JP2020158997A - Work machine - Google Patents

Abstract

To provide a work machine capable of reliably preventing unqualified operation by an operator.SOLUTION: A shovel 100 includes a lower structure 1, a super structure 3 revolvably mounted on the lower structure 1, and a controller 30 mounted on the super structure 3. The controller 30 acquires information about the operation qualification of an operator, and when detecting that the operator is trying to perform unqualified operation, alerts the attention of the operator or prohibits the movement of the shovel based on the unqualified operation.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to work machines.

Conventionally, when the information stored in the mobile terminal carried by the operator matches the information stored in the storage unit of the excavator, the operation corresponding to the operation by the operator can be executed. Excavators are known (see Patent Document 1).

An excavator, which is an example of a work machine, is usually used for various operations such as excavation work, grapple work, crane work, lifting magnet work, breaker work, concrete crushing work or pile driving work. Then, the operator of the excavator needs to be qualified to perform the specific work when performing the specific work. For example, when operating a shovel with a pile driver attached to the tip of an attachment to carry out pile driving work, the excavator operator has completed the driving skill training for vehicle-based construction machines (for foundation work). There is a need.

Japanese Unexamined Patent Publication No. 2012-232682

However, the above-mentioned excavator only uses the fact that the same information is stored in both the mobile terminal and the storage unit as a key for starting the excavator, and uses the information regarding the qualification of the operator. Not.

Therefore, the above-mentioned excavator may allow operations related to work that is not permitted to be performed by the operator's qualification (hereinafter referred to as "non-qualified operation").

Therefore, it is desirable to provide a work machine that can more reliably prevent unqualified operations by the operator.

The work machine according to the embodiment of the present invention includes a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, and a control device mounted on the upper rotating body, and the control device. Acquires information on the driver's driving qualification, and when it detects that the operator is about to perform an unqualified operation, calls the operator's attention or performs work related to the unqualified operation. Prohibit the operation of the machine.

The above-mentioned work machine can more reliably prevent unqualified operations by the operator.

It is a side view of the excavator which concerns on embodiment of this invention. It is a figure which shows the configuration example of the basic system mounted on the excavator of FIG. It is a figure which shows the configuration example inside the cabin. It is a flowchart which shows an example of a display process. It is a flowchart which shows an example of a restriction process. It is a table showing an example of the relationship between qualifications and work related to construction machinery. It is a figure which shows an example of the main screen. It is a figure which shows another example of the main screen. It is a figure which shows still another example of a main screen. It is a figure which shows another configuration example of the basic system mounted on the excavator of FIG. It is a figure which shows another configuration example inside a cabin. It is a flowchart which shows an example of the authentication process. It is a figure which shows still another configuration example of the basic system mounted on the excavator of FIG.

First, a configuration example of the excavator 100, which is an example of the work machine according to the embodiment of the present invention, will be described with reference to FIGS. 1 to 3. FIG. 1 is a side view of the excavator 100. FIG. 2 shows a configuration example of a basic system mounted on the excavator 100. In FIG. 2, the mechanical power transmission line is indicated by a double line, the hydraulic oil line is indicated by a thick solid line, the pilot line is indicated by a broken line, and the electric drive / control line is indicated by a fine solid line. FIG. 3 shows an example of the internal configuration of the cabin 10.

An upper swivel body 3 is mounted on the lower traveling body 1 of the shovel 100 so as to be swivelable via a swivel mechanism 2. A boom 4 is attached to the upper swing body 3. An arm 5 is attached to the tip of the boom 4. A bucket 6 as an end attachment is attached to the tip of the arm 5. The bucket 6 is detachably configured and can be replaced with a grapple, breaker, lifting magnet or the like as needed. In the example of FIG. 1, a hook 6F used in crane operation is attached to a connecting portion between the bucket 6 and the bucket link. The hook 6F is storably attached between the two bucket links.

The boom 4, arm 5, and bucket 6 constitute an excavation attachment, which is an example of the attachment. The boom 4 is driven by the boom cylinder 7, the arm 5 is driven by the arm cylinder 8, and the bucket 6 is driven by the bucket cylinder 9.

A cabin 10 as a driver's cab is mounted on the upper swing body 3. Behind the cabin 10, an engine 11 as a power source for the excavator 100 is mounted. A controller 30, a display device 40, a communication device 48, a warning device 49, and the like are installed in the cabin 10.

The engine 11 is a diesel engine that employs isochronous control that maintains a constant engine speed regardless of an increase or decrease in engine load. The fuel injection amount, fuel injection timing, and the like related to the engine 11 are controlled by the engine control unit 50.

As shown in FIG. 2, the rotary shaft of the engine 11 is connected to the rotary shafts of the main pump 14 and the pilot pump 15 as hydraulic pumps.

The regulator 13 is configured to be able to control the retreat volume of the main pump 14. In the present embodiment, the regulator 13 controls the retreat volume of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in response to a control command from the controller 30. For example, the controller 30 changes the push-out volume of the main pump 14 by outputting a control command to the regulator 13 in response to the outputs of the discharge pressure sensor 28, the operating pressure sensor 29, and the like. The regulator 13 is configured to be able to transmit data representing the tilt angle of the swash plate to the controller 30.

The main pump 14 is configured to supply hydraulic oil to the control valve 17 via a hydraulic oil line. In the present embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

The oil temperature sensor 14c is configured to detect the temperature of the hydraulic oil flowing through the hydraulic oil line between the hydraulic oil tank and the main pump 14. The oil temperature sensor 14c is configured to be able to transmit the detected data to the controller 30.

The pilot pump 15 is configured to be able to supply hydraulic oil to various hydraulic control devices such as an operating device 26 via a pilot line. In the present embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the function carried out by the pilot pump 15 may be realized by the main pump 14. In this case, the main pump 14 has a function of supplying the hydraulic oil to the operating device 26 and the like after reducing the pressure of the hydraulic oil by a throttle or the like, in addition to the function of supplying the hydraulic oil to the control valve 17. May be good.

The control valve 17 is a hydraulic control device that controls the hydraulic system of the excavator 100. The control valve 17 is connected to hydraulic actuators such as a right-side traveling hydraulic motor, a left-side traveling hydraulic motor, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, and a turning hydraulic motor.

The operating device 26 is a device used by the operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator includes at least one of a hydraulic actuator and an electric actuator. The electric actuator is, for example, a turning electric motor mounted in place of the turning hydraulic motor. In this embodiment, the operating device 26 is configured to be able to supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the pilot line. The pressure of the hydraulic oil (pilot pressure) supplied to each of the pilot ports is a pressure corresponding to the operation direction and the operation amount of the operation device 26 corresponding to each of the hydraulic actuators. However, the operating device 26 may be an electrically controlled type instead of the pilot pressure type as described above. In this case, the control valve in the control valve 17 may be an electromagnetic spool valve.

In the present embodiment, as shown in FIG. 3, the operating device 26 includes a left operating lever 26L, a right operating lever 26R, a traveling lever 26D, a traveling pedal 26DP, and an end attachment pedal 26AP. In the present embodiment, the traveling lever 26D is configured to be interlocked with the traveling pedal 26DP.

The left operating lever 26L is configured to be used for a turning operation and an operation of the arm 5. The right operating lever 26R is configured to be used for operating the boom 4 and the bucket 6. A left button 27L is arranged at the tip of the left operating lever 26L. A right button 27R is arranged at the tip of the right operating lever 26R. In the present embodiment, when a lifting magnet is attached as an end attachment, the left button 27L functions as a suction button for starting suction by the lifting magnet, and the right button 27R stops suction by the lifting magnet. Acts as a release button for.

The end attachment pedal 26AP is configured to be used to operate the end attachment. For example, the end attachment pedal 26AP is used to open and close the grapple when it is attached as an end attachment. Alternatively, the end attachment pedal 26AP is used to turn on / off the breaker when the breaker is attached as the end attachment.

The discharge pressure sensor 28 is configured to be able to detect the discharge pressure of the main pump 14. In the present embodiment, the discharge pressure sensor 28 is configured to output the detected value to the controller 30.

The operating pressure sensor 29 is configured so that the operation content of the operating device 26 can be detected in the form of pressure (operating pressure). In the present embodiment, the operating pressure sensor 29 is configured to output a detected value to the controller 30.

The controller 30 is a control device that controls the excavator 100. In this embodiment, the controller 30 is composed of a microcomputer including a CPU, a volatile storage device, a non-volatile storage device, and the like. Then, various functions of the controller 30 are realized by the CPU executing a program stored in the non-volatile storage device.

The display device 40 is attached between the right pillar and the driver's seat, and is arranged so that the operator seated in the driver's seat can visually recognize the screen. The display device 40 is configured to be able to display various information in response to a command from the controller 30. In this embodiment, the display device 40 is a liquid crystal display connected to the controller 30. The display device 40 may be connected to the controller 30 via a communication network such as CAN, or may be connected to the controller 30 via a dedicated line. The display device 40 includes an image display unit 41 and a switch panel 42 as an input unit. The switch panel 42 is a panel including various hardware switches. The switch panel 42 may be a touch panel arranged on the image display unit 41.

In the present embodiment, the display device 40 is configured to operate by receiving electric power from the storage battery 70. The storage battery 70 is charged with the electric power generated by the alternator 11a (generator) of the engine 11. The electric power of the storage battery 70 is also supplied to the controller 30, the communication device 48, the alert device 49, and the like. For example, the starter 11b of the engine 11 is driven by the electric power from the storage battery 70 and is configured to start the engine 11.

The communication device 48 is configured to be able to control communication between the excavator 100 and an external device. In the present embodiment, the communication device 48 is a wireless communication between the excavator 100 and at least one of the support device 200 and the management device 300 through at least one of a satellite communication line, a mobile phone communication line, a short-range wireless communication line, and the like. To control. The support device 200 is, for example, a smartphone, a tablet PC, a notebook PC, or the like carried by the operator. The management device 300 is, for example, a server installed in an external facility such as a management center. The communication device 48 may be installed in the cabin 10 so that the operator who gets into the cabin 10 can communicate with the support device 200 carried by the operator.

The attention alerting device 49 is configured to alert the operator. The alert device 49 is, for example, at least one such as a display, a speaker, a buzzer, and an LED lamp. In the present embodiment, the alert device 49 is a speaker installed in the cabin 10 as shown in FIG.

The engine control unit 50 is configured to be able to control the engine 11. Further, the engine control unit 50 is configured to be able to transmit data representing the state of the engine 11 such as the cooling water temperature to the controller 30.

The switching valve 60 is configured to operate in response to a control command from the controller 30. In the present embodiment, the switching valve 60 is a solenoid valve located on the upstream side of the end attachment pedal 26AP and arranged on the pilot line C1 connecting the branch portion BP1 and the end attachment pedal 26AP. The branch portion BP1 is a portion where the pilot line C0 extending from the pilot pump 15 branches into the pilot line C1 and the pilot line C2. The pilot line C2 is a pilot line that connects the branch portion BP1 and the left operating lever 26L.

With this configuration, the controller 30 can disable the operation input to the end attachment pedal 26AP by shutting off the pilot line C1 as needed. That is, the controller 30 can prevent the hydraulic actuator related to the grapple from operating even when the operator depresses the end attachment pedal 26AP to close the grapple, for example.

The switching valve 60 may be arranged on each of the two pilot lines on the downstream side of the end attachment pedal 26AP, which connects the end attachment pedal 26AP and the corresponding control valve in the control valve 17.

Further, the switching valve 60 may be configured to shut off other pilot lines such as the pilot line C2. When the switching valve 60 is arranged on the pilot line C2, the controller 30 can invalidate the operation input to the left operation lever 26L by shutting off the pilot line C2 as needed. That is, the controller 30 can prevent the turning hydraulic motor from operating even when the operator tilts the left operating lever 26L to the right in order to turn the upper turning body 3 to the right, for example. it can.

Alternatively, when the switching valve 60 is arranged on the pilot line C0, the controller 30 can disable all the operation inputs to the operation device 26 by shutting off the pilot line C0 as needed. That is, the controller 30 can prevent the excavator 100 from operating even when the operator operates the operating device 26 to operate the excavator 100, for example.

The engine speed adjustment dial 75 is a dial for adjusting the speed of the engine 11. The engine speed adjustment dial 75 transmits data indicating the setting state of the engine speed to the controller 30. The engine speed adjustment dial 75 is configured so that the engine speed can be switched in four stages of SP mode, H mode, A mode, and idling mode. The SP mode is a rotation speed mode selected when it is desired to prioritize the amount of work, and uses the highest engine speed. The H mode is a rotation speed mode selected when it is desired to achieve both work load and fuel consumption, and uses the second highest engine speed. The A mode is a rotation speed mode selected when it is desired to operate the excavator 100 with low noise while giving priority to fuel consumption, and uses the third highest engine speed. The idling mode is a rotation speed mode selected when the engine 11 is desired to be in an idling state, and the lowest engine speed is used. The engine 11 is controlled to rotate at a constant engine speed corresponding to the speed mode set by the engine speed adjustment dial 75.

Next, the functional elements of the controller 30 will be described. In the present embodiment, the controller 30 has a qualification information display unit 30A and an operation restriction unit 30B as functional elements. The controller 30 is configured so that the functions carried out by each functional element can be realized by executing the program corresponding to each functional element.

The qualification information display unit 30A is configured to be able to execute a process of displaying the qualification information of the operator on the display device 40 (hereinafter, referred to as "display process"). FIG. 4A is a flowchart showing an example of display processing. The qualification information display unit 30A executes this display process, for example, when the engine 11 is started. Alternatively, the qualification information display unit 30A may execute this display process when wireless communication between the communication device 48 installed in the cabin 10 and the support device 200 carried by the operator is established. The qualification information display unit 30A may execute this display process only once, or may repeatedly execute this display process at a predetermined control cycle.

First, the qualification information display unit 30A determines whether or not the operator's qualification information has been acquired (step ST1). Credentials include information about operating qualifications for construction machinery. In the present embodiment, the controller 30 has the operator's qualification information stored in the non-volatile storage device of the support device 200 carried by the operator through the communication device 48, that is, the operator holds the qualification information. Get information about driving qualifications. The operator stores the qualification information in the non-volatile storage device through, for example, dedicated application software installed in the support device 200.

FIG. 5 is a table showing an example of the relationship between qualifications and work related to construction machinery. The table in FIG. 5 is based on registration information that is referenceably stored in the non-volatile storage device. In addition, the table in Fig. 5 includes the contents related to the provisions of Article 61, Paragraph 1 of the Japan Industrial Safety and Health Law. Specifically, FIG. 5 shows the driving skill of "vehicle-based construction machinery (for leveling, transportation, loading and excavation)" in order for the operator to perform "excavation work" or "grapple work" using the excavator 100. Indicates that you must have completed the "Course". Further, FIG. 5 shows a "vehicle-based construction machine (for leveling / transportation / loading and excavation) driving skill training" in order for the operator to perform "crane operation" or "lifting magnet operation" using the excavator 100. It also indicates that it is necessary to complete the "small mobile crane operation skill training". Further, FIG. 5 shows a "vehicle-based construction machine (for leveling / transportation / loading and excavation) driving skill training" for the operator to perform "breaker work" or "concrete crushing work" using the excavator 100. It also indicates that it is necessary to complete the "Vehicle-based construction machine (for dismantling) driving skill training". In addition, FIG. 5 shows "vehicle-based construction machinery (for leveling, transportation, loading and excavation) driving skill training" and "vehicle-based construction" in order for the operator to perform "pile driving work" using the excavator 100. It indicates that it is necessary to complete the "machine (for foundation work) driving skill training". Further, FIG. 5 shows that the operator needs to have a "large special vehicle license" in order to drive the excavator 100 on a public road (excluding the case where a road use application is applied).

In the present embodiment, the excavation work means a work performed by using a shovel 100 in which a bucket 6 as an end attachment is attached to the tip of the attachment. The grapple work means a work performed by using a shovel 100 in which a grapple as an end attachment is attached to the tip of the attachment. The crane operation means an operation performed by using the excavator 100 with the hook 6F (see FIG. 1) housed between the two bucket links pulled out. The lifting magnet work means a work performed by using a shovel 100 in which a lifting magnet as an end attachment is attached to the tip of the attachment. The breaker work means the work performed by using the excavator 100 to which the breaker as an end attachment is attached. Further, the concrete crushing work means a work performed by using a shovel 100 as a concrete crusher to which a scissors-shaped demolition work attachment as an end attachment is attached. The attachment for demolition work may be an attachment to which a function of cutting a reinforcing bar is added. Further, the pile driving work means a work performed by using the excavator 100 to which the pile driving attachment as an end attachment is attached.

When it is determined that the qualification information has been acquired (YES in step ST1), the qualification information display unit 30A causes the display device 40 to display the qualification information (step ST2). In the present embodiment, the qualification information display unit 30A causes the image display unit 41 of the display device 40 to display the main screen 41V including the operation availability confirmation screen 41w.

When it is determined that the qualification information has not been acquired (NO in step ST1), the qualification information display unit 30A does not display the main screen 41V including the operation availability confirmation screen 41w on the image display unit 41, and this display processing To end.

FIG. 6A shows an example of the main screen 41V displayed on the image display unit 41 provided with the touch panel. The main screen 41V of FIG. 6A is a screen displayed on the image display unit 41 when the qualification information display unit 30A determines that the qualification information has been acquired. Specifically, the main screen 41V has a date / time display area 41a, a running mode display area 41b, an end attachment display area 41c, an average fuel consumption display area 41d, an engine control state display area 41e, an engine operating time display area 41f, and a cooling water temperature display. It includes a region 41g, a fuel remaining amount display area 41h, a rotation speed mode display area 41i, a urea water remaining amount display area 41j, a hydraulic oil temperature display area 41k, and a camera image display area 41m. Each of the traveling mode display area 41b, the end attachment display area 41c, the engine control state display area 41e, and the rotation speed mode display area 41i is an example of a setting state display area for displaying the setting state of the excavator. The average fuel consumption display area 41d, the engine operating time display area 41f, the cooling water temperature display area 41g, the fuel remaining amount display area 41h, the urea water remaining amount display area 41j, and the hydraulic oil temperature display area 41k are the operating states of the excavator. This is an example of an operation status display area for displaying.

The date and time display area 41a is an area for displaying the current date and time. The traveling mode display area 41b is an area for displaying a figure representing the current traveling mode. The end attachment display area 41c is an area for displaying a figure representing the currently mounted end attachment. In the end attachment display area 41c of FIG. 6A, a bucket icon indicating that the currently mounted end attachment is the bucket 6 is displayed. The average fuel consumption display area 41d is an area for displaying the current average fuel consumption. The average fuel consumption is, for example, the amount of fuel consumed in a predetermined time. The engine control state display area 41e is an area for displaying a figure representing the control state of the engine 11. The cooling water temperature display area 41g is an area for displaying the current temperature state of the engine cooling water. The fuel remaining amount display area 41h is an area for displaying the remaining amount state of the fuel stored in the fuel tank 55. The rotation speed mode display area 41i is an area for displaying the current rotation speed mode. The urea water remaining amount display area 41j is an area for displaying the remaining amount state of the urea water stored in the urea water tank. The hydraulic oil temperature display area 41k is an area for displaying the temperature state of the hydraulic oil in the hydraulic oil tank. The camera image display area 41m is an area for displaying a camera image.

In the example of FIG. 6A, the operability confirmation screen 41w is displayed so as to cover most of the camera image display area 41m for displaying the image captured by the camera (not shown) attached to the upper swing body 3. There is. The operation availability confirmation screen 41w shows that the operator is "Mr. XXX", that excavation work and operations related to public road driving are permitted, and that grapple work, crane work, lifting magnet work, breaker work, and concrete. It indicates that operations related to crushing work and pile driving work are prohibited. Further, the operation possibility confirmation screen 41w includes the button image G1. The button image G1 is an image showing a software button for switching the operation enablement confirmation screen 41w to the possession qualification confirmation screen 41x.

When the controller 30 has a function of authenticating the operator, the operation possibility confirmation screen 41w may be configured to display the ID of the operator authenticated as a legitimate operator. In the example of FIG. 6A, the operation enablement confirmation screen 41w indicates that the ID is "***", but the controller 30 shown in FIG. 2 has a function of authenticating the operator. Since it is not, it is not actually displayed. The same applies to FIG. 6B.

The operator who sees the operation availability confirmation screen 41w can easily grasp the types of permitted work and the types of unauthorized work. Further, the operator can easily grasp that the operation possibility confirmation screen 41w can be switched to the possession qualification confirmation screen 41x by touch-operating the portion of the button image G1.

When the part of the button image G1 is touch-operated, the qualification information display unit 30A causes the image display unit 41 of the display device 40 to display the main screen 41V including the possession qualification confirmation screen 41x.

FIG. 6B shows an example of the main screen 41V including the possession qualification confirmation screen 41x displayed on the image display unit 41 provided with the touch panel. The main screen 41V shown in FIG. 6B is different from the main screen 41V shown in FIG. 6A in that the possession qualification confirmation screen 41x is displayed instead of the operation availability confirmation screen 41w, but the main screen shown in FIG. 6A is otherwise. It is the same as the screen 41V. Therefore, in the following, the explanation of the common part will be omitted, and the difference part will be explained in detail.

In the example of FIG. 6B, the possession qualification confirmation screen 41x is displayed so as to cover most of the camera image display area 41m, similarly to the operation availability confirmation screen 41w. The possession qualification confirmation screen 41x indicates that the operator is "Mr. XXX" and that the operator has already completed the "Vehicle-based construction machine (for leveling, transportation, loading and excavation) driving skill training". , "Large special vehicle license", "Small mobile crane driving skill class", "Vehicle system construction machine (for foundation work) driving skill class" and "Vehicle system construction machine (for demolition)" It shows that he has not completed the "driving skill training" yet. Further, the possession qualification confirmation screen 41x includes the button image G2. The button image G2 is an image showing a software button for switching the possession qualification confirmation screen 41x to the operation availability confirmation screen 41w.

The operator who sees the possession qualification confirmation screen 41x can easily grasp the type of the completed driving skill training, the type of the uncompleted driving skill training, and the presence or absence of the large special vehicle license. Further, the operator can easily grasp that the possession qualification confirmation screen 41x can be switched to the operation availability confirmation screen 41w by touch-operating the portion of the button image G2.

When the part of the button image G2 is touch-operated, the qualification information display unit 30A causes the image display unit 41 of the display device 40 to display the main screen 41V including the operation availability confirmation screen 41w as shown in FIG. 6A.

In the above example, the qualification information display unit 30A displays the operability confirmation screen 41w first when it is determined that the qualification information has been acquired, but the possession qualification confirmation screen 41x may be displayed first.

The operation limiting unit 30B is configured to be able to execute a process of restricting a predetermined operation of the shovel 100 (hereinafter, referred to as “restriction process”). FIG. 4B is a flowchart showing an example of restriction processing. For example, the operation limiting unit 30B repeatedly executes this limiting process at a predetermined control cycle while the excavator 100 is in operation.

First, the operation limiting unit 30B determines whether or not an unqualified operation is about to be performed (step ST11). In the present embodiment, the operation limiting unit 30B includes registration information stored in the non-volatile storage device in the controller 30, operator qualification information acquired via the communication device 48, and information mounted on the excavator 100. It is determined whether or not an unqualified operation is about to be performed based on the information acquired by the acquisition device. The information acquired by the information acquisition device includes, for example, at least one of information regarding the operation mode of the excavator 100 and operating pressure related to each of the operating devices 26. In this case, the information acquisition device includes at least one such as an operating pressure sensor 29 and a switch panel 42.

In this embodiment, the operating mode of the excavator 100 includes an excavation mode, a crane mode, and a lifting magnet mode. Then, the operation mode of the excavator 100 is switched from the current operation mode to another operation mode when the mode switching button as the mode switching unit on the switch panel 42 is pressed.

The mode switching unit may be a console box to which the left operation lever 26L is attached, or another button or switch arranged in the console box or the like to which the right operation lever 26R is attached. When the excavator 100 has a voice input function, the mode switching unit may be a voice recognition unit that recognizes a voice such as "switch to crane mode" issued by the operator.

For example, when the operation limiting unit 30B detects that an operator who has not completed the small mobile crane operation skill training has pressed the mode switching button in a state where the excavation mode is selected as the operation mode, the operation restriction unit 30B operates out of qualification. Is about to be done.

The operation limiting unit 30B may determine that the operation mode has been switched to the crane mode by detecting that the hook 6F is pulled out from the storage unit between the two bucket links. Alternatively, the operation limiting unit 30B may determine that the operation mode has been switched to the operation mode according to the type of the end attachment by recognizing the type of the end attachment attached to the tip of the arm 5. The type of end attachment is, for example, a breaker or a grapple which is an attachment for demolition work, and the operation mode according to the type of the end attachment is, for example, a breaker mode or a mode for demolition work. Alternatively, in the operation limiting unit 30B, when the excavator 100 is equipped with a GNSS receiver, the controller 30 accesses the API (Application Programming Interface) related to the map information published on the web via the communication device 48. By detecting this, the state of the excavator 100, such as whether or not the excavator 100 is traveling on a public road, may be estimated.

When it is determined that an unqualified operation is about to be performed (YES in step ST11), the operation limiting unit 30B stops the function related to the unqualified operation (step ST12). For example, when it is detected that an operator who has not completed the small mobile crane operation skill class presses the mode switching button, the operation limiting unit 30B stops the function of the mode switching button. That is, the operation limiting unit 30B remains in the excavation mode without switching the operation mode of the excavator 100 even when the mode switching button is pressed.

Alternatively, when the operation limiting unit 30B detects that the operator who has not completed the vehicle-based construction machine (for leveling / transportation / loading and excavation) driving skill training has started the engine 11, the operation device 26 The function may be stopped. That is, the operation limiting unit 30B may not operate the actuator even when the operating device 26 is operated. For example, the operation limiting unit 30B is an engine 11 of an excavator 100 in which an operator who has not completed a vehicle-based construction machine (for leveling / transportation / loading and excavation) driving skill training has a grapple attached to the tip of an attachment. When the engine is started, a control command is output to the switching valve 60 (see FIG. 2) to shut off the pilot line C1 so that the grapple is not opened or closed even if the end attachment pedal 26AP is depressed. May be good.

In addition, the operation restriction unit 30B is provided by an operator who has not completed at least one of the vehicle-based construction machine (for leveling / transportation / loading and excavation) driving skill training and the vehicle-based construction machine (for dismantling) driving skill training. When the engine 11 of the excavator 100 to which the attachment for dismantling work is attached to the tip of the attachment is started, the function of the operating device 26 may be stopped.

Similarly, the operation restriction unit 30B is an operator who has not completed at least one of the vehicle-based construction machine (for leveling / transportation / loading and excavation) driving skill training and the vehicle-based construction machine (for foundation work) driving skill training. However, when the engine 11 of the excavator 100 to which the attachment for pile driving is attached to the tip of the attachment is started, the function of the operating device 26 may be stopped.

After stopping the function related to the unqualified operation, the operation limiting unit 30B calls the operator's attention (step ST13). In the present embodiment, the operation limiting unit 30B causes the image display unit 41 of the display device 40 as the alert device 49 to display a warning message for notifying the operator that an unqualified operation is about to be performed. FIG. 6C shows an example of the main screen 41V including the warning message displayed on the image display unit 41. The main screen 41V shown in FIG. 6C is different from the main screen 41V shown in FIG. 6A in that a warning message G3 is displayed instead of the operation availability confirmation screen 41w, but the main screen 41V shown in FIG. 6A is otherwise. Is the same as. Therefore, in the following, the explanation of the common part will be omitted, and the difference part will be explained in detail.

In the example of FIG. 6C, the warning message G3 is when an operator who has not completed the small mobile crane operation skill training tries to change the operation mode of the excavator 100 from the excavation mode to the crane mode by pressing the mode switching button. The text information "Crane operation is an unqualified operation" displayed on the screen is superimposed on a part of the camera image display area 41 m. In the example of FIG. 6C, an image captured by a back camera (not shown) attached to the rear portion of the upper surface of the upper swing body 3 is displayed in the camera image display area 41 m. In this case, the operation limiting unit 30B may output at least one of a warning sound and a voice message such as "crane operation is an unqualified operation" from the speaker as the alert device 49.

The operator who sees the warning message G3 can easily grasp that the crane mode cannot be selected. In the present embodiment, the warning message G3 is automatically deleted after a predetermined time has elapsed. However, the warning message G3 may be continuously displayed until a predetermined operation such as pressing the mode switching button is performed.

On the other hand, when it is determined that the unqualified operation is not about to be performed (NO in step ST11), the operation limiting unit 30B does not stop the function related to the operation by the operator and calls the operator's attention. This restriction processing is terminated without doing anything.

With the above configuration, the excavator 100 can more reliably prevent unqualified operations by the operator. Therefore, the excavator 100 can improve the safety of the work site.

Next, another configuration example of the excavator 100 according to the embodiment of the present invention will be described with reference to FIGS. 7 and 8. FIG. 7 shows another configuration example of the basic system mounted on the excavator 100. In FIG. 7, the mechanical power transmission line is indicated by a double line, the hydraulic oil line is indicated by a thick solid line, the pilot line is indicated by a broken line, and the electric drive / control line is indicated by a fine solid line. FIG. 8 shows an example of the internal configuration of the cabin 10.

The basic system of FIG. 7 is different from the basic system of FIG. 2 in that it mainly includes an image pickup device 47 and a seat drive unit 65 and that the controller 30 has an authentication unit 30C as a functional element, but other points. Then, it is the same as the basic system of FIG. Therefore, in the following, the explanation of the common part will be omitted, and the difference part will be explained in detail.

The image pickup device 47 is an example of a biometric information acquisition device configured to be able to acquire the biometric information of the operator. In the present embodiment, the image pickup device 47 is configured to be able to image the face of an operator sitting in the driver's seat in the cabin 10. Specifically, as shown in FIG. 8, the image pickup device 47 is a camera having an image pickup element such as a CCD or CMOS embedded in the upper part of the display device 40. The image pickup device 47 is configured so that the face of the operator can be imaged and the face image can be supplied to the controller 30 as biological information.

The seat drive unit 65 is configured to be able to drive the driver's seat adjustment mechanism in response to a control command from the controller 30. The driver's seat adjustment mechanism includes, for example, at least one of a mechanism for adjusting the front-rear position of the driver's seat, a mechanism for adjusting the angle of the backrest, a mechanism for adjusting the height of the seat surface, and the like. Including. In the example of FIG. 8, the seat drive unit 65 includes an electric motor that drives the driver's seat adjustment mechanism.

The authentication unit 30C is configured to be able to execute a process of authenticating the operator (hereinafter referred to as "authentication process"). FIG. 9 is a flowchart showing an example of the authentication process. The authentication unit 30C executes this authentication process, for example, when the engine 11 is started. Alternatively, the authentication unit 30C may execute this authentication process when wireless communication between the communication device 48 installed in the cabin 10 and the support device 200 carried by the operator is established. The authentication unit 30C may execute this authentication process only once, or may repeatedly execute this authentication process at a predetermined control cycle.

First, the authentication unit 30C determines whether or not the operator can be authenticated (step ST21). In the example of FIG. 9, the authentication unit 30C determines whether or not the operator who got into the cabin 10 can be authenticated by face authentication. Specifically, the authentication unit 30C collates the face image of the operator captured by the image pickup device 47 with one or more registered face images stored in the non-volatile storage device of the controller 30. Then, the controller 30 determines whether or not the operator can be authenticated as a legitimate operator based on whether or not the face image of the operator matches one or a plurality of registered face images. ..

When it is determined that the operator can be authenticated (YES in step ST21), the authentication unit 30C acquires the operator information (step ST22). For example, the authentication unit 30C acquires the operator information stored in the non-volatile storage device of the support device 200 carried by the operator via the communication device 48.

The operator information is information about the operator. In the example of FIG. 9, the operator information includes qualification information, seat position information, operation characteristic information, and the like.

The seat position information is used by the authentication unit 30C when the seat drive unit 65 is driven to adjust the seat position. The seat position means at least one of the front-rear position of the driver's seat, the angle of the backrest, the height of the seat surface, and the like.

The operating characteristic information is information on the operating characteristics of the excavator, and includes, for example, information on the movement of the spool constituting the control valve in the control valve 17 (hereinafter, referred to as “spool-related information”). The spool-related information includes, for example, the movement amount of the spool constituting the corresponding control valve with respect to the operation amount of the operation device 26, the maximum movement speed of the spool, and the like. Spool-related information may be stored, for example, for each work environment specified by the environment information.

The environmental information is, for example, at least one such as temperature, humidity, latitude, longitude and altitude. Environmental information is typically detected using various sensors attached to the excavator 100. The working environment is, for example, a wetland, an arid zone, a sloping zone, or indoors. The controller 30 may specify the working environment based on environmental information and information about the excavator 100 such as the boom angle, arm angle, bucket angle, and type of end attachment attached to the attachment.

For example, the authentication unit 30C identifies the work environment based on the information detected by various sensors, and then selects the spool-related information stored for each operator and corresponding to the work environment. Then, the authentication unit 30C uses the selected spool-related information to adjust the operating characteristics of the excavator 100 so that it is in a state suitable for the operator (a state registered in advance). The operating characteristics include, for example, the degree of suppression of vibration of the upper swing body 3 generated when the swing of the upper swing body 3 is stopped. The vibration of the upper swivel body 3 generated when the swivel of the upper swivel body 3 is stopped decreases as the degree of suppression increases, but the swivel of the upper swivel body 3 starts from the time when the left operating lever 26L is returned to the neutral position. The turning angle of the upper swinging body 3 up to the time when it completely stops becomes large.

The operating characteristic may include a degree of suppression of vibration of the upper swing body 3 generated when the movement of the boom 4 is started. The vibration of the upper swing body 3 generated when the movement of the boom 4 is started becomes smaller as the degree of suppression is higher, but the speed at which the boom 4 starts to move becomes slower.

In this way, after acquiring the operator information, the authentication unit 30C adjusts the setting related to the excavator 100 based on the operator information (step ST23). The adjustment of the setting related to the excavator 100 includes, for example, the adjustment of the seat position and the adjustment of the operating characteristics as described above.

In the example of FIG. 9, the authentication unit 30C outputs a control command generated based on the seat position information to the seat drive unit 65 to obtain a seat position corresponding to the seat position information previously registered by the operator. to recreate. The seat position information may be registered on the support device 200 side, or may be registered in association with the registered face image on the excavator 100 side.

After that, the qualification information display unit 30A causes the display device 40 to display the qualification information (step ST24). In the example of FIG. 9, the qualification information display unit 30A refers to the qualification information registered in association with the registered face image on the excavator 100 side, and the main screen 41V including the operation availability confirmation screen 41w (see FIG. 6A). Is displayed on the image display unit 41 of the display device 40. However, the qualification information display unit 30A acquires the qualification information stored in the non-volatile storage device of the support device 200 carried by the operator via the communication device 48, and confirms whether or not the operation is possible using the qualification information. The main screen 41V including the screen 41w (see FIG. 6A) may be displayed on the image display unit 41 of the display device 40.

If it is determined that the operator cannot be authenticated (NO in step ST21), the authentication unit 30C ends the current authentication process without acquiring the operator information. In this case, the authentication unit 30C does not adjust the settings related to the excavator 100 for the operator who has not been authenticated as a legitimate operator. In the example of FIG. 9, the authentication unit 30C does not adjust the seat position and does not adjust the operation characteristics. The authentication unit 30C may display a warning message on the display device 40 notifying that the user has not been authenticated as a legitimate operator.

The authentication unit 30C may be configured so that the operator can be authenticated by an authentication method other than face authentication such as iris authentication or fingerprint authentication. In this case, the imaging device 47 as the biometric information acquisition device may be configured so that the image of the operator's iris can be acquired as biometric information, and the image of the operator's fingerprint can be acquired as biometric information. It may have been done.

Alternatively, the authentication unit 30C may be configured so that the operator can be authenticated by voiceprint authentication. In this case, the biometric information acquisition device may be a sound collecting device that acquires the voiceprint as biometric information.

Alternatively, the authentication unit 30C may be configured so that the operator can be authenticated by vein pattern authentication. In this case, the biological information acquisition device may be a near-infrared sensor that acquires a vein pattern on a finger or the like as biological information.

Alternatively, the authentication unit 30C may be configured so that the operator can be authenticated by the identification number. In this case, the authentication unit 30C has registered the authentication number stored in the non-volatile storage device of the support device 200 carried by the operator and one or a plurality of registered numbers stored in the non-volatile storage device of the controller 30. It may be determined whether or not the operator can be authenticated as a legitimate operator based on whether or not one of the authentication numbers matches.

Further, the management device 300 may determine whether or not the operator can be authenticated. In this case, the face image captured by the imaging device 47 is transmitted to the management device 300 through the communication device 48. Then, the management device 300 collates the received face image with one or a plurality of registered face images stored in the non-volatile storage device of the management device 300. Then, the management device 300 determines whether or not the operator can be authenticated as a legitimate operator based on whether or not the face image of the operator matches one or a plurality of registered face images. To do. After that, the management device 300 transmits the determination result to the controller 30. Then, the controller 30 executes steps ST22 to ST24 when it is determined that the management device 300 can authenticate the operator.

Next, still another configuration example of the excavator 100 according to the embodiment of the present invention will be described with reference to FIG. FIG. 10 shows yet another configuration example of the basic system mounted on the excavator 100. In FIG. 10, the mechanical power transmission line is indicated by a double line, the hydraulic oil line is indicated by a thick solid line, the pilot line is indicated by a broken line, and the electric drive / control line is indicated by a fine solid line.

The basic system of FIG. 10 is different from the basic system of FIG. 2 in that it mainly includes an electrically controlled operating device 25, but is different from the basic system of FIG. 2 in other respects. It is the same. Therefore, in the following, the explanation of the common part will be omitted, and the difference part will be explained in detail.

When the electrically controlled operating device 25 is operated, the controller 30 outputs a control command to the corresponding solenoid valve 61 to operate the solenoid valve 61.

The solenoid valve 61 is configured to operate in response to a control command from the controller 30. In the example of FIG. 10, the solenoid valve 61 is an electromagnetic proportional pressure reducing valve, and is arranged between each of the pair of pilot ports in the control valve in the control valve 17 and the pilot line C10. That is, the basic system of FIG. 10 includes two solenoid valves 61 for each control valve. In FIG. 10, for the sake of clarity, the solenoid valve 61A arranged between the left pilot port of the control valve that controls the flow rate of the hydraulic oil flowing through the turning hydraulic motor and the pilot line C10, and the control valve thereof. The solenoid valve 61B arranged between the right pilot port and the pilot line C10 is shown, and the other solenoid valves are omitted.

For example, when it is detected that the electrically controlled left operating lever 25L is tilted to the left, the controller 30 outputs a control command to the solenoid valve 61A and the pilot pressure according to the operating amount of the left operating lever 25L. Operates the solenoid valve 61A so as to act on the left pilot port of the control valve for the turning hydraulic motor.

When it is detected that the electrically controlled left operating lever 25L has been tilted to the right, the controller 30 outputs a control command to the solenoid valve 61B, and the pilot pressure according to the operating amount of the left operating lever 25L. Operates the solenoid valve 61B so as to act on the right pilot port of the control valve for the turning hydraulic motor.

Similarly, when the electrically controlled operating device 25 corresponding to other actuators such as the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9 is operated, the controller 30 operates the corresponding solenoid valve.

With this configuration, the controller 30 can output a desired control command to the solenoid valve 61 corresponding to each control valve regardless of whether or not the operating device 25 is operated by the operator. For example, the controller 30 can output a control command to the solenoid valve 61 related to the specific actuator even when the manual operation related to the specific actuator is not performed. That is, the controller 30 can operate the specific actuator even when the manual operation related to the specific actuator is not performed.

As described above, the excavator 100 according to the embodiment of the present invention is a control device mounted on the lower traveling body 1, the upper rotating body 3 rotatably mounted on the lower traveling body 1, and the upper rotating body 3. The controller 30 and the above are provided. Then, when the controller 30 acquires information on the driving qualification of the operator and detects that the operator is about to perform an operation outside the qualification, the controller 30 calls the operator's attention or the qualification. It is configured to prohibit the operation of the excavator related to external operations.

For example, the controller 30 switches the operation mode of the excavator 100 in response to pressing the mode switching button to start the unqualified operation, and operates the excavator related to the unqualified operation such as the operation of the actuator in response to the unqualified operation. May be configured to prohibit.

With this configuration, the excavator 100 can more reliably prevent unqualified operations by the operator. Therefore, the excavator 100 can improve the safety of the work site.

The excavator 100 may include a communication device 48 that receives information about an operator stored in the support device 200 as an external terminal. In this case, when the controller 30 detects that the operator is about to perform an unqualified operation based on the information about the operator received via the communication device 48, the controller 30 calls the operator's attention. Alternatively, it may be configured to prohibit the operation of the excavator related to the unqualified operation.

The excavator 100 may include an image pickup device 47 as a biometric information acquisition device for acquiring the biometric information of the operator. In this case, when the controller 30 authenticates the operator based on the face image as the biological information of the operator captured by the imaging device 47 and detects that the operator is about to perform an unqualified operation. , It may be configured to call the operator's attention or prohibit the operation of the excavator related to the unqualified operation.

The controller 30 may be configured so that the control method of the excavator 100 can be changed according to the information about the operator. For example, the controller 30 may adjust the seat position for each operator based on the seat position information, or may adjust the movement of the spool for each operator based on the spool-related information.

The preferred embodiment of the present invention has been described in detail above. However, the present invention is not limited to the above-described embodiments. Various modifications, substitutions, and the like can be applied to the above-described embodiments without departing from the scope of the present invention. Also, the features described separately can be combined as long as there is no technical conflict.

For example, in the above-described embodiment, the excavator 100 is configured to use the qualification information of the operator who got into the cabin 10, but the qualification information of the operator who remotely controls the excavator 100 can be used. It may be configured. In this case, the controller 30 is carried by the operator via another communication device attached to the operation device for the remote operator outside the excavator 100 or the display device for the remote operator outside the excavator 100. It may be configured to acquire the credential information stored in the support device 200. Further, the controller 30 may be configured to authenticate the operator based on a face image captured by another imaging device attached to the remote operator's operating device or the remote operator's display device. ..

1 ... Lower traveling body 2 ... Swivel mechanism 3 ... Upper swivel body 4 ... Boom 5 ... Arm 6 ... Bucket 7 ... Boom cylinder 8 ... Arm cylinder 9 ...・ Bucket cylinder 10 ・ ・ ・ Cabin 11 ・ ・ ・ Engine 11a ・ ・ ・ Alternator 11b ・ ・ ・ Starter 13 ・ ・ ・ Regulator 14 ・ ・ ・ Main pump 15 ・ ・ ・ Pilot pump 17 ・ ・ ・ Control valves 25, 26 ・・ ・ Operating device 25AP, 26AP ・ ・ ・ End attachment pedal 26D ・ ・ ・ Travel lever 26DP ・ ・ ・ Travel pedal 25L, 26L ・ ・ ・ Left operation lever 26R ・ ・ ・ Right operation lever 27L ・ ・ ・ Left button 27R ・ ・・ Right button 28 ・ ・ ・ Discharge pressure sensor 29 ・ ・ ・ Operation pressure sensor 30 ・ ・ ・ Controller 30A ・ ・ ・ Credential display unit 30B ・ ・ ・ Operation restriction unit 30C ・ ・ ・ Authentication unit 40 ・ ・ ・ Display device 41・ ・ ・ Image display 42 ・ ・ ・ Switch panel 47 ・ ・ ・ Imaging device 48 ・ ・ ・ Communication device 49 ・ ・ ・ Attention device 50 ・ ・ ・ Engine control unit 60 ・ ・ ・ Switching valves 61, 61A, 61B ・・ ・ Electromagnetic valve 65 ・ ・ ・ Seat drive unit 70 ・ ・ ・ Storage battery 75 ・ ・ ・ Engine speed adjustment dial 100 ・ ・ ・ Excavator 200 ・ ・ ・ Support device 300 ・ ・ ・ Management device BP1 ・ ・ ・ Branch part C0 C2, C10 ... Pilot line

Claims (4)

With the lower running body,
An upper swivel body mounted on the lower traveling body so as to be swivel,
A control device mounted on the upper swing body and
When the control device acquires information on the driving qualification of the operator and detects that the operator is about to perform an unqualified operation, the control device calls the operator's attention or is out of the qualification. Prohibit the operation of work machines related to operation,
Work machine. Equipped with a communication device that receives information about the operator stored in the external terminal
When the control device detects that an unqualified operation by the operator is about to be performed based on the information about the operator received via the communication device, the control device calls the operator's attention or calls attention to the operator. , Prohibiting the operation of work machines related to the unqualified operation,
The work machine according to claim 1. Equipped with a biometric information acquisition device that acquires the biometric information of the operator
When the control device detects that an operator who is authenticated based on the biometric information acquired by the biometric information acquisition device is about to perform an unqualified operation, the control device calls the operator's attention or calls attention to the operator. , Prohibiting the operation of work machines related to the unqualified operation,
The work machine according to claim 1 or 2. The control device changes the control method of the work machine according to the information about the operator.
The work machine according to any one of claims 1 to 3.