JP2022154720A - Shovel and management device of construction machine - Google Patents

Abstract

To reduce swinging of a machine body.SOLUTION: A shovel comprising a lower structure having a crawler belt to which a plurality of shoe plates are connected includes: a determination portion determining whether or not to output a notification prompting to clean the lower structure according to state change of the lower structure; and a display control portion displaying the notification on a display device according to the determination result of the determination portion.SELECTED DRAWING: Figure 1

Description

The present invention relates to a management device for excavators and construction machines.

Conventionally, a camera is mounted on a vehicle running on a rubber crawler to determine whether or not the rubber crawler is abnormal based on the outer shape of the rubber crawler. There are known techniques for

Japanese Patent No. 5384228

Since the conventional rubber crawler described above runs on asphalt, no consideration is given to running on an unpaved road surface. When traveling on an unpaved road surface, earth and sand may adhere to the crawlers, causing the upper structure to sway and damage the machine body.

Therefore, in view of the above circumstances, it is an object to reduce the shaking of the aircraft.

A shovel according to an embodiment of the present invention is a shovel that includes an undercarriage having a crawler belt to which a plurality of shoe plates are connected, wherein the undercarriage is controlled according to a change in the state of the undercarriage. A determination unit that determines whether or not to output a notification prompting cleaning, and a display control unit that displays the notification on a display device according to a determination result of the determination unit.

A construction machine management device according to an embodiment of the present invention is a construction machine management device for managing a construction machine having a lower traveling body having a crawler belt to which a plurality of shoe plates are connected, wherein the lower traveling body and display control for displaying the notification on a display device according to the determination result of the determination unit. and

Shaking of the aircraft can be reduced.

1 is a side view of a shovel according to this embodiment; FIG. 1 is a front view of a shovel according to this embodiment; FIG. It is a block diagram showing an example of composition of a shovel concerning this embodiment. 1 is a schematic diagram showing a configuration example of a hydraulic system mounted on an excavator; FIG. It is a figure which shows the structural example of the hydraulic circuit relevant to a motor regulator. It is a figure explaining the functional structure of a controller. 4 is a flowchart for explaining the operation of the shovel; It is a figure explaining further the operation|movement of a shovel. It is a figure which shows an example of a main screen.

(embodiment)
An outline of a shovel according to the present embodiment will be described with reference to FIGS. 1 and 3. FIG. FIG. 1 is a side view of an excavator according to this embodiment, FIG. 2 is a front view of the excavator according to this embodiment, and FIG. 3 is a block diagram showing an example of the configuration of the excavator according to this embodiment. is.

The excavator 100 according to the present embodiment includes a lower traveling body 1, an upper rotating body 3 mounted on the lower traveling body 1 so as to be rotatable via a revolving mechanism 2, a boom 4, an arm 5, and a bucket as attachments. 6 and a cabin 10.

The lower traveling body 1 mainly includes a frame 1a, a crawler belt 1b, a carrier roller 1c, a track roller 1d, a traveling hydraulic motor 20, a driven wheel 1S, and the like.

The frame 1 a is a member that forms the skeleton of the undercarriage 1 . The frame 1a has a left frame portion 1a-L, a right frame portion 1a-R, and a central frame portion 1a-C connecting the left frame portion 1a-L and the right frame portion 1a-R. The dot pattern in FIG. 2 represents the dirt DS deposited on the crawler belt 1b and the frame 1a.

The crawler belt 1b is an endless track (crawler belt) rotationally driven by a hydraulic motor 20 for traveling. The crawler belt 1b includes a left crawler belt 1b-L and a right crawler belt 1b-R.

The carrier roller 1c is a driven roller arranged above the frame 1a and between the frame 1a and the crawler belt 1b. The track roller 1d is a driven roller arranged under the frame 1a and between the frame 1a and the crawler belt 1b. The carrier roller 1c includes a plurality of left carrier rollers 1c-L and a plurality of right carrier rollers 1c-R. The track rollers 1d include a plurality of left track rollers 1d-L and a plurality of right track rollers 1d-R.

The traveling hydraulic motor 20 is attached to the rear end (-X side end) of the frame 1a. The traveling hydraulic motor 20 includes a left traveling hydraulic motor 20L and a right traveling hydraulic motor 20R (not shown). The left travel hydraulic motor 20L is attached to the rear end of the left frame portion 1a-L, and the right travel hydraulic motor 20R is attached to the rear end of the right frame portion 1aR.

The driven wheel 1S is attached to the front end (+X side end) of the frame 1a. The driven wheels 1S include a left driven wheel 1S-L and a right driven wheel 1S-R (not shown). The left driven wheel 1S-L is attached to the front end of the left frame portion 1a-L, and the right driven wheel 1S-R is attached to the front end of the right frame portion 1a-R.

The left crawler belt 1b-L meshes with a driving sprocket coupled to the rotating shaft of the left traveling hydraulic motor 20L and the left driven wheel 1S-L. The right crawler belt 1b-R meshes with a driving sprocket coupled to the rotating shaft of the right traveling hydraulic motor 20R and the right driven wheel 1S-R.

With this configuration, when the traveling hydraulic motor 20 rotates counterclockwise in FIG. 1, the crawler belt 1b also rotates counterclockwise and the excavator 100 advances. Conversely, when the traveling hydraulic motor 20 rotates clockwise, the crawler belt 1b also rotates clockwise and the excavator 100 moves backward.

The upper revolving body 3 (an example of a revolving body) revolves with respect to the lower traveling body 1 by being driven by a revolving hydraulic motor 2A (see FIG. 3).

The boom 4 is pivotally attached to the center of the front portion of the upper rotating body 3 so as to be able to be raised. An arm 5 is pivotally attached to the tip of the boom 4 so as to be vertically rotatable. rotatably pivoted; A boom 4, an arm 5, and a bucket 6 as an end attachment (one example of a link portion, respectively) are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9 as hydraulic actuators, respectively.

The cabin 10 is a driver's cab in which an operator boards, and is mounted on the front left side of the upper revolving structure 3 .

Also, the excavator 100 of the present embodiment has a controller 30 (control section) that controls the operation of the excavator 100 .

For example, when the excavator 100 travels on an unpaved road surface or the like, the controller 30 of the present embodiment detects if dirt DS or the like adheres and accumulates on the crawler belt 1b or the frame 1a. The display device 40, which will be described later, is caused to display a notification prompting the cleaning of 1b.

As shown in FIG. 2, when the excavator 100 is driven with earth and sand DS adhering to the crawler belt 1b and the frame 1a, the weight of the earth and sand DS causes a large vibration of the shoe plate at the portion Y and the like. Become. In particular, in an excavator in which the direction of the lower traveling body 1 is changed by a pivot turn or a spin turn using the rotational motion of left and right shoe plates, earth and sand are also deposited inside the shoe plates. When the vibration of the shoe plate increases, the excavator 100 repeats unnecessary acceleration and deceleration, increasing damage to structures such as the upper revolving body 3 . Moreover, the riding comfort of the driver's seat of the cabin 10 deteriorates.

Therefore, in the present embodiment, it is determined whether or not the earth and sand DS are deposited on the crawler belt 1b. Prompt to clean the belt 1b. In this embodiment, this suppresses unnecessary acceleration and deceleration of the excavator 100 caused by the accumulation of earth and sand DS on the crawler belt 1b, and reduces damage to the structure of the excavator 100. FIG. Moreover, in this embodiment, the comfort of the driver's seat of the cabin 10 is improved.

The imaging device 80 is another example of a space recognition device, and is configured to capture an image of the surroundings of the excavator 100 . Note that the excavator 100 may have an object detection device as an example of the space recognition device. The space recognition device of this embodiment may be configured in any way as long as it can grasp the positional relationship between the surrounding objects and the shovel 100 .

The imaging device 80 includes a camera 80B attached to the rear end of the upper surface of the upper rotating body 3, a camera 80L attached to the left end of the upper surface of the upper rotating body 3, and a camera 80R attached to the right end of the upper surface of the upper rotating body 3. include. The imaging device 80 may include a camera 80F.

The image captured by the imaging device 80 is displayed on the display device 40 installed inside the cabin 10 . The imaging device 80 may be configured to display a viewpoint-converted image such as a bird's-eye view image on the display device 40 . The bird's-eye view image is generated, for example, by synthesizing images output by the cameras 80B, 80L, and 80R.

With this configuration, the excavator 100 can display an image of the object detected by the imaging device 80 on the display device 40 . Therefore, when the movement of the driven body is restricted or prohibited, the operator of the excavator 100 can immediately confirm what the object is by looking at the image displayed on the display device 40. can.

The imaging devices 80 (cameras 80F, 80B, 80L, 80R) are, for example, monocular wide-angle cameras having a very wide angle of view. Also, the imaging device 80 may be a stereo camera, a distance image camera, or the like. An image captured by the imaging device 80 is captured by the controller 30 via the display device 40 .

Also, the imaging device 80 may function as an object detection device. In this case, the imaging device 80 may detect objects existing around the excavator 100 . Objects to be detected include, for example, terrain shapes (slopes, holes, etc.), people, animals, vehicles, construction machinery, buildings, walls, helmets, safety vests, work clothes, predetermined marks on helmets, and the like. can be

The imaging device 80 may also calculate the distance to the object recognized from the imaging device 80 or the shovel 100 . The imaging device 80 as a space recognition device can include, for example, an ultrasonic sensor, millimeter wave radar, stereo camera, LIDAR (Light Detection and Ranging), distance image sensor, infrared sensor, and the like.

Further, the space recognition device is, for example, a monocular camera having an imaging device such as a CCD (Charge-Coupled Device) image sensor or a CMOS (Complementary Metal-Oxide-Semiconductor) image sensor, and outputs the captured image to the display device 40. You can Further, the space recognition device may be configured to calculate the distance from the excavator 100 to the recognized object.

The excavator 100 not only uses captured image information, but also uses a millimeter wave radar, an ultrasonic sensor, a laser radar, or the like as a space recognition device. A laser beam or the like) may be transmitted to the surroundings, and the reflected signal may be received to detect the distance and direction of the object from the reflected signal.

In this way, the space recognition device may be configured to be able to identify at least one of the type, position, shape, and the like of an object. For example, the space recognition device may be configured to be able to distinguish between humans and objects other than humans. Further, the space recognition device may be configured to be able to determine the state of the earth and sand deposited on the shoe plate.

Note that the imaging device 80 may be directly connected to the controller 30 so as to be communicable.

Also, the space recognition device 80 may be independent of the excavator 100 . Further, the controller 30 may acquire a captured image of the work site around the excavator 100 output by the space recognition device 80 via the communication device T1. Specifically, the space recognition device 80 is attached to an aerial photography multi-copter, a steel tower installed at a work site, a utility pole, or the like, and acquires work site information based on a captured image of the work site viewed from above. good too.

Next, the configuration of the excavator 100 will be further described with reference to FIG. In the drawing, mechanical power lines are indicated by double lines, high-pressure hydraulic lines by solid lines, pilot lines by broken lines, and electric drive/control lines by dotted lines. The same applies to FIGS. 4 and 5 below.

A hydraulic drive system for hydraulically driving the hydraulic actuator of the excavator 100 according to this embodiment includes an engine 11 , a regulator 13 , a main pump 14 and a control valve 17 . As described above, the hydraulic drive system of the excavator 100 according to the present embodiment includes a traveling hydraulic motor 20 that hydraulically drives each of the lower traveling body 1, the upper revolving body 3, the boom 4, the arm 5, and the bucket 6; Hydraulic actuators such as swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8 and bucket cylinder 9 are included.

The engine 11 is the main power source in the hydraulic drive system, and is mounted on the rear portion of the upper rotating body 3, for example. Specifically, the engine 11 rotates at a preset target speed under direct or indirect control by a controller 30 to be described later, and drives 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 pump regulator 13 controls the discharge amount of the main pump 14 . For example, the regulator 13 adjusts the angle (tilt angle) of the swash plate of the main pump 14 according to a control command from the controller 30 . The pump regulator 13 includes, for example, pump regulators 13L and 13R as described later.

The main pump 14 is mounted, for example, on the rear portion of the upper rotating body 3 in the same manner as the engine 11, and supplies working oil to the control valve 17 through a high-pressure hydraulic line. 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, under the control of the controller 30, the regulator 13 adjusts the tilting angle of the swash plate, thereby adjusting the stroke length of the piston and discharging. The flow rate (discharge pressure) can be controlled. The main pump 14 includes, for example, main pumps 14L and 14R as described later.

The control valve 17 is, for example, a hydraulic control device that is mounted at the center of the upper revolving body 3 and that controls the hydraulic drive system according to the operation of the operation device 26 by the operator.

As described above, the control valve 17 is connected to the main pump 14 via the high-pressure hydraulic line, and operates the hydraulic fluid supplied from the main pump 14 according to the operating state of the operating device 26 to the hydraulic actuator (hydraulic motor for traveling). 20L, 20R, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and bucket cylinder 9).

Specifically, the control valve 17 includes control valves 171 to 176 that control the flow rate and flow direction of hydraulic oil supplied from the main pump 14 to each hydraulic actuator.

The control valve 171 corresponds to the traveling hydraulic motor 20, the control valve 172 corresponds to the traveling hydraulic motor 20R, the control valve 173 corresponds to the turning hydraulic motor 2A, and the control valve 174 corresponds to the bucket cylinder 9. Correspondingly, control valve 175 corresponds to boom cylinder 7 and control valve 176 corresponds to arm cylinder 8 . Further, the control valve 175 includes, for example, control valves 175L and 175R as described later, and the control valve 176 includes, for example, control valves 176L and 176R as described later. Details of the control valves 171 to 176 will be described later (see FIG. 4).

The operating system of the excavator 100 according to this embodiment includes a pilot pump 15 and an operating device 26 . Further, the operation system of the excavator 100 includes a shuttle valve 32 as a configuration related to an automatic control function by the controller 30, which will be described later.

The pilot pump 15 is mounted, for example, on the rear portion of the upper revolving body 3 and supplies pilot pressure to the operating device 26 via a pilot line. The pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the engine 11 as described above.

The operation device 26 is provided near the cockpit of the cabin 10, and is an operation input means for the operator to operate various operation elements (lower traveling body 1, upper rotating body 3, boom 4, arm 5, bucket 6, etc.). is. In other words, the operating device 26 controls the hydraulic actuators (that is, the traveling hydraulic motors 20L and 20R, the turning hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, etc.) that the operator drives the respective operating elements. It is an operation input means for performing an operation.

The operating device 26 is connected to the control valve 17 directly through its secondary pilot line, or indirectly through a shuttle valve 32 (to be described later) provided in the secondary pilot line.

As a result, the control valve 17 can receive a pilot pressure corresponding to the operation state of the lower traveling body 1 , the upper swing 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 hydraulic actuator according to the operating state of the operating device 26 .

The operation device 26 includes operation devices 26L and 26R for operating the attachments, that is, the boom 4 (boom cylinder 7), the arm 5 (arm cylinder 8), and the bucket 6 (bucket cylinder 9), as will be described later. Further, the operating device 26 is provided with, for example, a pedal device for operating each of the left and right lower traveling bodies 1 (traveling hydraulic motors 20L and 20R).

The shuttle valve 32 has two inlet ports and one outlet port, and outputs to the outlet port the hydraulic fluid having the higher pilot pressure among the pilot pressures input to the two inlet ports. Shuttle valve 32 has two inlet ports, one of which is connected to operating device 26 and the other of which is connected to proportional valve 31 .

The outlet port of shuttle valve 32 is connected through a pilot line to the pilot port of the corresponding control valve in control valve 17 . Therefore, the shuttle valve 32 can apply the higher one of the pilot pressure generated by the operating device 26 and the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve.

That is, the controller 30, which will be described later, causes the proportional valve 31 to output a pilot pressure that is higher than the secondary-side pilot pressure output from the operating device 26, so that the corresponding control can be performed regardless of the operation of the operating device 26 by the operator. The valve can be controlled to control the movement of the attachment.

The control system of the excavator 100 according to this embodiment includes a controller 30, a discharge pressure sensor 28, an operation pressure sensor 29, a proportional valve 31, a relief valve 35, a display device 40, an input device 42, and an audio output. A device 43, a storage device 47, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, an aircraft tilt sensor S4, a turning state sensor S5, an imaging device 80, and a boom rod pressure sensor S7R. , a boom bottom pressure sensor S7B, an arm rod pressure sensor S8R, an arm bottom pressure sensor S8B, a bucket rod pressure sensor S9R, a bucket bottom pressure sensor S9B, a positioning device V1, and a communication device T1.

A controller 30 (an example of a control device) is provided in, for example, the cabin 10 and performs drive control of the shovel 100 . The functions of the controller 30 may be realized by arbitrary hardware or a combination of hardware and software.

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 It consists mainly of a microcomputer including an interface device. The controller 30 implements various functions by, for example, executing various programs stored in a non-volatile auxiliary storage device on the CPU.

For example, the controller 30 sets a target rotational speed based on a work mode or the like preset by a predetermined operation of an operator or the like, and performs drive control to rotate the engine 11 at a constant speed.

Further, for example, the controller 30 outputs a control command to the regulator 13 as necessary to change the discharge amount of the main pump 14 .

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

A discharge pressure sensor 28 detects the discharge pressure of the main pump 14 . A detection signal corresponding to the discharge pressure detected by the discharge pressure sensor 28 is taken into the controller 30 . The discharge pressure sensor 28 includes, for example, discharge pressure sensors 28L and 28R as described later.

The operating pressure sensor 29 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, as described above. A pilot pressure detection signal corresponding to the operation state of the lower traveling body 1 , the upper swing body 3 , the boom 4 , the arm 5 , the bucket 6 , etc. in the operating device 26 by the operation pressure sensor 29 is taken into the controller 30 . The operating pressure sensor 29 includes, for example, operating pressure sensors 29A to 29C as described later.

The proportional valve 31 is provided in a pilot line that connects the pilot pump 15 and the shuttle valve 32, and is configured to change its flow area (cross-sectional area through which hydraulic oil can flow). The proportional valve 31 operates according to control commands input from the controller 30 .

As a result, the controller 30 allows the hydraulic oil discharged from the pilot pump 15 to flow through the proportional valve 31 and the shuttle valve 32 into the control valve 17 even when the operating device 26 is not operated by the operator. can be supplied to the pilot port of a control valve that

The relief valve 35 discharges hydraulic oil in the rod-side oil chamber of the boom cylinder 7 to the tank in response to a control signal (control current) from the controller 30 to suppress excessive pressure in the rod-side oil chamber of the boom cylinder 7. do.

The display device 40 is provided at a location within the cabin 10 that is easily visible to a seated operator, and displays various information images under the control of the controller 30 . The display device 40 may be connected to the controller 30 via an in-vehicle communication network such as CAN (Controller Area Network), or may be connected to the controller 30 via a one-to-one dedicated line.

The input device 42 is provided within the reach of the seated operator in the cabin 10 , receives various operation inputs from the operator, and outputs signals corresponding to the operation inputs to the controller 30 . The input device 42 includes a touch panel mounted on the display of the display device that displays various information images, a knob switch provided at the tip of the lever portion of the operation device 26, button switches, levers, and toggles provided around the display device 40. etc. A signal corresponding to the operation content for the input device 42 is captured by the controller 30 .

The audio output device 43 is provided in the cabin 10, connected to the controller 30, and outputs audio under the control of the controller 30, for example. The audio output device 43 is, for example, a speaker, buzzer, or the like. The audio output device 43 outputs various information as audio in response to an audio output command from the controller 30 .

The storage device 47 is provided, for example, in the cabin 10 and stores various information under the control of the controller 30 . The storage device 47 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices during operation of the excavator 100, or may store information acquired via various devices before the excavator 100 starts operating.

The storage device 47 may store data relating to the target construction surface acquired via the communication device T1 or the like or set via the input device 42 or the like, for example. The target construction plane may be set (stored) by an operator of the excavator 100, or may be set by a construction manager or the like.

The boom angle sensor S1 is attached to the boom 4 and measures the elevation angle of the boom 4 with respect to the upper rotating body 3 (hereinafter referred to as "boom angle"). Detect the angle formed by the straight line connecting the fulcrums at both ends.

The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU (Inertial Measurement Unit), etc. Hereinafter, an arm angle sensor S2, a bucket angle sensor S3, and an aircraft tilt sensor S4. The same is true for A detection signal corresponding to the boom angle by the boom angle sensor S1 is taken into the controller 30 .

The arm angle sensor S2 is attached to the arm 5, and the rotation angle of the arm 5 with respect to the boom 4 (hereinafter referred to as "arm angle"), for example, the angle of the arm 5 with respect to a straight line connecting fulcrums at both ends of the boom 4 in a side view. Detects the angle formed by the straight line connecting the fulcrums at both ends of . A detection signal corresponding to the arm angle by the arm angle sensor S2 is taken into the controller 30 .

The bucket angle sensor S3 is attached to the bucket 6, and the angle of rotation of the bucket 6 with respect to the arm 5 (hereinafter referred to as "bucket angle"), for example, the angle of the bucket 6 with respect to a straight line connecting fulcrums at both ends of the arm 5 in a side view. Detects the angle formed by a straight line connecting the fulcrum of the blade and the tip (cutting edge). A detection signal corresponding to the bucket angle by the bucket angle sensor S3 is taken into the controller 30 .

The fuselage tilt sensor S4 detects the tilt state of the fuselage (the upper rotating body 3 or the lower traveling body 1) with respect to the horizontal plane. The machine body tilt sensor S4 is attached to, for example, the upper revolving body 3, and measures the tilt angles of the excavator 100 (that is, the upper revolving body 3) about two axes in the front-rear direction and the left-right direction (hereinafter referred to as "front-rear tilt angle" and "left-right tilt angle"). tilt angle”). A detection signal corresponding to the tilt angle (forward/backward tilt angle and left/right tilt angle) by the body tilt sensor S4 is taken into the controller 30 .

The turning state sensor S5 outputs detection information regarding the turning state of the upper turning body 3 . The turning state sensor S5 detects, for example, the turning angular velocity and turning angle of the upper turning body 3 . The turning state sensor S5 includes, for example, a gyro sensor, a resolver, a rotary encoder, and the like.

The boom rod pressure sensor S7R and the boom bottom pressure sensor S7B are attached to the boom cylinder 7, respectively, and measure the pressure of the rod side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure") and the pressure of the bottom side oil chamber (hereinafter referred to as "boom rod pressure"). , “boom bottom pressure”). Detection signals corresponding to the boom rod pressure and the boom bottom pressure by the boom rod pressure sensor S7R and the boom bottom pressure sensor S7B are taken into the controller 30, respectively.

The arm rod pressure sensor S8R and the arm bottom pressure sensor S8B are attached to the arm cylinder 8, respectively, and measure the pressure of the rod side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm rod pressure") and the pressure of the bottom side oil chamber ( Hereafter, "arm bottom pressure") is detected. Detection signals corresponding to the arm rod pressure and the arm bottom pressure by the arm rod pressure sensor S8R and the arm bottom pressure sensor S8B are taken into the controller 30, respectively.

The bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B are attached to the bucket cylinder 9, respectively, and measure the pressure of the rod side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket rod pressure") and the pressure of the bottom side oil chamber (hereinafter referred to as "bucket rod pressure"). , “bucket bottom pressure”).

Detection signals corresponding to the bucket rod pressure and the bucket bottom pressure by the bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B are taken into the controller 30, respectively.

The positioning device V1 measures the position and orientation of the upper revolving structure 3 . The positioning device V1 is, for example, a GNSS (Global Navigation Satellite System) compass, detects the position and orientation of the upper swing structure 3, and the detection signals corresponding to the position and orientation of the upper swing structure 3 are captured by the controller 30. . Further, the function of detecting the orientation of the upper revolving body 3 among the functions of the positioning device V1 may be replaced by an orientation sensor attached to the upper revolving body 3 .

The communication device T1 communicates with an external device through a predetermined network including a mobile communication network, a satellite communication network, the Internet network, etc., which terminates in a base station. The communication device T1 includes, 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 a satellite communication module for connecting to a satellite communication network. modules and the like.

Next, referring to FIG. 4, a hydraulic system mounted on the excavator 100 will be described. FIG. 4 is a schematic diagram showing a configuration example of a hydraulic system mounted on an excavator. The hydraulic system of FIG. 4 circulates working oil from main pumps 14L, 14R driven by the engine 11 to working oil tanks through center bypass pipes 40L, 40R and parallel pipes 42L, 42R. Main pumps 14L and 14R correspond to main pump 14 in FIG.

The center bypass line 40L is a hydraulic fluid line passing through control valves 171L to 175L arranged inside the control valve 17. As shown in FIG. The center bypass line 40R is a hydraulic oil line passing through control valves 171R to 175R arranged inside the control valve 17. As shown in FIG.

The control valve 171L supplies the hydraulic fluid discharged from the main pump 14L to the left traveling hydraulic motor 20L and discharges the hydraulic fluid discharged from the left traveling hydraulic motor 20L to the hydraulic fluid tank. is a spool valve that switches between

The control valve 171R is a spool valve as a straight travel valve. The control valve 171R switches the flow of hydraulic oil so that hydraulic oil is supplied from the main pump 14L to the left traveling hydraulic motor 20L and the right traveling hydraulic motor 20R in order to improve the straightness of the lower traveling body 1 . Specifically, when the traveling hydraulic motor 20 and any other hydraulic actuator are operated at the same time, the main pump 14L supplies hydraulic fluid to both the left traveling hydraulic motor 20L and the right traveling hydraulic motor 20R. The control valve 171R is switched so that it can. When none of the other hydraulic actuators is operated, the main pump 14L can supply hydraulic fluid to the left travel hydraulic motor 20L, and the main pump 14R can supply hydraulic fluid to the right travel hydraulic motor 20R. , the control valve 171R is switched.

The control valve 172L is a spool valve that switches the flow of hydraulic fluid to supply the hydraulic fluid discharged by the main pump 14L to the optional hydraulic actuator and to discharge the hydraulic fluid discharged by the optional hydraulic actuator to the hydraulic fluid tank. is. An optional hydraulic actuator is, for example, a grapple open/close cylinder.

The control valve 172R supplies the hydraulic fluid discharged by the main pump 14R to the right traveling hydraulic motor 20R and discharges the hydraulic fluid discharged from the right traveling hydraulic motor 20R to the hydraulic fluid tank. is a spool valve that switches between

The control valve 173L supplies the hydraulic fluid discharged by the main pump 14L to the hydraulic swing motor 2A and discharges the hydraulic fluid discharged by the hydraulic swing motor 2A to the hydraulic fluid tank. is.

The control valve 173R is a spool valve for supplying the hydraulic oil discharged by the main pump 14R to the end attachment cylinder 9 and discharging the hydraulic oil in the end attachment cylinder 9 to the hydraulic oil tank.

The control valves 174L, 174R supply the hydraulic oil discharged from the main pumps 14L, 14R to the boom cylinder 7 and discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank. valve. In this embodiment, the control valve 174L operates only when the boom 4 is raised, and does not operate when the boom 4 is lowered.

The control valves 175L, 175R supply the hydraulic oil discharged from the main pumps 14L, 14R to the arm cylinder 8 and discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank. valve.

42 L of parallel pipelines are hydraulic-oil lines parallel to 40 L of center bypass pipelines. The parallel pipe line 42L can supply hydraulic oil to control valves further downstream when the flow of hydraulic oil through the center bypass pipe line 40L is restricted or blocked by any of the control valves 171L to 174L. The parallel pipeline 42R is a hydraulic fluid line parallel to the center bypass pipeline 40R. The parallel pipeline 42R can supply hydraulic fluid to more downstream control valves when the flow of hydraulic fluid through the center bypass pipeline 40R is restricted or blocked by any of the control valves 172R to 174R.

The pump regulators 13L, 13R control the discharge amounts of the main pumps 14L, 14R by adjusting the tilt angles of the swash plates of the main pumps 14L, 14R according to the discharge pressures of the main pumps 14L, 14R. Pump regulators 13L and 13R correspond to pump regulator 13 in FIG. For example, when the discharge pressure of the main pumps 14L, 14R increases, the pump regulators 13L, 13R adjust the tilt angles of the swash plates of the main pumps 14L, 14R to reduce the discharge amounts. This is to prevent the absorption horsepower of the main pump 14 , which is represented by the product of the discharge pressure and the discharge amount, from exceeding the output horsepower of the engine 11 .

The left travel operation device 26L and the right travel operation device 26R are examples of the operation device 26. FIG. In this embodiment, the travel control lever and the travel control pedal are combined.

The left travel operation device 26L is used to operate the left travel hydraulic motor 20L. The left travel operating device 26L utilizes hydraulic fluid discharged from the pilot pump 15 to apply a pilot pressure corresponding to the amount of operation to the pilot port of the control valve 171L. Specifically, the left travel operation device 26L applies pilot pressure to the left pilot port of the control valve 171L when operated in the forward direction, and applies pilot pressure to the right pilot port of the control valve 171L when operated in the reverse direction. Apply pilot pressure.

The right travel operation device 26R is used to operate the right travel hydraulic motor 20R. The right traveling operation device 26R utilizes hydraulic fluid discharged from the pilot pump 15 to apply a pilot pressure corresponding to the amount of operation to the pilot port of the control valve 172R. Specifically, the right travel operation device 26R applies pilot pressure to the right pilot port of the control valve 172R when operated in the forward direction, and applies pilot pressure to the left pilot port of the control valve 172R when operated in the reverse direction. Apply pilot pressure to

The solenoid valve 27 allows the pilot pump 15 and the motor regulator 50 to communicate with each other when receiving a communication command from the controller 30 . In this case, the motor regulator 50 operates in forced fixed mode. On the other hand, the solenoid valve 27 cuts off the communication between the pilot pump 15 and the motor regulator 50 when the communication command from the controller 30 is not received. In this case, the motor regulator 50 operates in variable mode.

The pressure reducing valve 33 controls the stroke amount (movement amount) of the spool of each of the control valves 171L and 172R in accordance with a command from the controller 30 . In the present embodiment, the pressure reducing valve 33 is not necessarily required when the flow reduction process is performed by the traveling hydraulic motor 20, the main pump 14, the engine 11, and the like.

The discharge pressure sensors 28L and 28R are examples of the discharge pressure sensor 28 in FIG. The discharge pressure sensor 28L detects the discharge pressure of the main pump 14L and outputs the detected value to the controller 30 . The discharge pressure sensor 28R detects the discharge pressure of the main pump 14R and outputs the detected value to the controller 30 .

The operating pressure sensors 29L and 29R are examples of the operating pressure sensor 29 in FIG. The operation pressure sensor 29L detects the details of the operator's operation on the left traveling operation device 26L in the form of pressure, and outputs the detected value to the controller 30. FIG. The operation pressure sensor 29R detects the content of the operator's operation on the right traveling operation device 26R in the form of pressure, and outputs the detected value to the controller 30. FIG. The operation content is, for example, an operation direction, an operation amount (operation angle), and the like.

A boom operating lever, an arm operating lever, a bucket operating lever, and a swing operating lever (none of which are shown) are used to move the boom 4 up and down, open and close the arm 5, open and close the end attachment 6, and open and close the upper swing body 3, respectively. It is an operating device for operating the turning of the Similar to the left traveling operation device 26L, these operation devices utilize hydraulic fluid discharged from the pilot pump 15 to apply pilot pressure corresponding to the amount of lever operation to either the left or right of the control valve corresponding to each of the hydraulic actuators. acting on the pilot port of Further, the details of the operator's operation on each of these operating devices are detected in the form of pressure by the corresponding operation pressure sensors, similar to the operation pressure sensor 29L, and the detected values are output to the controller 30. FIG.

Here, the negative control control (hereinafter referred to as "negative control control") employed in the hydraulic system of FIG. 4 will be described.

The center bypass lines 40L, 40R are provided with negative control throttles 18L, 18R between the most downstream control valves 175L, 175R, respectively, and the hydraulic oil tanks. The flow of hydraulic oil discharged from the main pumps 14L, 14R is restricted by negative control throttles 18L, 18R. The negative control throttles 18L, 18R generate control pressures (hereinafter referred to as "negative control pressures") for controlling the pump regulators 13L, 13R.

The negative control pressure sensors 19L and 19R are sensors for detecting negative control pressures generated upstream of the negative control apertures 18L and 18R. In this embodiment, the negative control pressure sensors 19L and 19R output the detected values to the controller 30. FIG.

The controller 30 outputs a command corresponding to the negative control pressure to the pump regulators 13L and 13R. The pump regulators 13L, 13R control the discharge amounts of the main pumps 14L, 14R by adjusting the swash plate tilt angles of the main pumps 14L, 14R according to commands. Specifically, the pump regulators 13L and 13R decrease the discharge amounts of the main pumps 14L and 14R as the negative control pressure increases, and increase the discharge amounts of the main pumps 14L and 14R as the negative control pressure decreases.

When none of the hydraulic actuators is operated, hydraulic fluid discharged from the main pumps 14L, 14R reaches the negative control throttles 18L, 18R through the center bypass pipes 40L, 40R. The flow of hydraulic oil discharged from the main pumps 14L, 14R increases the negative control pressure generated upstream of the negative control throttles 18L, 18R. As a result, the pump regulators 13L, 13R reduce the discharge amount of the main pumps 14L, 14R to the minimum allowable discharge amount, and pressure loss (pumping loss) occurs when the discharged hydraulic oil passes through the center bypass pipes 40L, 40R. suppress

On the other hand, when one of the hydraulic actuators is operated, hydraulic fluid discharged from the main pumps 14L and 14R flows into the operated hydraulic actuator through the control valve corresponding to the operated hydraulic actuator. The flow of hydraulic oil discharged from the main pumps 14L, 14R reduces or eliminates the amount reaching the negative control throttles 18L, 18R, thereby reducing the negative control pressure generated upstream of the negative control throttles 18L, 18R. As a result, the pump regulators 13L, 13R increase the discharge amounts of the main pumps 14L, 14R, circulate sufficient working oil to the hydraulic actuators to be operated, and ensure the driving of the hydraulic actuators to be operated.

With the configuration as described above, the hydraulic system of FIG. 4 can suppress wasteful energy consumption in the main pumps 14L and 14R when none of the hydraulic actuators is operated. Wasteful energy consumption includes pumping loss caused by the hydraulic oil discharged by the main pumps 14L, 14R in the center bypass pipes 40L, 40R. To reliably supply necessary and sufficient working oil from main pumps 14L, 14R to hydraulic actuators to be operated when the hydraulic actuators are operated.

Next, the motor regulator 50 will be described with reference to FIG. FIG. 5 is a diagram showing a configuration example of a hydraulic circuit related to the motor regulator.

Motor regulator 50 includes a left motor regulator 50L and a right motor regulator 50R. The left motor regulator 50L will be described below. However, this description also applies to the right motor regulator 50R.

The left motor regulator 50L mainly includes a first cylinder 52L, a second cylinder 53L, a swash plate link mechanism 54L, a spring 55L, etc., and is connected to the setting switching valve 51L.

The setting switching valve 51L is a valve for switching the motor displacement of the left travel hydraulic motor 20L between two stages, high rotation setting and low rotation setting. A first port 51aL of the setting switching valve 51L is connected to the secondary side of the electromagnetic valve 27, and a second port 51bL of the setting switching valve 51L is connected to the shuttle valve 56L.

The shuttle valve 56L is configured to connect the higher pressure of the pipeline C1L and the pipeline C2L with the second port 51bL of the setting switching valve 51L. The pipeline C1L connects the first port 20aL of the left traveling hydraulic motor 20L and the control valve 171L. The pipeline C2L connects the second port 20bL of the left traveling hydraulic motor 20L and the control valve 171L.

The setting switching valve 51L has a first valve position and a second valve position. A first valve position corresponds to a low rpm setting and a second valve position corresponds to a high rpm setting. FIG. 5 shows the state when the setting switching valve 51L is in the first valve position.

In the first valve position, the setting switching valve 51L allows each of the first cylinder 52L and the second cylinder 53L to communicate with the hydraulic oil tank. In the second valve position, the setting switching valve 51L allows communication between the first cylinder 52L and the conduit C1L, and allows communication between the second cylinder 53L and the conduit C2L.

The first cylinder 52L and the second cylinder 53L are hydraulic actuators that operate the swash plate link mechanism 54L. When the first cylinder 52L and the second cylinder 53L are connected to the hydraulic oil tank via the setting switching valve 51L, the hydraulic oil in the cylinders is discharged to the hydraulic oil tank and contracted, resulting in a large swash plate tilt angle. The swash plate link mechanism 54L is operated in one direction.

As a result, in the present embodiment, the motor capacity of the left travel hydraulic motor 20L is maximized. On the other hand, when the first cylinder 52L and the second cylinder 53L are connected to the pipelines C1L and C2L through the setting switching valve 51L, the cylinders receive hydraulic oil and expand, thereby reducing the swash plate tilt angle. The swash plate link mechanism 54L is operated in the direction. As a result, in the present embodiment, the motor capacity of the left travel hydraulic motor 20L is minimized.

The spring 55L biases the swash plate link mechanism 54L in the direction in which the swash plate tilt angle increases. When the first cylinder 52L and the second cylinder 53L in the extended state are connected to the hydraulic oil tank via the setting switching valve 51L, the restoring force of the spring 55L causes the first and second cylinders 52L and 53L to contract while discharging hydraulic oil in the cylinders. As a result, the swash plate link mechanism 54L moves in the direction in which the tilt angle of the swash plate increases, and the motor volume of the left traveling hydraulic motor 20L is minimized.

Next, with reference to FIG. 6, the functional configuration of the controller 30 of this embodiment will be described. FIG. 6 is a diagram for explaining the functional configuration of the controller.

The controller 30 of this embodiment includes a pressure data acquisition section 310 , a frequency analysis section 320 , a rotational speed calculation section 330 , a determination section 340 and a display control section 350 .

The pressure data acquisition unit 310 acquires the pressure of the traveling hydraulic motor 20 during traveling as pressure data. Specifically, the pressure data acquisition unit 310 acquires the value of the discharge pressure of the main pump 14 detected by the discharge pressure sensor 28 as pressure data.

Here, the reason for acquiring the pressure data of the traveling hydraulic motor 20 will be described.

In the excavator 100, when earth and sand DS accumulates on the shoe plate, the deflection of the shoe plate due to the weight of the earth and sand DS is transmitted as a load to the meshing portions between the shoe plate and the driving sprocket and between the left driven sprocket 1S-L and the shoe plate. be done. This load appears as a change in the pressure of the traveling hydraulic motor 20 .

In this embodiment, the pressure data of the traveling hydraulic motor 20 is acquired in order to find the change in the pressure of the traveling hydraulic motor 20 due to this load. In other words, in this embodiment, the pressure data of the traveling hydraulic motor 20 is acquired in order to determine whether or not there is an influence of the sediment DS accumulated on the crawler belt 1b.

The frequency analysis section 320 performs frequency analysis on the pressure data acquired by the pressure data acquisition section 310 . Specifically, the frequency analysis unit 320 obtains the magnitude of the pressure value (peak value) for each frequency from the waveform indicated by the pressure data acquired during a predetermined time period. The predetermined period of time may be, for example, two seconds.

The rotation speed calculator 330 calculates the rotation speed of the traveling hydraulic motor 20 . Specifically, the rotation speed calculation unit 330 calculates the amount of the hydraulic oil supplied to the hydraulic motor 20 for traveling based on the estimated flow rate of the hydraulic oil passing through the control valves 171 and 172 corresponding to the hydraulic motor 20 for traveling, for example. Calculate the oil flow rate. Then, the rotation speed of the traveling hydraulic motor 20 is calculated based on the calculated flow rate. Further, the rotation speed calculation unit 330 derives an estimated value of the flow rate of the hydraulic oil using, for example, Equation (1).

なお、式（１）において、ｃは流量係数を表し、Ａ_１は制御弁の開口面積を表し、ρは作動油の密度を表し、ΔＰは制御弁の前後の圧力差を表す。ｃ及びρは予め記憶されている値である。ΔＰは、例えば、吐出圧センサ２８の検出値と走行用モータの前進側圧センサ又は後進側圧センサの検出値との差として導き出される。具体的には、走行用油圧モータを前進方向へ回転させる場合、吐出圧センサ２８の検出値と走行用油圧モータの吸込側圧力センサの検出値との差として導き出される。また、走行用油圧モータを後進方向へ回転させる場合、吐出圧センサ２８の検出値と後進側圧センサの検出値との差として導き出される。制御弁の開口面積Ａ_１は、スプール制御指令によって決まる値である。

In equation ( ₁ ), c represents the flow coefficient, A1 represents the opening area of the control valve, ρ represents the density of the hydraulic oil, and ΔP represents the pressure difference across the control valve. c and ρ are pre-stored values. ΔP is derived, for example, as the difference between the detection value of the discharge pressure sensor 28 and the detection value of the forward pressure sensor or the reverse pressure sensor of the driving motor. Specifically, when the traveling hydraulic motor is rotated in the forward direction, it is derived as a difference between the detection value of the discharge pressure sensor 28 and the detection value of the suction side pressure sensor of the traveling hydraulic motor. Further, when the traveling hydraulic motor is rotated in the reverse direction, it is derived as a difference between the detection value of the discharge pressure sensor 28 and the detection value of the reverse side pressure sensor. The opening area A1 of the control valve is _a value determined by the spool control command.

Here, the reason for calculating the rotation speed of the traveling hydraulic motor 20 will be described. In the present embodiment, the pressure data of the traveling hydraulic motor 20 is used as a reference for determining whether or not the influence of the sediment DS deposited on the crawler belt 1b appears. Acquire the rotation speed of the hydraulic motor 20 .

The pressure of the traveling hydraulic motor 20 becomes a value corresponding to the command value of the traveling hydraulic motor 20 in a normal state where there is no influence of earth and sand DS. Therefore, by comparing the result of frequency analysis of the pressure data of the traveling hydraulic motor 20 with the rotation speed of the traveling hydraulic motor 20, it is possible to determine whether the pressure of the traveling hydraulic motor 20 is affected by the soil DS. It is possible to determine whether

Note that the rotation speed calculation unit 330 of the present embodiment calculates the frequency indicating the number of signals (command values) output from the controller 30 to rotate the traveling hydraulic motor 20 in a predetermined period of time. It may be the rotation speed of the motor 20 .

Thus, the frequency analysis unit 320 and the rotation speed calculation unit 330 of the present embodiment can be said to be a state detection unit for analyzing the driving state of the excavator 100 and detecting whether or not the driving state has changed.

The determination unit 340 determines the frequency at which the pressure value is maximum among the pressure values for each frequency acquired by the analysis by the frequency analysis unit 320, and the rotation speed of the traveling hydraulic motor 20 calculated by the rotation speed calculation unit 330. Compare with the indicated frequency. Then, the determination unit 340 determines whether or not to display a message prompting cleaning of the crawler belt 1b according to the comparison result.

It should be noted that the rotational speed calculator 330 of the present embodiment calculates the engagement between the drive sprocket, the left driven sprocket 1S-L, and the shoe plate during constant speed travel, instead of the frequency indicating the rotational speed of the travel hydraulic motor 20. may be calculated. In this case, determination section 340 may compare the frequency at which the pressure value is maximized with the excitation frequency calculated by rotational speed calculation section 330 .

Further, the determination unit 340 may determine whether or not the dirt DS is deposited on the crawler belt 1b based on changes in the appearance of the excavator 100, for example.

Specifically, for example, the controller 30 receives image data of the appearance of the excavator 100 via the communication device T1 from the space recognition device 80 or the like provided apart from the excavator 100, and receives the image data of the appearance of the excavator 100. The presence or absence of deposition of earth and sand DS may be determined from the above. Also, the image data of the appearance of the excavator 100 may be imaged by a space recognition device 80 other than the space recognition device 80 provided independently from the excavator 100 .

Also, the space recognition device 80 may be attached to other construction machines, aircraft, steel towers, utility poles, buildings, etc. within the work site. The flying object is, for example, a multicopter or an airship that acquires information about the work site. Furthermore, the information (image data, etc.) acquired by the space recognition device 80 separated from the excavator 100 may be transmitted to the management device via wireless communication. In this case, the control unit of the management device determines whether or not the soil DS is deposited on the crawler belt 1b of the excavator 100 based on the received information. Information related to cleaning is transmitted to the excavator 100 so as to prompt cleaning of the belt 1b. When receiving information related to cleaning, the excavator 100 notifies the operator of the excavator 100 that cleaning is necessary at a predetermined timing. In particular, the space recognition device 80 spaced apart from the excavator 100 can acquire the external appearance information of the excavator 100 . Therefore, based on the external appearance information of the excavator 100, the management device can determine whether or not the dirt DS is deposited on the crawler belt 1b.

Note that the image represented by the image data does not have to include the entire excavator 100, and may be an image that allows the change in shape of the upper portion of the lower traveling body 1 to be recognized. Therefore, the image data used for determination by the determination unit 340 may be image data obtained by imaging the lower traveling body 1 .

For example, when the determination unit 340 acquires data that enables recognition of the shape of the undercarriage 1 from the space recognition device 80 provided in the excavator 100, the determination unit 340 uses this data to determine whether or not the sediment DS is deposited. may The controller 30 acquires image data and the like of the crawler belt 1b from the space recognition device 80 provided in the excavator 100 when the excavator 100 is turning, and determines whether or not earth and sand DS are deposited on the crawler belt 1b. You may

As described above, the determination unit 340 of the present embodiment detects changes in the drive state detected by the frequency analysis unit 320 and the rotational speed calculation unit 330, and changes in the appearance state of the excavator 100 detected from the image data of the excavator 100. and , or both of which may be used to determine whether or not to display a message. Therefore, it can be said that the determination unit 340 determines whether or not to output a notification prompting cleaning of the lower running body 1 according to the change in the state of the lower running body 1 .

Further, the determination unit 340 of the present embodiment may perform determination based on the driving state, for example, when the determination based on the change in appearance of the excavator 100 cannot be performed.

The display control unit 350 causes the display device 40 to display a message prompting cleaning of the crawler belt 1b according to the determination result of the determination unit 340 .

Note that the display device on which the display control unit 350 displays the message is not limited to the display device 40 of the excavator 100 . For example, when a support device or the like for the excavator 100 that communicates with the excavator 100 exists in the vicinity of the excavator 100, the display control unit 350 causes the support device to display a message prompting cleaning of the crawler belt 1b. good too. Moreover, the display control unit 350 may display the message on both the support device and the display device 40 of the excavator 100 .

Furthermore, the controller 30 of the present embodiment may transmit the determination result to the management device of the excavator 100 or the like when the determination unit 340 determines to output a notification prompting cleaning of the lower traveling body 1. . For example, the management device may be set at a location separate from the work site of the excavator 100 and may be used by a manager of the work site of the excavator 100 .

In the present embodiment, by transmitting to the management device that a notification prompting cleaning is to be output, it is possible for the manager at the work site to grasp changes in the state of the excavator 100 .

Next, the processing of the controller 30 of the excavator 100 of this embodiment will be described with reference to FIG. FIG. 7 is a flowchart for explaining the operation of the excavator.

In the excavator 100 of this embodiment, the controller 30 determines whether the excavator 100 is running (step S701). Specifically, the controller 30 may start measuring (monitoring) the pressure data and determine whether or not the vehicle is running according to changes in the pressure data. If the excavator 100 is not running in step S701, the process proceeds to step S710, which will be described later.

In step S701, if the vehicle is running, the controller 30 causes the pressure data acquisition unit 310 to start measuring (acquiring) pressure data (step S702). Subsequently, the controller 30 determines whether the excavator 100 is traveling at a constant speed based on the pressure data (step S703).

In step S703, if the excavator 100 is not traveling at a constant speed, the controller 30 returns to step S701.

In step S703, if the excavator 100 is traveling at a constant speed, the controller 30 causes the frequency analysis unit 320 to analyze the pressure data (step S704) and the rotation speed calculation unit 330 to calculate the rotation speed of the traveling hydraulic motor 20. and (step S705).

Specifically, the frequency analysis unit 320 obtains the magnitude of the pressure value (peak value) for each frequency from the waveform indicated by the pressure data acquired during a predetermined time period. Further, the rotational speed calculator 330 calculates a frequency indicating the rotational speed of the traveling hydraulic motor 20 based on the estimated value of the flow rate of hydraulic oil passing through the control valve 176 corresponding to the arm cylinder 8 .

Subsequently, the controller 30 determines whether the frequency at which the pressure value is maximized is equal to or less than the frequency indicating the rotation speed of the traveling hydraulic motor 20 calculated in step S705, based on the analysis result of step S704. It is determined whether or not (step S706).

In step S706, if the frequency at which the pressure value is maximized is equal to or lower than the frequency indicating the rotation speed of the traveling hydraulic motor 20 calculated in step S705, the controller 30 causes the display control unit 350 to control the crawler belt 1b. A message prompting cleaning is displayed on the display device 40 (step S707), and the process returns to step S701.

In step S706, if the frequency at which the pressure value is maximized is greater than the frequency indicating the rotation speed of the traveling hydraulic motor 20 calculated in step S705, the controller 30 causes the display control unit 350 to cause the crawler belt 1b to be cleaned. is being displayed (step S708).

In step S708, if the corresponding message is not displayed, the controller 30 returns to step S701.

In step S708, if the corresponding message is being displayed, the controller 30 erases the message being displayed (step S709), and returns to step S701.

If the excavator 100 is not running in step S701, the controller 30 ends the measurement (monitoring) of the pressure data (step S710), and ends the process.

Although the display device 40 displays a message prompting the cleaning of the crawler belt 1b, the timing of displaying the message is not limited to the example shown in FIG.

In this embodiment, for example, the display control unit 350 determines that the frequency at which the pressure value becomes maximum is equal to or less than the frequency indicating the rotation speed of the traveling hydraulic motor 20 calculated in step S705, and then the excavator A message may be displayed when the 100 is idling (when not operated).

Further, the display control unit 350 displays this message when the key is turned off after it is determined that the frequency at which the pressure value is maximized is equal to or less than the frequency indicating the rotational speed of the traveling hydraulic motor 20 calculated in step S705. may be displayed.

Further, in the present embodiment, for example, the timing of displaying this message may be arbitrarily set. Specifically, for example, the message may be set to be displayed at regular intervals while the excavator 100 is in operation.

Next, with reference to FIG. 8, the process of step S706 in FIG. 7 of this embodiment will be further described. FIG. 8 is a diagram further explaining the operation of the excavator. FIG. 8A is a diagram schematically showing analysis results of pressure data by the frequency analysis unit 320, and FIG. 8B schematically shows results of frequency analysis of pressure data corresponding to command values. It is a diagram.

FIG. 8A shows, for example, the result of performing frequency analysis on pressure data acquired for two seconds. FIG. 7A shows frequencies f1 and f2. In this case, the maximum pressure value among the pressure values for each frequency is P1, and the frequency at which the pressure value is maximum is f1 [Hz].

A normal load caused by the rotary motion of the travel hydraulic motor 20 appears in the pressure of the travel motor. FIG. 8(B) schematically shows the result of frequency analysis of pressure data appearing in normal rotation operation. Since the rotation speed of the traveling hydraulic motor 20 is changed by the command value N to the traveling hydraulic motor 20, it changes according to the frequency of the pressure data. In the case of FIG. 8B, the controller 30 outputs a signal of the command value N at the frequency f3 to the traveling hydraulic motor 20 in order to rotate the traveling hydraulic motor 20 for two seconds. I understand.

In this case, determination section 340 compares frequencies f1 and f2 with frequency f3 and determines whether frequency f1 is equal to or lower than frequency f3.

In the example of FIG. 8, frequency f1 is less than or equal to frequency f3. That is, in FIG. 8, it can be seen that the pressure of the traveling hydraulic motor 20 fluctuates due to disturbances other than changes in pressure due to the rotation of the traveling hydraulic motor 20 . Also, it can be seen that this disturbance is caused by vibration with a longer period than the period of vibration caused by meshing of the drive sprocket, left driven sprocket 1S-L, and the shoe plate. Further, since the frequency f2 matches the frequency f3, the controller 30 can also determine that it is the frequency of the pressure data appearing in a normal rotation operation.

In this embodiment, the disturbance is caused by the accumulation of earth and sand DS on the crawler belt 1b, and a message prompting cleaning of the crawler belt 1b is displayed.

Next, a display example of the excavator 100 of the present embodiment will be described with reference to FIG. 9 . FIG. 9 is a diagram showing an example of the main screen.

A display device 40 shown in FIG. 9 has an image display section 41 and an input device 42 . The image display section 41 is a screen on which various images are displayed. In FIG. 9, the main screen is displayed on the image display section 41 . This main screen is displayed on the display device 40 in step S701 of FIG. 7, for example. The input device 42 includes various menu switches.

First, the image display section 41 will be described. As shown in FIG. 9, the image display section 41 includes a date and time display area 41a, a driving mode display area 41b, an attachment display area 41c, a fuel consumption display area 41d, an engine control state display area 41e, an engine operating time display area 41f, a cooling A water temperature display area 41g, a fuel remaining amount display area 41h, a rotation speed mode display area 41i, a urea water remaining amount display area 41j, a working oil temperature display area 41k, an air conditioner operating state display area 41m, an image display area 41n, and a menu display area. 41p.

The traveling mode display area 41b, the attachment display area 41c, the engine control state display area 41e, the rotation speed mode display area 41i, and the air conditioner operation state display area 41m are areas for displaying setting state information, which is information regarding the setting state of the excavator 100. is. A fuel consumption display area 41d, an engine operating time display area 41f, a cooling water temperature display area 41g, a fuel remaining amount display area 41h, a urea water remaining amount display area 41j, and a working oil temperature display area 41k are information related to the operating state of the excavator 100. This is an area for displaying certain operating status information.

Specifically, the date and time display area 41a is an area for displaying the current date and time. The running mode display area 41b is an area for displaying the current running mode. The attachment display area 41c is an area for displaying an image representing the currently attached attachment. The fuel consumption display area 41 d is an area for displaying fuel consumption information calculated by the controller 30 . The fuel consumption display area 41d includes an average fuel consumption display area 41d1 that displays the lifetime average fuel consumption or the section average fuel consumption, and an instantaneous fuel consumption display area 41d2 that displays the instantaneous fuel consumption.

The engine control state display area 41e is an area where the control state of the engine 11 is displayed. The engine operating time display area 41f is an area for displaying the cumulative operating time of the engine 11. FIG. 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 of fuel stored in the fuel tank.

The rotation speed mode display area 41i is an area for displaying the current rotation speed mode set by the engine rotation speed adjustment dial 75 as an image. The urea water remaining amount display area 41j is an area for displaying an image of the remaining amount of 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 air conditioner operation state display area 41m includes an air outlet display area 41m1 for displaying the current position of the air outlet, an operation mode display area 41m2 for displaying the current operation mode, a temperature display area 41m3 for displaying the current set temperature, and a temperature display area 41m3 for displaying the current temperature setting. air volume display area 41m4 for displaying the set air volume.

The image display area 41n is an area for displaying an image captured by the imaging device 80 . In the example of FIG. 9, the image display area 41n displays the overhead image FV and the rear image CBT. Bird's-eye view image FV is, for example, a virtual viewpoint image generated by display control unit 350, and is generated based on images obtained by rear camera S6B, left camera S6L, and right camera S6R.

A shovel graphic GE corresponding to the shovel 100 is arranged in the central portion of the bird's-eye view image FV. This is to allow the operator to intuitively grasp the positional relationship between the excavator 100 and objects existing around the excavator 100 . The rear image CBT is an image showing the space behind the excavator 100, and includes a counterweight image GC. The rear image CBT is a real viewpoint image generated by the control unit 40a, and is generated based on the image acquired by the rear camera S6B.

The image display area 41n has a first image display area 41n1 located above and a second image display area 41n2 located below. In the example of FIG. 9, the overhead image FV is arranged in the first image display area 41n1, and the rearward image CBT is arranged in the second image display area 41n2. However, the image display area 41n may arrange the overhead image FV in the second image display area 41n2 and arrange the rearward image CBT in the first image display area 41n1.

Also, in the example of FIG. 9, the bird's-eye view image FV and the rearward image CBT are arranged adjacent to each other in the vertical direction, but they may be arranged with an interval therebetween. Also, in the example of FIG. 9, the image display area 41n is a vertically long area, but the image display area 41n may be a horizontally long area.

When the image display area 41n is a horizontally long area, the image display area 41n arranges the overhead image FV as the first image display area 41n1 on the left side, and arranges the rearward image CBT as the second image display area 41n2 on the right side. good too. In this case, they may be arranged with a space left and right, or the positions of the bird's-eye view image FV and the rearward image CBT may be interchanged.

Furthermore, in the present embodiment, the icon image 41x is displayed in each of the first image display area 41n1 and the second image display area 41n2. The icon image 41x is an image representing the relative relationship between the position of the imaging device 80 and the orientation of the attachment of the upper rotating body 3 .

The icon image 41x of the present embodiment includes an image 41xM of the excavator 100, an image 41xF showing the front of the excavator 100, and an image 41xB showing the rear of the excavator 100. The icon image 41x includes an image 41xL showing the left side of the excavator 100, an image 41xR showing the right side of the excavator 100, and an image 41xI showing the inside of the cabin 10.

Images 41xF, 41xB, 41xL, 41xR, and 41xI are, respectively, a camera S6F imaging the front of the excavator 100, a camera S6B imaging the rear of the excavator 100, a camera S6L imaging the left of the excavator 100, and a camera S6L imaging the right of the excavator 100. It corresponds to the camera S6R that captures the direction. Also, the image 41xI corresponds to the camera inside the cabin 10 .

In the present embodiment, when an image associated with each camera is selected in the icon image 41x, the selected image and the image data captured by the corresponding camera are displayed in the image display area 41n.

In the example of FIG. 9, in the first image display area 41n1, the display modes of the images 41xB, 41xL, and 41xR are different from the display modes of the images 41xF and 41xI. Therefore, in the first image display area 41n1, a bird's-eye view image represented by image data synthesized from image data captured by the cameras S6B, S6L, and S6R corresponding to the images 41xB, 41xL, and 41xR is displayed. I understand.

In addition, a message prompting cleaning of the crawler belt 1b is displayed in the display area 45 of the first image display area 41n1 of the present embodiment. The message in the display area 45 is displayed, for example, in step S707 of FIG. 7, and is erased in step S709.

Further, in this embodiment, the display area 45 is displayed in the first image display area 41n1. Therefore, according to the present embodiment, the message can be displayed without deteriorating the visibility of the rear image CBT displayed in the second image display area 41n2.

In the example of FIG. 9, a message prompting cleaning of the crawler belt 1b is displayed, but the present invention is not limited to this. The message displayed in the display area 45 may be a message prompting cleaning of the entire undercarriage 1 .

Also, in the second image display area 41n2, the display mode of the image 41xB is different from the display modes of the images 41xF, 41xL, 41xR, and 41xI. Therefore, it can be seen that the image indicated by the image data captured by the camera S6B corresponding to the image 41xB is displayed in the second image display area 41n2.

The menu display area 41p has tabs 41p1 to 41p7. In the example of FIG. 9, tabs 41p1 to 41p7 are arranged at the lowermost portion of the image display section 41 with a space left and right. Icon images for displaying various information are displayed on the tabs 41p1 to 41p7.

The tab 41p1 displays detailed menu item icon images for displaying detailed menu items. When the operator selects the tab 41p1, the icon images displayed on the tabs 41p2 to 41p7 are switched to icon images associated with detailed menu items.

An icon image for displaying information about the digital level is displayed on the tab 41p4. When the operator selects the tab 41p4, the rear image CBT is switched to a screen showing information on the digital level. However, a screen showing information about the digital level may be displayed by being superimposed on the rear image CBT or by reducing the rear image CBT.

Moreover, the bird's-eye view image FV may be switched to a screen showing information about the digital level, and the screen showing the information about the digital level may be displayed by superimposing it on the bird's-eye view image FV or reducing the bird's-eye view image FV. good too.

An icon image for transitioning the main screen displayed on the image display section 41 to the loading work screen is displayed on the tab 41p5. When the operator selects the input device 42 corresponding to a tab 41p5, which will be described later, the main screen displayed on the image display section 41 transitions to the loading work screen. At this time, the image display area 41n continues to be displayed, and the menu display area 41p is switched to an area for displaying information on loading work.

The tab 41p6 displays an icon image for displaying information about information-aided construction. When the operator selects the tab 41p6, the rear image CBT is switched to a screen showing information on information-aided construction. However, a screen showing information on information-aided construction may be displayed by being superimposed on the rear image CBT or by reducing the rear image CBT. In addition, the bird's-eye view image FV may be switched to a screen showing information about information-aided construction, and a screen showing information about the digital level may be displayed by superimposing the bird's-eye view image FV or shrinking the bird's-eye view image FV. good too.

An icon image for displaying information about the crane mode is displayed on the tab 41p7. When the operator selects the tab 41p7, the rear image CBT is switched to a screen showing information on the crane mode. However, a screen showing information about the crane mode may be displayed by being superimposed on the rear image CBT or by shrinking the rear image CBT. Further, the bird's-eye view image FV may be switched to a screen showing information about the crane mode, or a screen showing information about the crane mode may be displayed by superimposing the bird's-eye view image FV or shrinking the bird's-eye view image FV. .

Icon images are not displayed on the tabs 41p2 and 41p3. Therefore, even if the operator operates the tabs 41p2 and 41p3, the image displayed on the image display unit 41 does not change.

Note that the icon images displayed on the tabs 41p1 to 41p7 are not limited to the examples described above, and icon images for displaying other information may be displayed.

Next, the input device 42 will be explained. As shown in FIG. 9, the input device 42 is composed of one or a plurality of button-type switches for selection of tabs 41p1 to 41p7 by the operator, setting input, and the like.

In the example of FIG. 9, the input device 42 includes seven switches 42a1 to 42a7 arranged in the upper stage and seven switches 42b1 to 42b7 arranged in the lower stage. The switches 42b1-42b7 are arranged below the switches 42a1-42a7, respectively.

However, the number, form, and arrangement of the switches of the input device 42 are not limited to the above examples. form, and the input device 42 may be separate from the display device 40 . Alternatively, a method of directly operating the tabs 41p1 to 41p7 on a touch panel in which the image display unit 41 and the input device 42 are integrated may be used.

The switches 42a1-42a7 are arranged under the tabs 41p1-41p7 corresponding to the tabs 41p1-41p7, respectively, and function as switches for selecting the tabs 41p1-41p7, respectively.

Since the switches 42a1-42a7 are arranged under the tabs 41p1-41p7 corresponding to the tabs 41p1-41p7, respectively, the operator can intuitively select the tabs 41p1-41p7.

In FIG. 9, for example, when the switch 42a1 is operated, the tab 41p1 is selected, the menu display area 41p is changed from one-level display to two-level display, and icon images corresponding to the first menu are displayed on tabs 41p2 to 41p7. Is displayed. In addition, the size of the rear image CBT is reduced in response to the change of the menu display area 41p from the one-stage display to the two-stage display. At this time, the size of the bird's-eye view image FV is maintained without being changed, so the visibility when the operator checks the surroundings of the excavator 100 does not deteriorate.

Further, when the switch 42a5 is operated, the display control unit 350 assumes that the tab 41p5 is selected, and changes the main screen to the loading work screen.

Specifically, when the switch 42a5 is operated, the display control unit 350 changes the menu display area 41p into a work information display area for displaying information on the loading work while maintaining the image display area 41n.

As described above, in the present embodiment, captured images are continuously displayed in the image display area 41n also on the loading work screen, so that the visibility when the operator checks the surroundings of the excavator 100 is not deteriorated.

The switch 42b1 is a switch for switching the captured image displayed in the image display area 41n. Each time the switch 42b1 is operated, the captured image displayed in the first image display area 41n1 of the image display area 41n is switched, for example, between the rear image, the left image, the right image, and the overhead image. It is configured.

In addition, each time the switch 42b1 is operated, the captured image displayed in the second image display area 41n2 of the image display area 41n switches among, for example, the rear image, the left image, the right image, and the overhead image. It may be configured as

Further, the display control unit 350 may change the display mode of the images 41xF, 41xB, 41xL, 41xR, and 41xI in the icon image 41x according to the operation of the switch 42b1.

Also, each time the switch 42b1 is operated, the captured image displayed in the first image display area 41n1 of the image display area 41n and the captured image displayed in the second image display area 41n2 are switched. good too.

In this way, the switch 42b1 as the input device 42 may switch the screen displayed in the first image display area 41n1 or the second image display area 41n2, or switch between the first image display area 41n1 and the second image display area 41n1. You may switch the screen displayed on 41n2. Also, a switch for switching the screen displayed in the second image display area 41n2 may be provided separately.

The switches 42b2 and 42b3 are switches for adjusting the air volume of the air conditioner. In the example of FIG. 8, the air volume of the air conditioner decreases when the switch 42b2 is operated, and the air volume of the air conditioner increases when the switch 42b3 is operated.

The switch 42b4 is a switch for switching ON/OFF of the cooling/heating function. In the example of FIG. 8, the cooling/heating function is switched between ON and OFF each time the switch 42b4 is operated.

Switches 42b5 and 42b6 are switches for adjusting the set temperature of the air conditioner. In the example of FIG. 8, the set temperature is lowered when the switch 42b5 is operated, and the set temperature is raised when the switch 42b6 is operated.

The switch 42b7 is a switch that can switch the display of the engine operating time display area 41f.

Further, the switches 42a2 to 42a6 and 42b2 to 42b6 are configured so that numbers displayed on the respective switches or near the switches can be input. The switches 42a3, 42a4, 42a5, and 42b4 are configured to move the cursor left, up, right, and down, respectively, when the cursor is displayed on the menu screen.

Note that the functions given to the switches 42a1 to 42a7 and 42b1 to 42b7 are examples, and may be configured so that other functions can be executed.

As described above, when the tab 41p1 is selected while the bird's-eye view image FV and the rearward image CBT are displayed in the image display area 41n, the tabs 41p2 to 41p2 are displayed while the bird's-eye view image FV and the rearward image CBT are displayed. The first menu detail item is displayed on 41p7. Therefore, the operator can confirm the first menu detailed items while confirming the bird's-eye view image FV and the rearward image CBT.

Also, in the image display area 41n, the overhead image FV is displayed without changing the size before and after the tab 41p1 is selected. Visibility is not deteriorated when an operator checks the surroundings of the excavator 100. - 特許庁

In addition, in the above description, the present embodiment is applied to the excavator 100, but the present invention is not limited to this. This embodiment can be applied to any working machine that has a crawler belt with a plurality of shoe plates connected thereto and that can travel on an unpaved road surface or the like.

The present embodiment has been described above with reference to specific examples. However, the invention is not limited to these specific examples. Design modifications to these specific examples by those skilled in the art are also included in the scope of the present invention as long as they have the features of the present invention. Each element included in each specific example described above and its arrangement, conditions, shape, etc. are not limited to those illustrated and can be changed as appropriate. Each element included in each of the specific examples described above may be appropriately combined as long as there is no technical contradiction. Further, in the present embodiment described above, an example of application to a shovel was explained as an example of a construction machine, but each embodiment can also be applied to other construction machines such as a wheel loader and a bulldozer.

30 controller 40 display device 100 excavator 310 pressure data acquisition unit 320 frequency analysis unit 330 rotation speed calculation unit 340 determination unit 350 display control unit

Claims (7)

An excavator having an undercarriage having a crawler belt to which a plurality of shoe plates are connected,
a determination unit that determines whether or not to output a notification prompting cleaning of the undercarriage according to a change in the state of the undercarriage;
and a display control unit that displays the notification on a display device according to the determination result of the determination unit. 2. The excavator according to claim 1, wherein the change in the state of the undercarriage is a change in the driving state of the undercarriage during travel. A change in the driving state of the lower running body during running is
3. The excavator according to claim 2, wherein the pressure is detected based on the pressure of a traveling hydraulic motor that causes the undercarriage to travel, and the rotation speed of the traveling hydraulic motor. The excavator according to any one of claims 1 to 3, wherein the change in the state of the undercarriage is a change in appearance of the undercarriage. The change in appearance of the undercarriage is
5. The excavator of claim 4, detected based on an image including the undercarriage. 6. The notice prompting cleaning of the undercarriage is a message prompting cleaning of the crawler belt, and is displayed together with a bird's-eye view image of the excavator and an image of the rear of the excavator. The excavator according to item 1. A construction machine management device for managing a construction machine having an undercarriage having a crawler belt to which a plurality of shoe plates are connected,
a determination unit that determines whether or not to output a notification prompting cleaning of the undercarriage according to a change in appearance of the undercarriage;
and a display control unit that displays the notification on a display device according to the determination result of the determination unit.

Images