary of the operation condition detection system which concerns on embodiment is demonstrated with reference to FIG. 1A-FIG. 1D. 1A to 1D are schematic explanatory views (No. 1) to (No. 4) of an operation status detection system 1 according to the present embodiment.

  As shown in FIG. 1A, the operating condition detection system 1 includes a plurality of excavators 10, a network N, the Internet W, a server device 20, and various terminals 30 and 40. In FIG. 1A, for the sake of convenience, three hydraulic excavators 10-1, 10-2, and 10-3 are illustrated, but of course, the number of hydraulic excavators 10 is not limited.

  Breakers 15-1, 15-2, and 15-3 are attached to the hydraulic excavators 10-1, 10-2, and 10-3, respectively. Moreover, terminal devices 17-1, 17-2, and 17-3 are provided in the hydraulic excavators 10-1, 10-2, and 10-3, respectively.

  Each of the terminal devices 17-1, 17-2, and 17-3 analyzes the operation status of the corresponding breakers 15-1, 15-2, and 15-3, and transmits them to the network N (step S1). The network N is, for example, a mobile phone network.

  Here, an outline of a method for analyzing the operating state of the breaker 15 will be described with reference to FIGS. 1B, 1C, and 1D in which the M1 portion shown in FIG. 1A is enlarged. As shown in FIG. 1B, the operating status detection system 1 includes a measurement unit 16.

  The measurement unit 16 is attached to an arm 14 (corresponding to an example of a “working arm”) of the excavator 10. Moreover, the measurement unit 16 is provided so that the vibration and hydraulic pressure of the breaker 15 can be measured.

  The breaker 15 is provided so as to be identifiable based on the individual identification information, and is identified using, for example, an RFID (Radio Frequency Identifier). Specifically, the individual identification information of the breaker 15 is held on the breaker 15 side, for example, by attaching an IC (Integrated Circuit) tag 15a in which the individual identification information is recorded to the breaker 15.

  In this case, the measurement unit 16 is provided so that the individual identification information of the IC tag 15a can be read by wireless communication. For example, if the IC tag 15a is a passive tag, the measurement unit 16 transmits a radio wave toward the IC tag 15a, and receives the individual identification information returned on the reflected wave. Individual identification is performed (step S1-1).

  Here, although the example in which the IC tag 15a is a passive tag has been described, an active tag or a semi-active tag may be used. Further, the present invention is not limited to the case where RFID is used. Therefore, it may be wired communication.

  Further, although specifically illustrated in FIG. 2B and subsequent figures, the measurement unit 16 includes a hydraulic pressure sensor 16b and a vibration sensor 16c. The measurement unit 16 measures the vibration and hydraulic pressure of the breaker 15 by using the hydraulic sensor 16b and the vibration sensor 16c (step S1-2).

  In the present embodiment, regarding the hydraulic oil that operates the breaker 15, the description proceeds with an example in which the hydraulic pressure is measured by the hydraulic sensor 16 b, but the flow rate may be measured. In that case, the measurement unit 16 will be provided with a flowmeter, for example.

  Further, the measurement unit 16 is provided so as to be communicable with a terminal device 17 provided in the excavator 10. The terminal device 17 acquires the individual identification information and measurement result of the breaker 15 from the communicable measurement unit 16 (step S1-3). Moreover, the terminal device 17 analyzes the operating condition of the breaker 15 based on the acquired measurement result (step S1-4).

  Specifically, as shown in FIG. 1C, the terminal device 17 determines the usage state when the breaker 15 is not operated based on the hydraulic pressure data from the hydraulic pressure sensor 16b and the vibration data from the vibration sensor 16c (step S1). -4a).

  Hereinafter, such processing may be referred to as “non-operation analysis processing”. In the non-operating analysis process, for example, the terminal device 17 determines whether or not the breaker 15 has been inappropriately used during non-operating.

  The non-operating time indicates that the breaker 15 is waiting for hitting. Moreover, improper use refers to the usage of the breaker 15 which is not recommended. Inappropriate use during non-operation includes, for example, “sweeping operation”, “squeezing operation”, “striking operation”, and the like. Details of the “sweep operation” will be described later with reference to FIG. 4A.

  The terminal device 17 can determine whether or not the improper use has been performed when the terminal device 17 is not in operation, and can measure the accumulated time when the terminal device 17 has been used.

  Further, as shown in FIG. 1D, the terminal device 17 determines the usage state when the breaker 15 is activated based on the hydraulic pressure data from the hydraulic pressure sensor 16b (step S1-4b). Hereinafter, such processing may be referred to as “operational analysis processing”.

  In the operation time analysis process, for example, the terminal device 17 determines the type of use state when the breaker 15 is operated. The usage state at the time of operation includes, for example, “normal hit” and “empty hit”. “Normal hit” refers to an appropriate hitting condition.

  “Improvement” refers to one of improper hitting states, in other words, an example of improper use during operation. Details of the “empty shot” will be described later with reference to FIG. 4B. The terminal device 17 can discriminate types such as “normal hit” and “empty shot” and measure the number of times.

  The details of the non-operation analysis process and the operation analysis process will be described later with reference to FIGS. 4A to 6C.

  As described above, in this embodiment, the breaker 15 is individually identified, and the individual identification information and the measurement result for each breaker 15 are associated and acquired. Further, the operating state is analyzed based on the measurement result of the measuring unit 16, and for example, the use state of each of the breaker 15 when it is not operating / when it is operating is determined.

  Therefore, according to this embodiment, for example, even if the same breaker 15 is sequentially attached to and used in different work machines, the operating status of the breaker 15 is continuously detected regardless of the combination with the work machine. It becomes possible. Further, based on the detection result, the operation status of each breaker 15 can be monitored with more detailed contents.

  Returning to the description of FIG. 1A, the server device 20 will be described. The server device 20 is provided as a virtual server on the Internet W, for example, and collects the operating status of each of the breakers 15-1, 15-2, 15-3 transmitted in Step S1 via the network N (Step S2). ).

  Moreover, the server apparatus 20 accumulate | stores each collected operating condition in breaker operation information DB (database) 22a (step S3). Further, the server device 20 provides the operation information for each breaker 15 including the contents of the accumulated operation status to the various terminals 30 and 40 (step S4).

  Such information provision is performed, for example, in a browsing format via a Web screen. Therefore, the maintenance staff of the maintenance base that owns the various terminals 30 and 40, the sales person, the end user who is actually using the relevant breaker 15 and the like, regardless of the time and place, the operation information of the desired breaker 15 Can be viewed.

  The operation information includes, for example, an abnormality or a sign of the breaker 15 indicated by the operation status as a detection result of the terminal device 17, an accumulated operation time for each breaker 15, an accumulated time of inappropriate use thereof, a use state at the time of operation The number of times for each type, the current position, and the like can be included. In addition, for an abnormality of the breaker 15 or a sign thereof, an alarm notification indicating the contents of the abnormality or the sign can be performed.

  Therefore, for example, maintenance personnel can be urged to perform maintenance before seriously damaging the components of the breaker 15, so that it is possible to suppress an increase in repair costs due to serious damage.

  Further, for example, based on the accumulated operating time of the breaker 15, the accumulated time of inappropriate use of the breaker 15, the number of times of use state at the time of operation, etc., maintenance prediction corresponding to aging deterioration and the like can be performed.

  In addition, for the sales person, since the operation information for each breaker 15 including the accumulated operation time can be accurately grasped, for example, in the lease contract negotiation with the end user, the optimum timing of parts replacement is included. Appropriate negotiations can be conducted. In addition, it is possible to predict and notify the replacement timing of the consumable parts constituting the breaker 15.

  As described above, according to the present embodiment, the operation status of each breaker 15 can be monitored regardless of the combination with the work machine, and maintenance personnel, salesmen, end users, etc. Can help to improve the quality of their business activities.

  Hereinafter, each component which comprises the operating condition detection system 1 is demonstrated more concretely. FIG. 2A is a diagram illustrating a configuration of the excavator 10. FIG. 2B is a diagram illustrating the configuration of the measurement unit 16.

  As shown in FIG. 2A, the excavator 10 includes a crawler 11, a base 12, a boom 13, an arm 14, a breaker 15, a measurement unit 16, a terminal device 17, and an illumination 18.

  The crawler 11 is a moving mechanism provided so as to be able to move on rough terrain, and is configured as an endless track as shown in FIG. 2A, for example. The base portion 12 is provided so as to be able to turn around a vertical axis (not shown) with respect to the crawler 11 and includes a cockpit for steering.

  The boom 13 is provided at the base end portion so as to be rotatable around a horizontal axis (not shown) with respect to the base portion 12. The boom 13 is rotated by expansion and contraction of the first cylinder 12 a that connects the base portion 12 and the boom 13.

  The arm 14 is provided at the base end portion so as to be rotatable around a horizontal axis (not shown) with respect to the distal end portion of the boom 13. The arm 14 is rotated by expansion and contraction of the second cylinder 13 a that connects the boom 13 and the arm 14.

  The breaker 15 is provided at the distal end portion of the arm 14, and is provided so as to be swingable around a horizontal axis (not shown) with respect to the distal end portion of the arm 14. The breaker 15 swings due to the expansion and contraction of the third cylinder 14 a that connects the arm 14 and the breaker 15.

  Although the first cylinder 12a, the second cylinder 13a, and the third cylinder 14a are hydraulic cylinders, in FIG. 2A, the hydraulic system that expands and contracts them is omitted for convenience of explanation.

  The base 12 includes a hydraulic oil tank 12b, a hydraulic pump 12c, a control valve 12d, and a foot pedal 12e therein. A pipe 12 f for the breaker 15 extends along the boom 13 and the arm 14 from the control valve 12 d.

  The breaker 15 includes a chisel 15b, a cylinder 15c, and a hydraulic hose 15d. The breaker 15 continuously raises and lowers the piston of the cylinder 15c by the hydraulic pressure of the hydraulic oil supplied and discharged from the hydraulic pump 12c via the pipe 12f and the hydraulic hose 15d according to the operation of the foot pedal 12e by the worker ( (See arrow 201 in the figure).

  It should be noted that gas such as nitrogen gas sealed in the upper part of the piston of the cylinder 15c also contributes to the elevation. Such gas accelerates the descending piston by repelling the compression accompanying the ascent of the piston, and gives a strong striking force to the piston. When the piston is lowered, the impact force is transmitted to the chisel 15b by striking the base end portion of the chisel 15b.

  The chisel 15b destroys the object by striking the object in contact with the tip by the impact force transmitted from the piston. Since the operating principle of the breaker 15 is known, a more detailed explanation here is omitted.

  The terminal device 17 is arrange | positioned in the cockpit of the base part 12, for example. In addition, the worker in a cockpit may carry. The illumination 18 is provided, for example, at the tip of the boom 13 and is used during night work. In the case of the example shown in FIG. 2A, the power supply for the illumination 18 is provided near the tip of the boom 13.

  The measurement unit 16 is provided on the arm 14 while connecting the pipe 12f and the hydraulic hose 15d. Specifically, as shown in FIG. 2B, the measurement unit 16 is provided between the pipe 12f from the hydraulic pump 12c side and the hydraulic hose 15d on the breaker 15 side, and connects the pipe 12f and the hydraulic hose 15d. To do. That is, the measurement unit 16 functions as a joint portion between the pipe 12f and the hydraulic hose 15d.

  The measurement unit 16 includes a control unit 16a including a communication unit, a hydraulic pressure sensor 16b, a vibration sensor 16c, and a supply / discharge path 16d. It is preferable that the control part 16a is provided so that it may be protected by the buffer material B, for example. Thereby, the control part 16a which is a so-called delicate component can be protected from a strong impact transmitted from the breaker 15. As the buffer material B, for example, an impact absorption / vibration absorption material such as Alpha Gel (registered trademark) can be used.

  The hydraulic pressure sensor 16b is provided in the supply / discharge passage 16d and detects the hydraulic pressure of the hydraulic oil flowing through the supply / discharge passage 16d. The vibration sensor 16 c detects the vibration of the breaker 15 transmitted to the arm 14. For example, a triaxial acceleration sensor can be used as the vibration sensor 16c.

  The power supply for the measurement unit 16 can use the power supply for the illumination 18 described above. With such a configuration, the measurement unit 16 can be disposed at a position where it is less susceptible to impact than when directly provided on the breaker 15 and at a position where vibration and oil pressure of the breaker 15 can be measured.

  In FIG. 2B, the arrangement of various devices in the measurement unit 16 is schematically shown. However, it is merely for convenience of description, and the arrangement positions of these various positions in the measurement unit 16 are not limited. . 2B shows an example in which the power supply for the illumination 18 is used with respect to the power supply of the measurement unit 16, but the power supply mode to the measurement unit 16 is not limited, and may be supplied by a battery, for example. Wireless power feeding may be used.

  Next, FIG. 3 is a block diagram of the operation status detection system 1 according to the present embodiment. In FIG. 3, constituent elements necessary for explaining the features of the present embodiment are represented by functional blocks, and descriptions of general constituent elements are omitted.

  In other words, each component illustrated in FIG. 3 is functionally conceptual and does not necessarily need to be physically configured as illustrated. For example, the specific form of distribution / integration of each functional block is not limited to the one shown in the figure, and all or a part thereof is functionally or physically distributed in an arbitrary unit according to various loads or usage conditions.・ It can be integrated and configured. For example, in the case of further measuring the flow rate of the hydraulic oil described above, a flow meter is added inside the measurement unit 16.

  In the description with reference to FIG. 3, the description of the components already described so far may be simplified or omitted.

  First, the hydraulic excavator 10 side will be described. As already described, the excavator 10 includes a breaker 15, a measurement unit 16, and a terminal device 17, as shown in FIG. The breaker 15 holds individual identification information via the IC tag 15a.

  The measurement unit 16 includes a control unit 16a, a hydraulic pressure sensor 16b, a vibration sensor 16c, and communication interfaces 16e and 16f. The communication interface 16e is an interface corresponding to a communication standard for short-range wireless communication, for example. The communication interface 16f is an interface corresponding to, for example, Bluetooth (registered trademark).

  The control unit 16a includes an acquisition unit 16aa and a communication unit 16ab. The acquisition unit 16aa acquires the individual identification information of the breaker 15 from the IC tag 15a by communication with the breaker 15 side via the communication interface 16e.

  The communication unit 16ab transmits the measurement result of the hydraulic sensor 16b and the measurement result of the vibration sensor 16c for each individual identification information acquired by the acquisition unit 16aa to the terminal device 17 via the communication interface 16f. The communication unit 16ab has a function of analog-digital conversion of the measurement result of the hydraulic sensor 16b and the measurement result of the vibration sensor 16c.

  The terminal device 17 includes a control unit 17a, a storage unit 17b, and communication interfaces 17c and 17d. The control unit 17a includes a communication unit 17aa, a data cleansing unit 17ab, an analysis unit 17ac, a data shaping unit 17ad, and a learning unit 17ae. The storage unit 17b is a storage device such as a hard disk drive or a nonvolatile memory, and stores the discrimination model 17ba.

  The communication interface 17c is an interface corresponding to, for example, Bluetooth (registered trademark) according to the communication interface 16f described above. The communication interface 17d is an interface corresponding to, for example, the network N, that is, a mobile phone network.

  In addition, although the case where the communication form between the measurement unit 16 and the terminal device 17 is wireless communication is taken as an example here, wired communication may be used. Therefore, the communication interfaces 16f and 17c may be interfaces corresponding to the standard for wired communication. Further, the network N is not limited to the mobile phone network, and may be a network using a wireless LAN or the like.

  The communication unit 17aa receives the measurement result of the hydraulic sensor 16b and the measurement result of the vibration sensor 16c for each individual identification information of the breaker 15 via the communication interface 17c, and passes it to the data cleansing unit 17ab. The data cleansing unit 17ab performs a data cleansing process for removing noise and the like on the raw data of the measurement result of the hydraulic sensor 16b and the measurement result of the vibration sensor 16c, and passes the processed data to the analysis unit 17ac.

  The analysis unit 17ac performs an analysis process for analyzing the operating status of the breaker 15 based on one or both of the hydraulic pressure data from the hydraulic sensor 16b and the vibration data from the vibration sensor 16c.

  In the analysis process, the analysis unit 17ac appropriately generates hydraulic data and vibration data suitable for the process from the measurement result of the hydraulic sensor 16b and the measurement result of the vibration sensor 16c delivered from the communication unit 17aa. For example, when the vibration sensor 16c is the above-described triaxial acceleration sensor, the analysis unit 17ac calculates a triaxial composite value from the measurement result of the vibration sensor 16c and uses it as analysis data for vibration processing.

  In addition, the analysis unit 17ac uses the determination model 17ba for determination of a use state when the breaker 15 is operated in the analysis process. The discrimination model 17ba is generated in advance, for example, by performing machine learning based on hydraulic data samples corresponding to a plurality of use states of the breaker 15 during operation.

  For example, when the actual hydraulic pressure data is input, the determination model 17ba outputs a determination value indicating the usage state of the breaker 15 corresponding to the hydraulic pressure data. The analysis unit 17ac passes the analyzed analysis result to the data shaping unit 17ad.

  The data shaping unit 17ad performs a process of shaping the analysis result passed from the analysis unit 17ac. In this process, for example, the analysis result is linked to the individual identification information of the breaker 15, the data is compressed so as to improve the communication efficiency, the unnecessary part is deleted so as to improve the processing efficiency, Data shaping such as compensation is applied.

  The data shaped by the data shaping unit 17ad is transmitted toward the network N by the communication unit 17aa via the communication interface 17d.

  Note that the shaped data can be transmitted toward the network N after further adding information such as the current position. For example, the current position can be acquired by, for example, the terminal device 17 having a device corresponding to a GPS unit that performs processing for acquiring the current position of the own device based on radio waves received from a GPS (Global Positioning System) satellite. it can.

  The GPS unit may be provided, for example, in the excavator 10 itself, or when the terminal device 17 is, for example, a mobile phone held by a worker in the cockpit, the GPS unit provided in the mobile phone may be used. .

  The learning unit 17ae performs the above-described machine learning by a regression analysis method such as support vector regression using a pattern discriminator such as SVM (Support Vector Machine) in an offline environment, for example, and generates a discrimination model 17ba. Here, the pattern discriminator is not limited to SVM, and may be, for example, AdaBoost.

  Further, the learning unit 17ae does not necessarily have to be in the terminal device 17. That is, the discriminant model 17ba may be generated by being provided in another device and executing machine learning there. In this case, the discrimination model 17ba is stored in the storage unit 17b by being read on the terminal device 17 side via a portable storage medium, for example. Details of the learning unit 17ae will be described later with reference to FIGS. 7A and 7B.

  Here, the specific content of the analysis process performed by the analysis part 17ac is demonstrated using FIG. 4A-FIG. 7B. FIG. 4A is an explanatory diagram of a “sweep operation” that is an example of improper use during non-operation. FIG. 4B is an explanatory diagram of “empty shot” which is an example of a usage state during operation.

  As shown in FIG. 4A, the “sweep operation”, which is an example of improper use at the time of non-operation, causes, for example, a crushing piece or the like rolling on the ground G to be swept using the chisel 15b or the bracket 15e. This indicates the usage state of the breaker 15 (see arrow 401 in the figure). The “sweep operation” using the chisel 15b shown in FIG. 4A may be particularly referred to as “chisel sweep operation”.

  When such a “sweep operation” is performed, the breaker 15 transmits unnecessary vibration to the breaker 15 due to contact with the ground G, for example, even when the breaker 15 is not operating and is not operating. It is easy to induce abnormality in itself.

  In addition to this “sweep operation”, for the inappropriate use of the breaker 15 when it is not in operation, the “chiseling operation” in which the chisel 15b is inserted into the clearance or hole of the object and twisted strongly, There is a “striking operation” that strikes the breaker 15 against G.

  In addition, as shown in FIG. 4B, “empty driving” which is an example of a usage state at the time of operation (which is also an example of inappropriate use at the time of operation) does not contact the chisel 15 b with the object D to be destroyed. The state of use of the breaker 15 that lifts and lowers the piston of the cylinder 15c in this state (see arrow 402 in the figure). When such “blank strike” is performed, the impact force transmitted to the chisel 15b by the blow from the cylinder 15c is not transmitted to the object D, and the breaker 15 itself is hit. Easy to trigger.

  The analysis unit 17ac determines the operating status of the breaker 15 such as “sweep operation” and “empty driving” based on one or both of vibration data from the vibration sensor 16c and hydraulic data from the hydraulic sensor 16b. .

  The non-operating analysis process for determining the state of use of the breaker 15 when not operating will be described. 5A to 5C are explanatory views (No. 1) to (No. 3) of the non-operation analysis process.

  In the non-operating analysis process, the analysis unit 17ac calculates a histogram every predetermined time (for example, 1 second) for vibration data sampled in a predetermined sampling time, for example, in units of 1 millisecond. Here, FIG. 5A shows an enlarged view of vibration data for 1 second (4.5 seconds to 5.5 seconds) corresponding to the M2 portion. The vibration data is a triaxial composite value of the triaxial acceleration sensor. A portion surrounded by a broken-line rectangle R1 corresponds to a noise portion during non-operation.

  For example, the analysis unit 17ac calculates the histogram shown in FIG. 5B for the vibration data for one second in FIG. 5A. Then, the analysis unit 17ac determines whether or not the area S corresponding to the noise part surrounded by the rectangle R1 is greater than or equal to a predetermined upper limit value in the histogram (first determination condition). The area S corresponds to the sum of the frequencies of a predetermined class (here, vibration) corresponding to the noise part.

  Further, as shown in FIG. 5C, the analysis unit 17ac has hydraulic data corresponding to 1 second (4.5 seconds to 5.5 seconds) corresponding to the vibration data corresponding to the boundary value of the non-operation / operation of the breaker 15. It is determined whether it is below a predetermined first threshold (second determination condition).

  Then, if both the first and second determination conditions are satisfied, the analysis unit 17ac determines that the breaker 15 has been used inappropriately during non-operation for one second, which is the analysis target. That is, the operating state of the breaker 15 that at least one of “sweeping operation” (including “chisel sweeping operation”), “squeezing operation”, and “striking operation” is detected is detected.

  Also, if the analysis unit 17ac determines that improper use during non-operation has been performed, the analysis unit 17ac adds a predetermined time (here, 1 second) to the cumulative use time of the improper use, and includes it in the detected operating status. In order to notify the server device 20 side, the data is sent to the data shaping unit 17ad.

  Subsequently, an operation analysis process for determining a use state during operation of the breaker 15 will be described. 6A to 6C are explanatory diagrams (No. 1) to (No. 3) of the analysis process during operation.

  In the analysis process at the time of operation, the analysis unit 17ac calculates time difference data (absolute value) for hydraulic pressure data sampled in a predetermined sampling time, for example, in units of 1 millisecond. The time difference data is, for example, the fluctuation range of the hydraulic pressure for 1 millisecond here. 6A shows hydraulic pressure data, and FIG. 6B shows time difference data.

  Then, the analysis unit 17ac cuts out the hydraulic pressure data for a predetermined time (for example, 1 second) from the time when the hydraulic pressure data is equal to or greater than the first threshold value and the time difference data is equal to or greater than the predetermined second threshold value. For example, a portion surrounded by a broken-line rectangle R2 in FIG. 6A is this cut-out portion. Further, for example, the upper part of FIG. 6C shows the hydraulic data of the cut out part.

  Then, the analysis unit 17ac inputs the cut hydraulic pressure data to the above-described discrimination model 17ba as illustrated in FIG. 6C. The discrimination model 17ba discriminates the type of use state based on the input hydraulic pressure data, and returns, for example, a discrimination value indicating the type to the analysis unit 17ac. The analysis unit 17ac detects the operating state of the breaker 15 that is in a use state indicated by the type of the discriminant value.

  In addition, the analysis unit 17ac counts the number of times for each determined type, and passes it to the data shaping unit 17ad in order to notify the server device 20 side together with the detected operating status.

  In addition, when the analysis result of the analysis unit 17ac includes, for example, content indicating an abnormality of the breaker 15 or a sign of the breaker (eg, the accumulated usage time of inappropriate use is greater than or equal to an allowable value), the display unit (not shown) of the terminal device 17 itself ) Etc. and an alarm notification corresponding to the sign of the abnormality may be performed.

  Here, specific examples of each use state when the breaker 15 is activated, which is learned by the learning unit 17ae and can be discriminated by the discrimination model 17ba, will be described with reference to FIGS. 7A and 7B. FIG. 7A and FIG. 7B are explanatory diagrams (No. 1) and (No. 2) of respective use states during operation.

  As already described, the learning unit 17ae performs machine learning using a pattern discriminator such as SVM in an offline environment, for example, and generates a discrimination model 17ba. At this time, machine learning is executed based on hydraulic data samples corresponding to a plurality of use states of the breaker 15 during operation.

  For example, as shown in FIG. 7A, a sample of hydraulic data is prepared as a learning data set for each type of use state such as “normal hit” or “licking”, and the learning unit 17ae stores the learning data set in the learning data set. Based on this, machine learning is performed and a discrimination model 17ba is output.

  The use states that can be discriminated by the discriminant model 17ba generated in this way are, for example, as shown in FIG. For example, “underpressure of gas 0K”, “underpressure of gas pressure 5K”, “relief understroke”, “relief overstroke”, and the like can be given. According to the present embodiment, it is possible to distinguish at least “normal hit” and “illegal hit” in other hit states (such as “empty hit” or “underflow hit”).

  The discrimination model 17ba is generated by pattern identification of, for example, a waveform shape of the hydraulic pressure data corresponding to each of these usage states.

  In each of the use states shown in FIG. 7B, “slicking” is to hit the chisel 15b with a slant against the hit surface of the object D. “Underflow impact” is to operate the breaker 15 with the hydraulic valve opening half open.

  “Gas pressure underpressure 0K” and “gas pressure underpressure 5K” are to operate the breaker 15 in a state where the gas pressure for supplying and discharging hydraulic pressure is low. “Relief under impact” and “relief over impact” are to operate the breaker 15 in a state where the ratio of the opening degree of a plurality of valves in the hydraulic transmission system is in a poor balance.

  For example, if a use state such as “underflow blow”, “underpressure 0K”, “underpressure 5K”, “relief understroke”, “relief overstroke” is determined, “setting abnormality” is estimated. be able to.

  Returning to the description of FIG. 3, the server device 20 will be described next. As illustrated in FIG. 3, the server device 20 includes a control unit 21, a storage unit 22, and a communication interface 23. The control unit 21 includes a communication unit 21a, a collection unit 21b, a storage unit 21c, and a provision processing unit 21d.

  The storage unit 22 is a storage device such as a hard disk drive or a nonvolatile memory, and stores the breaker operation information DB 22a. The communication interface 23 is an interface corresponding to connection to the Internet W.

  The control unit 21 performs overall control of the server device 20. The communication unit 21 a performs data transmission / reception processing via the communication interface 23. The collection unit 21b performs processing for appropriately collecting the operation status of each breaker 15 via the communication interface 23 and the communication unit 21a. The collection unit 21b also performs a process of passing the collected operation status of each breaker 15 to the storage unit 21c.

  In addition, when the collected operation status includes, for example, contents indicating an abnormality of the breaker 15 or a sign thereof, the collecting unit 21b issues a processing request for alarm notification corresponding to the abnormality or the sign to the provision processing unit 21d. Do.

  The accumulating unit 21c accumulates the operation information for each breaker 15 including the operation status (the type and number of use states of the breaker 15 and the accumulated time of inappropriate use) collected by the collecting unit 21b in the breaker operation information DB 22a. Perform the process.

  When the provision processing unit 21d receives an alarm notification processing request from the collection unit 21b, the provision processing unit 21d generates an alarm notification according to the processing request, and communicates the communication unit 21a and the communication with the various terminals 30, 40 and the terminal device 17. Processing to transmit via the interface 23 is performed.

  The provision processing unit 21d responds to the provision request when, for example, a provision request for the operation information of the desired breaker 15 is received from the various terminals 30 and 40 or the terminal device 17 via the communication interface 23 and the communication unit 21a. The operation information extracted from the breaker operation information DB 22a is performed.

  Further, the provision processing unit 21d generates a viewing screen for operating information while including graphs, images, and the like based on the extracted operating information so that the viewer can grasp at a glance on the Web screen, for example. A process of transmitting to the various terminals 30 and 40 and the terminal device 17 via the communication unit 21a and the communication interface 23 is also performed.

  Next, a processing procedure executed by the operating status detection system 1 will be described with reference to FIGS. 8A to 8C. 8A to 8C are flowcharts (No. 1) to (No. 3) showing a processing procedure executed by the operation status detection system 1. 8A to 8C show a processing procedure mainly on the terminal device 17 side of the operation status detection system 1.

  As shown in FIG. 8A, first, the measurement unit 16 appropriately measures the vibration and hydraulic pressure of the breaker 15 (step S101). Subsequently, based on the measured vibration and hydraulic pressure, the analysis unit 17ac executes a non-operation analysis process (step S102).

  Moreover, the analysis part 17ac performs the analysis process at the time of operation based on the measured hydraulic pressure (step S103). The processing procedure of steps S101 to S103 is repeated until it is determined in step S104 that the work has been completed. That is, when the work by the hydraulic excavator 10 is finished (step S104, Yes), the process is finished. If the work is not finished (No at Step S104), the processing from Step S101 is repeated.

  Next, the non-operating analysis process will be described. As shown in FIG. 8B, the analysis unit 17ac calculates a histogram for each predetermined time for the vibration data during the non-operation analysis process (step S201).

  Then, the analysis unit 17ac determines whether or not the frequency (corresponding to the area S described above) belonging to the predetermined class corresponding to the noise part is equal to or greater than a predetermined upper limit in the calculated histogram (step S202). .

  If it is equal to or greater than the predetermined upper limit (step S202, Yes), the analysis unit 17ac determines whether the hydraulic pressure data is equal to or lower than a predetermined first threshold (step S203).

  Here, when it is below a 1st threshold value (step S203, Yes), the analysis part 17ac discriminate | determines that the improper use at the time of non-operation was made with respect to the breaker 15 (step S204). Further, the analysis unit 17ac adds the accumulated time of inappropriate use for a predetermined time to be analyzed (step S205). And the analysis part 17ac notifies this accumulation time (step S206), and complete | finishes a process.

  Moreover, also when not satisfy | filling the determination conditions of step S202 or S203 (step S202, No / step S203, No), a process is complete | finished.

  Next, the operation analysis process will be described. As shown in FIG. 8C, the analysis unit 17ac calculates time difference data for the hydraulic pressure data during the operation analysis process (step S301).

  Then, the analysis unit 17ac determines whether or not the hydraulic pressure data is greater than or equal to the first threshold value (step S302). If it is equal to or greater than the first threshold (step S302, Yes), the analysis unit 17ac determines whether the time difference data is equal to or greater than a predetermined second threshold (step S303).

  Here, if it is equal to or greater than the second threshold (step S303, Yes), the analysis unit 17ac cuts the hydraulic pressure data by a predetermined time from the time that satisfies the determination conditions of steps S302 and S303 (step 304).

  Then, the analysis unit 17ac inputs the cut-out hydraulic pressure data to the discrimination model 17ba (step 305). As a result, the use state when the breaker 15 is activated is determined by the determination model 17ba (step S306).

  Then, the analysis unit 17ac notifies the determined type and number of usage states (step S307), and ends the process.

  Moreover, also when not satisfy | filling the determination conditions of step S302 or S303 (step S302, No / step S303, No), a process is complete | finished.

  Note that the terminal device 17 mainly described in the present embodiment is realized by a computer 60 having a configuration as shown in FIG. 9, for example. FIG. 9 is a hardware configuration diagram illustrating an example of a computer that realizes the function of the terminal device 17. The computer 60 includes a central processing unit (CPU) 61, a random access memory (RAM) 62, a read only memory (ROM) 63, a hard disk drive (HDD) 64, a communication interface (I / F) 65, an input / output interface (I). / F) 66 and a media interface (I / F) 67.

  The CPU 61 operates based on a program stored in the ROM 63 or the HDD 64 and controls each unit. The ROM 63 stores a boot program executed by the CPU 61 when the computer 60 is activated, a program depending on the hardware of the computer 60, and the like.

  The HDD 64 stores a program executed by the CPU 61, data used by the program, and the like. The communication interface 65 corresponds to the communication interfaces 17c and 17d, receives data from other devices via the network N and sends it to the CPU 61, and sends the data generated by the CPU 61 to other devices via the network N and the like. Send.

  The CPU 61 controls an output device such as a display and a printer and an input device such as a keyboard and a mouse via the input / output interface 66. The CPU 61 acquires data from the input device via the input / output interface 66. Further, the CPU 61 outputs the generated data to the output device via the input / output interface 66.

  The media interface 67 reads a program or data stored in the recording medium 68 and provides it to the CPU 61 via the RAM 62. The CPU 61 loads the program from the recording medium 68 onto the RAM 62 via the media interface 67 and executes the loaded program. The recording medium 68 is, for example, an optical recording medium such as a DVD (Digital Versatile Disc) or PD (Phase change rewritable disk), a magneto-optical recording medium such as an MO (Magneto-Optical disk), a tape medium, a magnetic recording medium, or a semiconductor memory. Etc.

  When the computer 60 functions as the terminal device 17, the CPU 61 of the computer 60 executes a program loaded on the RAM 62, thereby executing the communication unit 17aa, the data cleansing unit 17ab, the analysis unit 17ac, the data shaping unit 17ad, and the learning unit. Each function of 17ae is realized. The HDD 64 realizes the function of the storage unit 17b, and stores a discrimination model 17ba and the like.

  The CPU 61 of the computer 60 reads these programs from the recording medium 68 and executes them, but as another example, these programs may be acquired from other devices via the network N or the like.

  As described above, the operation status detection system 1 according to the embodiment includes the hydraulic excavator 10 (corresponding to an example of “work machine”), the breaker 15, the measurement unit 16, and the analysis unit 17ac.

  The excavator 10 has an arm 14 (corresponding to an example of a “working arm”). The breaker 15 is attached to the tip of the arm 14 and is provided so as to be operable by hydraulic pressure. The measuring unit 16 is provided so as to be able to measure the vibration and hydraulic pressure of the breaker 15. The analysis unit 17ac analyzes the operating status of the breaker 15 based on the measurement result of the measurement unit 16.

  Therefore, according to the operating status detection system 1 according to the present embodiment, the operating status of the breaker 15 can be detected.

  Incidentally, in the above-described embodiment, the case where the analysis unit 17ac is arranged on the terminal device 17 side is described as an example, but the analysis unit 17ac may be arranged on the server device 20 side. FIG. 10 is a block diagram of an operation status detection system 1 ′ according to another embodiment.

  10 corresponds to the block diagram of the operation status detection system 1 shown in FIG. 3, and therefore, redundant description is avoided, and here, different parts from FIG. 3 will be mainly described.

  First, in the operation status detection system 1 ′, the control unit 21 ′ of the server device 20 ′ further includes an analysis unit 21 e and a learning unit 21 f. The storage unit 22 'further stores the discrimination model 22b.

  The analysis unit 21e corresponds to the analysis unit 17ac, the learning unit 21f corresponds to the learning unit 17ae, and the discrimination model 22b corresponds to the discrimination model 17ba. As shown in FIG. 10, the analysis unit 17ac, the learning unit 17ae, and the discrimination model 17ba may not be arranged in the control unit 17a 'on the terminal device 17' side.

  The analysis unit 21e performs a process of analyzing the operation status (mainly the measurement result of each measurement unit 16) of each breaker 15 appropriately collected by the collection unit 21b. The analysis unit 21e also performs processing for passing the analyzed analysis result to the storage unit 21c.

  In addition, when the analyzed result includes, for example, content indicating an abnormality of the breaker 15 or a sign thereof, the analysis unit 21e issues a processing request for alarm notification corresponding to the abnormality or the sign to the provision processing unit 21d. Do.

  Note that the analysis unit 21e uses the discrimination model 22b generated in advance by the learning unit 21f during the operation analysis process.

  In the above-described embodiment, the analysis units 17ac and 21e detect the operating state of the breaker 15 by performing the non-operation analysis process and the operation analysis process based on the measurement result of the measurement unit 16. The operation status may be detected by combining other processes.

  For example, it is possible to cause the analysis units 17ac and 21e to calculate the striking force of the breaker 15 based on the measurement result of the hydraulic sensor 16b, and to determine whether or not the calculation result is within the performance value range of the breaker 15.

  Further, for example, based on the measurement result of the vibration sensor 16c, the analysis units 17ac and 21e calculate the number of hits per fixed time (for example, minutes) of the piston of the cylinder 15c (see FIG. 2A). It can also be determined whether or not it is within the range of the performance value it has.

  Based on these determination results, for example, the “setting abnormality” described above can be detected. In addition to the hydraulic pressure and vibration, the operating status of the breaker 15 may be detected by, for example, measuring the flow rate of hydraulic oil and performing an analysis that further combines the measurement results as described above.

  Moreover, in embodiment mentioned above, the example which hold | maintains the individual identification information of the breaker 15 in the breaker 15 side by the IC tag 15a, and the acquisition part 16aa of the measurement unit 16 acquires individual identification information from the IC tag 15a by radio | wireless communication is given. However, it is not limited to this. For example, the individual identification information may be input manually.

  In such a case, the IC tag 15a and the communication interface 16e for using the RFID are not necessary, and there is an advantage that the measurement unit 16 can be reduced in cost.

  In the above-described embodiment, the arm 14 corresponds to an example of a work arm, and the measurement unit 16 is provided on the work arm. However, the work arm may include the boom 13. That is, the measurement unit 16 may be provided on the boom 13 as long as it is within a range where communication with the IC tag 15a is possible and vibration and hydraulic pressure during operation of the breaker 15 can be measured.

  In the above-described embodiment, the measurement unit 16 is provided on the work arm. However, due to the rigidity of the housing of the measurement unit 16 and the protection of the components inside the measurement unit 16 using the buffer material B or the like. The measurement unit 16 may be provided in the breaker 15 as long as the durability and measurement performance of the measurement unit 16 can be ensured.

  In the above-described embodiment, the measurement unit 16 acquires the individual identification information of the breaker 15. However, the terminal device 17 may acquire the individual identification information of the breaker 15. In this case, the measurement unit 16 transmits the measurement results of the sensors 16b and 16c to the terminal device 17, and the terminal device 17 associates the individual identification information with the measurement results of the sensors 16b and 16c. It becomes.

  In the above-described embodiment, the case where the work machine is the hydraulic excavator 10, 10 'has been described as an example, but the type of the work machine is not limited. For example, the work machine may be a robot as long as it has a work arm and the breaker 15 can be attached to the work arm.

  Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications can be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

DESCRIPTION OF SYMBOLS 1,1 'Operating condition detection system 10,10' Hydraulic excavator 15 Breaker 16 Measurement unit 16b Hydraulic sensor 16c Vibration sensor 17, 17 'Terminal device 17ac Analysis part 17ae Learning part 17ba Discrimination model 20, 20' Server apparatus 21e Analysis part 21f Learning unit 22a Breaker operation information DB
22b Discriminant model B Buffer material N Network W Internet

Claims (13)

A measurement step of measuring the vibration of the breaker, which is provided so as to be operable by oil pressure, and is attached to the tip of the work arm of the work machine, and the oil pressure;
And an analysis step of analyzing the operating status of the breaker based on the measurement result of the measuring step. The measurement step includes
The operation status detection method according to claim 1, wherein the vibration and the hydraulic pressure are measured using a vibration sensor and a hydraulic pressure sensor provided on the work arm, respectively. The operation status detection method according to claim 2, wherein the vibration sensor is a triaxial acceleration sensor. The analysis step includes
The operating condition detection method according to claim 2 or 3, wherein the operating condition of the breaker is analyzed based on one or both of vibration data from the vibration sensor and hydraulic data from the hydraulic sensor. The analysis step includes
The operating state detection method according to claim 4, wherein a use state when the breaker is not operated is determined based on both the vibration data and the hydraulic pressure data. The analysis step includes
A histogram of the vibration data for each predetermined time is calculated. In the histogram, the sum of the frequencies of the predetermined class corresponding to the noise portion is equal to or higher than a predetermined upper limit value, and the hydraulic pressure data is equal to or lower than a predetermined first threshold value. 6. The operation status detection method according to claim 5, wherein in some cases, it is determined that the breaker has been improperly used during non-operation. The inappropriate use is
The operation status detection method according to claim 6, wherein the operation status detection method is at least one of a sweeping operation, a prying operation, and a slamming operation by the breaker. The analysis step includes
The operating state detection method according to claim 4, wherein a use state of the breaker is determined based on the hydraulic pressure data. The analysis step includes
Based on a discrimination model generated by performing machine learning based on the hydraulic pressure data corresponding to each of a plurality of usage states of the breaker during operation, the usage state of the breaker during operation is determined, and at least the The operating condition detection method according to claim 8, wherein the breaker can be distinguished from a normal hit state and other hit states. A working machine having a working arm;
A breaker attached to the tip of the working arm and provided to be operable by hydraulic pressure;
A measurement unit provided so as to be capable of measuring vibration of the breaker and the hydraulic pressure;
An operation state detection system comprising: an analysis unit that analyzes an operation state of the breaker based on a measurement result of the measurement unit. A terminal device that is provided in the work machine and obtains a measurement result of the measurement unit;
The analysis unit
It is provided in the said terminal device. The operation condition detection system of Claim 10 characterized by the above-mentioned. A server device for collecting measurement results for each measurement unit;
The analysis unit
It is provided in the said server apparatus. The operating condition detection system of Claim 10 characterized by the above-mentioned. On the computer,
A measurement procedure for measuring the vibration of the breaker, which is provided so as to be operable by hydraulic pressure, and is attached to the tip of the work arm of the work machine, and the hydraulic pressure;
And an analysis procedure for analyzing an operating status of the breaker based on a measurement result of the measuring procedure.

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