JP3935626B2 - Automatic operation construction machine start-up inspection device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a start-up inspection device for an automatic operation construction machine, and more particularly, to a start-up inspection device for inspecting control equipment necessary for automatic operation of an automatic operation construction machine.
[0002]
[Prior art]
Usually, in order to use a construction machine safely and efficiently, a start-up inspection for confirming the state of the construction machine to be operated from now on is necessary. This start-up inspection involves checking the engine, oil / cooling water volume, oil / water leakage in each part, hose / piping damage, radiator / oil cooler clogging / damage, etc. Tank oil level / leakage, operation of each operation lever, operation of each hydraulic device, piping / hose oil leakage / damage, etc. As inspections of the working equipment, oil leakage of cylinders, piping, hoses, wear / damage of buckets, lubrication status around the front, etc., as other inspections, operating status of each instrument / switch / light / alarm, There is a check of parking brake function.
[0003]
As a technique for simplifying the management method of such inspection contents and inspection results, for example, JP-A-3-197261 discloses a brake oil amount and an engine oil amount each time a vehicle power key is turned on. Check the hydraulic oil amount, transmission oil amount, retarder oil amount, radiator water level and battery fluid level, display the details of the abnormality on the display unit, and record the starting point result on the card to manage the inspection result. It is disclosed to simplify the process. Japanese Patent Application Laid-Open No. 5-288648 discloses that when the vehicle power key is turned on, the engine oil amount, the cooling water amount, the fuel, the brake oil amount, the battery fluid amount, the electric circuit, the oil maintenance item, the filter maintenance item, and It is disclosed that pin maintenance start-up inspection and warm-up inspection are executed sequentially, and the inspection status, engine speed, loading capacity, and operation time are displayed automatically or arbitrarily on a single display screen such as TV / video. Has been.
[0004]
In recent years, techniques for unmanned construction machines have been proposed in order to improve production efficiency and reduce costs in civil engineering construction. For example, in Japanese Patent Laid-Open No. 9-195321, as a mobile automatic crushed plant, a crushed stone collected by a bulldozer is scooped up, and a soil excavation and return operation are automatically performed. And a system for generating crushed stone into gravel, and a system operated by a single operator on a bulldozer is disclosed.
[0005]
[Problems to be solved by the invention]
By the way, for the purpose of improving productivity in an unmanned operation state, it is not sufficient for the automatic operation construction machine to inspect the start inspection items of a normal manned construction machine (standard machine). In particular, the state of various control devices such as angle sensors and pressure sensors that play an important role in automatic driving excavators must be checked before starting automatic driving in order to improve productivity and reduce costs. Indispensable.
[0006]
However, the start-up inspection shown in the above-described prior art is limited to the inspection items in the standard machine, and is not particularly considered regarding the inspection of various control devices in the automatic operation construction machine.
[0007]
In view of the above situation, an object of the present invention is to provide a start-up inspection device for accurately performing a start-up inspection of various control devices of an automatic operation construction machine, and to improve the safety and productivity of the automatic operation construction machine. Is to plan.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the present invention employs the following means.
[0013]
  In an automatic operation construction machine that causes a construction machine to repeatedly and automatically operate a series of taught operations by a regenerating operation, an abnormality determination means for determining an abnormal state of various control devices for performing automatic operation of the automatic operation construction machine, and the abnormality A status display unit for displaying a determination result by the determination unit; and a data measurement timing designating unit for designating a timing for measuring data of the various control devices. The abnormality determination unit is designated by the data measurement timing designating unit. While determining the abnormal state based on the data of various control devices measured at the timing,
  The construction machine includes a boom, an arm, and a bucket provided at a front portion of a swingable swing body, a boom cylinder that drives the boom, the arm, and the bucket, respectively, an arm cylinder, a bucket cylinder, and a swing motor that drives the swing body A control valve that drives each actuator, a proportional solenoid valve that controls the control valve, the swing body and the boom, the boom and the arm, and the arm and the bucket. Each rotation angle and each angle detector for detecting the rotation angle of the revolving structure, and at least one of pressure detectors for detecting the pressure of the boom cylinder, arm cylinder, bucket cylinder and rotation motor. It consists of a hydraulic excavator with
  The timing specified by the data measurement timing specifying means is a state in which the boom is raised until it reaches the stroke end of the boom cylinder and the boom cylinder is relieved, and the abnormality determination means detects the boom angle at this time. Determining means for detecting the value of the detector and the value of the boom cylinder pressure detector and determining whether each of the values is in the vicinity of the respective reference valueIt is characterized by providing.
[0014]
  Also,In an automatic operation construction machine that causes a construction machine to repeatedly and automatically operate a series of taught operations by a regenerating operation, an abnormality determination means for determining an abnormal state of various control devices for performing automatic operation of the automatic operation construction machine, and the abnormality A status display unit for displaying a determination result by the determination unit; and a data measurement timing designating unit for designating a timing for measuring data of the various control devices. The abnormality determination unit is designated by the data measurement timing designating unit. While determining the abnormal state based on the data of various control devices measured at the timing,
  The construction machine includes a boom, an arm, and a bucket provided at a front portion of a swingable swing body, a boom cylinder that drives the boom, the arm, and the bucket, respectively, an arm cylinder, a bucket cylinder, and a swing motor that drives the swing body A control valve that drives each actuator, a proportional solenoid valve that controls the control valve, the swing body and the boom, the boom and the arm, and the arm and the bucket. Each rotation angle and each angle detector for detecting the rotation angle of the revolving structure, and at least one of pressure detectors for detecting the pressure of the boom cylinder, arm cylinder, bucket cylinder and rotation motor. It consists of a hydraulic excavator with
  The timing specified by the data measurement timing specifying means is a state in which the boom is lowered and the hydraulic excavator is jacked up, and the abnormality determination means detects the value of the boom cylinder pressure detector at this time, Judgment means for judging whether or not the value is in the vicinity of the reference valueIt is characterized by that.
[0015]
  Also,In an automatic operation construction machine that causes a construction machine to repeatedly and automatically operate a series of taught operations by a regenerating operation, an abnormality determination means for determining an abnormal state of various control devices for performing automatic operation of the automatic operation construction machine, and the abnormality A status display unit for displaying a determination result by the determination unit; and a data measurement timing designating unit for designating a timing for measuring data of the various control devices. The abnormality determination unit is designated by the data measurement timing designating unit. While determining the abnormal state based on the data of various control devices measured at the timing,
  The construction machine includes a boom, an arm, and a bucket provided at a front portion of a swingable swing body, a boom cylinder that drives the boom, the arm, and the bucket, respectively, an arm cylinder, a bucket cylinder, and a swing motor that drives the swing body A control valve that drives each actuator, a proportional solenoid valve that controls the control valve, the swing body and the boom, the boom and the arm, and the arm and the bucket. Each rotation angle and each angle detector for detecting the rotation angle of the revolving structure, and at least one of pressure detectors for detecting the pressure of the boom cylinder, arm cylinder, bucket cylinder and rotation motor. It consists of a hydraulic excavator with
  The timing specified by the data measurement timing specifying means is a state in which the arm is dumped until reaching the stroke end of the arm cylinder, and the arm cylinder is relieved. Determining means for detecting the value of the detector and the value of the arm cylinder pressure detector and determining whether or not each of the values is in the vicinity of the respective reference valueIt is characterized by providing.
[0016]
  Also,In an automatic operation construction machine that causes a construction machine to repeatedly and automatically operate a series of taught operations by a regenerating operation, an abnormality determination means for determining an abnormal state of various control devices for performing automatic operation of the automatic operation construction machine, and the abnormality A status display unit for displaying a determination result by the determination unit; and a data measurement timing designating unit for designating a timing for measuring data of the various control devices. The abnormality determination unit is designated by the data measurement timing designating unit. While determining the abnormal state based on the data of various control devices measured at the timing,
  The construction machine includes a boom, an arm, and a bucket provided at a front portion of a swingable swing body, a boom cylinder that drives the boom, the arm, and the bucket, respectively, an arm cylinder, a bucket cylinder, and a swing motor that drives the swing body A control valve that drives each actuator, a proportional solenoid valve that controls the control valve, the swing body and the boom, the boom and the arm, and the arm and the bucket. Each rotation angle and each angle detector for detecting the rotation angle of the revolving structure, and at least one of pressure detectors for detecting the pressure of the boom cylinder, arm cylinder, bucket cylinder and rotation motor. It consists of a hydraulic excavator with
  The timing specified by the data measurement timing specifying means is a state in which the arm is clouded until the arm cylinder reaches the stroke end and the arm cylinder is relieved, and the abnormality determination means determines the arm angle at this time A detector for detecting a value of the detector and a value of the arm cylinder pressure detector, and determining whether each of the values is in the vicinity of a reference value;It is characterized by that.
[0017]
  Also,In an automatic operation construction machine that causes a construction machine to repeatedly and automatically operate a series of taught operations by a regenerating operation, an abnormality determination means for determining an abnormal state of various control devices for performing automatic operation of the automatic operation construction machine, and the abnormality A status display unit for displaying a determination result by the determination unit; and a data measurement timing designating unit for designating a timing for measuring data of the various control devices. The abnormality determination unit is designated by the data measurement timing designating unit. While determining the abnormal state based on the data of various control devices measured at the timing,
  The construction machine includes a boom, an arm, and a bucket provided at a front portion of a swingable swing body, a boom cylinder that drives the boom, the arm, and the bucket, respectively, an arm cylinder, a bucket cylinder, and a swing motor that drives the swing body A control valve that drives each actuator, a proportional solenoid valve that controls the control valve, the swing body and the boom, the boom and the arm, and the arm and the bucket. Each rotation angle and each angle detector for detecting the rotation angle of the revolving structure, and at least one of pressure detectors for detecting the pressure of the boom cylinder, arm cylinder, bucket cylinder and rotation motor. It consists of a hydraulic excavator with,
  The timing specified by the data measurement timing specifying means is a state in which the bucket is dumped until it reaches the stroke end of the bucket cylinder, and the bucket cylinder is relieved. A detector for detecting a value of the detector and a value of the bucket cylinder pressure detector, and determining whether each of the values is in the vicinity of a reference value;It is characterized by that.
[0018]
  Also,In an automatic operation construction machine that causes a construction machine to repeatedly and automatically operate a series of taught operations by a regenerating operation, an abnormality determination means for determining an abnormal state of various control devices for performing automatic operation of the automatic operation construction machine, and the abnormality A status display unit for displaying a determination result by the determination unit; and a data measurement timing designating unit for designating a timing for measuring data of the various control devices. The abnormality determination unit is designated by the data measurement timing designating unit. While determining the abnormal state based on the data of various control devices measured at the timing,
  The construction machine includes a boom, an arm, and a bucket provided at a front portion of a swingable swing body, a boom cylinder that drives the boom, the arm, and the bucket, respectively, an arm cylinder, a bucket cylinder, and a swing motor that drives the swing body A control valve that drives each actuator, a proportional solenoid valve that controls the control valve, the swing body and the boom, the boom and the arm, and the arm and the bucket. Each rotation angle and each angle detector for detecting the rotation angle of the revolving structure, and at least one of pressure detectors for detecting the pressure of the boom cylinder, arm cylinder, bucket cylinder and rotation motor. It consists of a hydraulic excavator with
  The timing specified by the data measurement timing specifying means isThe bucket is clouded until it reaches the stroke end of the bucket cylinder, and the bucket cylinder is in a state of being relieved, and the abnormality determination means determines the value of the bucket angle detector and the value of the bucket cylinder pressure detector at this time. DetectIt is characterized by comprising determination means for determining whether or not each value is in the vicinity of each reference value.
[0019]
  Also,In an automatic operation construction machine that causes a construction machine to repeatedly and automatically operate a series of taught operations by a regenerating operation, an abnormality determination means for determining an abnormal state of various control devices for performing automatic operation of the automatic operation construction machine, and the abnormality A status display unit for displaying a determination result by the determination unit; and a data measurement timing designating unit for designating a timing for measuring data of the various control devices. The abnormality determination unit is designated by the data measurement timing designating unit. While determining the abnormal state based on the data of various control devices measured at the timing,
  The construction machine includes a boom, an arm, and a bucket provided at a front portion of a swingable swing body, a boom cylinder that drives the boom, the arm, and the bucket, respectively, an arm cylinder, a bucket cylinder, and a swing motor that drives the swing body A control valve that drives each actuator, a proportional solenoid valve that controls the control valve, the swing body and the boom, the boom and the arm, and the arm and the bucket. Each rotation angle and each angle detector for detecting the rotation angle of the revolving structure, and at least one of pressure detectors for detecting the pressure of the boom cylinder, arm cylinder, bucket cylinder and rotation motor. It consists of a hydraulic excavator with
  The timing specified by the data measurement timing specifying means is a stop state after the revolving body is rotated approximately once in the same direction, and the abnormality determining means is when the turning of the turning angle detector is stopped and when the turning is started. It is determined whether or not the difference is near the reference value, and the value of the swing pressure detector exceeded the reference value during the swing operationIt is characterized by comprising a judging means for judging whether or not.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to FIGS.
[0021]
FIG. 1 is a diagram showing an automatic driving excavator shown as an example of an automatic driving construction machine according to the present embodiment and its working mode.
[0022]
In the figure, 1 is an automatic driving excavator body that excavates debris stored in the stock yard 2 and is loaded into a crasher 3 to be described later. 3 is a crushed debris loaded by the automatic driving shovel main body 1 and The generated classifier 5 is an operation box installed at an arbitrary place suitable for performing the regenerating operation of the automatic driving excavator body 1.
[0023]
The automatic driving excavator body 1 includes a traveling body 10, a revolving body 11 that is turnably provided on the traveling body 10, a boom 12 that is turnably provided on the revolving body 11, and a pivot that rotates to the tip of the boom 12. Rotating motor for rotating the arm 13 provided in a possible manner, the bucket 14 provided rotatably at the tip of the arm 13, and the revolving body 11, the boom 12, the arm 13 and the bucket 14. 110, cylinders 111, 112, 113, a cab 15 provided in the swing body 11, an antenna 150 that transmits and receives signals to and from the operation box 5, and an automatic driving excavator body provided in the cab 15 1 and a status display monitor 61 for displaying an abnormality determination result and the like.
[0024]
Furthermore, the automatic driving excavator body 1 includes an angle sensor 114 that detects the turning angle of the swing body 11, an angle sensor 115 that detects the rotation angle between the swing body 11 and the boom 12, and the rotation of the boom 12 and the arm 13. An angle sensor 116 that detects a moving angle, an angle sensor 117 that detects a rotation angle between the arm 13 and the bucket 14, a pressure sensor 118 that detects the pressure of the swing motor 110, and a pressure of the boom cylinder 111, although not shown. A pressure sensor 119 for detecting the pressure, a pressure sensor 120 for detecting the pressure of the arm cylinder 112, a pressure sensor 121 for detecting the pressure of the bucket cylinder 113, and a controller 60 for performing various controls for automatic operation. Is provided.
[0025]
The crasher 3 includes a traveling body 30, a hopper 31, a crushed stone part 32, and a conveyor 33.
[0026]
The operation box 5 includes a support base 50 and a playback device 51 fixed to the support base 50. The playback device 51 includes a stop button 511, a start button 512, an emergency stop button 513, and an automatic operation. There are provided an engine ON button 514 for starting the engine of the excavator body 1, an engine OFF button 515 for stopping the engine, an UP button 516 for increasing the engine speed, and a DOWN button 517 for decreasing the engine speed. Is provided so as to be mechanically and electrically connectable to the main body of the playback device 51. Further, the playback device 51 is provided with an antenna 518 that transmits and receives signals to and from the antenna 150 of the automatic excavator body 1.
[0027]
FIG. 2 is an enlarged view of the status display monitor 61 shown in FIG.
[0028]
In the figure, 610 is a display unit for displaying teaching and start-up inspection operation procedures, abnormal states during start-up inspection and detailed information of various control devices, and 611 is a function key to which functions such as teaching and start-up inspection are assigned. A group 612 is a function execution key group to which an execution function for specifying the position storage at the time of teaching, the specification of the data measurement timing at the start of work inspection, and the like is assigned. Furthermore, the function key group 611 includes a start inspection key 6110 for shifting to the start inspection mode, a teaching key 6111 for shifting to the teaching mode, and details for shifting to the detailed display mode for displaying detailed information of various control devices. A display key 6112 is assigned, and an execution key 6120 is assigned to the function execution key group 612.
[0029]
FIG. 3 is a block diagram showing an outline of a control mechanism for automatic operation of the automatic operation shovel according to the present embodiment.
[0030]
In FIG. 3, the same reference numerals as those shown in FIG. 1 denote the same parts.
[0031]
In the figure, the portions indicated by dotted lines represent the playback device 51 of the operation box 5 and the in-vehicle device 6 of the automatic driving excavator body 1, respectively.
[0032]
Here, the playback device 51 includes a playback operation unit 510 operated during playback, and a command generation unit for forming a signal output from the playback operation unit 510 into a predetermined signal for output to the controller 60 described later. 519 and a wireless device 520 for transmitting and receiving signals to and from the controller 60 of the automatic driving excavator body 6. The command generation unit 519 is formed by a general controller using a microcomputer and has a function of generating a command code corresponding to the input signal.
[0033]
The in-vehicle device 6 is controlled by a controller 60, a state display monitor 61, a proportional solenoid valve 62 driven by a drive current output from the controller 60, and a hydraulic signal output from the proportional solenoid valve 62, A control valve 63 for controlling the amount of oil or hydraulic pressure flowing into the actuator, a swing motor 110 for operating each part of the automatic operation shovel main body 1 shown in FIG. 1, an actuator 64 such as cylinders 111, ll2, and ll3, and an operation box 5 and a controller 60 for performing transmission / reception of signals between the controller 60 and a controller switch 66 for controlling ON / OFF of the power supply of the controller 60. Here, when the controller switch 66 is in an OFF state, This is the same manual operation mode as the standard machine. Becomes over de, an automatic operation that can mode by the controller 60.
[0034]
Next, the operation of the automatic driving excavator will be described with reference to FIG.
[0035]
In the automatic operation, first, the controller switch 66 is turned on in the state where the engine of the automatic operation excavator body 1 is turned on to set the automatic operation mode. Next, a start-up inspection key 6110 on the status display monitor 61 is pressed, and a start-up inspection is executed according to an instruction displayed on the display unit 610. Through this start-up inspection, it is confirmed that the various control devices of the angle sensor and the pressure sensors 114 to 121 are normal. Next, the teaching key 6110 is pressed, and the operation target position of the automatic driving excavator body 1 necessary for automatic driving is taught according to instructions similarly displayed on the display unit 610. At this time, the controller 60 inputs and calculates detection values from the angle sensors 114 to 117 according to the operation, and stores the teaching position data and the teaching command in a predetermined storage area.
[0036]
Note that by pressing the detail display key 6112 shown in FIG. 2, the detailed information of the various control devices such as the angle sensor and the pressure sensors 114 to 121 can be always displayed on the display unit 610 for confirmation. The automatic operation is started by completing the start-up inspection and the teaching operation and performing the regeneration operation.
[0037]
At the time of reproduction, by turning on the start button 512 from the reproduction operation unit 510, a predetermined signal generated in the command generation unit 519 is transmitted to the controller 60 via the antennas 518 and 150, and the reproduction process is started. When the reproduction process is started, the controller 60 calls the stored teaching data, and matches the teaching position data while comparing with the information obtained from the angle sensor and the pressure sensors ll4 to 121. A drive current is output to the proportional solenoid valve 62 for operating the swing body 11, the boom 12, the arm 13, and the bucket 14, respectively. The proportional solenoid valve 62 further controls each actuator 64 via the control valve 63 to perform automatic operation of the automatic operation shovel body 1.
[0038]
Next, details of the start-up inspection process of the automatic driving excavator according to the present embodiment will be described with reference to FIGS.
[0039]
FIG. 4 is a flowchart showing a processing procedure executed together with the operation of the operator in the driver's cab in the automatic operation mode including the start-up inspection process.
[0040]
In the figure, when the controller switch 66 shown in FIG. 3 is turned on, power is supplied to the controller 60 and the automatic operation mode starts. In step S100, the start work inspection flag is turned off, and in step S200, the error flag is turned off. Next, an initial screen is displayed on the display unit 610 of the status display monitor 61 in step S300. This is a screen showing a list of various functions in an automatic operation mode such as a start-up inspection mode, a teaching mode, and a detailed display mode, which will be described later. Next, in step S400, it is determined whether or not the start work inspection mode is set. Here, when the start work inspection key 6110 is pressed, the process proceeds to step S500, and the start work inspection of various control devices described later is executed. Further, when the start work inspection key 6110 is not pressed or when the start work inspection in step S500 is completed, the process proceeds to step S600, and it is determined whether or not the teaching mode is set. If the teaching key 6111 is pressed here, the process proceeds to step S700, and it is determined whether or not the start work inspection flag is ON. When the start inspection flag is ON, the process proceeds to step S800, and teaching operation necessary for automatic operation is performed. Further, when the start inspection flag is OFF, teaching operation cannot be performed. If the teaching key 6111 is not pressed or the teaching operation in step S800 is completed, the process proceeds to step S900, and it is determined whether the detailed display mode is set. If the detailed display key 6112 is pressed, the process proceeds to step S1000, and detailed information of various control devices is displayed on the display unit 610. For example, the current values of the angle sensors and pressure sensors 114 to 121, that is, the current values of various control devices used for automatic operation can be confirmed. When the detail display key is not pressed or when the detail display in step S1000 is completed, the process returns to step S300, and the above processing is repeated. Further, even when any mode of the start inspection, teaching, and detailed display is being executed, it is possible to always shift to each mode by pressing the start inspection key 6110, the teaching key 6111, and the detail display key 6112. It has become. Further, as will be described later, the detailed display mode can be returned to the state before shifting to the detailed display mode by pressing the detail display key 6112 again during the detailed information display in step S1000.
[0041]
FIG. 5 is a flowchart showing a detailed processing procedure of procedure S500 in the start-up inspection mode shown in FIG.
[0042]
When the start work inspection key 6110 of the status display monitor 61 shown in FIG. 2 is pressed, the operation shifts to the start work inspection mode. In step S510, turning abnormality determination processing is executed. When the turning abnormality determination process ends, similarly, a boom abnormality determination process is performed in step S520, an arm abnormality determination process in step S530, and a bucket abnormality determination process in step S540. Next, in step S550, it is determined whether or not the error flag has been turned on as a result of the error flag processing in the abnormality determination processing in steps S510 to S540. If YES, the start inspection flag is turned OFF in step S560, and NO is determined. If this is the case, the start-up inspection flag is turned on in step S570 and the start-up inspection process is terminated.
[0043]
6 and 7 are flowcharts showing the detailed processing procedure of the turning abnormality determination procedure S510 in the start-up inspection mode shown in FIG.
[0044]
In step S510a, the turning pressure error flag is turned ON. Next, in step S510b, an instruction is given to press the execution key 6120 of the status display monitor 61 shown in FIG. In this embodiment, in this embodiment, a message is displayed on the display unit 610 on the state display monitor 61 to give an instruction. For example, another method such as voice may be used to give an instruction to the operator. The same applies to any instruction to be described later. Next, until the execution key 6120 is pressed, it is determined in step S510c whether or not the turning right pressure SWpr is equal to or higher than the reference value SWprb. If the determination result is YES, the process proceeds to step S510d and the turning pressure error flag is turned OFF. If the determination result is NO, the process proceeds to step S510e as it is. Next, it is determined whether or not the execution key 6120 is pressed in step S510e. Here, if the execution key 6120 is not pressed, the processing from step S510c is repeated, and input waiting until the execution key 6120 is pressed is performed. If the execution key 6120 is pressed, the process proceeds to step S510f. The value SWlen of the turning angle sensor 114 when the execution key 6120 is pressed and the turning angle sensor when the operator is instructed in step S510b. It is determined whether or not the difference from the value SWlst is between the lower limit value SWlmi and the upper limit value SWlma of the angle change for one left turn. If the determination result is YES, the process proceeds to step S510g, and it is determined whether or not the turning pressure error flag is ON. When the turning pressure error flag is OFF, the process proceeds to step S510n shown in FIG. 7, and the turning abnormality determination process is continued. When the turning error flag is ON, the process proceeds to step S510h, and a message indicating that the turning pressure sensor 118 is abnormal is displayed on the display unit 610. In this case, as in the case of the instruction in step S510b, the operator may be notified using another method such as voice, and the same applies to any abnormality display described later. Next, in step S510i, the error flag is turned ON, and the turning abnormality determination is terminated. If the determination result in step S510f is NO, the process proceeds to step S510j, and a message indicating that the turning angle sensor 114 is abnormal is displayed on the display unit 610. Next, in step S510k, the error flag is turned ON, and in step S510l, it is determined whether or not the turning pressure error flag is ON. When the turning pressure error flag is OFF, the turning abnormality determination is finished. When the turning pressure error flag is ON, the process proceeds to step S510m, and a message indicating that the turning pressure sensor 118 is abnormal is displayed on the display unit 610. The judgment ends. When the procedure proceeds from step S510g to step S510n shown in FIG. 7, the turning pressure error flag is turned ON, and in step S510o, the operator is instructed to press the execute key 6120 after rotating the turning body 11 once in a right turn. . Next, until the execution key 6120 is pressed, it is determined in step S510p whether or not the turning left pressure SWpl has become equal to or higher than the reference value SWplb. If the determination result is YES, the process proceeds to step S510q, the turning pressure error flag is turned OFF, and if NO, the process proceeds to step S510r as it is. Next, in step S510r, it is determined whether or not the execution key 6120 has been pressed. If the execution key 6120 has not been pressed, the processing from step S510p is repeated, and input waiting is performed until the execution key 6120 is pressed. When the execution key 6120 is pressed, the process proceeds to step S510s, and the value SWren of the turning angle sensor 114 when the execution key 6120 is pressed and the turning angle sensor when the operator is instructed in step S510o. It is determined whether or not the difference from the value SWrst is between the lower limit value SWrmi and the upper limit value SWrma of the angle change for one right turn. When the determination result is YES, the process proceeds to step S510t, and it is determined whether or not the turning pressure error flag is ON. When the turning pressure error flag is OFF, the turning abnormality determination is terminated. When the turning error flag is ON, the process proceeds to step S510u, and a message indicating that the turning pressure sensor 118 is abnormal is displayed on the display unit 610. Next, in step S510v, the error flag is turned on, and the turning abnormality determination is terminated. If the determination result in step S510s is NO, the process proceeds to step S510w, and a message indicating that the turning angle sensor 114 is abnormal is displayed on the display unit 610. Next, in step S510x, the error flag is turned ON, and in step S510y, it is determined whether or not the turning pressure error flag is ON. When the turning pressure error flag is OFF, the turning abnormality determination is terminated. When the turning pressure error flag is ON, the process proceeds to step S510z, and a message indicating that the turning pressure sensor 118 is abnormal is displayed on the display unit 610 to determine the turning abnormality. Exit.
[0045]
Here, when the abnormality information is displayed, the sensor information at that time can be known by pressing the detail display key 6112.
[0046]
8 and 9 are flowcharts showing the detailed processing procedure of the boom abnormality determination procedure S520 in the start-up inspection mode shown in FIG.
[0047]
In FIG. 8, the boom pressure error flag is turned OFF in step S520a. Next, in step S520b, the operator raises the boom 12 until it reaches the stroke end of the boom cylinder 111, and instructs the operator to press the execution key 6120 while the boom cylinder 111 is in the relief state. Next, input of the execution key 6120 is waited in step S520c, and when the execution key 6120 is pressed, the process proceeds to step S520d. In step S520d, it is determined whether or not the boom bottom pressure BMpb when the execution key is pressed is between the lower limit value BMpbmi and the upper limit value BMpbma at the time of relief. Here, if the determination result is YES, the process proceeds to step S520f, and if NO, the boom pressure error flag is turned on in step S520e. Next, in step S520f, it is determined whether or not the boom angle BMU when the execution key 6120 is pressed is between the lower limit value BMumi and the upper limit value BMuma at the boom raising side stroke end. Here, when the determination result is YES, the process proceeds to step S520g, and it is determined whether or not the boom pressure error flag is ON. If the determination result is NO, the process proceeds to step S520n shown in FIG. 9 to continue the boom abnormality determination. If YES, the process proceeds to step S520h, and the boom pressure sensor 119 is abnormal on the display unit 610. Displays a message indicating that there is. Next, in step S520i, the error flag is turned on, and the boom abnormality determination is terminated. If the determination result in step S520f is NO, the process proceeds to step S520j, and a message indicating that the boom angle sensor 115 is abnormal is displayed on the display unit 610. Next, in step S520k, the error flag is turned ON, and in step S520l, it is determined whether the boom pressure error flag is ON. If the determination result is NO, the boom abnormality determination ends, and if YES, in step S520m, a message indicating that the boom pressure sensor 119 is abnormal is displayed on the display unit 610, and then the boom abnormality determination ends. When the procedure proceeds to step S520n shown in FIG. 9, the operator is instructed to press the execution key 6120 in a state where the boom 12 is jacked up. Next, input of the execution key 6120 is waited in step S520o, and when the execution key 6120 is pressed, the process proceeds to step S520p. In step S520p, it is determined whether or not the boom rod pressure BMpr when the execution key 6120 is pressed is between the lower limit value BMprmi and the upper limit value BMprma of the jackup pressure at the boom. If the determination result is YES, the boom abnormality determination is terminated. If NO, a message indicating that the boom pressure sensor 119 is abnormal is displayed on the display unit 610 in step S520q, and an error flag is displayed in step S520r. After turning ON, the boom abnormality determination is terminated. In the present embodiment, since the front posture at the time of jackup cannot be accurately specified by an operator operation, only the boom pressure sensor 119 is determined at the time of jackup.
Here, when the abnormality information is displayed, the sensor information at that time can be known by pressing the detail display key 6112.
[0048]
FIGS. 10 and 11 are flowcharts showing the detailed processing procedure of the arm abnormality determination procedure S530 in the start-up inspection mode shown in FIG.
[0049]
In FIG. 10, the arm pressure error flag is turned OFF in step S530a. Next, in step S530b, the operator is instructed to dump the arm 13 until the stroke end of the arm cylinder 112 is reached, and to press the execution key 6120 while the arm cylinder 112 is in the relief state. Next, input of the execution key 6120 is waited in step S530c, and when the execution key 6120 is pressed, the process proceeds to step S530d. In step S530d, it is determined whether or not the arm rod pressure AMpr when the execution key 6120 is pressed is between the lower limit value AMprmi and the upper limit value AMprma at the time of relief. If the determination result is YES, the process proceeds to step S530f. If the determination result is NO, the arm pressure error flag is turned on in step S530e, and then the process proceeds to step S530f. In step S530f, it is determined whether or not the arm angle AMu when the execution key 6120 is pressed is between the lower limit value AMumi and the upper limit value AMuma at the arm dump side stroke end. If the determination result is YES, the process proceeds to step S530g. In step S530g, it is determined whether an arm pressure error flag is ON. If the determination result is NO, the process proceeds to step S530n shown in FIG. 11 to continue the arm abnormality determination, and if YES, the process proceeds to step S530h and the arm pressure sensor 120 is abnormal on the display unit 610. A message indicating that this is displayed is displayed. Then, after the error flag is turned ON in step S530i, the arm abnormality determination is terminated. If the determination result in step S530f is NO, the process proceeds to step S530j, and a message indicating that the arm angle sensor 116 is abnormal is displayed on the display unit 610. In step S530k, the error flag is turned ON, and the process proceeds to step S530l. In step S530l, it is determined whether an arm pressure error flag is ON. If the determination result is NO, the arm abnormality determination is terminated. If YES, in step S530m, a message indicating that the arm pressure sensor 120 is abnormal is displayed on the display unit 610, and then the arm abnormality determination is terminated. When the procedure proceeds to step S530n shown in FIG. 11, the operator is instructed to cloud the arm 13 until the stroke end of the arm cylinder 112 is reached, and to press the execution key 6120 while the arm cylinder 112 is in the relief state. Next, input of the execution key 6120 is waited in step S530o, and when the execution key 6120 is pressed, the process proceeds to step S530p. In step S530p, it is determined whether or not the arm bottom pressure AMpb when the execution key 6120 is pressed is between the lower limit value AMpbmi and the upper limit value AMpbma at the time of relief. If the determination result is YES, the process proceeds to step S530r. If the determination result is NO, the arm pressure error flag is turned on in step S530q, and then the process proceeds to step S530r. In step S530r, it is determined whether or not the arm angle AMd when the execution key 6120 is pressed is between the lower limit value AMdmi and the upper limit value AMdma at the arm cloud side stroke end. If the determination result is YES, the process proceeds to step S530s. In step S530s, it is determined whether an arm pressure error flag is ON. If the determination result is NO, the arm abnormality determination process ends. If YES, the process proceeds to step S530t, and a message indicating that the arm pressure sensor 120 is abnormal is displayed on the display unit 610. Then, after turning on the error flag in step S530u, the arm abnormality determination is terminated. If the determination result in step S530r is NO, the process proceeds to step S530v, and a message indicating that the arm angle sensor 116 is abnormal is displayed on the display unit 610. In step S530w, the error flag is turned ON, and the process proceeds to step S530x. In step S530x, it is determined whether an arm pressure error flag is ON. If the determination result is NO, the arm abnormality determination is terminated. If YES, in step S530y, a message indicating that the arm pressure sensor 120 is abnormal is displayed on the display unit 610, and then the arm abnormality determination is terminated.
[0050]
Here, when the abnormality information is displayed, the sensor information at that time can be known by pressing the detail display key 6112.
[0051]
12 and 13 are flowcharts showing a detailed processing procedure of the bucket abnormality determination procedure S540 in the start-up inspection mode shown in FIG.
[0052]
In FIG. 12, the bucket pressure error flag is turned OFF in step S540a. Next, in step S540b, the operator dumps the bucket 14 until it reaches the stroke end of the bucket cylinder 113, and instructs the operator to press the execution key 6120 while the bucket cylinder 113 is in the relief state. Next, input of the execution key 6120 is waited in step S540c, and when the execution key 6120 is pressed, the process proceeds to step S540d. In step S540d, it is determined whether or not the bucket rod pressure BKpr when the execution key 6120 is pressed is between the lower limit value BKprmi and the upper limit value BKprma at the time of relief. If the determination result is YES, the process proceeds to step S540f. If the determination result is NO, the bucket pressure error flag is turned on in step S540e, and then the process proceeds to step S540f. In step S540f, it is determined whether or not the bucket angle BKu when the execution key 6120 is pressed is between the lower limit value BKumi and the upper limit value BKuma at the bucket dump side stroke end. If the determination result is YES, the process proceeds to step S540g. In step S540g, it is determined whether or not the bucket pressure error flag is ON. If the determination result is NO, the process proceeds to step S540n shown in FIG. 13 to continue the bucket abnormality determination. If YES, the process proceeds to step S540h, and the bucket pressure sensor 121 is abnormal on the display unit 610. A message indicating that this is displayed is displayed. Then, after turning on the error flag in step S540i, the bucket abnormality determination is terminated. If the determination result in step S540f is NO, the process proceeds to step S540j, and a message indicating that the bucket angle sensor 117 is abnormal is displayed on the display unit 610. In step S540k, the error flag is turned ON, and the process proceeds to step S540l. In step S540l, it is determined whether or not a bucket pressure error flag is ON. If the determination result is NO, the bucket abnormality determination is terminated. If YES, in step S540m, a message indicating that the bucket pressure sensor 121 is abnormal is displayed on the display unit 610, and then the bucket abnormality determination is terminated. When the procedure proceeds to step S540n shown in FIG. 13, the operator is instructed to cloud the bucket 14 until the stroke end of the bucket cylinder 113 is reached, and to press the execution key 6120 while the bucket cylinder 113 is in the relief state. Next, input of the execution key 6120 is awaited in step S540o, and when the execution key 6120 is pressed, the process proceeds to step S540p. In step S540p, it is determined whether or not the bucket bottom pressure BKpb when the execution key 6120 is pressed is between the lower limit value BKpbmi and the upper limit value BKpbma at the time of relief. If the determination result is YES, the process proceeds to step S540r. If the determination result is NO, the bucket pressure error flag is turned on in step S540q, and then the process proceeds to step S540r. In step S540r, it is determined whether or not the bucket angle BKd when the execution key 6120 is pressed is between the lower limit value BKdmi and the upper limit value BKdma at the bucket cloud side stroke end. If the determination result is YES, the process proceeds to step S540s. In step S540s, it is determined whether or not a bucket pressure error flag is ON. If the determination result is NO, the bucket abnormality determination is terminated. If YES, the process moves to step S540t, and a message indicating that the bucket pressure sensor 121 is abnormal is displayed on the display unit 610. Then, after turning on the error flag in step S540u, the bucket abnormality determination is terminated. If the determination result in step S540r is NO, the process proceeds to step S540v, and a message indicating that the bucket angle sensor 117 is abnormal is displayed on the display unit 610. In step S540w, the error flag is turned ON, and the process proceeds to step S540x. In step S540x, it is determined whether or not a bucket pressure error flag is ON. If the determination result is NO, the bucket abnormality determination ends, and if YES, in step S540y, a message indicating that the bucket pressure sensor 121 is abnormal is displayed on the display unit 610, and then the bucket abnormality determination ends.
[0053]
Here, when the abnormality information is displayed, the sensor information at that time can be known by pressing the detail display key 6112.
[0054]
FIG. 14 is a flowchart showing a detailed display processing procedure in the detailed display mode shown in FIG.
[0055]
When the detailed display key 6112 shown in FIG. 2 is pressed, the current values of various sensors are displayed on the display unit 610 in step S1010. Next, in step S1020, it is determined whether or not the detail display key 6112 has been pressed again. If the detail display key 6112 has not been pressed, the process returns to step S1010, and a process of waiting for input of the display and detail display key 6112 is performed. If the detail display key 6112 is pressed, a process for returning to the screen before the detail display mode is selected in step S1030 is performed. As a result, detailed information on various sensors can always be obtained.
[0056]
In the present embodiment, when the detail display key 6112 is pressed in the start work inspection mode or the teaching mode, the sensor information and the like at that time are displayed.
[0057]
FIG. 15 is a flowchart showing the processing procedure of the start-up process when the start-up inspection and the like are completed and the start button 512 of the operation box 5 is operated to start the automatic operation in the automatic operation mode.
[0058]
First, in step S1110, input of the start button 512 is waited for. Here, when the start button 512 is pressed, the process proceeds to step S1120, and it is determined whether or not the start work inspection flag is ON. Here, when the start inspection flag is ON, activation is performed in step S1130, and the automatic driving operation of the automatic driving shovel body 1 is started. On the other hand, when the start work inspection flag is OFF, the process proceeds to step S1140, the stop state of the automatic driving excavator body 1 is maintained, and the automatic driving operation is prohibited.
[0059]
【The invention's effect】
As described above, according to the present invention, the abnormality determining means for determining the abnormal state of the various control devices for performing the automatic operation of the automatic operation construction machine and the state display means for displaying the determination result by the abnormality determining means are provided. Therefore, various control devices can be inspected at the start of work, and the safety, productivity and cost reduction of the automatic operation construction machine can be achieved.
[0060]
In addition, since a data measurement timing specifying means for specifying the timing for measuring data of various control devices for abnormality determination is provided and the data measurement timing by the operator is specified, accurate measurement values for performing abnormality determination Can be obtained, and abnormality determination can be performed accurately.
[0061]
In addition, when the abnormality determining means determines that at least one of the various control devices is abnormal, execution of automatic operation of the automatic operation construction machine is prohibited. In addition, the safety of the automatic operation construction machine can be improved.
[Brief description of the drawings]
FIG. 1 is a diagram showing an automatic driving excavator and its working mode according to an embodiment of the present invention.
FIG. 2 is an enlarged view of a state display monitor 61 shown in FIG.
FIG. 3 is a block diagram showing an outline of a control mechanism for automatic operation of the automatic operation shovel according to the present embodiment.
FIG. 4 is a flowchart showing a processing procedure executed together with an operator's operation in the driver's cab in the automatic operation mode.
FIG. 5 is a flowchart showing a detailed processing procedure in step S500 in the start-up inspection mode shown in FIG.
6 is a flowchart showing a detailed processing procedure of a turning abnormality determination step S510 in the start-up inspection mode shown in FIG.
7 is a flowchart showing a detailed processing procedure of a turning abnormality determination step S510 in the start-up inspection mode shown in FIG.
FIG. 8 is a flowchart showing a detailed processing procedure of boom abnormality determination procedure S520 in the start-up inspection mode shown in FIG. 5;
FIG. 9 is a flowchart showing a detailed processing procedure of a boom abnormality determination procedure S520 in the start-up inspection mode shown in FIG. 5;
FIG. 10 is a flowchart showing a detailed processing procedure of arm abnormality determination procedure S530 in the start-up inspection mode shown in FIG. 5;
FIG. 11 is a flowchart showing a detailed processing procedure of arm abnormality determination procedure S530 in the start-up inspection mode shown in FIG. 5;
12 is a flowchart showing a detailed processing procedure of a bucket abnormality determination procedure S540 in the start-up inspection mode shown in FIG. 5;
FIG. 13 is a flowchart showing a detailed processing procedure of bucket abnormality determination procedure S540 in the start-up inspection mode shown in FIG. 5;
14 is a flowchart showing a detailed display processing procedure in the detailed display mode shown in FIG. 4;
FIG. 15 is a flowchart showing a processing procedure of start-up processing when start-up inspection or the like is completed and start-up button 512 of operation box 5 is operated to start automatic operation in the automatic operation mode.
[Explanation of symbols]
1 Automatic driving excavator body
3 Classic
5 Operation box
51 Playback device
60 controller
61 Status display monitor
66 Controller switch
114-l21 sensor
511 Stop button
512 Start button
513 Emergency stop button
610 display unit
611 Function key group
6110 Start check key
6111 Teaching key
6112 Detail display key
612 Function execution key group
6120 Execution key

Claims (7)

In an automatic operation construction machine that causes a construction machine to repeatedly and automatically operate a series of taught operations by a regenerating operation, an abnormality determination means for determining an abnormal state of various control devices for performing automatic operation of the automatic operation construction machine, and the abnormality A status display unit for displaying a determination result by the determination unit; and a data measurement timing designating unit for designating a timing for measuring data of the various control devices. The abnormality determination unit is designated by the data measurement timing designating unit. While determining the abnormal state based on the data of various control devices measured at the timing,
The construction machine includes a boom, an arm, and a bucket provided at a front portion of a swingable swing body, a boom cylinder that drives the boom, the arm, and the bucket, respectively, an arm cylinder, a bucket cylinder, and a swing motor that drives the swing body A control valve that drives each actuator, a proportional solenoid valve that controls the control valve, the swing body and the boom, the boom and the arm, and the arm and the bucket. Each rotation angle and each angle detector for detecting the rotation angle of the revolving structure, and at least one of pressure detectors for detecting the pressure of the boom cylinder, arm cylinder, bucket cylinder and rotation motor. It consists of a hydraulic excavator with
The timing specified by the data measurement timing specifying means is a state in which the boom is raised until it reaches the stroke end of the boom cylinder and the boom cylinder is relieved, and the abnormality determination means detects the boom angle at this time. A start-up inspection of an automatic operation construction machine, characterized by comprising determination means for detecting the value of the detector and the value of the boom cylinder pressure detector and determining whether or not each value is in the vicinity of the respective reference value apparatus. In an automatic operation construction machine that causes a construction machine to repeatedly and automatically operate a series of taught operations by a regenerating operation, an abnormality determination means for determining an abnormal state of various control devices for performing automatic operation of the automatic operation construction machine, and the abnormality A status display unit for displaying a determination result by the determination unit; and a data measurement timing designating unit for designating a timing for measuring data of the various control devices. The abnormality determination unit is designated by the data measurement timing designating unit. While determining the abnormal state based on the data of various control devices measured at the timing,
The construction machine includes a boom, an arm, and a bucket provided at a front portion of a swingable swing body, a boom cylinder that drives the boom, the arm, and the bucket, respectively, an arm cylinder, a bucket cylinder, and a swing motor that drives the swing body A control valve that drives each actuator, a proportional solenoid valve that controls the control valve, the swing body and the boom, the boom and the arm, and the arm and the bucket. Each rotation angle and each angle detector for detecting the rotation angle of the revolving structure, and at least one of pressure detectors for detecting the pressure of the boom cylinder, arm cylinder, bucket cylinder and rotation motor. It consists of a hydraulic excavator with
The timing specified by the data measurement timing specifying means is a state in which the boom is lowered and the hydraulic excavator is jacked up, and the abnormality determination means detects the value of the boom cylinder pressure detector at this time, A start-up inspection device for an automatic operation construction machine, characterized by comprising determination means for determining whether or not the value is close to a reference value . In an automatic operation construction machine that causes a construction machine to repeatedly and automatically operate a series of taught operations by a regenerating operation, an abnormality determination means for determining an abnormal state of various control devices for performing automatic operation of the automatic operation construction machine, and the abnormality A status display unit for displaying a determination result by the determination unit; and a data measurement timing designating unit for designating a timing for measuring data of the various control devices. The abnormality determination unit is designated by the data measurement timing designating unit. While determining the abnormal state based on the data of various control devices measured at the timing,
The construction machine, a boom provided in the front portion of the pivotable turning body, an arm and bucket, the boom, a boom cylinder for driving respectively the arm and the bucket pivoting to drive the turning body and the arm cylinder and bucket cylinder Various actuators composed of motors, control valves for driving the actuators, proportional solenoid valves for controlling the control valves, the swing body and the boom, the boom and the arm, the arm and the bucket And at least one of pressure detectors for detecting the pressures of the boom cylinder, arm cylinder, bucket cylinder and swing motor. It consists of a hydraulic excavator with
The timing specified by the data measurement timing specifying means is a state in which the arm is dumped until reaching the stroke end of the arm cylinder, and the arm cylinder is relieved. A start-up inspection of an automatic operation construction machine characterized by comprising a determination means for detecting a value of a detector and a value of an arm cylinder pressure detector and determining whether or not each value is in the vicinity of a respective reference value apparatus. In an automatic operation construction machine that causes a construction machine to repeatedly and automatically operate a series of taught operations by a regenerating operation, an abnormality determination means for determining an abnormal state of various control devices for performing automatic operation of the automatic operation construction machine, and the abnormality A status display unit for displaying a determination result by the determination unit; and a data measurement timing designating unit for designating a timing for measuring data of the various control devices. The abnormality determination unit is designated by the data measurement timing designating unit. While determining the abnormal state based on the data of various control devices measured at the timing,
The construction machine includes a boom, an arm, and a bucket provided at a front portion of a swingable swing body, a boom cylinder that drives the boom, the arm, and the bucket, respectively, an arm cylinder, a bucket cylinder, and a swing motor that drives the swing body A control valve that drives each actuator, a proportional solenoid valve that controls the control valve, the swing body and the boom, the boom and the arm, and the arm and the bucket. Each rotation angle and each angle detector for detecting the rotation angle of the revolving structure, and at least one of pressure detectors for detecting the pressure of the boom cylinder, arm cylinder, bucket cylinder and rotation motor. It consists of a hydraulic excavator with
The timing specified by the data measurement timing specifying means is a state in which the arm is clouded until the arm cylinder reaches the stroke end and the arm cylinder is relieved, and the abnormality determination means determines the arm angle at this time A start-up inspection of an automatic operation construction machine characterized by comprising a determination means for detecting a value of a detector and a value of an arm cylinder pressure detector and determining whether or not each value is in the vicinity of a respective reference value apparatus. In an automatic operation construction machine that causes a construction machine to repeatedly and automatically operate a series of taught operations by a regenerating operation, an abnormality determination means for determining an abnormal state of various control devices for performing automatic operation of the automatic operation construction machine, and the abnormality A status display unit for displaying a determination result by the determination unit; and a data measurement timing designating unit for designating a timing for measuring data of the various control devices. The abnormality determination unit is designated by the data measurement timing designating unit. While determining the abnormal state based on the data of various control devices measured at the timing,
The construction machine includes a boom, an arm, and a bucket provided at a front portion of a swingable swing body, a boom cylinder that drives the boom, the arm, and the bucket, respectively, an arm cylinder, a bucket cylinder, and a swing motor that drives the swing body A control valve that drives each actuator, a proportional solenoid valve that controls the control valve, the swing body and the boom, the boom and the arm, and the arm and the bucket. Each rotation angle and each angle detector for detecting the rotation angle of the revolving structure, and at least one of pressure detectors for detecting the pressure of the boom cylinder, arm cylinder, bucket cylinder and rotation motor. It consists hydraulic excavator comprising
The timing specified by the data measurement timing specifying means is a state in which the bucket is dumped until it reaches the stroke end of the bucket cylinder, and the bucket cylinder is relieved. A start-up inspection of an automatic operation construction machine characterized by comprising a determination means for detecting a value of a detector and a value of a bucket cylinder pressure detector and determining whether or not each value is in the vicinity of a respective reference value apparatus. In an automatic operation construction machine that causes a construction machine to repeatedly and automatically operate a series of taught operations by a regenerating operation, an abnormality determination means for determining an abnormal state of various control devices for performing automatic operation of the automatic operation construction machine, and the abnormality A status display unit for displaying a determination result by the determination unit; and a data measurement timing designating unit for designating a timing for measuring data of the various control devices. The abnormality determination unit is designated by the data measurement timing designating unit. While determining the abnormal state based on the data of various control devices measured at the timing,
The construction machine includes a boom, an arm, and a bucket provided at a front portion of a swingable swing body, a boom cylinder that drives the boom, the arm, and the bucket, respectively, an arm cylinder, a bucket cylinder, and a swing motor that drives the swing body A control valve that drives each actuator, a proportional solenoid valve that controls the control valve, the swing body and the boom, the boom and the arm, and the arm and the bucket. Each rotation angle and each angle detector for detecting the rotation angle of the revolving structure, and at least one of pressure detectors for detecting the pressure of the boom cylinder, arm cylinder, bucket cylinder and rotation motor. It consists of a hydraulic excavator with
The timing specified by the data measurement timing specifying means is a state in which the bucket is clouded until reaching the stroke end of the bucket cylinder, and the bucket cylinder is relieved, and the abnormality determination means determines the bucket angle at this time A start-up inspection of an automatic operation construction machine characterized by comprising a determination means for detecting a value of a detector and a value of a bucket cylinder pressure detector and determining whether or not each value is in the vicinity of a respective reference value apparatus. In an automatic operation construction machine that causes a construction machine to repeatedly and automatically operate a series of taught operations by a regenerating operation, an abnormality determination means for determining an abnormal state of various control devices for performing automatic operation of the automatic operation construction machine, and the abnormality A status display unit for displaying a determination result by the determination unit; and a data measurement timing designating unit for designating a timing for measuring data of the various control devices. The abnormality determination unit is designated by the data measurement timing designating unit. While determining the abnormal state based on the data of various control devices measured at the timing,
The construction machine includes a boom, an arm, and a bucket provided at a front portion of a swingable swing body, a boom cylinder that drives the boom, the arm, and the bucket, respectively, an arm cylinder, a bucket cylinder, and a swing motor that drives the swing body A control valve that drives each actuator, a proportional solenoid valve that controls the control valve, the swing body and the boom, the boom and the arm, and the arm and the bucket. Each rotation angle and each angle detector for detecting the rotation angle of the revolving structure, and at least one of pressure detectors for detecting the pressure of the boom cylinder, arm cylinder, bucket cylinder and rotation motor. It consists of a hydraulic excavator with
The timing specified by the data measurement timing specifying means is a stop state after the revolving body is rotated approximately once in the same direction, and the abnormality determining means is when the turning of the turning angle detector is stopped and when the turning is started. And a determination means for determining whether or not the value of the turning pressure detector exceeds the reference value during the turning operation. Start-up inspection device for driving construction machinery.

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