JP2021155995A - Shovel support device, shovel management device - Google Patents

Abstract

To estimate the progress of a crack.SOLUTION: A shovel support device includes: an estimation part for estimating the progress of a crack; and an output part for outputting the estimation result by the estimation part.SELECTED DRAWING: Figure 1

Description

The present invention relates to a shovel support device and a shovel management device.

Conventionally, a technique for calculating the remaining life of an excavator based on the operating state data of the excavator has been known.

Japanese Unexamined Patent Publication No. 2016-23489

In the above-mentioned conventional technique, for example, when the excavator is operated in a state where a crack is generated, it is not possible to grasp how the crack grows and the remaining life cannot be estimated.

Therefore, in view of the above circumstances, the purpose is to estimate the growth of cracks.

The shovel support device according to the embodiment of the present invention has an estimation unit for estimating the growth of cracks and an output unit for outputting the estimation result by the estimation unit.

Further, the shovel management device according to the embodiment of the present invention has an estimation unit for estimating the growth of cracks and an output unit for outputting the estimation result by the estimation unit.

The growth of cracks can be estimated.

It is a side view of an excavator. It is a figure which shows an example of the system structure of the excavator management system of an embodiment. It is a figure which shows an example of the hardware composition of the support device. It is a figure explaining the function of the image analysis unit. It is a flowchart explaining the process of the image analysis part which a support device has. It is a figure which shows the display example of the estimation result in an embodiment. It is a figure which shows another example of the system configuration of the excavator management system of an embodiment. It is a figure which shows an example of the system configuration of the excavator management system of another embodiment. It is a flowchart explaining the process of the analysis part of a management apparatus. It is a figure which shows an example of a series of operations repeated by an excavator. It is a figure which shows an example of the time waveform of the stress applied to one evaluation point of a part of a shovel. It is a figure which shows the relationship between the crack growth rate and the stress intensity factor range. It is a figure which shows the display example of the analysis result in another embodiment. It is a figure which shows the example of the crack which occurred inside the excavator part.

(Embodiment)
First, the excavator (excavator) 50 as a work machine according to the embodiment of the present invention will be described with reference to FIG. FIG. 1 is a side view of the excavator. An upper swivel body 3 is mounted on the lower traveling body 1 of the excavator 100 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, and a bucket 6 as an end attachment is attached to the tip of the arm 5.

The boom 4, arm 5, and bucket 6 as working elements constituting the excavation attachment, which is an example of the attachment, are hydraulically driven by the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, respectively.

A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are collectively referred to as a "posture sensor".

The boom angle sensor S1 detects the rotation angle of the boom 4. The boom angle sensor S1 is, for example, an acceleration sensor that detects the rotation angle of the boom 4 with respect to the upper swing body 3 by detecting the inclination of the boom 4 with respect to the horizontal plane.

The arm angle sensor S2 detects the rotation angle of the arm 5. The arm angle sensor S2 is, for example, an acceleration sensor that detects the rotation angle of the arm 5 with respect to the boom 4 by detecting the inclination of the arm 5 with respect to the horizontal plane.

The bucket angle sensor S3 detects the rotation angle of the bucket 6. The bucket angle sensor S3 is, for example, an acceleration sensor that detects the rotation angle of the bucket 6 with respect to the arm 5 by detecting the inclination of the bucket 6 with respect to the horizontal plane. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, and a rotary encoder that detects the rotation angle around the connecting pin. Etc., and may be composed of a combination of an acceleration sensor and a gyro sensor.

The strain sensor S4 detects the strain of the attachment. In the present embodiment, the strain sensor S4 is a uniaxial strain gauge mounted inside the boom 4 to detect strain due to expansion or compression of the boom 4. However, the strain sensor S4 may be a 3-axis strain gauge, a plurality of 1-axis strain gauges attached to a plurality of locations inside the attachment, or a plurality of 3-axis strain gauges. It may be a combination of one or more uniaxial strain gauges and one or more triaxial strain gauges. The strain sensor S4 may be attached to the outer surface of the boom 4.

Further, although not shown, the excavator 100 includes a boom pressure sensor for measuring the hydraulic pressure (cylinder pressure) in the cylinder of the boom cylinder 7, an arm pressure sensor for measuring the cylinder pressure of the arm cylinder 8, and a bucket as load sensors. A bucket pressure sensor for measuring the cylinder pressure of the cylinder 9 is provided. (* The load sensor will appear in the explanation of another embodiment, so it is described like this. If it is better to show it, please specify. *)
The upper swing body 3 is provided with a cabin 10, and is equipped with a power source such as an engine 11 and a vehicle body tilt sensor S5. A controller 30, a display device 40, an audio output device 41, an input device 42, a storage device 43, and an engine controller 74 are provided in the cabin 10, and a communication device T1 is provided outside the cabin 10.

The vehicle body tilt sensor S5 detects the tilt angle of the vehicle body of the excavator 100. In the present embodiment, the vehicle body tilt sensor S5 is an acceleration sensor that detects the tilt angle of the vehicle body with respect to the horizontal plane. The inclination angle of the vehicle body may be derived from, for example, the output of a strain gauge attached to the inside of each of the upper, lower, left, and right surfaces of the boom 4. In this case, the vehicle body tilt sensor S5 may be omitted.

The controller 30 is a control device that functions as a main control unit that controls the drive of the excavator 100. The controller 30 is composed of an arithmetic processing unit including a CPU and an internal memory. Various functions of the controller 30 are realized by the CPU executing a program stored in the internal memory.

The input device 42 is a device for the operator of the excavator 100 to input various information to the controller 30. The input device 42 includes, for example, a membrane switch provided on the surface of the display device 40. The input device 42 may be a touch panel or the like.

The voice output device 41 outputs various voice information in response to a command from the controller 30. The audio output device 41 is, for example, an in-vehicle speaker connected to the controller 30. The audio output device 41 may be an alarm device such as a buzzer.

The display device 40 displays a screen including various information in response to a command from the controller 30. The display device 40 is, for example, an in-vehicle liquid crystal display connected to the controller 30.

The storage device 43 stores various information. The storage device 43 is, for example, a non-volatile storage medium such as a semiconductor memory. In the present embodiment, the storage device 43 stores the detection values of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the strain sensor S4, the vehicle body inclination sensor S5, and the like, the output value of the controller 30, and the like.

The communication device T1 is a device that controls wireless communication between the controller 30 and a device outside the controller 30.

The engine controller D6 is a device that controls the engine 11. In the present embodiment, the engine controller D6 executes isochronous control that controls the fuel injection amount and the like to maintain the engine 11 at a predetermined engine speed.

Next, the shovel management system SYS of the present embodiment will be further described with reference to FIG. FIG. 2 is a diagram showing an example of a system configuration of the excavator management system of the embodiment. In the following description, the excavator management system SYS may be simply referred to as a management system SYS feature.

The management system SYS of the present embodiment includes an excavator 100, a support device 200, and a management device 300. In the management system SYS, the excavator 100, the support device 200, and the management device 300 each communicate with each other via a network or the like.

The support device 200 is a terminal device mainly used by a worker or the like who performs maintenance or the like of the support device 200. The management device 300 is a server device that stores operating state data and the like of the excavator 100.

The configuration of the excavator 100 will be further described below. In the figure, the mechanical power line is indicated by a double line, the high-pressure hydraulic 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 thin solid line.

The hydraulic drive system for hydraulically driving the hydraulic actuator of the excavator 100 of the present embodiment includes an engine 11, a main pump 14, a regulator 14a, and a control valve 17. Further, as described above, the hydraulic drive system of the excavator 100 includes traveling hydraulic motors 1A and 1B and swivel hydraulic motors 2A that hydraulically drive each of the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6. , Boom cylinder 7, arm cylinder 8, bucket cylinder 9, and other hydraulic actuators.

The engine 11 is a main power source in the hydraulic drive system, and is mounted on the rear part of the upper swing body 3, for example. Specifically, the engine 11 rotates constantly at a preset target rotation speed under the control of an engine control unit (ECU) 74, which will be described later, to drive the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses light oil as fuel.

The regulator 14a controls the discharge amount of the main pump 14. For example, the regulator 14a adjusts the angle (tilt angle) of the swash plate of the main pump 14 in response to a control command from the controller 30.

Like the engine 11, the main pump 14 is mounted on the rear part of the upper swing body 3, and supplies hydraulic oil to the control valve 17 through the high-pressure hydraulic line 16. The main pump 14 is driven by the engine 11 as described above. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, the stroke length of the piston is adjusted by adjusting the tilt angle of the swash plate by the regulator 14a under the control of the controller 30, and the discharge is performed. The flow rate (discharge pressure) can be controlled.

The control valve 17 is, for example, a hydraulic control device mounted in the central portion of the upper swing body 3 and controls the hydraulic drive system in response to an operator's operation on the operation device 26. As described above, the control valve 17 is connected to the main pump 14 via the high-pressure hydraulic line 16, and the hydraulic oil supplied from the main pump 14 is supplied to the hydraulic actuator (running hydraulic motor) according to the operating state of the operating device 26. It is selectively supplied to 1A, 1B, the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9).

Specifically, the control valve 17 includes a plurality of control valves that control the flow rate and flow direction of the hydraulic oil supplied from the main pump 14 to each of the hydraulic actuators. For example, the control valve 17 includes a control valve corresponding to the boom 4 (boom cylinder 7). Further, for example, the control valve 17 includes a control valve corresponding to the arm 5 (arm cylinder 8). Further, for example, the control valve 17 includes a control valve corresponding to the bucket 6 (bucket cylinder 9). Further, for example, the control valve 17 includes a control valve corresponding to the upper swing body 3 (swing hydraulic motor 2A). Further, for example, the control valve 17 includes a right traveling control valve and a left traveling control valve corresponding to the right crawler and the left crawler of the lower traveling body 1, respectively.

The operation system of the excavator 100 according to the present embodiment includes a pilot pump 15, an operation device 26, and an operation valve 31.

The pilot pump 15 is mounted on the rear portion of the upper swing body 3, for example, and supplies the pilot pressure to the operation device 26 and the operation valve 31 via the pilot line 25. The pilot pump 15 is, for example, a fixed-capacity hydraulic pump, and is driven by the engine 11 as described above.

The operation device 26 is provided near the driver's seat of the cabin 10, and is an operation input means for the operator to operate various operation elements (lower traveling body 1, upper turning body 3, boom 4, arm 5, bucket 6, etc.). Is. In other words, the operating device 26 operates the hydraulic actuators (that is, traveling hydraulic motors 1A, 1B, swivel hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9, etc.) in which the operator drives each operating element. It is an operation input means for performing.

The pilot line on the secondary side of the operating device 26 is connected to the control valve 17, respectively. As a result, the control valve 17 can be input with the pilot pressure according to the operating state of the lower traveling body 1, the upper swinging body 3, the boom 4, the arm 5, the bucket 6 and the like in the operating device 26. Therefore, the control valve 17 can drive each of the hydraulic actuators according to the operating state of the operating device 26.

The operation valve 31 adjusts the flow path area of the pilot line 25 in response to a control command (for example, a control current) from the controller 30. As a result, the operation valve 31 can output the pilot pressure corresponding to the control command to the pilot line on the secondary side with the pilot pressure on the primary side supplied from the pilot pump 15 as the main pressure. The secondary port of the operation valve 31 is connected to the left and right pilot ports of the control valve corresponding to the respective hydraulic actuators of the control valve 17, and the pilot pressure according to the control command from the controller 30 is applied to the pilot of the control valve. Act on the port.

As a result, the controller 30 allows the hydraulic oil discharged from the pilot pump 15 to be supplied from the pilot pump 15 to the corresponding control valve in the control valve 17 via the operation valve 31 even when the operation device 26 is not operated by the operator. The hydraulic actuator can be operated by supplying it to the pilot port of.

In addition to the operation valve 31, an electromagnetic relief valve that relieves excess oil generated in the hydraulic actuator to the hydraulic oil tank may be provided. As a result, the operation of the hydraulic actuator can be positively suppressed when the amount of operation by the operator on the operating device 26 is excessive. For example, an electromagnetic relief valve may be provided to relieve the excess pressure of the bottom side oil chamber and the rod side oil chamber of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 into the hydraulic oil tank.

The control system of the excavator 100 according to the present embodiment includes a controller 30, an ECU 74, a discharge pressure sensor 14b, an operation pressure sensor 15a, a display device 40, an input device 42, an image pickup device 80, and a state detection device S10. And the communication device T1.

The controller 30 controls the drive of the excavator 100. The function of the controller 30 may be realized by any hardware, software, or a combination thereof. For example, the controller 30 includes a processor such as a CPU (Central Processing Unit), a memory device such as a RAM (Random Access Memory), a non-volatile auxiliary storage device such as a ROM (Read Only Memory), and various input / output devices. It is mainly composed of a computer including an interface device and the like. The controller 30 realizes various functions by executing various programs installed in the auxiliary storage device on the CPU, for example. The memory device and the auxiliary storage device may be included in the storage device 43, for example.

For example, the controller 30 sets a target rotation speed based on a work mode or the like preset by a predetermined operation by an operator or the like, and outputs a control command to the ECU 74 to rotate the engine 11 constantly via the ECU 74. Drive control is performed.

Further, for example, the controller 30 outputs a control command to the regulator 14a as needed, and changes the discharge amount of the main pump 14 to perform so-called total horsepower control or negative control control.

Further, for example, the controller 30 may have a function of uploading various information about the excavator 100 to the management device 300 (hereinafter, “upload function”). Specifically, the controller 30 may transmit (upload) the work pattern actual information and the environmental condition actual information at the time of the work of a predetermined type of the excavator 100 to the management device 300 through the communication device T1. The controller 30 includes an information transmission unit 301 as a functional unit related to an upload function realized by executing one or more programs installed in an auxiliary storage device or the like on a CPU, for example.

Further, for example, the controller 30 controls the machine guidance function that guides the manual operation of the excavator 100 through the operating device 26 by the operator. Further, the controller 30 may control the machine control function that automatically supports the manual operation of the excavator 100 through the operating device 26 by the operator. The controller 30 includes a work pattern acquisition unit 302 and a machine as functional units related to a machine guidance function and a machine control function, which are realized by executing one or more programs installed in an auxiliary storage device or the like on a CPU. The guidance unit 303 is included.

A part of the function of the controller 30 may be realized by another controller (control device). That is, the function of the controller 30 may be realized in a manner distributed by a plurality of controllers. For example, the above-mentioned machine guidance function and machine control function may be realized by a dedicated controller (control device).

The ECU 74 controls various actuators (for example, a fuel injection device, etc.) of the engine 11 in response to a control command from the controller 30, and causes the engine 11 to rotate constantly at a set target rotation speed (set rotation speed) (constant rotation). Rotation control). At this time, the ECU 74 performs constant rotation control of the engine 11 based on the rotation speed of the engine 11 detected by the engine rotation speed sensor 11a.

The discharge pressure sensor 14b detects the discharge pressure of the main pump 14. The detection signal corresponding to the discharge pressure detected by the discharge pressure sensor 14b is taken into the controller 30.

As described above, the operating pressure sensor 15a detects the pilot pressure on the secondary side of the operating device 26, that is, the pilot pressure corresponding to the operating state of each operating element (hydraulic actuator) in the operating device 26. The pilot pressure detection signal corresponding to the operating state of the lower traveling body 1, the upper swinging body 3, the boom 4, the arm 5, the bucket 6 and the like in the operating device 26 by the operating pressure sensor 15a is taken into the controller 30.

The display device 40 is connected to the controller 30 and is provided at a position easily visible to the seated operator in the cabin 10 under the control of the controller 30 to display various information images. The display device 40 is, for example, a liquid crystal display, an organic EL (Electroluminescence) display, or the like.

The input device 42 is provided within reach of the seated operator in the cabin 10, receives various operations by the operator, and outputs a signal corresponding to the operation content. For example, the input device 42 is integrated with the display device 40. Further, the input device 42 may be provided separately from the display device 40. The input device 42 includes a touch panel mounted on the display of the display device 40, a knob switch provided at the tip of a lever included in the operating device 26, a button switch installed around the display device 40, a lever, a toggle, and the like. The signal corresponding to the operation content for the input device 42 is taken into the controller 30.

The image pickup apparatus 80 images the periphery of the excavator 100. The imaging device 80 includes a camera 80F that images the front of the excavator 100, a camera 80L that images the left side of the excavator 100, a camera 80R that images the right side of the excavator 100, and a camera 80B that images the rear of the excavator 100. ..

The camera 80F is mounted, for example, on the ceiling of the cabin 10, that is, inside the cabin 10. Further, the camera 80F may be attached to the outside of the cabin 10, such as the roof of the cabin 10 and the side surface of the boom 4. The camera 80L is attached to the left end of the upper surface of the upper swivel body 3, the camera 80R is attached to the right end of the upper surface of the upper swivel body 3, and the camera 80B is attached to the rear end of the upper surface of the upper swivel body 3.

The image pickup apparatus 80 (cameras 80F, 80B, 80L, 80R) is, for example, a monocular wide-angle camera having a very wide angle of view. Further, the image pickup device 80 may be a stereo camera, a distance image camera, or the like. The image captured by the image pickup device 80 around the excavator 100 (hereinafter, “peripheral image”) is captured by the controller 30.

The state detection device S10 outputs detection information regarding various states of the excavator 100. The detection information output from the state detection device S10 is taken into the controller 30.

For example, the state detection device S10 detects the posture state and the operating state of the attachment. Specifically, the state detection device S10 may detect the depression / elevation angles of the boom 4, the arm 5, and the bucket 6 (hereinafter, “boom angle”, “arm angle”, and “bucket angle”, respectively). That is, the state detection device S10 includes a posture sensor.

Further, the state detection device S10 may detect the acceleration, the angular acceleration, and the like of the boom 4, the arm 5, and the bucket 6 by the posture sensor. Further, the state detection device S10 provides a cylinder sensor that detects the cylinder position, speed, acceleration, etc. of the boom cylinder 7, arm cylinder 8, and bucket cylinder 9 that drive each of the boom 4, arm 5, and bucket 6. Can include.

Further, for example, the state detection device S10 detects the posture state of the airframe, that is, the lower traveling body 1 and the upper turning body 3. Specifically, the state detection device S10 may detect the tilted state of the airframe with respect to the horizontal plane. In this case, the state detection device S10 is attached to, for example, the upper swivel body 3 and has an inclination angle around two axes in the front-rear direction and the left-right direction of the upper swivel body 3 (hereinafter, "front-rear inclination angle" and "left-right inclination angle". ) Can be included.

Further, for example, the state detection device S10 detects the turning state of the upper swinging body 3. Specifically, the state detection device S10 detects the turning angular velocity and the turning angle of the upper swing body 3. In this case, the state detection device S10 may include, for example, a gyro sensor, a resolver, a rotary encoder, and the like attached to the upper swing body 3. That is, the state detection device S10 may include a swivel angle sensor that detects the swivel angle and the like of the upper swivel body 3.

Further, for example, the state detection device S10 detects the action state of the force acting on the excavator 100 through the attachment. Specifically, the state detection device S10 may detect the operating pressure (cylinder pressure) of the hydraulic actuator. In this case, the state detection device S10 may include a pressure sensor that detects the pressure in the rod-side oil chamber and the bottom-side oil chamber of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, respectively.

Further, for example, the state detection device S10 may include a sensor that detects the displacement of the spool of the control valve in the control valve 17. Specifically, the state detection device S10 may include a boom spool displacement sensor that detects the displacement of the boom spool. Further, the state detection device S10 may include an arm spool displacement sensor that detects the displacement of the arm spool. Further, the state detection device S10 may include a bucket spool displacement sensor that detects the displacement of the bucket spool. Further, the state detection device S10 may include a swivel spool displacement sensor that detects the displacement of the swivel spool. Further, the state detection device S10 may include a right traveling spool displacement sensor and a left traveling spool displacement sensor that detect displacements of the right traveling spool and the left traveling spool constituting the right traveling control valve and the left traveling control valve, respectively.

Further, for example, the state detection device S10 detects the position of the excavator 100, the direction of the upper swing body 3, and the like. In this case, the state detection device S10 may include, for example, a GNSS (Global Navigation Satellite System) compass, a GNSS sensor, a direction sensor, and the like attached to the upper swing body 3.

The communication device T1 communicates with an external device through the communication network NW. The communication device T1 is, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), and satellite communication for connecting to a satellite communication network. Modules, etc.

The information transmission unit 301 transmits the operation state data of the excavator 100 to the management device 300 through the communication device T1. The operation state data transmitted by the information transmission unit 301 includes, for example, various detection information input from the state detection device S10. Further, the operation state data transmitted by the information transmission unit 301 includes, for example, image data of a peripheral image of the excavator 100 input from the image pickup apparatus 80.

The image captured by the image pickup device 80 is not limited to the peripheral image of the excavator 100. The image captured by the image pickup apparatus 80 may include, for example, an image including a part of the attachment captured by the camera 80F that images the front of the excavator 100.

Further, the operation state data transmitted by the information transmission unit 301 includes information on the internal environmental conditions of the excavator 100, for example, variable specifications such as a large-capacity bucket specification, a long arm specification, and a quick coupling specification. You may.

That is, the operating state data includes various detection information input from the state detection device S10 and image data of the image captured by the image pickup device 80. The various detection information input from the state detection device S10 is the work pattern actual information indicating the actual work pattern of the excavator 100. The image data of the image captured by the image pickup apparatus 80 is the environmental condition actual information indicating the actual environmental conditions around the excavator 100. Therefore, the operation state data includes the work pattern actual information and the environmental condition actual information.

For example, the information transmission unit 301 sequentially determines whether or not the work of the target type specified in advance is being performed, and if it is determined that the work of the target type is being performed, the work is being performed. The operation status data of the period is recorded in the internal memory or the like. At this time, at the same time, the date and time information regarding the start and end of the work of the target type and the position information of the excavator 100 at the time of the work may be stored in the internal memory in such a manner that the operation state data is further included. ..

The date and time information can be acquired from, for example, a predetermined time measuring means (for example, RTC (Real Time Clock)) inside the controller 30. Then, the information transmission unit 301 transmits the recorded operation state data to the management device 300 through the communication device T1 at a predetermined timing such as when the shovel 100 is keyed off (when stopped). Further, the information transmission unit 301 may transmit the recorded operation state data to the management device 300 through the communication device T1 each time the work of the target type is performed.

The environmental condition actual information may include detection information detected by another sensor mounted on the excavator 100 instead of or in addition to the image pickup apparatus 80. For example, the excavator 100 may be equipped with other sensors such as a millimeter wave radar and LIDAR (Light Detecting and Ranging), and the environmental condition actual information may include detection information of these distance sensors. .. The same applies to the current environmental condition information described later. Further, the information transmission unit 301 may transmit only the work pattern actual information to the management device 300. Further, the information transmission unit 301 may sequentially upload the detection information of the state detection device S10 and the peripheral image of the excavator 100 by the image pickup device 80 to the management device 300 through the communication device T1. In this case, the management device 300 may extract the information when the work of the target type is performed from the information uploaded from the excavator 100 and generate the operation state data.

The work pattern acquisition unit 302 acquires the optimum work pattern (optimal work pattern) for the current environmental conditions regarding the predetermined target index from the management device 300 when performing a predetermined type of work. For example, the work pattern acquisition unit 302 provides information on the current environmental conditions of the excavator 100 (hereinafter, “current environmental condition information”) in response to a predetermined operation (hereinafter, “acquisition request operation”) on the input device 42 by the operator. A signal requesting acquisition of the work pattern (acquisition request signal) including the operation pattern is transmitted to the management device 300 through the communication device T1.

As a result, the management device 300 can provide the excavator 100 with an optimum work pattern that matches the current environmental conditions of the excavator 100. The current environmental condition information includes, for example, the latest peripheral image of the excavator 100 by the image pickup apparatus 80. Further, the current environmental condition information may include information on the internal environmental conditions of the excavator 100, for example, variable specifications such as a large-capacity bucket specification, a long arm specification, and a quick coupling specification. Then, the work pattern acquisition unit 302 acquires information about the work pattern transmitted from the management device 300 in response to the acquisition request signal and received by the communication device T1.

The machine guidance unit 303 controls the machine guidance function and the machine control function. That is, the machine guidance unit 303 supports the operation of various operation elements (the lower traveling body 1, the upper turning body 3, and the attachment including the boom 4, the arm 5, and the bucket 6) through the operating device 26 by the operator.

For example, the machine guidance unit 303 has a target design surface (hereinafter, simply “design surface”) defined in advance and a tip portion of the bucket 6 (for example, when the operator is operating the arm 5 through the operation device 26). , Toes and back) may be automatically operated at least one of the boom 4 and the bucket 6. In addition, the machine guidance unit 303 may automatically operate the arm 5 regardless of the operating state of the operating device 26 that operates the arm 5. That is, the machine guidance unit 303 may cause the attachment to perform a predetermined operation by using the operation of the operation device 26 by the operator as a trigger.

More specifically, the machine guidance unit 303 acquires various information from the state detection device S10, the image pickup device 80, the communication device T1, the input device 42, and the like. Further, the machine guidance unit 303 calculates, for example, the distance between the bucket 6 and the design surface based on the acquired information. Then, the machine guidance unit 303 appropriately controls the operation valve 31 according to the calculated distance between the bucket 6 and the design surface, and individually and automatically applies the pilot pressure acting on the control valve corresponding to the hydraulic actuator. By adjusting, each hydraulic actuator can be operated automatically.

The operation valve 31 includes, for example, a boom proportional valve corresponding to the boom 4 (boom cylinder 7). Further, the operation valve 31 includes, for example, an arm proportional valve corresponding to the arm 5 (arm cylinder 8). Further, the operation valve 31 includes, for example, a bucket proportional valve corresponding to the bucket 6 (bucket cylinder 9). Further, the operation valve 31 includes, for example, a swing proportional valve corresponding to the upper swing body 3 (swing hydraulic motor 2A). Further, the operation valve 31 includes, for example, a right traveling proportional valve and a left traveling proportional valve corresponding to the right crawler and the left crawler of the lower traveling body 1, respectively.

The machine guidance unit 303 automatically expands and contracts at least one of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 in response to the opening / closing operation of the arm 5 with respect to the operating device 26, for example, in order to support the excavation work. You may let me. The excavation work is the work of excavating the ground with the toes of the bucket 6 along the design surface. The machine guidance unit 303 is among the boom cylinder 7 and the bucket cylinder 9 when, for example, the operator manually operates the operating device 26 in the closing direction of the arm 5 (hereinafter, “arm closing operation”). Automatically expands and contracts at least one of.

Further, the machine guidance unit 303 may automatically expand and contract at least one of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 in order to support the finishing work of the slope or the horizontal surface, for example. The finishing work includes, for example, the work of pulling the bucket 6 toward you along the design surface while pressing the back surface of the bucket 6 against the ground.

The machine guidance unit 303 automatically expands and contracts at least one of the boom cylinder 7 and the bucket cylinder 9 when, for example, the operator manually closes the arm with respect to the operating device 26. As a result, the bucket 6 can be moved along the slope (slope) or horizontal plane after completion while pressing the back surface of the bucket 6 against the slope (slope) or horizontal plane before completion with a predetermined pressing force.

Further, the machine guidance unit 303 may automatically rotate the swing hydraulic motor 2A in order to make the upper swing body 3 face the design surface. In this case, the machine guidance unit 303 may make the upper swing body 3 face the design surface by operating a predetermined switch included in the input device 42. Further, the machine guidance unit 303 may make the upper swing body 3 face the design surface and start the machine control function only by operating a predetermined switch.

Further, for example, when a predetermined type of work (for example, excavation work, loading work, finishing work, etc.) is being performed, the machine guidance unit 303 has an attachment, an upper portion, according to an operation on the operation device 26 by an operator. The operation of at least a part of the swivel body 3 and the lower traveling body 1 is controlled so as to match the work pattern (optimum work pattern) acquired by the work pattern acquisition unit 302. As a result, the operator outputs the operation of the excavator 100 from the management device 300 so that the evaluation of a predetermined target index, for example, the speed of work is relatively high, regardless of the proficiency level of maneuvering the excavator 100. It is possible to match the working pattern that is most suitable for the current environmental conditions of the excavator 100.

Further, the machine guidance unit 303 may display the operation of the excavator 100 corresponding to the optimum work pattern on the display device 40 while controlling the operation of the excavator 100 based on the optimum work pattern. .. For example, when the machine guidance unit 303 controls the operation of the excavator 100 based on the optimum work pattern, the display device 40 displays a moving image of the simulation result corresponding to the optimum work pattern. As a result, the operator can proceed with the work while confirming the contents of the actual work pattern with the moving image of the display device 40.

The support device 200 of the present embodiment is a terminal device used when performing maintenance or the like of the excavator 100, and has an image data storage unit 210 and an image analysis unit 220. Further, the excavator 100 of the present embodiment may have an imaging device.

The image data storage unit 210 of the present embodiment stores image data of an image captured by the image pickup device of the support device 200. The image data stored in the image data storage unit 210 may include image data other than the image data of the image captured by the image pickup device of the support device 200.

Specifically, the image data storage unit 210 may include image data included in the operation state data acquired from the management device 300, or is imaged by an image pickup device other than the image pickup device of the support device 200. Image data may be included.

For example, the image analysis unit 220 of the present embodiment acquires and analyzes image data in which the excavator 100 in which a crack is visually recognized on the surface is a subject from the image data stored in the image data storage unit 210, and analyzes the image data of the crack. Estimate the progress and display the estimation result. In other words, the image analysis unit 220 analyzes image data showing an image of the surface of the excavator 100 having cracks on the surface, estimates the growth of cracks, and displays the estimation result.

In the example of FIG. 2, it is assumed that the support device 200 has the image data storage unit 210, but the present invention is not limited to this. The image data storage unit 210 may be provided in a device other than the support device 200. Specifically, for example, the image data storage unit 210 may be provided in the management device 300, or may be provided in a server device on a network other than the management device 300.

The management device 300 of the present embodiment has an operation state data storage unit 310, and collects and holds the operation state data of the excavator 100. The management device 300 of the present embodiment may transmit the operating state data of the excavator 100 to the support device 200 in response to a request from the support device 200.

The hardware configuration of the support device 200 of the present embodiment will be described below. FIG. 3 is a diagram showing an example of the hardware configuration of the support device.

The support device 200 of the present embodiment includes an input device 201, an output device 202, a drive device 203, an auxiliary storage device 204, a memory device 205, an arithmetic processing unit 206, and an interface device 207, which are connected to each other by a bus B, respectively. It is a computer.

The input device 201 is a device for inputting various types of information, and is realized by, for example, a touch panel or the like. The output device 202 is for outputting various kinds of information, and is realized by a display device such as a display, for example. The interface device 207 includes a LAN card and the like, and is used for connecting to a network.

The image analysis program that realizes the image analysis unit 220 is at least a part of various programs that control the support device 200. The image analysis program is provided, for example, by distributing the storage medium 208 or downloading it from the network. The storage medium 208 on which the image analysis program is recorded is a storage medium such as a CD-ROM, a flexible disk, a magneto-optical disk, or the like that optically, electrically, or magnetically records information, a ROM, a flash memory, or the like. Various types of storage media such as a semiconductor memory for electrically recording the data can be used.

Further, when the storage medium 208 on which these programs are recorded is set in the drive device 203, the image analysis program is installed in the auxiliary storage device 204 from the storage medium 208 via the drive device 203. The image analysis program downloaded from the network is installed in the auxiliary storage device 204 via the interface device 207.

The auxiliary storage device 204 realizes each storage unit and the like of the support device 200, stores the image analysis program installed in the support device 200, and stores various necessary files, data, and the like by the support device 200. Store. The memory device 205 reads and stores the image analysis program from the auxiliary storage device 204 when the support device 200 is started. Then, the arithmetic processing unit 206 realizes various processes as described later according to the image analysis program stored in the memory device 205.

Since the management device 300 of the present embodiment is a computer having an arithmetic processing unit and a storage device and the hardware configuration is the same as that of the support device 200, the description of the hardware configuration of the management device 300 will be omitted. ..

Next, the function of the image analysis unit 220 of the support device 200 of the present embodiment will be described. FIG. 4 is a diagram illustrating the function of the image analysis unit.

The image analysis unit 220 of the present embodiment includes an image data acquisition unit 221, an image comparison unit 222, a progress estimation unit 223, and a display control unit 224.

The image data acquisition unit 221 acquires image data to be analyzed from the image data group stored in the image data storage unit 210.

The image comparison unit 222 compares the image data acquired by the image data acquisition unit 221. The growth estimation unit 223 estimates the growth of cracks generated on the surface of the excavator 100 based on the result of comparison by the image comparison unit 222. The display control unit 224 outputs the estimation result. That is, the display control unit 224 is an example of an output unit that outputs an estimation result.

Hereinafter, the processing of the image analysis unit 220 included in the support device 200 will be described with reference to FIG. FIG. 5 is a flowchart illustrating the processing of the image analysis unit included in the support device.

In the support device 200 of the present embodiment, the image analysis unit 220 acquires the image data to be analyzed by the image data acquisition unit 221 (step S501). In other words, the image data acquisition unit 221 acquires image data used for estimating the growth of cracks formed on the surface of the excavator 100.

Here, prior to the explanation of the acquisition of the image data by the image data acquisition unit 221, the image data stored in the image data storage unit 210 will be described.

In the present embodiment, for example, it is assumed that a crack is visually found in the boom top of the excavator 100 by a worker or the like who is a user of the support device 200. In this case, the worker takes an image of the excavator 100 including the portion where the crack is found. The image data of this image is stored in the image data storage unit 210.

Further, in the present embodiment, after the crack is found, an image of the excavator 100 including the cracked portion is periodically captured, and the image data is stored in the image data storage unit 210.

At this time, in the present embodiment, for example, the aircraft identification information for identifying the excavator 100 as the subject may be stored in association with the image data.

The machine identification information of the excavator 100 may be input to the support device 200 by a worker or the like at the time of capturing image data, for example. Further, the machine identification information of the shovel 100 is embedded in, for example, a two-dimensional code, and the image pickup device of the support device 200 reads the two-dimensional code attached to the machine of the shovel 100 or the like to be the subject of the shovel. 100 aircraft identification information may be acquired. Further, the aircraft identification information of the excavator 100 may be transmitted from the excavator 100 to the support device 200 in response to a request from the support device 200 when the imaging by the support device 200 is started.

Further, in the present embodiment, date and time information indicating the date and time when the image was captured can be associated with the image data. Therefore, in the image data storage unit 210, the image data is associated with the date and time when the image data was acquired and the aircraft identification information of the excavator 100 as the subject.

In the following description, the information associated with the image data may be referred to as additional information of the image data. The additional information includes at least the aircraft identification information of the excavator 100 and the date and time information. Further, the additional information may include, for example, information indicating a portion (damaged portion) of the excavator 100 in which a worker or the like visually recognizes a crack.

The information indicating the part of the excavator 100 may be input to the support device 200 by the worker at the time of capturing the image data, for example. Further, the information indicating the part of the excavator 100 may be acquired as information indicating the specified part by identifying the part in the image by the image analysis by the image analysis unit 220.

Next, the acquisition of image data by the image data acquisition unit 221 will be described. For example, when the excavator 100 for estimating the growth of cracks is designated, the image data acquisition unit 221 of the present embodiment is associated with the machine identification information of the excavator 100 from the image data storage unit 210. Acquire image data and additional information.

Specifically, for example, when the image data acquisition unit 221 receives the input of the machine identification information of the excavator 100, the image data storage unit 210 gives the image data and additional information associated with the input machine identification information. May be obtained.

Further, the image data acquisition unit 221 displays, for example, a list screen of thumbnails of image data groups stored in the image data storage unit 210 on the support device 200, and based on the thumbnails selected on the list screen, the excavator 100 The aircraft identification information may be acquired. For example, when the thumbnail is selected, the image data acquisition unit 221 identifies the image data that is the source of the thumbnail and acquires the aircraft identification information associated with the image data. Then, the image data acquisition unit 221 may acquire the image data associated with the machine identification information and the additional information from the image data storage unit 210.

Further, the image data acquisition unit 221 specifies, for example, the aircraft identification information associated with the image data when the excavator 100 is imaged, and the image data storage unit 210 associates the specified aircraft identification information with the image. Data and additional information may be acquired.

Following step S501, the image analysis unit 220 compares the acquired image data with each other by the image comparison unit 222 (step S502).

The comparison of image data by the image comparison unit 222 will be described below. The comparison by the image comparison unit 222 is performed when a plurality of image data are acquired in step S501.

The image comparison unit 222 compares the images indicated by the image data in chronological order of the date and time of the image data based on the date and time information included in the additional information of the image data acquired by the image data acquisition unit 221. More specifically, the image comparison unit 222 may specify an image of a crack in an image indicated by a plurality of image data, compare the images of the crack with each other, and extract the difference. The difference between the images of the crack may include, for example, the difference in the length of the crack and the difference in the direction in which the crack progresses.

The image comparison unit 222 compares the images of the cracks in the order of the oldest date and time indicated by the date and time information for all the image data acquired by the image data acquisition unit 221.

Following step S502, the image analysis unit 220 estimates the growth of cracks from the result of comparison of each image data by the image comparison unit 222 by the growth estimation unit 223 (step S503).

Specifically, the growth estimation unit 223 estimates the growth of cracks and calculates the time when the use of the excavator 100 should be prohibited. In other words, the progress estimation unit 223 calculates the period from the present time until the use of the excavator 100 is prohibited. In the following description, the period from the present time until the use of the excavator 100 is prohibited is referred to as the remaining life of the excavator 100. The current state of the present embodiment indicates a state in which cracks are visually observed on the surface of the excavator 100.

Therefore, the progress estimation unit 223 of the present embodiment estimates the growth of cracks and calculates the remaining life of the excavator 100 based on the estimation result.

The growth of a crack includes the speed at which the crack progresses and the direction in which the crack progresses. That is, in 223 of the present embodiment, the speed and direction in which the cracks generated on the surface of the excavator 100 advance are estimated from the comparison of a plurality of image data by the image comparison unit 222.

Further, the progress estimation unit 223 may, for example, hold in advance information to be referred to when calculating the remaining life of the excavator 100, and calculate the remaining life of the excavator 100 with reference to this information.

The information referred to when calculating the remaining life is information indicating a place where the use of the excavator 100 is prohibited when a crack reaches. This part may be referred to as a repair line in the following description, for example. Further, in the following description, the time when the use of the excavator 100 is prohibited may be referred to as an estimated use limit date. Further, the estimated use limit date may be calculated only when the crack growth reaches the repair line as a result of estimation by the growth estimation unit 223.

Following step S503, the image analysis unit 220 outputs the estimation result by the progress estimation unit 223 by the display control unit 224 (step S504). The output destination of the estimation result by the display control unit 224 is the output device 202 (display device) of the support device 200 or the like.

Further, in the present embodiment, the learning model may be used to recognize cracks in the image data. In this case, the image comparison unit 222 acquires the image data and recognizes the crack from the image data. A learning model may be used for this crack recognition process.

In this embodiment, in this way, the location where the crack is generated is first recognized from the image data. In this way, the image comparison unit 222 can grasp the cracks at the same location at different time points from the image data acquired at different time points.

Then, the image comparison unit 222 can not only grasp the progress of the cracks but also estimate how the load is applied (direction, size) by comparing the cracks at different time points. That is, in the present embodiment, the correspondence between the load and the crack can be estimated.

The growth estimation unit 223 calculates the crack after a predetermined time as an estimation result based on the correspondence between the estimated load and the crack. The progress estimation unit 223 can also calculate the estimated usage limit date. The display control unit 224 outputs (displays) an image including cracks after a predetermined time. The display control unit 224 may also output (display) the estimated usage limit date. In this embodiment, the future crack growth can be estimated based on the current image data and the correspondence between the load and the crack.

FIG. 6 is a diagram showing a display example of the estimation result in the embodiment. The screen 21 shown in FIG. 6 is an example of the screen displayed on the output device 202 of the support device 200.

The screen 21 includes display areas 22, 23, 24, 25, 26. In the display area 22, the image data of the most recently captured excavator 100 is displayed. In the display area 23, additional information and the like of the image data displayed in the display area 22 are displayed. In the display area 24, date and time information or the like indicating the date and time when each of the image data groups used for estimating the crack was imaged is displayed. In the display area 25 and the display area 26, the estimation result of the crack growth is displayed.

In the example of FIG. 6, an image of the boom top of the excavator 100 is displayed in the display area 22. Further, in the display area 21, a mark 22a that emphasizes the location where the crack is generated is displayed.

In the display area 23, as additional information of the image data displayed in the display area 22, date and time information (today's date) when the image data displayed in the display area 22 was captured, aircraft identification information of the excavator 100, and cracks occur. The damaged part (damaged part) is displayed. Further, in the display area 22, the date (analysis date) of the analysis performed by the image analysis unit 220 is displayed.

The date and time information of the image data group is displayed in the display area 24. In the example of FIG. 6, four image data are used for estimating the growth of cracks from the date and time information displayed in the display area 24. The oldest date and time indicated by the date and time information displayed in the display area 24 is May 12, 2018, and the date and time when the image data displayed in the display area 22 is captured is June 2018. It's the 15th. Therefore, it can be seen that the portion indicated by the mark 22a had a crack about one month ago and has reached the present.

In the display area 25, an enlarged image of the portion indicated by the mark 22a is displayed. Further, in the display area 25, an image in which the cracks showing the estimation result are connected to the cracks currently occurring is displayed.

That is, in the image displayed in the display area 25, the image 25a is an image of a crack currently occurring, and is an image of captured image data. Further, in the image displayed in the display area 25, the image 25b is an image showing the estimated future growth of the crack, and is an image of the virtual crack after the growth generated based on the estimation result.

In the present embodiment, the image 25b may be displayed in a display mode different from that of the image 25a. Specifically, for example, it is preferable that the image 25b is displayed as an image in which it can be visually determined that the crack is an estimated crack.

In the present embodiment, by displaying both the image of the crack currently occurring and the image generated based on the estimation result in this way, the method of developing the crack currently occurring can be determined by the support device 200. It can be grasped by the user.

Further, the display area 25 includes display fields 25c and 25d. The display field 25c is associated with the image 25a, and the analysis date at which the crack growth is estimated is displayed.

The display field 25d is associated with the image 25b, and the estimated usage limit date of the excavator 100 calculated by the progress estimation unit 223 is displayed. The estimated use limit date may be displayed only when the crack growth reaches the repair line as a result of estimation by the growth estimation unit 223.

In the display area 26, the estimated usage limit date is displayed as the estimation result by the progress estimation unit 223.

In the present embodiment, by displaying both the current date and time and the estimated usage limit date in this way, the user of the support device 200 can easily determine how long the remaining life of the excavator 100 is. It can be grasped.

The screen 21 shown in FIG. 6 is supposed to be displayed on the output device 202 of the support device 200, but is not limited thereto. The screen 21 may be displayed on the display of the management device 300 or the like, or may be displayed on the display device 40 of the excavator 100.

Further, in the above-described embodiment, the image analysis unit 220 is provided in the support device 200, but the present invention is not limited to this. The image analysis unit 220 may be provided in the management device 300, for example.

FIG. 7 is a diagram showing another example of the system configuration of the excavator management system of the embodiment. The management system SYS1 shown in FIG. 7 includes an excavator 100, a support device 200A, and a management device 300A.

The support device 200A transmits the image data captured by the image pickup device included in the support device 200A to the management device 300A.

The management device 300A includes an operation state data storage unit 310, an image data storage unit 210, and an image analysis unit 220. The management device 300A stores the image data transmitted from the support device 200A in the image data storage unit 210, and the image analysis unit 220 estimates the growth of cracks. Further, the management device 300A may display the estimation result by the image analysis unit 220 on the output device 202 of the support device 200A.

In the example of FIG. 7, since the image data storage unit 210 and the image analysis unit 220 are provided in the management device 300A, it is not necessary to consider the memory capacity of the support device side, the image processing capacity, etc., and the smartphone, mobile phone, etc. The general-purpose portable terminal device can be the support device 200A.

(Another embodiment)
Hereinafter, another embodiment will be described with reference to the drawings. Another embodiment differs from the embodiment in that the crack growth is estimated by simulation. In the following description of another embodiment, differences from the embodiment will be described, and those having the same functional configuration as that of the embodiment will be given the same reference numerals as those used in the description of the embodiment. The explanation is omitted.

FIG. 8 is a diagram showing an example of a system configuration of a shovel management system of another embodiment. The management system SYS2 of another embodiment has an excavator 100, a support device 200A, and a management device 300B.

The management device 300B has an operating state data storage unit 310 and an analysis unit 320, and estimates the growth of cracks using the operating state data of the excavator 100 stored in the operating state data storage unit 310, and estimates and uses it. Calculate the limit date. Further, the analysis unit 320 outputs the estimation result to the support device 200A, the display device of the own device, or the like. That is, the analysis unit 320 is an example of an estimation unit for estimating the growth of cracks and an output unit.

Hereinafter, the processing of the analysis unit 320 of the management device 300B will be described with reference to FIG. FIG. 9 is a flowchart illustrating the processing of the analysis unit of the management device.

In the management device 300B, the analysis unit 320 measures the measured values for at least one lap and 16 periods of a series of operations repeated during the work by the excavator 100 with the attachment attitude sensor, the attachment load sensor, and the turning angle sensor (state detection). Obtained from device S10) (step S901).

The turning angle of the upper turning body 3 is acquired from the turning angle sensor. The posture of the excavator 100 is specified by the measured values of the posture sensor and the turning angle sensor of the attachment. In the series of operations, the range for acquiring the measured values by the attitude sensor of the attachment, the load sensor of the attachment, and the turning angle sensor may be set by the operator of the management device 300B.

Hereinafter, a series of operations repeated by the excavator 100 will be described with reference to FIG. FIG. 10 is a diagram showing an example of a series of operations repeated by the excavator. (A) to (D) shown in FIG. 10 are excavators at any time during each process within one cycle of a series of operations, specifically, excavation start, lift turning, soil removal, and return turning. The posture of 100 is shown schematically.

When the excavator 100 is operated, for example, the postures shown in FIGS. 10 (A) to 10 (D) appear in order by repeating a series of operations.

FIG. 10A shows the posture when the excavator 100 starts excavation. FIG. 10B shows a posture when the excavator 100 lifts and turns the boom 4. FIG. 10C shows the posture of the excavator 100 when it starts excavating soil. FIG. 10D shows the posture when the excavator 100 makes a return turn.

In another embodiment, the analysis unit 320 acquires the operation state data including the measured values for at least one lap 16 periods of such a series of operations from the operation state data storage unit 310.

Returning to FIG. 9, the analysis unit 320 extracts a plurality of times (hereinafter, referred to as “analysis time”) to be analyzed within one cycle of a series of operations following step S901 (step S902). Specifically, for example, the time when the excavator 100 is operating in each posture shown in FIG. 10 is extracted as the analysis time from within one cycle.

Further, the analysis unit 320 extracts, for example, characteristic times such as the oil pressure in the cylinder, the peak of the time waveform of the turning angle, and the inflection point as the analysis time. If the number of analysis times to be extracted is increased, the analysis accuracy is improved. The analysis unit 320 may automatically extract the analysis time based on each time waveform, or the operator of the management device 300B observes the time waveform to determine the analysis time, and the analysis unit 320 determines the analysis time from the input device 42 (FIG. 1). You may enter the analysis time.

Subsequently, the analysis unit 320 calculates the distribution of stress applied to each of the parts such as the boom and the arm using the analysis model at each analysis time (step S903). The stress distribution is calculated based on the specific posture of the excavator 100, which is determined for each analysis time.

That is, the analysis unit 320 calculates the stress distribution based on the load applied to the parts of the excavator 100 for each posture of the various excavators 100 appearing in one cycle of the repeated series of operations. A numerical analysis method such as the finite element method can be applied to the calculation of the stress distribution.

At this time, the posture of the excavator 100 and the load applied to the parts of the excavator 100 are used as boundary conditions. Here, the load is represented by a vector. The magnitude and direction of the load can be obtained from the hydraulic pressure in the hydraulic cylinder, the axial direction of the hydraulic cylinder (attachment posture), and the turning angular acceleration. The turning angular acceleration is calculated by differentiating the turning angle twice.

The calculation of the stress distribution will be described below with reference to FIG. FIG. 11 is a diagram showing an example of a time waveform of stress applied to one evaluation point of a shovel component.

In FIG. 11, the stress is calculated at each of the four analysis times t1 to t4 extracted in step S902. The stress time waveform shown in FIG. 11 is obtained for each component such as the boom 4, the arm 5, and the bucket 6 for a plurality of evaluation points (a plurality of nodes when the finite element method is used).

Returning to FIG. 9, the analysis unit 320 obtains the stress intensity factor range by the fracture mechanics method based on the stress range, and obtains the crack growth rate according to the Paris law (step S904), following step S903.

More specifically, the analysis unit 320 calculates the crack growth amount and the stress intensity factor range based on the stress range by the fracture mechanics method, and is defined by the crack growth amount shown in FIG. The crack growth rate is calculated based on the relationship between the crack growth rate and the stress intensity factor range. FIG. 12 is a diagram showing the relationship between the crack growth rate and the stress intensity factor range.

The relationship between the crack growth rate shown in FIG. 12 and the stress intensity factor range is expressed by the following equation 1.

da / dN = C (ΔK) ^m (Equation 1)
In Equation 1, da / dN is the crack growth rate, C is a constant determined by the material, ΔK is the stress intensity factor range, and m is a constant determined by the material.

Returning to FIG. 9, the analysis unit 320 estimates the estimated use limit date based on the calculated crack growth rate (step S905). In other words, the analysis unit 320 calculates the remaining life of the excavator 100 based on the crack growth rate.

Subsequently, the analysis unit 320 outputs the estimated usage limit date of the excavator 100 as the analysis result (step S906), and ends the process.

As described above, in the present embodiment, the crack after a predetermined time is estimated by grasping the progress status up to the present based on the image data and adding the future estimated value based on the crack growth rate to the current image data. It is possible to calculate the estimated usage limit date.

Next, a display example of the analysis result of the present embodiment will be described with reference to FIG. FIG. 13 is a diagram showing a display example of the analysis result in another embodiment. The screen 21A shown in FIG. 13 is an example of the screen displayed on the output device 202 of the support device 200A.

The screen 21A includes display areas 22, 25A, 26A, 51, 52, 53. In the display area 51, the current date and the date when the processing by the analysis unit 320 was last executed are displayed. The display area 52 displays information about the excavator 100. In the display area 53, information indicating a portion where a crack has occurred in the excavator 100 is displayed.

In the example of FIG. 13, in the display area 51, the current date is June 15, 2018, and the date when the processing by the analysis unit 320 was last executed is May 12, 2018, so that it is nearly one month. , It can be seen that the remaining life of the excavator 100 was not calculated.

In the display area 52, the machine identification information of the shovel 100, the value of the hour meter, the position information of the shovel 100, and the reception state of the operation state data (machine data) are displayed.

The analysis unit 320 of the present embodiment may receive, for example, the machine identification information of the excavator 100 to be analyzed for the remaining life from the support device 200A. When the analysis unit 320 receives the aircraft identification information, the analysis unit 320 extracts the value of the hour meter corresponding to the received aircraft identification information, the position information of the excavator 100, and the like from the operation state data storage unit 310, and displays the information in the display area 52. You may let me.

In the display area 53, a portion (damaged portion) where a crack is detected when the processing of the analysis unit 320 is finally executed is displayed. In the example of FIG. 13, the date when the processing of the analysis unit 320 was last executed is May 12, 2018. Therefore, the damaged portion displayed in the display area 53 is a portion where a crack has already occurred in the analysis at this time.

Further, the display area 53 is provided with an operation button 54. The operation button 54 is an operation button that requests the analysis unit 320 to execute the process. In the present embodiment, when the operation button 54 is operated, the support device 200A transmits a processing execution request by the analysis unit 320 to the management device 300B.

In the display areas 25A and 26A, for example, the operation button 54 is operated to transmit a processing execution request by the analysis unit 320, and the analysis result is displayed after the processing by the analysis unit 320 is executed.

In the display area 25A, an enlarged image of the image displayed in the display area 22 is displayed. The image data of the most recently captured excavator 100 is displayed in the display area 22. In the display area 22, a mark 22b for emphasizing the damaged portion is displayed, and in the display area 25A, an enlarged image of the portion indicated by the mark 22b is displayed.

In the example of FIG. 13, in the display area 25A, an image in which the image 25e of the crack currently occurring and the crack 25f estimated based on the analysis result are connected is displayed. That is, the image 25e is an image of the captured image data, and the image 25f is an image showing the estimated future progress of cracks.

In the present embodiment, by displaying both the image of the crack currently occurring and the image generated based on the estimation result in this way, the method of developing the crack currently occurring can be determined by the support device 200. It can be grasped by the user.

Further, the display area 25A includes display fields 25g and 25h. The display field 25g is associated with the image 25e, and the analysis date on which the processing by the analysis unit 320 is executed is displayed.

The display field 25h is associated with the image 25f, and the estimated usage limit date of the excavator 100 calculated by the analysis unit 320 is displayed. In the display area 26A, the estimated usage limit date is displayed as the analysis result by the analysis unit 320.

In the present embodiment, by displaying both the current date and time and the estimated usage limit date in this way, the user of the support device 200 can easily determine how long the remaining life of the excavator 100 is. It can be grasped.

The process of the analysis unit 320 may be executed when the support device 200A requests the execution of the process. The case where the support device 200A requests the execution of the processing of the analysis unit 320 is a case where a crack is visually recognized on the surface of the excavator 100 by a worker who is a user of the support device 200A.

(And yet another embodiment)
Further, another embodiment will be described below with reference to the drawings. Yet another embodiment differs from the other embodiment in that it takes into account the case where the crack growth is not visible.

FIG. 14 is a diagram showing an example of a crack formed inside an excavator part. FIG. 14 shows a vertical cross section of the welded portion WM between the metal plate 4f on the ventral side of the boom 4 and the partition wall 4e. Further, in the example of FIG. 14, a state in which cracks CR1, cracks CR2, and cracks CR3 are generated in the partition wall 4e, the metal plate 4f, and the welded portion WM, respectively, is shown. Since such cracks cannot be visually confirmed, estimation using image data cannot be applied.

Therefore, in the present embodiment, the processing of the analysis unit 320 shown in FIG. 9 is periodically executed from, for example, the time when the use of the excavator 100 is started, so that an invisible crack as shown in FIG. 14 is executed. Estimate the progress of. In this case, it is preferable that the analysis unit 320 has a function of predicting the occurrence of cracks and a function of detecting the occurrence of cracks.

In the present embodiment, when the occurrence of a crack is predicted, the crack progresses regardless of whether or not the crack of the excavator 100 can be visually recognized by periodically executing the process of the analysis unit 320 shown in FIG. The estimated usage limit date of the excavator 100 can be calculated.

Therefore, according to the present embodiment, for example, the remaining life of the excavator 100 can be calculated even when a crack occurs not on the surface of the excavator 100 but on the inside of a part or the like. still,
Further, in the present embodiment, the process of estimating the growth of cracks may be switched between the analysis unit 320 and the image analysis unit 220.

Specifically, for example, when the management device 300B receives a switching instruction from the support device 200A to switch the estimation process to the image analysis unit 220 when the processing of the analysis unit 320 is periodically performed, the management device 300B analyzes the data. The processing by unit 320 may be stopped.

That is, when the management device 300B receives the switching instruction, the method of estimating the growth of the crack is switched from the method of analyzing the operating state data collected from the shovel 100 to the method of analyzing the image data obtained by capturing the image of the crack.

When the management device 300B receives the switching instruction again, the management device 300B switches the method of estimating the growth of the crack from the method of analyzing the image data obtained by capturing the image of the crack to the method of analyzing the operating state data collected from the excavator 100. You may.

When the switching instruction is received from the support device 200A, for example, a worker visually observes a crack on the surface of the excavator 100, and the support device 200A performs an operation of switching to analysis by the image analysis unit 220 using an actual image. For example, if it is broken.

As described above, in the present embodiment, the growth of the crack can be estimated and the remaining life of the excavator 100 can be calculated by the simulation by the analysis unit 320 regardless of whether the crack is visible or not.

Further, in the present embodiment, when the crack cannot be visually observed, the growth of the virtual crack is estimated by simulation, and after the crack is visually observed, the image of the actually visually observed crack is analyzed. , The growth of cracks can be estimated. Therefore, in the present embodiment, it is possible to estimate the growth of cracks and calculate the remaining life by a method according to the state of the excavator 100.

In each of the above-described embodiments, the excavator 100 has been described as an example of the work machine, but the work machine is not limited to the excavator 100. Each of the above-described embodiments can be applied to various working machines other than excavators.

Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions are made to the above-described embodiments without departing from the scope of the present invention. Can be added.

30 Controller 40 Display device 100 Excavator 200, 200A Support device 210 Image data storage unit 220 Image analysis unit 221 Image data acquisition unit 222 Image comparison unit 223 Progress estimation unit 224 Display control unit 300, 300A, 300B Management device 310 Operation status data storage Department 320 Analysis Department

Claims (8)

An estimation part that estimates the growth of cracks,
A shovel support device having an output unit that outputs an estimation result by the estimation unit. The shovel support device according to claim 1, wherein the estimation unit calculates the remaining life of the excavator based on the growth of the crack and includes it in the estimation result. The remaining life of the excavator is
The shovel support device according to claim 2, which indicates the period from the present time until the crack reaches a predetermined repair line. The estimation unit
The support for the excavator according to any one of claims 1 to 3, which estimates the growth of the cracks by analyzing a plurality of image data obtained by capturing the cracks formed on the surface of the excavator at different times. Device. The output unit
The image of the crack that has occurred, the image of the virtual crack after the evolution generated based on the estimation result, the information indicating the date and time when each of the plurality of image data was captured, and the remaining life of the excavator. , Is displayed on the display device, the support device for the excavator according to claim 4. The estimation unit
The shovel support device according to claim 4 or 5, wherein the excavator's operating state data is collected and the collected operating state data is analyzed to estimate the growth of the crack. The estimation unit
The shovel support device according to claim 6, which receives an instruction to switch the method for estimating the growth of cracks and switches the estimation method from the method of analyzing the operating state data to the method of analyzing the plurality of image data. .. An estimation part that estimates the growth of cracks,
A shovel management device having an output unit that outputs an estimation result by the estimation unit.

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