JP2019218765A - Management system of ground agitation device - Google Patents

Abstract

To provide a management system of a ground agitation device capable of measuring not only a large agitation in which a bucket is oscillated largely vertically but also an agitation such as so-called "shaking off" in which a bucket is not oscillated largely vertically as an agitation number.SOLUTION: A management system of a ground agitation device includes: a bucket position detection step detecting a position of a bucket 5 every prescribed time; a bucket movement determination step determining that the bucket 5 becomes a movement state from a stop state and determining that the bucket 5 becomes a movement termination state from the movement state on the basis of position information of the bucket 5 detected every prescribed time by the bucket position detection step; and a count step of a number of times of agitation adding one to a number of times of agitation when it is determined that the bucket 5 becomes the movement state from the stop state and that the bucket 5 becomes the movement termination state from the movement state by the bucket movement determination step.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a management system for a ground stirring device that counts the number of times of stirring by mixing the ground with a backhoe (bucket type). Specifically, a boom that is rotatably supported about a connection part with the main body and that is driven based on expansion and contraction of the boom cylinder, and that is rotatably connected about the connection part with the boom, An arm that is driven based on the arm and a bucket that is rotatably connected about a connecting portion with the arm and that is driven based on the expansion and contraction of a bucket cylinder. The present invention relates to a management system for a ground stirrer that counts the number of pieces.

  2. Description of the Related Art Conventionally, there has been known a stirring frequency counting method of counting the number of times of stirring by mixing a ground and an improving material by rocking a bucket.

  As a management system for this type of stirring and mixing apparatus, a bucket is driven based on the stroke of expansion and contraction of a piston rod in a bucket cylinder, and a cylinder stroke position, which is the position of the piston rod in the bucket cylinder, is detected by position detection means. The stirring reference one end position near one end of the range in which the piston rod can expand and contract in the bucket cylinder and the stirring reference other end position near the other end of the range in which the piston rod can expand and contract in the bucket cylinder are set in advance. Input and each value is stored. Then, when it is determined that the cylinder stroke position detected above has changed from the other end position of the stirring reference to the one end position of the stirring reference, the number of times of stirring is counted (for example, Patent Document 1). .

JP 2010-18982 A

  In the management system of the conventional stirring and mixing device, the number of times of stirring is counted when it is determined that the cylinder stroke position detected by the position detecting means has shifted from the other end of the stirring reference position to the one end of the stirring reference position. In addition to reducing the burden on the operator when judging the degree of agitation and mixing, the agitation quality is also less likely to vary depending on the operator, and has an effective effect that uniform agitation can be achieved. However, the conventional stirring and mixing device management system measures the number of times of agitation for a large agitation that swings the bucket up and down greatly. "Sieving off" to remove the earth and sand, "Crushing" to press the bucket against the earth and crush the earth and sand, and place the bucket with the earth and sand up and down Buckets, such as "Unraveling", which rocks the soil without changing the position, and "Reverse", which also rocks only the bucket without changing the position of the boom or arm, and greatly reverses the soil loaded on the bucket There is a problem that it is not possible to measure as the number of times of agitation for the agitation that does not greatly swing up and down. Stirring such as sifting, crushing, loosening, and turning upside down, which does not swing the bucket up and down, is also a work that contributes to the stirring and mixing of the ground. By measuring the number of times of stirring, it can be said that more accurate stirring and mixing can be determined.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a management system for a ground stirring device that can determine the degree of stirring and mixing more accurately and can perform ground stirring with higher quality. And

  In order to solve the above problems and achieve the above object, according to a first aspect of the present invention, a telescopic movement of a piston rod in a boom cylinder is supported so as to be rotatable around a connection portion with a main body. A boom that is driven based on the stroke of the boom, and an arm that is rotatably connected around a connecting portion with the boom and that is driven based on a stroke of the expansion and contraction movement of the piston rod in the arm cylinder, and a connecting portion of the arm. A bucket rotatably connected to the center and driven based on a stroke of expansion and contraction movement of a piston rod in a bucket cylinder, wherein the bucket is moved to stir the ground and count the number of times of stirring. A bucket position detecting means for detecting a bucket position at predetermined time intervals, and a bucket position detecting means for detecting the bucket position at predetermined time intervals. The bucket movement determining means determines that the bucket has changed from the stopped state to the moving state based on the issued position information of the bucket, and determines that the bucket has changed from the moving state to the moving end state. And when the bucket is determined to have been moved from the moving state to the movement terminated state, a stirring frequency counting means for adding 1 to the stirring frequency is provided.

  In soil improvement, there are various types of soil, such as gravel, sand, silt, loam, clay, humus, and a mixture of these, and since the properties of these soils are different, the optimal work for mixing and mixing is different. Exists. For this reason, when performing soil improvement work on each soil, the soil improvement worker should consider how to perform each soil improvement work such as `` sieving off '', `` crushing '', `` relaxing '', and With the intention of implementing major ground improvement. That is, the ground improvement work intended by the ground improvement worker is performed for each ground improvement work. According to the present invention, each time it is determined that the bucket has changed from the stopped state to the moving state, and thereafter, it is determined that the bucket has changed from the moving state to the movement terminated state, that is, one by one intended by the ground improvement worker Since the number of agitation is counted for each ground improvement operation, the number of agitation is counted regardless of the type of the ground improvement, including all the ground improvement operations that contribute to the ground improvement. This makes it possible to determine the degree of stirring and mixing more accurately, and to perform the stirring and mixing of the ground with higher quality.

  According to a second aspect of the present invention, there is provided a management system for a ground stirrer according to the first aspect, wherein the bucket movement determining unit stores position information of the bucket detected by the bucket position detecting unit. A bucket position information storage unit, and a speed for calculating a speed change amount variance value using a dispersion method from a speed change amount obtained using the latest past predetermined number of bucket position information stored by the bucket position information storage unit. A change amount variance value calculating unit, a speed change amount variance value storage unit that stores the latest predetermined number of times of the speed change amount variance value calculated by the speed change amount variance value calculating unit, and a speed change amount variance value storage unit. Speed change amount variance maximum value extracting means for extracting the maximum value of the speed change amount variance value for the predetermined number of latest stored times, and the maximum value stored by the speed change amount variance value storage means. Among the speed change amount variance values for a predetermined number of times in the past, the speed change amount from the oldest stored speed change amount variance value to the speed change amount variance value of the maximum value extracted by the speed change amount variance maximum value extracting means is obtained. The minimum value MIN-1 of the speed change amount variance between the two is extracted, and the speed change amount variance value stored latest from the maximum value speed change amount variance extracted by the speed change amount variance maximum value extracting means. A speed change amount variance minimum value extracting means for extracting a minimum value MIN-2 of the speed change amount variance value up to and a speed change amount variance value extracted by the speed change amount variance maximum value extracting means. A difference value H1 obtained by subtracting the minimum value MIN-1 of the speed change amount variance value from the maximum value is calculated, and the speed change amount is calculated from the maximum value of the speed change amount variance value extracted by the speed change amount variance maximum value extraction means. Minimum value of variance M A speed change amount variance value difference value calculating means for calculating a difference value H2 obtained by subtracting N-2, and a speed change amount variance value difference value H1 calculated by the speed change amount variance value difference value calculating means is equal to or greater than a set value HS In the case of, the bucket is determined to have changed from the stopped state to the moving state, and when the difference value H2 of the speed change amount variance value calculated by the speed change amount variance value difference value calculation means is equal to or larger than the set value HS, the bucket is in the moving state. It is determined that the state has been changed to the movement end state.

  According to the present invention, when the difference value H1 of the speed change amount variance value is equal to or larger than the set value HS, it is determined that the bucket has changed from the stopped state to the moving state, and the difference value H2 of the speed change amount variance value is set to the set value HS. In the above case, since it is determined that the bucket has changed from the moving state to the moving end state, it is possible to count the optimal stirring and mixing movement of the bucket performed for various soil types by the change in the movement of the bucket.

  According to a third aspect of the present invention, there is provided a management system for a ground stirrer according to a second aspect, wherein the speed change amount variance value calculating means includes a latest past predetermined value stored by the bucket position information storing means. A speed change amount variance value is calculated from the speed change amount obtained by using a difference value between each position information of the bucket for the number of times and the position information of the previous bucket of the respective position information using the dispersion method. It is characterized by that.

  According to a fourth aspect of the present invention, there is provided a management system for a ground stirrer according to the second or third aspect, wherein the bucket position detecting means determines a position of the bucket in the X-axis direction and the Y-axis direction. The detection is performed at predetermined time intervals.

  According to a fifth aspect of the present invention, there is provided a management system for a ground stirrer according to any one of the first to fourth aspects, wherein a display means for displaying the number of agitation counted by the agitation number counting means. Is further provided.

  According to the present invention, since the counted number of times of stirring is displayed, the operator can check the displayed number of times of stirring to determine the degree of stirring and mixing of the ground, and improve the efficiency of stirring and mixing of the ground. .

  According to a sixth aspect of the present invention, there is provided the management system for the ground stirring device according to any one of the first to fifth aspects, further including a count start unit that starts counting the number of times of stirring. Features.

  According to the present invention, since the counting of the number of agitation is started by the counting start means, the timing for starting the counting of the number of agitation can be arbitrarily set, and the workability of the operator can be improved.

  According to a seventh aspect of the present invention, there is provided a management system for a ground stirrer according to any one of the first to sixth aspects, wherein a stirring frequency setting means for setting a stirring frequency, and a stirring frequency counting means. And a notifying means for notifying that the counted number of times of stirring has reached the number of times of stirring set by the number of times of stirring setting means.

  According to the present invention, it is notified that the number of agitation counted by the agitation number counting means has reached the number of agitation set by the agitation number setting means. Can be stirred.

  According to an eighth aspect of the present invention, there is provided a management system for a ground stirring device according to any one of the first to seventh aspects, wherein a mounting means for mounting a removable recording medium, and a mounting means mounted on the mounting means. Recording means for recording data on the extracted removable recording medium.

  According to the present invention, data is recorded on the recording medium mounted by the mounting means, the recording medium is taken out, the data of the stirring state is collected and analyzed using a personal computer or the like, and the result is used as a printer or the like. Can be output.

  ADVANTAGE OF THE INVENTION According to this invention, a more accurate stirring and mixing condition can be determined and the stirring and mixing of the ground can be performed with higher quality.

It is a side view of the backhoe in which the management system of the ground stirring device in the first embodiment of the present invention is used. It is a figure showing the seat in the cab of the same backhoe. It is a front view of the bucket used for the backhoe. It is a side view of the bucket used for the backhoe. It is a figure which shows the boom length of the same backhoe, the relationship of an arm length, a boom angle, and an arm angle. It is a figure showing the operation panel of the management device of the same backhoe. It is a figure showing a design depth input screen of the operation panel. It is a figure showing a layer change screen of the same operation panel. It is a diagram showing a ground stirring frequency counting method selection screen of the operation panel, It is a figure showing a goniometer setting screen of the same operation panel. It is a figure showing the flow meter setting screen of the same operation panel. It is a figure showing the heavy equipment dimension setting screen of the operation panel. It is a figure showing the main composition of the backhoe in which the management system of the ground stirring device in a 1st embodiment of the present invention is used. It is a block diagram of a management system of a ground stirring device in a 1st embodiment of the present invention. It is a figure explaining the stirring process of "sieving off" in a 1st embodiment of the present invention. It is a flowchart of the ground stirring frequency counting method in 1st Embodiment of this invention. It is a figure which shows the measurement flag process which is a subroutine of the same ground stirring frequency counting method. It is a figure which shows the stirring frequency measurement process which is a subroutine of the ground stirring frequency counting method. It is a figure which shows the stirring frequency counting process which is a subroutine of the stirring frequency measurement process. It is a figure which shows the stirring frequency measurement process which is a subroutine of the ground stirring frequency counting method in 2nd Embodiment of this invention.

(1st Embodiment)
Hereinafter, a first embodiment of a management system for a ground stirring device of the present invention will be described with reference to the drawings. In the present embodiment, a backhoe will be described as a ground stirring device. However, the present invention is not limited to this, and other devices may be used as long as the device stirs the ground. FIG. 1 is a side view of a backhoe in which a management system for a ground stirring device according to a first embodiment of the present invention is used.

  As shown in FIG. 1, the backhoe 1 includes an upper swing body 2, a boom 3, an arm 4, a bucket 5, a lower traveling body 6, and the like.

  The lower traveling body 6 includes a track 7 and can drive on the ground by driving the track 7.

  The upper revolving unit 2 is installed above the lower traveling unit 6 via a revolving unit 8, and is configured to be able to revolve 360 degrees by a hydraulic motor. A boom 3 is rotatably supported by the upper swing body 2, and a boom cylinder (actuator) 9 is connected between the upper swing body 2 and an intermediate portion of the boom 3. The boom 3 rotates around a connecting portion 2a (not shown) between the boom 3 and the upper swing body 2 based on the expansion and contraction of a piston rod 9a in the boom cylinder 9. An arm 4 is rotatably supported at the tip of the boom 3, and an arm cylinder (actuator) 10 is connected between an intermediate portion of the boom 3 and a distal end of the arm 4.

  The arm 4 rotates around a connecting portion 3a between the boom 3 and the arm 4 based on expansion and contraction of a piston rod 10a in the arm cylinder 10. A bucket 5 is rotatably connected (supported) to the distal end of the arm 4, and a bucket cylinder (actuator) 11 is connected between an intermediate portion of the arm 4 and a base end of the bucket 5. I have.

  The bucket 5 rotates around a connecting portion 4a between the arm 4 and the bucket 5 based on expansion and contraction of a piston rod 11a in the bucket cylinder 11. The stroke (cylinder stroke) of each of the cylinders 9 to 11 is adjusted by the expansion and contraction of the piston rods 9a to 11a, and the boom 3, the arm 4, and the bucket 5 are individually driven.

  An angle sensor 12 for measuring the rotation angle of the boom 3 is installed on the boom 3, an angle sensor 13 for measuring the rotation angle of the arm 4 is installed on the arm 4, and the upper swing body 2 is turned upward. An angle sensor 13a for measuring the vertical tilt angle of the body 2 is provided. Potentiometers or the like are used as the angle sensors 12, 13, 13a. Here, the main body 1 is constituted by the upper revolving unit 2, the lower traveling unit 6, and the revolving unit 8.

  The bucket 5 is provided with a pressure feeding hose 14a (see FIG. 3). Using this pumping hose 14a, a cement milk obtained by mixing a cement-based solidifying material and water is sent to the bucket 5 from an external slurry plant (not shown) through the rear part of the backhoe 1, and the pumping attached to the bucket 5 is performed. Cement milk is injected from the pipe 14b. The flow rate of the cement milk sent from the pressure feeding hose 14a is detected by the flow rate sensor 15.

  An operator cab 16 is provided on the front side of the upper swing body 2. A seat 17 is provided in the cab 16 as shown in FIG. The operator operates the backhoe 1 while sitting on the seat 17. FIG. 2 is a diagram showing seats in the cab of the backhoe in which the management system for the ground stirring device according to the first embodiment of the present invention is used.

  As shown in FIG. 2, a first operation lever 18 is provided on the right side of the seat 17, and a second operation lever 19 is provided on the left side of the seat 17. The boom 3 is lowered by operating the first operation lever 18 forward, the boom 3 is raised by operating backward, the bucket 5 is dumped by operating rightward, and the bucket is operated by operating leftward. 5 excavates. Further, the arm 4 is lowered by operating the second operation lever 19 forward, the arm 4 is raised by operating the second operation lever 19 backward, and the upper revolving structure 2 is turned rightward by operating the second operation lever 19 rightward and operated leftward. By doing so, the upper swing body 2 turns left.

  As described above, the pressure feeding hose 14a is attached to the bucket 5 (see FIGS. 3 and 4). Cement milk is sent from the slurry plant (not shown) to the bucket 5 using the pressure feeding hose 14a, and the fed cement milk is discharged from the pressure feeding pipe discharge port 20. The bucket 5 is provided with a stirring plate 21. When the bucket 5 rotates (rotates around the connecting portion 4a), the cement milk or the like slips between the stirring plates 21 to stir the ground. Here, FIG. 3 is a front view of the bucket according to the first embodiment of the present invention, and FIG. 4 is a side view of the bucket according to the first embodiment of the present invention.

  The arm length A (the length of the arm 4) and the boom length B (the length of the boom 3) are dimensions between the centers of the rotating pins (rotating shafts) (see FIGS. 5 and 12). The rotation angle (boom angle) of the boom 3 measured using the angle sensor 12, the rotation angle (arm angle) of the arm 4 measured using the angle sensor 13, and the measurement using the angle sensor 13 a The upper and lower tilt angles (upper revolving body angle) of the upper revolving superstructure 2 are measured with reference to the horizontal line (point 0). Here, FIG. 5 is a diagram showing the relationship between the boom length and the arm length of the backhoe and the boom angle and the arm angle in which the management system for the ground stirring device according to the first embodiment of the present invention is used. Note that the boom angle, the arm angle, and the upper swing body angle are corrected using the angle meter setting screen 41 (see FIG. 10) described later (see FIG. 10) as an initial setting with the deviation of the angles measured by the angle sensors 12, 13, 13a. can do.

  On the right side of the seat 17, a movable tablet PC (hereinafter, referred to as “management device (operation panel)”) 100 is installed. FIG. 6 is a diagram showing an operation panel of the backhoe management device according to the first embodiment of the present invention. The operation panel 22 is of a touch panel type.

  As shown in FIG. 6, by operating the management device 100, the operation panel 22 is displayed on the display screen of the management device 100. Here, the operation panel 22 sets and displays the depth, the flow rate, the number of times of stirring, and the like.

  The operation panel 22 includes a start switch 23, an interruption switch 24, a completion switch 25, a menu switch 26, a system end switch 39, a machine number display unit 27, a grid number display unit 28, a date / time display unit. 29 are provided.

  The start switch 23 (count start means) is a switch for starting (starting) counting (measurement) of the number of times of stirring of the ground, and when the start switch 23 is pressed by an operator, the number of times of stirring of the ground is reduced. When the measurement is started and the measurement of the number of times of agitation is being performed, when the completion switch 25 is pressed, the measurement of the number of times of agitation ends. The interruption switch 24 is a switch for interrupting the measurement of the number of times of stirring of the ground and resuming the measurement of the number of times of stirring. When the measurement of the number of times of stirring is being executed, the interruption switch is operated by the operator. By pressing the button 24, the measurement of the number of agitation is interrupted. When the measurement of the number of agitation is interrupted, the measurement of the number of agitation is performed again by pressing the interruption switch 24. The menu switch 26 is a switch for displaying an initial setting screen for setting the arm length A of the arm 4 of the backhoe 1, the boom length B of the boom 3, and the like, as described later with reference to FIG. The system termination switch 39 is a switch for terminating the use of the operation panel 22.

  The machine number display section 27 displays the machine number set when there are a plurality of machines. By touching the machine number display section 27, a machine number input screen (not shown) is displayed, and the machine number is displayed on the screen. Is input and an OK button (not shown) is pressed to change the machine number. The lattice number display unit 28 displays the number of the lattice (block) to be operated. When the user touches the lattice number display unit 28, a lattice number input screen (not shown) is displayed. By pressing a button (not shown), the grid number can be changed. The date / time display section 29 displays the current date / time.

  Further, the operation panel 22 is provided with an excavation depth display section 30, a design depth display section 31, an integrated flow rate display section 32, an instantaneous flow rate display section 33, and a depth diagram 300.

  The excavation depth display unit 30 displays the current excavation depth, and the excavation depth is determined by an arm length A, a boom length B, a reference position boom vertical length C, and a reference position input using an initialization screen described later. It is calculated using the boom horizontal length D and the boom angle, the arm angle, and the upper swing body angle detected by the angle sensors 12, 13, and 13a (see FIGS. 5 and 12). The excavation depth is automatically reset to zero by pressing the start switch 23, and measurement is started. That is, as described later, the worker sets the bucket 5 at the ground improvement position (digging start position (zero position (depth))) and presses the start switch 23 so that the position of the bucket 5 becomes zero. Position. The design depth display unit 31 displays the design depth. By touching the design depth display unit 31, the design depth of each of the first, second, and third layers can be set. Specifically, by touching the design depth display section 31, a design depth input screen 57 (see FIG. 7) is displayed, and a one-layer design depth input section 51 and a two-layer design depth input section of the design depth input screen 57 are displayed. The design depth is input to each of the section 52 and the three-layer design depth input section 53, and the width of the ground to be stirred is input to the construction block length input section 49, and the design depth is set by pressing an OK button 58a. Can be changed. Here, FIG. 7 is a diagram showing a design depth input screen of the operation panel according to the first embodiment of the present invention. The accumulated flow display unit 32 displays the accumulated flow value of the cement milk sent from the slurry plant after the start switch 23 is pressed, and the instantaneous flow display unit 33 displays the cement flow sent from the slurry plant. It displays the instantaneous value of the milk flow. The integrated flow rate and the instantaneous flow rate are detected using the flow rate sensor 15. The depth map 300 visually displays “current excavation depth 301” displayed on the excavation depth display unit 30 and “design depth 302” displayed on the design depth display unit 31. As described below, the excavation depth 301 and the design depth 302 of the depth diagram 300 indicate the excavation depth and the design depth corresponding to one layer when excavating one layer, and when excavating two layers, as described later. Indicates the excavation depth and design depth corresponding to two layers, and when excavating three layers, the excavation depth and design depth corresponding to three layers are displayed. When the start switch 23 is pressed, “starting” at the bottom of the depth diagram 300 is lit, and when the measurement of the number of times of stirring is being performed, the “starting” is pressed by pressing the interruption switch 24. Goes off and “under suspension” lights up. Then, when the completion switch 25 is pressed, the “starting” or “interrupted” that is turned on is turned off.

  The operation panel 22 also includes a single-layer stirring frequency display section 34, a two-layer stirring frequency display section 35, and a three-layer stirring frequency display section 36, and measurement values corresponding to the respective stirring frequency display sections 34, 35, and 36. Display units 34a, 35a, 36a, design value display units 34b, 35b, 36b, and a trajectory display unit 37 (see FIG. 6) are provided.

  The measured value display part 34a displays the number of times of stirring measured when one layer is being stirred, and the measured value display part 35a displays the number of times of stirring measured when stirring two layers. In addition, the measurement value display section 36a displays the number of times of stirring measured while stirring the three layers. Which one of the single layer, the second layer, and the third layer is to be stirred is determined by pressing one of the measurement value display sections 34a, 35a, and 36a, and a layer change screen 38 (see FIG. 8) is displayed. By pressing the first layer button 59, the second layer button 60, or the third layer button 61 on the layer change screen 38 and pressing the OK button 58b, the layer to be stirred can be selected. Here, FIG. 8 is a diagram showing a layer change screen of the operation panel according to the first embodiment of the present invention. Further, the design value display sections 34b to 36b respectively display design values (planned values) of the number of times of stirring for the first to third layers, and by pressing any of the design value display sections 34b to 36b, A design value input section (stirring frequency setting means 79 (not shown)) for inputting design values is displayed. The trajectory display section 37 (see FIG. 6) uses the position (digging depth) of the bucket 5 at the timing when the start switch 23 is pressed as a reference position (0 point position), and sets the trajectory of the subsequent position of the bucket 5 (digging depth). Is visually displayed. The operator stirs and mixes the ground while checking the locus display 37, thereby eliminating places where the ground is not stirred and mixed and performing high quality stirring of the ground.

  Next, the initial setting will be described with reference to FIGS. Here, FIG. 9 is a diagram showing a ground stirring frequency counting method selection screen of the operation panel in the first embodiment of the present invention, FIG. 10 is a diagram showing a goniometer setting screen of the operation panel, and FIG. It is a figure which shows the flow meter setting screen of a panel, and FIG. 12 is a figure which shows the heavy equipment dimension setting screen of an operation panel.

  The ground stirring frequency counting method selection screen 62 is displayed by pressing the menu switch 26 to display the menu screen 48, and then pressing the mode change button 66 on the menu screen 48 (see FIG. 9). On the ground stirring frequency counting method selection screen 62, four buttons of "pattern", "distance", "X OR Y", and "X AND Y" are displayed, respectively. Indicates that there are four detection methods of “pattern”, “distance”, “X OR Y”, and “X AND Y”. These counting methods can be selected by pressing one of the mode selection buttons, and the number of times of stirring can be counted by the selected ground stirring number counting method. In the present embodiment, since the number of times of stirring is counted by the method of counting the number of times of stirring of the ground of the “pattern”, description of the method of counting the number of times of stirring of the ground of “distance”, “XOR Y”, and “X AND Y” is omitted. Omitted.

  The initial setting screens (angle meter setting screen 41, flow meter setting screen 42, heavy equipment dimension setting screen 43) shown in FIGS. 10 to 12 are displayed by pressing the menu switch 26 to display the menu screen 48 (see FIG. 9). The menu screen 48 is displayed when the initial setting switch 40 is pressed. The angle meter setting screen 41, the flow meter setting screen 42, and the heavy equipment dimension setting screen 43 can be switched by pressing the upper angle meter setting tab 41a, the flow meter setting tab 42a, or the heavy equipment dimension setting tab 43a. it can.

  The goniometer setting screen 41 is an initial setting screen for correcting the angles of the machine (upper revolving superstructure 2), the boom 3, and the arm 4. The “boom correction angle input unit 63”, “boom correction angle input unit 64”, and “machine correction angle input unit 65” of the “angle correction” include a boom 3, an arm 4, and a machine (upper revolving unit 2) before correction. ) Are displayed from the horizontal plane, and the corrected angles of the boom 3, the arm 4, and the machine are input to the boom correction angle input unit 63, the boom correction angle input unit 64, and the machine correction angle input unit 65. Thereby, the accurate current excavation depth can be displayed on the excavation depth display unit 30 and the depth map 300. When the input of all the corrected angles is completed and the setting save button 44a is pressed, the initial setting of the goniometer setting is completed.

  The flow meter setting screen 42 is an initial setting screen for correcting the flow rate of the instantaneous flow rate (the instantaneous value of the flow rate) of the cement milk sent from the slurry plant. In the “current flow rate” of the “flow rate correction”, the flow rate (+5.0 L / sec) detected by using the flow rate sensor 15 before the correction is displayed, and the middle value “the current flow rate” of the “correction value” is displayed. (+5.0 L / sec) ", and the flow rate is set. The middle value (+5.0 L / sec) of the “correction value” is “+10.0”, “+1.0”, “+0.1”, “−0.1”, “−1.0” on the left and right. And "-10.0" can be increased or decreased by the respective values. By performing the flow meter setting (correction of the instantaneous flow rate), the accurate instantaneous flow rate of the cement milk (the instantaneous value of the flow rate) can be displayed on the integrated flow rate display section 32 and the instantaneous flow rate display section 33 (see FIG. 9). ). Then, when the input of the correction value is completed and the setting save button 44b is pressed, the initial setting of the flow meter setting is completed.

  The heavy equipment dimension setting screen 43 displays the arm length A from the connecting part 3a of the arm 4 and the boom 3 to the connecting part 4a of the arm 4 and the bucket 5, and the connection between the boom 3 and the arm 4 from the connecting part 3a of the boom 3 and the upper revolving unit 2. Boom length B up to the connecting portion 2a, vertical reference position boom vertical length C from the machine tilt reference position 2b below the tip of the upper revolving structure 2 to the connecting portion 2a of the boom 3 and the upper revolving structure 2, and upper revolving structure 2 Is a screen for inputting and setting a horizontal reference position boom horizontal length D from the machine tilt reference position 2b at the lower end of the top to the connecting portion 2a of the boom 3 and the upper swing body 2. Then, when the input of “A to D” of the dimension setting is completed and the setting save button 44c is pressed, the initial setting of the heavy equipment dimension setting is completed.

  When all the settings of the angle meter setting screen 41, the flow meter setting screen 42, and the heavy equipment dimension setting screen 43 are completed, and the close button 45 of the menu screen 48 is pressed, the initial setting is completed. Here, the close buttons 45a, 45b, 45c of the respective setting screens 41, 42, 43 are buttons for closing the respective angle meter setting screen 41, flow meter setting screen 42, and heavy equipment dimension setting screen 43. Although the menu screen 48 also has a detailed setting button 46, a sensor value display button 47, and the like, the description is omitted because it has little relation to the present invention.

  Next, an outline of the configuration of the backhoe 1 will be described with reference to FIG. FIG. 13 is a diagram showing a main configuration of a backhoe in which the management system for the ground stirring device according to the first embodiment of the present invention is used.

  As shown in FIG. 13, the angle sensors 12, 13, 13a are connected to the management device 100. When the boom angle, the arm angle, and the upper swing body angle detected by the angle sensors 12, 13, 13a are input to the management device 100, the input boom angle, arm angle, upper swing body angle, and The excavation depth is calculated using the input arm length A, boom length B, reference position boom vertical length C, and reference position boom horizontal length D. Specifically, using the arm length A and the arm angle, the boom length B and the boom angle, the reference position boom vertical length C, the reference position boom horizontal length D, and the upper swing body angle, the connecting portion between the arm 4 and the bucket 5 The position of 4a is determined, and the excavation depth is calculated using the position of the connecting portion 4a. Then, the calculated excavation depth is displayed on the excavation depth display unit 30 (see FIG. 6) of the operation panel 22. Further, the flow rate sensor 15 and the management device 100 are also connected, and when the flow rate of the cement milk sent from the slurry plant detected by the flow rate sensor 15 is input to the management device 100, the input flow rate is displayed as an instantaneous flow rate display unit. 33 (see FIG. 6). Further, the integrated flow rate after the start switch 23 is pressed is calculated, and the calculated integrated flow rate is displayed on the integrated flow rate display section 32 (see FIG. 6) of the operation panel 22. In the present embodiment, the excavation depth is obtained by setting the position of the connecting portion 4a between the arm 4 and the bucket 5 as the “position of the bucket 5”. However, the present invention is not limited to this. The position of the tip of the bucket 5 obtained by adding the length of the bucket 5 from the position toward the tip of the arm 4 may be used as the “position of the bucket 5” to determine the excavation depth. An arbitrary position between the position of the connecting portion 4a and the position of the tip of the bucket 5 is obtained from the position of the connecting portion 4a between the arm 4 and the bucket 5, and the arbitrary position of the bucket 5 is referred to as the "position of the bucket 5". The excavation depth may be obtained as follows.

  The management device 100 is provided with a USB memory insertion port (mounting means 77), a USB memory 54 (recording medium) is inserted into the USB memory insertion port, and the recording device 78 Data can be stored in the USB memory 54. Then, the USB memory 54 in which the data is stored is taken out from the management device 100, and the taken out USB memory 54 is inserted into a personal computer 55 in another place, and the data stored in the USB memory 54 is counted and analyzed. And outputs the result using the printer 56. Further, the management apparatus 100 and the printer 56 can be connected and output.

  Next, the configuration of the management system for the ground stirring device will be described with reference to FIG. Here, FIG. 14 is a block diagram of the management system of the ground stirring device in the first embodiment of the present invention.

  The management system of the ground stirring device includes a bucket position detection unit 68, a bucket movement determination unit 69, and a stirring frequency counting unit 76.

  The bucket position detecting means 68 detects (measures) the position of the bucket 5 (the position of the connecting portion 4a between the arm 4 and the bucket 5) every 0.1 seconds. The position of the bucket 5 includes the boom angle detected by the angle sensor 12, the arm angle detected by the angle sensor 13, the upper swing body angle detected by the angle sensor 13a, the arm length A and the boom length B input in advance. , The reference position boom vertical length C and the reference position boom horizontal length D. Here, as the position of the bucket 5, the depth in the X direction and the Y direction from the reference position (point 0 position) is detected (measured) (see Table 1). In the present embodiment, the depth in the X direction and the Y direction from the reference position (0 point position) is detected (measured) as the position of the bucket 5; The depth may be directly detected (measured). Further, in the present embodiment, the position of the bucket 5 is detected every 0.1 seconds. However, the position is not limited to this, and may be detected every other predetermined time such as every 0.05 seconds. The detection of the position of the bucket 5 by the bucket position detecting means 68 is started by the count starting means 67. In the present embodiment, the count start means 67 is the start switch 23. When the start switch 23 is pressed, the position of the bucket 5 is detected, and the number of times of stirring is counted.

  The bucket movement judging means 69 judges that the bucket 5 has changed from the stopped state to the moving state based on the position information of the bucket 5 detected every 0.1 seconds by the bucket position detecting means 68, and ends the movement of the bucket 5 from the moving state. It is determined that the state has been reached. Specifically, the bucket movement determination means 69 includes a bucket position information storage means 70, a speed change amount variance value calculation means 71, a speed change amount variance value storage means 72, and a speed change amount variance maximum value extraction means 73. A speed change amount variance minimum value extracting unit 74; and a speed change amount variance value difference value calculating unit 75.

  The bucket position information storage means 70 stores the position information of the bucket 5 detected by the bucket position detection means 68. In the present embodiment, a storage memory (not shown) is used as the bucket position information storage means 70.

  The speed change amount variance value calculating means 71 calculates the speed change amount variance value using a dispersion method from the speed change amount obtained using the latest 21 past position information of the bucket 5 stored by the bucket position information storage means 70. Is calculated. Specifically, the speed change amount variance calculating means 71 calculates the position information of the last 20 buckets 5 stored in the bucket position information storage means 70 and the position of the previous bucket 5 of each position information. A speed change amount variance value is calculated from the speed change amount obtained using the difference value with the information using a dispersion method. In the present embodiment, the speed change amount variance value is calculated using the dispersion method from the speed change amount obtained using the position information of the latest 21 past buckets. However, the present invention is not limited to this. A speed change amount variance value may be calculated from the speed change amount obtained using the latest past predetermined number of bucket position information other than the past 21 times using the distribution method. Further, in the present embodiment, a difference value between each position information of the last 20 buckets 5 stored in the bucket position information storage unit 70 and the position information of the last bucket 5 of each position information is used. The speed change amount variance value is calculated using the dispersion method from the obtained speed change amount, but is not limited thereto, and the speed change amount is calculated using the dispersion method from the speed change amount calculated by another method. The variance value may be calculated. The details will be described later with reference to FIG.

  The speed change amount variance value storage unit 72 stores the last 20 times of the speed change amount variance value calculated by the speed change amount variance value calculation unit 71. In the present embodiment, the latest 20 changes of the speed change amount variance value calculated by the speed change amount variance value calculation unit 71 are stored. However, the present invention is not limited thereto. May be stored for a predetermined number of latest past times other than the last 20 times of the speed change amount variance value calculated by the above. In the present embodiment, a storage memory (not shown) is used as the speed change amount dispersion value storage means 72.

  The speed change amount variance maximum value extracting means 73 extracts the maximum value of the speed change amount variance values of the last 20 times stored by the speed change amount variance value storage means 72. In the present embodiment, the maximum value of the last 20 speed change amount variance values stored in the speed change amount variance value storage unit 72 is extracted. However, the present invention is not limited to this. The maximum value of the speed change amount variance values for a predetermined number of latest past times other than the last 20 times stored by the storage unit 72 may be extracted. The details will be described later with reference to FIG.

  The speed change amount variance minimum value extracting unit 74 calculates the speed from the oldest stored speed change amount variance value among the last 20 speed change amount variance values stored by the speed change amount variance value storage unit 72. The minimum value MIN-1 of the speed change amount variance up to the speed change amount variance value of the maximum value extracted by the change amount variance maximum value extracting means 73 is extracted, and the speed change amount variance maximum value is extracted. This is to extract the minimum value MIN-2 of the speed change amount variance value from the maximum speed change amount variance value extracted by the extraction means 73 to the latest stored speed change amount variance value. In the present embodiment, the “minimum value MIN−1 of the speed change amount variance value” and the “speed change amount out of the speed change amount variance values of the last 20 times of the speed change amount variance values stored by the speed change amount variance value storage unit 72. Although the minimum value of the variance value MIN-2 is extracted, the present invention is not limited to this, and the “speed change amount variance value” is selected from the speed change variance values of the last 20 past times stored by the speed change amount variance storage unit 72. MIN-1 ”or the“ minimum value MIN-2 of the speed change amount variance value ”, and the speeds of the latest 20 past times stored by the speed change amount variance value storage means 72 thereafter. One of the “minimum value MIN-1 of the speed change amount variance value” and the “minimum value MIN-2 of the speed change amount variance value” may be extracted from the change amount variance values. The details will be described later with reference to FIG.

  The speed change amount variance difference calculating unit 75 calculates the difference obtained by subtracting the minimum value MIN-1 of the speed change amount variance value from the maximum value of the speed change amount variance value extracted by the speed change amount variance maximum value extracting unit 75. A value H1 is calculated, and a difference value H2 obtained by subtracting the minimum value MIN-2 of the speed change amount variance value from the maximum value of the speed change amount variance value extracted by the speed change amount variance maximum value extracting means 75 is calculated. Things. The details will be described later with reference to FIG.

  As described above, when the difference value H1 of the speed change amount variance value calculated by the speed change amount variance difference calculating means 75 is equal to or larger than the set value HS (0.01), the bucket 5 is changed from the stop state to the moving state. The bucket 5 is moved from the moving state to the moving end state when it is determined that the difference has occurred and the difference value H2 of the speed change amount variance value calculated by the speed change amount variance difference value calculating means 75 is equal to or larger than the set value HS (0.01). Is determined. In the present embodiment, the set value HS is set to “0.01”. However, the present invention is not limited to this, and may be set to a value other than 0.01. Further, the “set value HS compared with the difference value H1 of the speed change amount variance value” and the “set value HS compared with the difference value H2 of the speed change amount variance value” may be set values having different magnitudes.

  The agitation number counting means 76 counts the number of agitations by 1 when the bucket movement determining means 69 determines that the bucket 5 has changed from the stopped state to the moving state, and subsequently determines that the bucket 5 has changed from the moving state to the movement terminated state. It is to be added. Specifically, when the difference value H1 of the speed change amount variance value calculated by the speed change amount variance value difference value calculation means 75 is equal to or larger than the set value HS (0.01), the bucket 5 is changed from the stopped state to the moving state. The bucket 5 moves from the moving state when it is determined that the difference has occurred, and when the difference value H2 of the speed change amount variance value calculated by the speed change amount variance value difference value calculation means 75 is equal to or larger than the set value HS (0.01). When it is determined that the state has been terminated, the number of times of stirring is incremented by one. Then, a display means 80 for displaying the number of times of stirring counted by the number of times of stirring counting means 76 can be provided.

  The stirring frequency setting means 79 sets the number of times of stirring. In the present embodiment, an input unit is used as the number-of-stirrings setting unit 79 for inputting a design value displayed by pressing any of the design value display units 34b to 36b of the operation panel 22. Then, a notifying unit 81 for notifying that the number of agitation counted by the agitation number counting unit 76 has reached the number of agitation set by the agitation number setting unit 79 may be provided. In the present embodiment, as described later, a buzzer that changes the sound or a lamp that changes the color is used as the notification unit 81.

  The mounting means 77 is for mounting a removable recording medium. In the present embodiment, a USB memory insertion port of the management device 100 for mounting the USB memory 54 is used as the mounting means 77. Then, the data is recorded on the removable recording medium (USB memory 54) mounted on the mounting means 77 by the recording means 78.

  Next, as one example of measuring the number of times of agitation, “sieve removal” which is one of the agitation and mixing methods will be described. In the present embodiment, “sieving off” will be described as an example of measuring the number of times of stirring. However, the method of counting the number of times of ground stirring (counting method) described below is “crushing” or “unraveling” other than “sieving off”. And "turning upside down" can also be applied. Here, the "sieving-off" is a method in which the ground is agitated and mixed by shaking or rocking the bucket containing the earth and sand up and down to shake the earth and sand as described above.

  The agitation step of “sieving off” will be briefly described with reference to FIG. FIG. 15 is a diagram illustrating a stirring step of “sieving off” in the first embodiment of the present invention.

  The operator rotates the upper revolving unit 2 to a predetermined position so that the bucket 5 is at the stirring and mixing operation position, moves the backhoe 1 to near the stirring and mixing operation area, and stops it. Note that this operation is performed only at the beginning, and when “sieving off” is performed continuously, the next step is performed continuously.

  The operator operates the first operation lever 18 and the second operation lever 19 of the operator's cab 16 to rotate the boom 3 and the arm 4 to move the bucket 5 downward. Of the bucket 5 from the tip of the bucket 5 (see FIG. 15A). Then, while the arm 4 is turned and the bucket 5 is turned in a state where the bucket 5 is protruded from the tip of the bucket 5, earth and sand in the ground is scooped up (FIG. 15B).

  After the picked-up earth and sand is put into the bucket 5, the earth and sand in the bucket 5 slips between the stirring plates 21 of the bucket 5 by vibrating or swinging the bucket 5 up and down. It falls outside the bucket 5, and the ground is agitated (see FIG. 15C). In the stirring step of “sieving off”, the ground is stirred in this way. According to the present invention, when the ground is agitated, the ground improvement operator performs what kind of ground improvement for each ground improvement work such as `` sieving off '', `` crushing '', `` relaxing '', and `` turning over the ground ''. Focusing on the intention of doing so, the number of agitation is counted for each successive soil improvement work according to the intention of the soil improvement worker. Details will be described later with reference to FIGS.

  Next, a method of counting the number of times of ground agitation will be described in detail with reference to FIGS. FIG. 16 is a flowchart of a method of counting the number of times of ground agitation according to the first embodiment of the present invention.

  First, in S11, it is determined whether the power is “ON”. Whether the power is “ON” is determined based on whether a power switch (not shown) is pressed. If “NO” in S11, the “ground stirring frequency counting method” is not performed and the process ends, and if “YES”, the process proceeds to S12.

  Next, in S12, it is determined whether the start switch is “ON”. Whether the start switch 23 is “ON” is determined based on whether the start switch 23 (count start means 67) is pressed. When the start switch 23 is turned “ON”, the counting of the number of times of stirring is started (a counting start step). If “NO” is determined in S12, the process of S12 is repeated until the start switch 23 is turned “ON”. If it is determined that the start switch is “ON”, the process proceeds to S13. Here, when the start switch 23 is “ON”, the start switch 23 (see FIG. 6) is lit. Here, as described above, the excavation depth is measured using the position of the bucket 5 (excavation depth) at the timing when the start switch 23 is pressed as the reference position (point 0 position). The “position of the bucket 5” is the position of the connecting portion 4a between the arm 4 and the bucket 5. In addition, as described above, in the present embodiment, the excavation depth is obtained by setting the position of the connecting portion 4a between the arm 4 and the bucket 5 as “the position of the bucket 5”. The position of the tip of the bucket 5 obtained by adding the length of the bucket 5 to the tip of the arm 4 from the position of the connecting portion 4a of the above may be used as the “position of the bucket 5” to determine the excavation depth. An arbitrary position between the position of the connecting portion 4a between the bucket 4 and the bucket 5 and the position of the tip of the bucket 5 is obtained from the position of the connecting portion 4a between the arm 4 and the bucket 5, and the arbitrary position of the bucket 5 is referred to as " The excavation depth may be obtained as "the position of the bucket 5".

  In S13, the processing flag SS is set to “0”. The in-process flag SS is a flag that becomes “1” when the agitation number measurement process is being performed. Then, in S14, the measurement values 34a, 35a, 36a, and 37 are reset (see FIG. 6). As a result, the measured values 34a, 35a, and 36a all become “0”. Here, in a “bucket position detecting step” described later, the boom angle detected by the angle sensor 12, the arm angle detected by the angle sensor 13, the upper revolving body angle detected by the angle sensor 13a, and the pre-inputted angle. The position of the bucket 5 is detected using the arm length A, the boom length B, the reference position boom vertical length C, and the reference position boom horizontal length D. Further, the integrated flow rate and the instantaneous flow rate are also reset.

  In S15, a measurement flag process is performed. By this measurement flag process, it is determined which one of the first to third layers is to be counted. The measurement flag process will be described later with reference to FIG. Then, the process proceeds to S16.

  In S16, a stirring frequency measurement process is executed. The number of times of stirring is measured by the number of times of stirring measurement process. The stirring frequency measurement process will be described later with reference to FIG. Then, the process proceeds to S17.

  In S17, it is determined whether the completion switch 25 is "ON". Whether or not the completion switch 25 is “ON” is determined based on whether or not the completion switch 25 is pressed. Here, when the completion switch 25 is “ON”, the completion switch 25 (see FIG. 6) is turned on. When the completion switch 25 is "ON", that is, when the completion switch 25 is pressed, "YES" is determined in S17 and the "ground stirring frequency counting method" ends. If “NO” is determined in S17, the process proceeds to S18.

  In S18, it is determined whether the interruption switch 24 is "ON". Whether or not the interruption switch 24 is “ON” is determined based on whether or not the interruption switch 24 has been pressed. Here, when the interruption switch 24 is “ON”, the interruption switch 24 (see FIG. 6) is turned on. When "YES" is determined in S18, the processing of S17 → S18 → S17 is repeatedly executed until "YES" is determined in S17 or "NO" is determined in S18. Here, when the interruption switch 24 is pressed again while the interruption switch 24 is “ON”, the interruption switch 24 is turned “OFF”. When “NO” is determined in S18, the processing of S15 → S16 → S17 → S18 → S15 is repeatedly executed until “YES” is determined in S17 or “YES” in S18. If “YES” is determined in S17, the ground stirring frequency counting method ends.

  Next, a measurement flag process which is a subroutine of a method of counting the number of times of ground agitation will be described with reference to FIG. FIG. 17 is a diagram showing a measurement flag process which is a subroutine of the ground stirring frequency counting method. This measurement flag processing is for determining which of the first to third layers the number of times of stirring is to be measured.

  First, in S21, it is determined whether the three-layer stirring frequency display section is “ON”. Whether or not the three-layer stirring frequency display section is “ON” is determined based on whether or not the three-layer button 61 (see FIG. 8) on the layer change screen 38 has been pressed. Then, if “YES” is determined in S21, the process proceeds to S22, and the three-layer measurement flag is turned “ON” in S22. When the three-layer measurement flag is turned “ON”, the number of times of stirring is measured as a measured value of the number of times of three-layer stirring (see FIG. 6). Also, if “NO” is determined in S21, the process proceeds to S23.

  In S23, it is determined whether or not the two-layer stirring frequency display section is “ON”. Whether or not the two-layer stirring frequency display section is “ON” is determined based on whether or not the two-layer button 60 (see FIG. 8) on the layer change screen 38 has been pressed. Then, if “YES” is determined in S23, the process proceeds to S24, and the two-layer measurement flag is turned “ON” in S24. When the two-layer measurement flag is turned “ON”, the number of times of stirring is measured as a measured value of the number of times of two-layer stirring (see FIG. 6). If “NO” is determined in S23, the process proceeds to S25.

  In S25, it is determined whether the one-layer stirring frequency display section is “ON”. Whether or not the one-layer stirring frequency display section is “ON” is determined based on whether or not the first-layer button 59 (see FIG. 8) on the layer change screen 38 has been pressed. Then, if "YES" is determined in S25, the process proceeds to S26, in which the single-layer measurement flag is set to "ON". When the one-layer measurement flag is turned “ON”, the number of times of stirring is measured as a measured value of the number of times of one-layer stirring (see FIG. 6). If “NO” is determined in S25, the notification means (buzzer, lamp, etc. (not shown)) is turned “ON” in S27, and the process proceeds to S21 again, and any one of the first-layer button 59 to the third-layer button 61 is performed. Until the button is pressed, the processing of S21 → S23 → S25 → S27 → S21 is executed. If “YES” is determined in any of S21, S23, or S25, the process of S22, S24, or S26 is performed, the notification unit is turned “OFF” in S28, and the measurement flag process ends.

  Next, a description will be given of a stirring frequency measurement process which is a subroutine of the ground stirring frequency counting method. FIG. 18 is a diagram showing a stirring frequency measurement process which is a subroutine of the ground stirring frequency counting method. The number of times of stirring is measured by the number of times of stirring measurement process.

  First, in S31, it is determined whether the processing flag SS is “1”. Since the processing flag SS has been set to “0” in S13 (see FIG. 16), “NO” is determined in S31 and the process proceeds to S32. The processing flag SS is a flag that becomes “1” when the stirring frequency measurement processing is being performed, as described above.

  In S32, it is determined whether the number of times of stirring N is “0”. If “YES” is determined in S32, the process proceeds to S33, and if “NO”, the process proceeds to S36. Then, in S33, it is determined whether the initial setting has been performed. Whether or not this initial setting has been performed is determined by pressing the initial setting switch 40 and setting the angle meter using the angle meter setting screen 41, the flow meter setting using the flow meter setting screen 42, and the heavy equipment dimension setting screen 43. The determination is made based on whether the heavy equipment dimensions have been set using the above. Specifically, setting of angle correction values for “boom angle”, “arm angle”, and “upper revolving body angle”, and setting of flow rate correction value for instantaneous flow rate (instantaneous flow rate value) of cement milk sent from a slurry plant , Arm length A from connecting portion 3a to connecting portion 4a, boom length B from connecting portion 3a to connecting portion 2a, vertical reference position boom vertical length C from machine tilt reference position 2b to connecting portion 2a, machine tilt The determination is made based on whether or not the setting of the horizontal reference position boom horizontal length D from the reference position 2b to the connecting portion 2a has been completed. If “NO” is determined in S33, the process proceeds to S34, in which the initial setting condition is not input (notifying means (buzzer or voice) “ON”) in S34, and the initial setting condition is input. Until the processing is performed, the processing of S33 → S34 → S33 is repeatedly executed. Then, in S33, if the initial setting condition has been input, the flow proceeds to S35, and if the notification means is "ON", the notification means is turned "OFF", and the position flag F1 is set to "1" in S35. Is set, and the processing flag SS is set to “1”. The position flag (FI) is a flag for switching whether to determine whether the bucket 5 has changed from the stopped state to the moving state or whether the bucket 5 has changed from the moving state to the moving end state. Here, the stopped state of the bucket 5 refers to a state until the bucket 5 is determined to be in a moving state, and does not mean only a state in which the bucket 5 is completely stopped. That is, it is determined that the movement of the bucket 5 has ended, and the bucket 5 moves slowly after the number of agitation times is added by 1 until the next bucket 5 enters the moving state. It is included in the stop state. That is, the stopped state of the bucket 5 has the same meaning as the state before the movement detection of the bucket 5.

  Next, in S36, it is determined whether the position flag FI is "1". Since the position flag FI has been set to "1" in S35, "YES" is determined in S36 and the process proceeds to S37a.

  In S37a, a bucket position detecting step is performed. In this bucket position detecting step, the position of the bucket 5 (the position of the connecting portion 4a between the arm 4 and the bucket 5) is detected (measured) every 0.1 seconds by using the bucket position detecting means 68. As described above, the position of the bucket 5 includes the boom angle detected by the angle sensor 12, the arm angle detected by the angle sensor 13, the upper swing body angle detected by the angle sensor 13a, and the arm length input in advance. A, boom length B, reference position boom vertical length C, and reference position boom horizontal length D are detected. Here, as the position of the bucket 5, the depth in the X direction and the Y direction from the reference position (point 0 position) is detected (measured) (see Table 1). Then, the process proceeds to S37b.

  In S37b, a bucket position information storage step is performed. In this bucket position information storage step, the position information (position data) of the bucket 5 detected in the bucket position detection step (S37a) is stored in a storage memory (bucket position information storage means (not shown)) using the bucket position information storage means 70. )). Proceed to S38.

In S38, 21 or more pieces of position information (bucket position storage information) of the bucket 5 detected in S37a are detected, and it is determined in S37b whether or not 21 or more pieces of position information of the bucket 5 are stored in the storage memory. If “NO” is determined in S38, the processing of S38 → S37a → S37b → S38 is repeatedly executed until 21 or more pieces of position information (bucket position storage information) of the bucket 5 are detected and stored. Here, if “NO” is determined in S38, the determination is made immediately after the start switch 23 is turned “ON” and the counting of the number of agitation is started (the position information of the bucket 5 is less than 21). Table 1 shows the position information (bucket position storage information) of the bucket 5 detected in S37a. Thus, in the bucket position information storage step, the position information (position data) of the bucket 5 detected in the bucket position detection step is stored in the storage memory (bucket position information storage means (not shown)). Then, if "YES" is determined in S38, the process proceeds to S39a.

In S39a, a speed change amount dispersion value calculation step is performed. In the speed change amount variance value calculating step, the position change information (Table 1) of the latest 21 past buckets stored in the bucket position information storing step (S37b) is used by using the speed change amount variance value calculating means 71. A speed change amount dispersion value (XY average dispersion value (XY _ADWSj )) is calculated from the obtained speed change amount using a dispersion method. This speed change amount dispersion value (XY average dispersion value (XY _ADWSj )) is obtained by the following procedure. Here, the degree of dispersion of the speed change amount (position change amount) of the bucket 5 can be determined by obtaining the speed change amount dispersion value by the dispersion method. In the present embodiment, the speed change amount variance value is calculated using the dispersion method from the speed change amount obtained using the position information of the latest 21 past buckets. However, the present invention is not limited to this. A speed change amount variance value may be calculated from the speed change amount obtained using the latest past predetermined number of bucket position information other than the past 21 times using the distribution method.

In the speed change amount variance value calculation step, the position information of the last 20 buckets 5 stored in the bucket position information storage step (S37b) and the position information of the last bucket 5 of the respective position information are stored. the difference value _{(X j -X j-1 (position} information difference value _{X DIFFj), Y j -Y j} -1 ( position information difference value _{Y DIFFj))} speed variation from is determined. From this, first, the difference value (X _j −X _j−1) obtained by subtracting the position information of the last bucket 5 of the position information of each bucket 5 from the position information of each of the latest past 20 buckets 5. (Position information difference value X _DIFFj ), Y _j -Y _j-1 (position information difference value Y _DIFFj )) are obtained as the speed change amount (see Table 2). Here, in Table 2, for convenience of explanation, not only the difference value obtained by subtracting the position information of the previous bucket 5 of the position information of each bucket 5 from the position information of the buckets of the latest 20 past times, for convenience of explanation. , And the difference values (X _j −X _j−1 (position information difference value X _DIFFj ), Y _j −Y _j−1 (position information difference value Y _DIFFj )) other than the latest 20 times are also displayed.

Next, the average value (position information) of the position information difference values (X _DIFFj , Y _DIFFj ) between the position information of each of the last five buckets 5 for the last 20 times and the position information of the bucket 5 for the last position of each position information The average difference value (X _AWj , Y _AWj ) is obtained (see Equation 1, Table 3). In this way, by calculating the average position information difference value (X _AWj , Y _AWj ), the position information difference value (X _DIFFj , Y _DIFFj ), which is the speed change amount, can be leveled. This position information difference average value (X _AWj , Y _AWj ) is an average value of the “position information difference values (X _DIFFj , Y _DIFFj )” of the last 20 times, and for example, in the X direction obtained by “21” The position information difference average value (X _AW21 ) is _{calculated as} follows: position information difference average value (X _AW21 ) = (0.05 (“2”) + 0.00 (“3”) +... +0.00 (“20”)) −0.02 (“21”)) / 20. Here, although to display only the "Equation 1" in the position information difference average value (X _AWJ), be determined in the same manner as the position information difference average value (Y _AWJ) location difference average value also (X _AWJ) Can be.

Next, the difference (X _DIFFj −X _AWj , Y Y) from the position information difference average value (X _AWj , Y _AWj ) calculated above from the position information difference values (X _DIFFj , Y _DIFFj ) for the last 20 times. _{DIFFj- YAWj} ), and the positional information average difference value ( _XAWDj , _YAWDj ) is obtained. The location average difference value _{(X AWDj, Y} AWDj), each positional information difference value of the most recent past 20 times _{(X DIFFj, Y DIFFj)} and the position information difference average value _{(X AWj, Y} AWj) the difference between For example, as for the position information average difference value (X _AWDj ) in the X direction of “61” to “80”, “X _AWD61 = −0.0690 (−0.06-0.000090), X _AWD62 = − 0.0090 (0.00-0.0090), X _AWD63 = -0.0290 (-0.02-0.000090) ... X _AWD79 = -0.0490 (-0.04-0.000090) ), X _AWD80 = −0.0090 (0.00−0.000090) ”.

Next, the variance value (X _Sj , Y _Sj ) is obtained from the position information average difference values (X _AWDj , Y _AWDj ) of the last 20 times using Expression 2 (Table 4). The variance value (X _Sj , Y _Sj ) is calculated as the average value of the “location information average difference square value” obtained by squaring the “location information average difference value (X _AWDj , Y _AWDj )” of the last 20 times. Desired. Here, only the variance (X _Sj ) is displayed in “Equation 2”, but the variance (Y _Sj ) can be obtained in the same manner as the variance (X _Sj ).

Next, the dispersion value obtained in the above _{(X Sj, Y Sj)} X direction variance value _{(X Sj)} and Y direction variance from _{(Y Sj),} variance in the X direction and _{(X Sj)} Y An XY variance value (XY _ADSj ), which is the sum (X _Sj + Y _Sj ) of the variance values (Y _Sj ) in the directions, is obtained (see Table 5). As described above, by _{obtaining the} XY variance value (XY _ADSj ) which is the sum (X _Sj + Y _Sj ) of the variance value (X _Sj ) in the X direction and the variance value (Y _Sj ) in the Y direction, the “bucket in the X direction” is obtained. 5 and the dispersion degree of the speed change amount (position change amount) of the bucket 5 in the Y direction can be comprehensively determined. In the present embodiment, the XY variance value (XY _ADSj ), which is the sum (X _Sj + Y _Sj ) of the variance value (X _Sj ) in the X direction and the variance value (Y _Sj ) in the Y direction, is obtained. The present invention is not limited to this, and the variance value in the X direction (X _Sj ) and / or the variance value in the Y direction (Y _Sj ) may be used without _{calculating the} XY variance value (XY _ADSj ).

Next, an XY average variance value (XY _ADWSj (velocity change amount variance value)), which is an average value of the XY variance values (XY _ADSj ) obtained in the last 20 times, is obtained (see Table 6). By calculating the XY average variance value (XY _ADWSj (speed change amount variance value)), the XY variance value (XY _ADSj ) can be equalized. The XY average variance value (XY _ADWSj ) is the average value of the last 20 “XY variance values (XY _ADSj )”. For example, the XY average variance value (XY _ADWS40 ) obtained by “40” is “ XY average dispersion value _{(XY ADWS40) = 0.00534150 (XY} ADS21) +0.00259675 (XY ADS22) +0.00303675 (XY ADS23) + ··· +0.00905500 (XY ADS38) +0.00927000 (XY ADS39) +0. 00930375 (XY _ADS40 ) ". As described above, the velocity change amount (position information difference value (X _DIFFj (X _j −X _j−1 ), Y _DIFFj (Y _j −Y _j− )) obtained using the position information of the bucket 5 for the last 20 times in the past. ₁₎₎ (see Table 2) speed variation variance using a dispersion method from (XY average dispersion value _{(XY ADWSj))} is obtained. by obtaining the XY average dispersion value _{(XY ADWSj),} bucket It can be used as a comprehensive judgment index of “the degree of dispersion of the variation in the X direction” and “the degree of dispersion of the variation in the Y direction” at the position 5. Here, the XY average variance value (XY _ADWSj (speed change) Since the quantity variance value)) is the average value of the last 20 XY variance values (XY _ADSj ), it is obtained after the 20 XY variance values (XY _ADSj ) have been calculated. In a, if the XY variance value (XY _ADSj ) for 20 times has not been calculated, the processing of S39a → 37a → S37b → S38 → S39a is executed until the XY variance value (XY _ADSj ) of S20 times is calculated. The calculated XY variance (XY _ADSj ) is stored in the storage memory, and the process proceeds to S39b.

In S39b, a speed change amount dispersion value storage step is performed. In the speed change amount variance value storage step, the XY average variance value (XY _ADWSj (speed change amount variance value)) calculated in the speed change amount variance value calculation step (S39a) using the speed change amount variance value storage means 72. ) Is stored in the storage memory (speed change amount dispersion value storage means). In this way, the speed change amount dispersion value (XY average dispersion value (XY _ADWSj )) is obtained and stored in the storage memory (speed change amount dispersion value storage means). Then, the process proceeds to S40.

In S40, it is determined in S39b whether the XY average variance value (XY _ADWSj (speed change amount variance value)) is stored in the storage memory (speed change amount variance value storage means) for the latest 20 past values. If “NO” is determined in S40, the process _proceeds to S40 until the speed change amount variance value (XY average variance value (XY _ADWSj )) is stored in the storage memory (speed change amount variance value storage means) for 20 units. The processing of → S37a → S37b → S38 → S39a → S39b → S40 is repeatedly executed. Here, if “NO” is determined in S40, immediately after the start switch 23 is turned “ON” and the counting of the number of times of stirring is started (the speed change amount dispersion value (XY average dispersion value (XY _ADWS ))). Less than 20). Thus, in the speed change amount variance value storing step, the latest 20 times of the speed change amount variance value (XY average variance value (XY _ADWS )) calculated in the speed change amount variance value calculation step (S39a) are stored in the storage memory ( Speed change amount dispersion value storage means). Here, in S40 of FIG. 18, the speed change amount variance values before the latest 20 times or more may be deleted, or may be transferred to another storage means and stored. In the present embodiment, it is determined whether or not the speed change amount variance value (XY average variance value (XY _ADWS )) is stored for the latest 20 past values. However, the present invention is not limited to this. It may be determined whether the latest predetermined number of times is stored. Then, the process proceeds to S41.

In S41, a speed change amount variance maximum value extraction step is performed. In the speed change amount variance maximum value extracting step, the speed change amount variance maximum value extracting means 73 is used to store the latest 20 past speeds stored in the storage memory in the speed change amount variance value storing step (S39b). The maximum value (XY _ADWSmax ) of the variation variance value (XY average variance value (XY _ADWSj )) is extracted. For example, in the case of “59”, the maximum value (XY _ADWSmax ) of the XY average variance values (XY _ADWSj ) in “40” to “59”, which are the latest 20 times, is “0.0038508488 (“ 59 ")". In the present embodiment, as described above, the maximum value (XY _ADWSmax ) of the speed change amount variance values (XY average variance value (XY _ADWSj )) for the last 20 times is obtained, but the present invention is not limited to this. The maximum value (XY _ADWSmax ) of the speed change amount variance values (XY average variance values (XY _ADWSj )) for the latest predetermined number of times other than the last 20 times may be obtained. Then, the process proceeds to S42.

In S42, a speed change amount variance minimum value extracting step is performed. In the speed change amount variance value minimum value extracting step, the speed change amount variance value for the latest 20 past data stored in the speed change amount variance value storage step (S39b) is stored using the speed change amount variance value minimum value extracting means 74. values (XY average dispersion value _{(XY ADWSj))} of the speed variation variance value stored in the oldest (XY average dispersion value _{(XY ADSj-19))} from the speed variation variance value maximum value extracting step (S41) The minimum value MIN-1 of the speed change amount variance value (XY average variance value (XY _ADWSj )) up to the maximum value (XY _ADWSmax ) of the speed change amount variance value extracted according to From the maximum value (XY _ADWSmax ) of the speed change amount variance value extracted in the amount variance value maximum value extraction step (S39b), the speed change amount variance value (XY average variance value (XY) _ADWSj )), the minimum value MIN-2 of the speed change amount variance value up to the point until _ADWSj )) is extracted. For example, in the case of “59”, the minimum value MIN-1 is “0.006132400 (“ 40 ”)” and the minimum value MIN-2 is “0” in “40” to “59”, which are the latest 20 times. .0038508488 ("59") "(see Table 6). Then, the process proceeds to S43.

In S43, a speed change amount dispersion value difference value calculation step is performed. In the speed change amount dispersion value difference value calculation step, the maximum value of the speed change amount dispersion value extracted in the speed change amount dispersion value maximum value extraction step (S41) using the speed change amount dispersion value difference value calculation means 75. (XY _ADWSmax ) is calculated as “difference value H1” obtained by subtracting the minimum value MIN−1 of the speed change amount variance value, and the speed change amount variance extracted in the speed change amount variance maximum value extraction step (S41). The "difference value H2" is calculated by subtracting the minimum value MIN-2 of the speed change amount variance value from the maximum value (XY _ADWSmax ) of the values. Here, with respect to “59” calculated above, the minimum value MIN-1 is “0.006132400 (“ 40 ”)”, and the minimum value MIN-2 is “0.003508488 (“ 59 ”)”. Therefore, the “difference value H1” is 0.00228155512 (0.0038508488 (“59”) − 0.0061332400 (“40”)), and the “difference value H2” is 0.0 (0.003508488 (“59”). ) −0.003508488 (“59”)). Although the description has been made in S43 that the “difference value H1” and “difference value H2” are obtained, S37a to S45 are flows that are used to determine that the bucket 5 has changed from the stopped state to the moving state. Only the “difference value H1” is used.

  In S44, it is determined whether the “difference value H1” of the speed change amount variance value calculated in S43 is equal to or greater than the set value HS (0.01). If “YES” is determined in S44, the position flag FI is set to “2” in S45, and the process proceeds to S51. If “NO” is determined in S44, the agitation frequency measurement process is performed as it is. finish. Here, in “59” calculated above, since the “difference value H1” is 0.0022815512, the set value HS (0.01) ≦ “difference value H1 (0.0022815512)”, and the process proceeds to S44. It is determined as “YES”. The position flag FI “2” is a flag indicating that it has been determined that the bucket 5 has changed from the stopped state to the moved state. If “NO” is determined in S44, S17 → S18 → S15 → S31 → S36 → S37a until the “difference value H1” of the speed change amount variance becomes equal to or greater than the set value HS (0.01). The processing of → S37b → S38 → S39a → S39b → S40 → S41 → S42 → S43 → S44 is repeatedly executed (see FIGS. 16 and 18). Then, as described above, if “YES” is determined in S44, the position flag FI is set to “2” in S45, and the process proceeds to S51. If “NO” is determined in S51, the number of times of stirring is measured. The processing ends, and the processing of S17 → S18 → S15 → S31 → S36 is executed. The process after S51 is a process for determining whether the bucket 5 has changed from the moving state to the moving end state using the “difference value H2”. In the present embodiment, as described above, the set value HS is set to “0.01”. However, the present invention is not limited to this, and may be set to another value. Then, the process proceeds to S51.

  In S51, it is determined whether the “difference value H2” of the speed change amount variance value calculated in S43 is equal to or greater than the set value HS (0.01). Here, in “59” calculated above, the “difference value H2” is 0.00, so the set value HS (0.01) ≦ “difference value H2 (0.0)” does not hold. , S51 is determined to be "NO", and the agitation frequency measurement process ends, and the processes of S17 → S18 → S15 → S31 → S36 are executed. In the present embodiment, the set value HS is set to “0.01” as in S44, but is not limited thereto, and may be set to another value. Then, the process proceeds to S36.

  In S36, it is determined whether the position flag FI is "1". Since the position flag FI has been set to "2" in S45, "NO" is determined in S36, and the process proceeds to S46a.

  In S46a, a bucket position detecting step is performed. In this bucket position detecting step, the position of the bucket 5 (the position of the connecting portion 4a between the arm 4 and the bucket 5) is detected (measured) every 0.1 seconds, as in S37a. The bucket position detecting step (S46a) is the same as S37a, and thus the description is omitted (see Table 1). Then, the process proceeds to S46b.

  In S46b, a bucket position information storage step is performed. In this bucket position information storage step, similarly to S37b, the position information (position data) of the bucket 5 detected in the bucket position detection step (S46a) is stored in the storage memory (bucket position information storage means) using the bucket position information storage 70. (Not shown)). Then, the process proceeds to S47a.

In S47a, a speed change amount dispersion value calculation step is performed. In this speed change amount variance value calculating step, similarly to S39a, using the speed change amount variance value calculating means 71, the latest 21 past bucket position information (Table 1) stored in the bucket position information storing step (S46b). ) _Is used to calculate a speed change amount variance value (XY average variance value (XY _ADWSj )) using a dispersion method. Others are the same as S39a, and thus detailed description is omitted. Then, the process proceeds to S47b.

In S47b, a speed change amount dispersion value storage step is performed. In this speed change amount variance value storage step, the speed change amount variance value (XY average variance value) calculated in the speed change amount variance value calculation step (S47a) using the speed change amount variance value storage means 72 as in S39b. (XY _ADWSj )) is stored in the storage memory (speed change amount dispersion value storage means). Then, the process proceeds to S48.

In S48, a speed change amount variance maximum value extraction step is performed. In this speed change amount variance maximum value extracting step, similarly to S41, using the speed change amount maximum variance value extracting means 73, the latest past 20 stored in the storage memory in the speed change amount variance value storing step (S47b). The maximum value (XY _ADWSmax ) of the speed change amount variance value (XY average variance value (XY _ADWSj )) for each _unit is extracted. For example, in the case of “79”, the maximum value (XY _ADWSmax ) of each of the XY average variance values (XY _ADWSj ) in “60” to “79” of the last 20 times is “0.0060636038 (“ 68 ")". Others are the same as in S41, and a description thereof will be omitted. Then, the process proceeds to S49.

In S49, a speed change amount variance minimum value extraction step is performed. In this speed change amount variance minimum value extracting step, similarly to S42, using the speed change amount variance minimum value extracting means 74, the latest past 20 pieces of data stored in the speed change amount variance value storing step (S47b) are stored. speed variation variance (XY average dispersion value _{(XY ADWSj))} among the stored speed variation variance oldest (XY average dispersion value _{(XY ADWSj-19))} speed variation variance maximum value extraction The minimum value MIN-1 of the speed change amount dispersion value (XY average dispersion value (XY _ADWSj )) up to the maximum value (XY _ADWSmax ) of the speed change amount dispersion value extracted in the step (S48) is extracted. Rutotomoni, speed variation variance value maximum value extracting step (S48) the maximum value (XY _ADWSmax) stored in the latest from the speed variation variance value of the extracted velocity variation variance by (XY The minimum value MIN-2 speed change amount variance between up to Hitoshi variance _{(XY ADWSj))} is extracted. For example, in the case of "79", the minimum value MIN-1 is "0.0041663688 (" 60 ")" and the minimum value MIN-2 is "0" in "60" to "79" which are the latest 20 times. .0041367425 ("79") "(see Table 6). Then, the process proceeds to S50.

In S50, a speed change amount dispersion value difference value calculation step is performed. In the speed change amount variance value difference value calculating step, the speed change amount variance value extracted by the speed change amount variance value maximum value extracting step (S48) using the speed change amount variance value difference value calculation means 75 as in S43. The “difference value H1” obtained by subtracting the minimum value MIN-1 of the speed change amount variance value from the maximum value (XY _ADWSmax ) is calculated, and the difference value H1 is extracted in the speed change amount variance maximum value extraction step (S48). A "difference value H2" is calculated by subtracting the minimum value MIN-2 of the speed change amount variance value from the maximum value (XY _ADWSmax ) of the speed change amount variance value. Here, as for “79” calculated above, the minimum value MIN-1 is “0.0041663688 (“ 60 ”)” and the minimum value MIN-2 is “0.0041367425 (“ 79 ”), as described above. )), The “difference value H1” becomes 0.001899905 (0.0060636038 (“68”) − 0.0041663688 (“60”)), and the “difference value H2” becomes 0.002236375 (0. 00603606038 ("68")-0.0041367425 ("79")). Although the description has been made in S50 that the “difference value H1” and “difference value H2” are obtained, S46a to S53 are a flow for determining that the bucket 5 has changed from the moving state to the moving end state. Only the “difference value H2” is performed. Then, the process proceeds to S51.

In S51, it is determined whether or not the "difference value H2" of the speed change amount variance value calculated in S50 is equal to or greater than the set value HS (0.01). Then, if "YES" is determined in S51, the process proceeds to S52, in which a stirring frequency counting step (see FIG. 19) described later is executed, and in S53, the position flag FI is set to "1" and the stirring frequency measurement process is performed. finish. In addition, when it is determined to be “NO” in S51, the agitation frequency measurement processing is ended as it is. The position flag FI “2” is a flag indicating that it has been determined that the bucket 5 has changed from the moving state to the moving end state. Here, if “NO” is determined in S51, S17 → S18 → S15 → S31 → S36 → S46a → until the difference value H2 of the speed change amount variance value becomes equal to or greater than the set value HS (0.01). The processing of S46b → S47a → S47b → S48 → S49 → S50 → S51 is repeatedly executed (see FIGS. 16 and 18). Here, in the stirring frequency measurement process to be executed again, “YES” is determined in S31 (the processing flag SS is set to “1” in S35), and the process proceeds to S36. For example, in “79” calculated above, the “difference value H2” is 0.0022236375, so the setting value HS (0.01) ≦ “difference value H2 (0.0022236375)”, and “51” is set in S51. YES is determined. Then, as described above, when “YES” is determined in S51, the process proceeds to S52, and a stirring number counting step (see FIG. 19) described later is executed. In the stirring number counting step (S52), the bucket 5 is moved from the stopped state to the moving state by the bucket movement determining step ((S37b-S44) and (S46b-S51)) using the bucket movement determining means 69, as described later. Is determined, and when it is determined that the bucket 5 has changed from the moving state to the moving end state, the stirring number counting means 76 is used to add 1 to the stirring number. That is, it is determined in S44 that the bucket 5 has changed from the stopped state to the moving state, and in S51, it is determined that the bucket 5 has changed from the moving state to the moving end state. ). Then, the position flag FI is set to "1" in S53, and the speed change amount dispersion value (before the minimum value) erasing step is executed in S54. In the speed change amount variance value (before the minimum value) erasing step, the speed change before the "minimum value MIN-2 of the speed change amount variance value (XY average variance value (XY _ADWSj ))" extracted in (S49) is performed. The amount variance value (XY average variance value (XY _ADWSj )) is deleted. As a result, it is possible to avoid duplicate counting of the number of times of agitation in one ground improvement operation with the intention of the operator. In the present embodiment, as described above, the set value HS is set to “0.01”. However, the present invention is not limited to this, and may be set to another value.

  Next, a stirring frequency counting step which is a subroutine of the stirring frequency measuring process will be described. FIG. 19 is a diagram showing a stirring frequency counting step which is a subroutine of the stirring frequency measuring process. The number of agitation is counted in the agitation number counting step, and the number of agitation of the first to third layers counted in the agitation number counting step is determined by the display step in the measured value display sections 34a to 36a (see FIG. ).

  First, in S61, “1” is added to the number of agitation (N). Here, the number of times of stirring (N) is the total number of times of stirring the number of times of stirring (N1 to N3).

  Next, in S62, it is determined whether the three-layer measurement flag is “ON”. The three-layer measurement flag is turned “ON” when the three-layer button 61 (see FIG. 8) on the layer change screen 38 is pressed (S21 (FIG. 17)). Then, if "YES" is determined in S62, the process proceeds to S63, in which the number of agitation (N3) is added by "1" in S63, and the agitation number counting process ends. If “NO” is determined in S62, the process proceeds to S64.

  Next, in S64, it is determined whether the two-layer measurement flag is “ON”. The two-layer measurement flag is turned “ON” when the two-layer button 60 (see FIG. 8) on the layer change screen 38 is pressed (S23 (FIG. 17)). Then, if "YES" is determined in S64, the process proceeds to S65, in which the number of agitation (N2) is added by "1" in S65, and the agitation number counting process ends. If “NO” is determined in S64, the process proceeds to S66.

  Next, in S66, it is determined whether the one-layer measurement flag is “ON”. This single-layer measurement flag is turned “ON” when the single-layer button 59 (see FIG. 8) on the layer change screen 38 is pressed (S25 (FIG. 17)). Then, if "YES" is determined in S66, the process proceeds to S67, in which the number of agitation (N1) is added by "1" in S67, and the agitation number counting process ends. If "NO" is determined in S66, the process proceeds to S62 again. Until one of S62, S64, or S66 is turned “ON”, the processing of S66 → S62 → S64 → S66 is performed. "1" is added, and the stirring number counting step is completed.

  The design value display sections 34b to 36b (see FIG. 6) display the design value (planned value) of the number of agitation for the first to third layers, and the design value (34b, 35b, 36b ( 6) can be set in the stirring frequency setting step. Then, the number of agitation (N1, N2, N3) is added (counted) in the agitation number counting step using the agitation number counting means 76, and the added (counted) number of agitation is used by the agitation number setting means 79. Then, when the number of agitation (design value (34b, 35b, 36b)) set in the agitation number setting step is reached, a notification unit 81 such as a buzzer or a lamp is used to notify that the design value has been reached. It is notified by the notification step. In this way, the worker can know that the number of times of stirring (N1, N2, N3) has reached the design value (34b, 35b, 36b), and can accurately and reliably perform the number of times the worker wants to stir in advance. Can be stirred. Further, in this case, the sound of the buzzer (notifying means) or the color of the lamp (notifying means) may be changed depending on the number of times of stirring (N1, N2, N3).

  Also, a removable USB memory 54 (recording medium) is inserted (inserted) into the USB memory insertion slot (mounting means 77) of the management device 100 in the mounting step, and is mounted in the mounting step using the recording means 78. Data is recorded in the removable USB memory 54 (recording medium) by a recording process. Then, the USB memory 54 in which the data is stored is taken out from the management device 100, and the taken out USB memory 54 is inserted into a personal computer 55 in another place, and the data stored in the USB memory 54 is counted and analyzed. And outputs the result using the printer 56.

  As described above, according to the present embodiment, each time it is determined that the bucket 5 has changed from the stopped state to the moving state, and thereafter, it is determined that the bucket 5 has changed from the moving state to the moving end state, The number of agitation is counted for each soil improvement work intended by the operator. Therefore, regardless of the type of ground improvement, the number of agitation times should be counted, including all soil improvement work that contributes to ground improvement. Can be. This makes it possible to determine the degree of stirring and mixing more accurately, and to perform the stirring and mixing of the ground with higher quality. As described above, in the first embodiment, the number of times of stirring is counted when the bucket 5 changes from the stopped state to the moving state after the bucket 5 changes from the stopped state to the moving state.

(2nd Embodiment)
Next, a description will be given of a second embodiment of the management system for the ground stirring device according to the present invention. Here, the main difference between the second embodiment and the first embodiment of the present invention is that, in the “first embodiment”, a certain speed change amount dispersion value (speed change amount dispersion value (XY average When the “difference value H1” obtained using the variance value (XY _ADWSj ) is equal to or greater than the set value HS (0.01), it is determined that the bucket 5 has changed from the stopped state to the moving state. The "difference value H2" obtained using the subsequent speed change amount dispersion value (the past 20 speed change amount dispersion values (XY average dispersion value (XY _ADWSj )) is set value HS (0.01). In the above case, it is determined that “the bucket 5 has changed from the moving state to the moving end state”. On the other hand, in the “second embodiment”, a certain speed change amount dispersion value the amount variance value (XY average dispersion value _{(XY ADWS)))} When both the "difference value H1" and "difference value H2" obtained by the calculation become equal to or greater than the set value HS (0.01), it is determined that "the bucket 5 has changed from the stopped state to the moving state", and The difference is that the determination is made that “the bucket 5 has changed from the moving state to the moving end state.” That is, when the ground is agitated, the ground improvement operator needs to determine Although the intention is to implement such ground improvement, in each of the ground improvement work, after the speed change amount of the bucket 5 continues to increase greatly, at some point the speed change amount decreases and decreases. In the second embodiment, the amount of change in the speed of the bucket 5 increases and then decreases in the vicinity of the branch point. Maximum value of the dispersion values _{(XY ADWSmax)} "difference H1" obtained by subtracting the minimum value MIN-1 speed change amount variance of "and" maximum value of the speed variation variance _{(XY ADWSmax)} speed variation variance from Paying attention to the fact that the “difference value H2” obtained by subtracting the minimum value MIN−2 of the above becomes a large value, the “bucket 5 changed from the stopped state to the moving state” and the “bucket 5 is changed from the moving state to the moving end state. "In the second embodiment, the description will be focused on points different from the first embodiment. The same reference numerals are used for the same configuration (including the approximate configuration) as in the first embodiment, and the same operation and effect are obtained, and the description is omitted.

  In the second embodiment, when the ground is agitated, as described above, the ground improvement worker is required to perform each of the ground improvement operations such as “sifting”, “crushing”, “relaxing”, and “turning the ground”. The intention is what kind of ground improvement will be implemented. Then, in the ground improvement work one by one with the intention of the ground improvement operator, the speed change amount of the bucket 5 during the ground improvement is increased from a small state (slow state) to a speed change amount (slow state). ), And the speed change amount is reduced to a small state (slow state), and one ground improvement work intended by the operator is completed. In the second embodiment, by paying attention to the speed change amount of the bucket 5, it is determined that “the bucket 5 has changed from the stopped state to the moving state” and “the bucket 5 has changed from the moving state to the moving end state”. Is determined.

Hereinafter, a management system of the ground stirring device according to the second embodiment of the present invention will be described with reference to FIG. Here, FIG. 20 is a diagram showing a stirring frequency measurement process which is a subroutine of the ground stirring frequency counting method according to the second embodiment of the present invention. In the second embodiment of the present invention, the determination that “the bucket 5 has changed from the moving state to the moving end state” and the determination that “the bucket 5 has changed from the stopped state to the moving state” are the same speed change amount. This is performed using the variance value (the variance value of the past 20 speed change amounts (XY average variance value (XY _ADWS )). Thereby, the "position flag FI = 1 of S35 of FIG. 18" of the first embodiment of the present invention in FIG. The setting process, the process of determining the position flag FI = 1 in S36, the process of setting the position flag FI = 1 in S45, and the process of setting the position flag FI = 1 in S53 are not necessary. 20, the description up to S39a in FIG. 18 (first embodiment) can be understood from the first embodiment, and therefore, it will be described from S39b.

In S39b, a speed change amount dispersion value storage step is performed. In the speed change amount variance value storage step, as described above, the XY average variance value (XY _ADWS (speed) calculated by the speed change amount variance value calculation step (S39a) using the speed change amount variance value storage means 72 as described above. The change amount dispersion value) is stored in the storage memory (speed change amount dispersion value storage means). Then, the process proceeds to S40.

In S40, it is determined in S39b whether the XY average variance value (XY _ADWSj (speed change amount variance value)) is stored in the storage memory (speed change amount variance value storage means) for the latest 20 past values. If “NO” is determined in S40, as in the first embodiment, 20 speed change amount variance values (XY average variance value (XY _ADWSj )) are stored in the storage memory (speed change amount variance value storage unit). Until the minute is stored, the processing of S40 → S37a → S37b → S38 → S39a → S39b → S40 is repeatedly executed. Thus, in the speed change amount variance value storing step, the latest 20 times of the speed change amount variance value (XY average variance value (XY _ADWS )) calculated in the speed change amount variance value calculation step (S39a) are stored in the storage memory ( Speed change amount dispersion value storage means). Here, the speed change amount variance values before and after the latest 20 times may be deleted as in the first embodiment, or may be transferred to another storage means and stored. In the present embodiment, it is determined whether or not the speed change amount variance value (XY average variance value (XY _ADWS )) is stored for the latest 20 past values. However, the present embodiment is not limited to this. Alternatively, it may be determined whether or not the latest predetermined number of times other than 20 are stored. Then, the process proceeds to S241.

In S41, a speed change amount variance maximum value extraction step is performed. In the speed change amount variance maximum value extracting step, as in the first embodiment, the speed change amount variance maximum value extracting means 73 is used to store the speed change amount variance value maximum value in the storage memory in the speed change amount variance value storing step (S39b). The maximum value (XY _ADWSmax ) of the speed change amount variance values (XY average variance value (XY _ADWSj )) of the latest 20 past is extracted. For example, in the case of “77”, the maximum value (XY _ADWSmax ) of each of the XY average variance values (XY _ADWSj ) in “58” to “77”, which are the latest 20 times, is “0.006066363838 (“ 68 ")". In the present embodiment, the maximum value (XY _ADWSmax ) of the speed change amount variance values (XY average variance value (XY _ADWSj )) of the last 20 times is obtained, but the present invention is not limited to this. The maximum value (XY _ADWSmax ) of the speed change amount variance values (XY average variance value (XY _ADWSj )) for the latest predetermined number of times may be obtained. Then, the process proceeds to S42.

In S42, a speed change amount variance minimum value extracting step is performed. In the speed change amount variance minimum value extracting step, as in the first embodiment, using the speed change amount variance minimum value extracting means 74, the last 20 variance values stored in the speed change amount variance value storing step (S39b) are stored. Of the speed change amount dispersion values (XY average dispersion value (XY _ADWSj )), the speed change amount dispersion value (XY average dispersion value (XY _ADWSj-19 )) to the maximum speed change amount dispersion value The minimum value MIN-1 of the speed change amount dispersion value (XY average dispersion value (XY _ADWSj )) up to the maximum value (XY _ADWSmax ) of the speed change amount dispersion value extracted in the value extraction step (S48) is In addition to the extracted speed change amount variance value (XY _ADWSmax ) extracted in the speed change amount variance value maximum value extraction step (S48), the speed change amount variance value (XY _ADWSmax ) is stored. The minimum value MIN-2 of the speed change amount dispersion value up to the XY average dispersion value (XY _ADWSj ) is extracted. For example, in the case of “77”, the minimum value MIN-1 is “0.00353346238 (“ 58 ”)” and the minimum value MIN-2 is “0” in “58” to “77” which are the latest 20 times. .004804125 ("77") "(see Table 6). Then, the process proceeds to S43.

In S43, a speed change amount dispersion value difference value calculation step is performed. In this speed change amount variance value difference value calculating step, the speed extracted in the speed change amount variance value maximum value extracting step (S41) using the speed change amount variance value difference value calculation means 75, as in the first embodiment. A "difference value H1", which is obtained by subtracting the minimum value MIN-1 of the speed change amount variance value from the maximum value (XY _ADWSmax ) of the change amount variance value, is calculated, and the speed change amount variance maximum value extracting step (S41) is performed. A "difference value H2" is calculated by subtracting the minimum value MIN-2 of the speed change amount dispersion value from the extracted maximum value (XY _ADWSmax ) of the speed change amount dispersion value. Here, as described above, the minimum value MIN-1 of “77” calculated above is “0.00353346238 (“ 58 ”)”, and the minimum value MIN-2 is “0.0048044125 (“ 77 ”). )), The “difference value H1” becomes 0.00252898 (0.0060636038 (“68”) − 0.00353346238 (“58”)), and the “difference value H2” becomes 0.0012591913 (0. 00606366038 ("68")-0.0048044125 ("77"). Then, the process proceeds to S44.

  In S44, similarly to the first embodiment, it is determined whether or not the “difference value H1” of the speed change amount variance value calculated in S43 is equal to or greater than the set value HS (0.01). Here, in “77” calculated above, the “difference value H1” is 0.00252898, so that the set value HS (0.01) ≦ “difference value H1 (0.00252898)”. It is determined as “YES”. Then, if “YES” is determined in S44, the process proceeds to S51, and if “NO” is determined in S44, the agitation frequency measurement process ends. In the present embodiment, the set value HS is set to “0.01” as in the first embodiment, but the present invention is not limited to this, and a set value of another magnitude may be used. Then, the process proceeds to S51.

  In S51, as in the first embodiment, it is determined whether the difference value H2 of the speed variation variance value calculated in S43 is equal to or greater than the set value HS (0.01). Here, in “77” calculated above, the “difference value H2” is 0.0012591913, so that the set value HS (0.01) ≦ “difference value H2 (0.0012591913)”. It is determined as “YES”. Then, if “YES” is determined in S51, the process proceeds to S52, and a stirring number counting step (see FIG. 19) is executed. In addition, when it is determined to be “NO” in S51, the agitation frequency measurement processing is ended as it is. In the stirring number counting step (S52), as described above, it is determined that the bucket 5 has changed from the stopped state to the moving state by the bucket movement determining step (S37b to S44, S51) using the bucket movement determining unit 69. This is a process for adding one to the number of agitation using the agitation number counting means 76 when it is determined that the bucket 5 has changed from the moving state to the movement terminated state. That is, it is determined in S44 that the bucket 5 has changed from the stopped state to the moving state, and in S51, it is determined that the bucket 5 has changed from the moving state to the moving end state. ). Then, the process proceeds to S53. The step of counting the number of times of stirring is the same as that in FIG.

In S53, a speed change amount dispersion value (before the minimum value) erasing step is performed. In the speed change amount variance value (before the minimum value) erasing step, the speed change amount before the “minimum value MIN-2 of the speed change amount variance value (XY average variance value (XY _ADWSj ))” extracted in (S42) is used. The variance value (XY average variance value (XY _ADWSj )) is deleted. As a result, it is possible to avoid duplicate counting of the number of times of agitation in one ground improvement operation with the intention of the operator.

  As described above, also in the second embodiment, similarly to the first embodiment, it is determined that the bucket 5 has changed from the stopped state to the moving state, and it is determined that the bucket 5 has changed from the moving state to the moving end state. Every time, that is, the number of times of agitation is counted for each ground improvement work intended by the ground improvement worker, regardless of the type of ground improvement, including all ground improvement works that contribute to ground improvement. The number of times of stirring can be counted. This makes it possible to determine the degree of stirring and mixing more accurately, and to perform the stirring and mixing of the ground with higher quality. As described above, in the second embodiment, the number of times of stirring is counted when the bucket 5 changes from the stopped state to the moving state after the bucket 5 changes from the stopped state to the moving state.

  The embodiments disclosed this time are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

REFERENCE SIGNS LIST 1 backhoe 2 upper revolving unit 2 a connecting unit 2 b tilt reference position 3 boom 3 a connecting unit 4 arm 4 a connecting unit 5 bucket 6 lower revolving unit 7 caterpillar 8 revolving unit 9 boom cylinder 9 a piston rod 10 arm cylinder 10 a piston rod 11 bucket cylinder 11 a Piston rod 12 Angle sensor 13 Angle sensor 13a Angle sensor 14a Pressure hose 14b Pressure tube 15 Flow sensor 16 Operating room 17 Seat 18 First operation lever 19 Second operation lever 20 Pressure tube outlet 21 Stirring plate 22 Operation panel 23 Start switch 24 Interruption switch 25 Complete switch 26 Menu switch 27 Machine number display unit 28 Grid number display unit 29 Date time display unit 30 Excavation depth display unit 31 Design depth display unit 32 Cumulative flow display unit 33 Instantaneous flow display unit 34 Single layer stirring frequency table Unit 34a Measurement value display unit 34b Design value display unit 35 Two-layer stirring frequency display unit 35a Measurement value display unit 35b Design value display unit 36 Three-layer stirring frequency display unit 36a Measurement value display unit 36b Design value display unit 37 Track display unit 38 Layer change screen 39 System end switch 40 Initial setting switch 41 Angle meter setting screen 41a Angle meter setting tab 42 Flow meter setting screen 42a Flow meter setting tab 43 Heavy equipment dimension setting screen 43a Heavy equipment dimension setting tab 44a Setting save button 44b Setting save button 44c Setting save button 45 Close button 45a Close button 45b Close button 45c Close button 46 Detailed setting button 47 Sensor value display button 48 Menu screen 49 Construction block length input unit 51 Single layer design depth input unit 52 Double layer design depth input unit 53 3 Layer design depth input unit 54 USB memory 55 Personal computer 56 Printer 57 Design depth input screen 58a OK button 58b OK button 59 1st layer button 60 2nd layer button 61 3rd layer button 62 Ground stirring frequency counting method selection screen 63 Boom correction angle input section 64 Boom correction angle input section 65 Machine correction angle Input unit 66 Mode change button 67 Count start unit 68 Bucket position detection unit 69 Bucket movement determination unit 70 Bucket position information storage unit 71 Speed change amount dispersion value calculation unit 72 Speed change amount dispersion value storage unit 73 Speed change amount dispersion value maximum value Extraction unit 74 Speed change amount dispersion minimum value extraction unit 75 Speed change amount dispersion value difference value calculation unit 76 Stirring number counting unit 77 Attachment unit 78 Recording unit 79 Stirring number setting unit 80 Display unit 81 Notification unit 100 Management device 300 Depth diagram 301 Excavation depth 302 Design depth

In order to solve the above problems and achieve the above object, according to a first aspect of the present invention, a telescopic movement of a piston rod in a boom cylinder is supported so as to be rotatable around a connection portion with a main body. A boom that is driven based on the stroke of the boom, and an arm that is rotatably connected around a connecting portion with the boom and that is driven based on a stroke of the expansion and contraction movement of the piston rod in the arm cylinder, and a connecting portion of the arm. A bucket rotatably connected to the center, the bucket being driven based on a stroke of expansion and contraction of a piston rod in a bucket cylinder, wherein the bucket is moved to stir the ground and count the number of times of stirring. A bucket position detecting means for detecting a bucket position at predetermined time intervals, and a bucket position detecting means for detecting the bucket position at predetermined time intervals. The bucket movement judging means for judging that the bucket has changed from the pre-movement detection state to the movement state based on the issued position information of the bucket, and judging that the bucket has changed from the movement state to the movement end state. is determined from the movement detection previous state and became moving state, then when the bucket is determined to become mobile termination state from moving state, possess a stirred number counting means for adding one stirring times, the bucket movement determination The means is obtained by using bucket position information storage means for storing the position information of the bucket detected by the bucket position detection means, and the position information of the buckets for the latest predetermined number of past times stored by the bucket position information storage means. Speed change amount variance value calculating means for calculating a speed change amount variance value using a dispersion method from the speed change amount, Speed change variance value storage means for storing the latest predetermined number of past times of the speed change variance value calculated by the degree change amount variance value calculation means; and the latest past predetermined number of times stored by the speed change variance value storage means. A speed change amount variance maximum value extracting means for extracting the maximum value of the speed change amount variance value; and an oldest speed change amount variance value for a predetermined number of latest past times stored by the speed change amount variance value storage means. Extraction of the minimum value MIN-1 of the speed change amount variance value from the speed change amount variance value stored in the memory to the maximum value of the speed change amount variance value extracted by the speed change amount variance maximum value extracting means And the minimum value MIN of the speed change amount variance from the maximum speed change amount variance value extracted by the speed change amount variance maximum value extracting means to the latest stored speed change amount variance value. Extract -2 A difference value H1 obtained by subtracting the minimum value MIN-1 of the speed change amount variance value from the maximum value of the speed change amount variance value extracted by the speed change amount variance minimum value extracting unit and the speed change amount variance maximum value extracting unit. And a difference value H2 obtained by subtracting a minimum value MIN-2 of the speed change amount variance value from the maximum value of the speed change amount variance value extracted by the speed change amount variance maximum value extracting means. When the difference value H1 of the speed change amount variance value calculated by the variance value difference value calculating means and the speed change amount variance value difference value calculating means is equal to or larger than the set value HS, the bucket has changed from the state before the movement detection to the moving state. When the difference value H2 of the speed change amount variance value calculated by the speed change amount variance value difference value calculation means is equal to or larger than the set value HS, it is determined that the bucket has changed from the moving state to the moving end state. It is assumed that.

In soil improvement, there are various types of soil, such as gravel, sand, silt, loam, clay, humus, and a mixture of these, and since the properties of these soils are different, the optimal work for mixing and mixing is different. Exists. For this reason, when performing soil improvement work on each soil, the soil improvement worker should consider how to perform each soil improvement work such as `` sieving off '', `` crushing '', `` relaxing '', and With the intention of implementing major ground improvement. That is, the ground improvement work intended by the ground improvement worker is performed for each ground improvement work. According to the present invention, when the difference value H1 of the speed change amount variance value is equal to or larger than the set value HS, it is determined that the bucket has changed from the state before the movement detection to the moving state, and thereafter, the difference value H2 of the speed change amount variance value is set. When the value is equal to or greater than the value HS, the number of agitation is counted each time it is determined that the bucket has changed from the moving state to the moving end state, that is, each time the ground improvement worker intends for each ground improvement operation. Regardless of the type of improvement, the number of agitation times is counted, including all soil improvement operations that contribute to soil improvement. This makes it possible to determine the degree of stirring and mixing more accurately, and to perform the stirring and mixing of the ground with higher quality.

According to a second aspect of the present invention, there is provided a management system for a ground stirrer according to the first aspect, wherein the speed change amount variance value calculating means includes the latest past predetermined value stored by the bucket position information storing means. A speed change amount variance value is calculated from the speed change amount obtained by using a difference value between each position information of the bucket for the number of times and the position information of the previous bucket of the respective position information using the dispersion method. It is characterized by that.

According to a third aspect of the present invention, there is provided a management system for a ground stirrer according to the first or second aspect, wherein the bucket position detecting means determines a position of the bucket in the X-axis direction and the Y-axis direction. The detection is performed at predetermined time intervals.

According to a fourth aspect of the present invention, there is provided a management system for a ground stirrer according to any one of the first to third aspects, wherein a display means for displaying the number of agitation counted by the agitation number counting means. Is further provided.

According to a fifth aspect of the present invention, there is provided the management system for the ground stirring device according to any one of the first to fourth aspects, further including a count start unit that starts counting the number of times of stirring. It is characterized by.

According to a sixth aspect of the present invention, there is provided a management system for a ground stirrer according to any one of the first to fifth aspects, wherein a stirring frequency setting means for setting a stirring frequency, and a stirring frequency counting means. And a notifying unit for notifying that the number of agitation counted by the number of agitation has reached the number of agitation set by the agitation number setting unit.

According to a seventh aspect of the present invention, there is provided a management system for a ground stirrer according to any one of the first to sixth aspects, wherein a mounting means for mounting a removable recording medium, Recording means for recording data on the attached removable recording medium.

Claims (8)

A boom that is rotatably supported around a connection portion with the main body and that is driven based on a stroke of expansion and contraction movement of a piston rod in a boom cylinder, is rotatably connected around a connection portion with the boom, An arm that is driven based on the stroke of the expansion and contraction movement of the piston rod in the arm cylinder; and an arm that is rotatably connected around a connection portion with the arm and that is driven based on the expansion and contraction movement of the piston rod in the bucket cylinder. The bucket is moved, the ground is agitated by moving the bucket, in the management system of the ground stirring device that counts the number of times of stirring,
Bucket position detecting means for detecting the position of the bucket every predetermined time;
A bucket movement that determines that the bucket has changed from a stopped state to a movement state and that determines that the bucket has changed from a movement state to a movement end state based on the bucket position information detected at predetermined time intervals by the bucket position detection unit. Determining means;
When the bucket movement determining means determines that the bucket has changed from the stopped state to the moving state, and thereafter, when it is determined that the bucket has changed from the moving state to the movement terminated state, the number of stirring times is increased by one. ,
A management system for a ground stirrer, comprising: The bucket movement determination means,
Bucket position information storage means for storing position information of the bucket detected by the bucket position detection means;
A speed change amount variance value calculating means for calculating a speed change amount variance value by using a dispersion method from a speed change amount obtained by using the position information of the bucket of the latest predetermined number of times stored in the bucket position information storing means; When,
Speed change amount variance value storage means for storing the latest predetermined number of past times of the speed change amount variance value calculated by the speed change amount variance value calculation means;
Speed change amount variance value maximum value extraction means for extracting the maximum value of the speed change amount variance values for the latest past predetermined number of times stored by the speed change amount variance value storage means;
Among the speed change amount variance values for a predetermined number of latest past times stored by the speed change amount variance value storage unit, the speed change amount variance maximum value extraction unit extracts the speed change amount variance value maximum value from the oldest stored speed change amount variance value The minimum value MIN-1 of the speed change amount variance up to the obtained maximum speed change amount variance value is extracted, and the speed of the maximum value extracted by the speed change amount variance maximum value extracting means is extracted. Speed change amount variance minimum value extracting means for extracting the minimum value MIN-2 of the speed change amount variance value from the change amount variance value to the latest stored speed change amount variance value;
Calculating a difference value H1 obtained by subtracting the minimum value MIN-1 of the speed change amount variance value from the maximum value of the speed change amount variance value extracted by the speed change amount variance maximum value extracting means; A speed change amount variance value difference value calculating means for calculating a difference value H2 obtained by subtracting the minimum value MIN-2 of the speed change amount variance value from the maximum value of the speed change amount variance value extracted by the variance value maximum value extracting means; ,
When the difference value H1 of the speed change amount variance value calculated by the speed change amount variance value difference calculation means is equal to or larger than a set value HS, it is determined that the bucket has changed from a stopped state to a moving state, and the speed change amount is determined. 2. The bucket is determined to have moved from the moving state to the moving end state when the difference value H2 of the speed change amount variance value calculated by the variance value difference value calculating means is equal to or greater than a set value HS. The management system of the ground stirring device described in the above.   The speed change amount variance value calculating unit is configured to calculate a difference value between the position information of each of the buckets of the latest predetermined number of times stored in the bucket position information storage unit and the position information of the previous bucket of the respective position information. 3. The management system for a ground stirring device according to claim 2, wherein a speed change amount dispersion value is calculated by using a dispersion method from the speed change amount obtained using (1).   4. The management system for a ground stirring device according to claim 2, wherein the bucket position detecting unit detects a position of the bucket in the X-axis direction and the Y-axis direction at predetermined time intervals. 5.   The management system for a ground stirring device according to any one of claims 1 to 4, further comprising a display unit for displaying the number of times of stirring counted by the number of times of stirring.   The management system for a ground stirring device according to any one of claims 1 to 5, further comprising a count start unit that starts counting the number of times of stirring. A stirring frequency setting means for setting the stirring frequency,
7. A notification means for notifying that the number of times of stirring counted by the number of times of stirring counting means has reached the number of times of stirring set by the number of times of stirring setting means. 2. The management system for a ground stirring device according to claim 1. Mounting means for mounting a removable recording medium;
The management system for a ground stirring device according to any one of claims 1 to 7, further comprising recording means for recording data on a removable recording medium mounted on the mounting means.

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