JP4050217B2 - Work vehicle for managing vibration exposure of operators, vibration exposure management device - Google Patents

Description

  The present invention relates to a technique for measuring a vibration exposure amount of an operator who operates a work vehicle such as a construction machine, a transport machine, an agricultural machine, or a forestry machine.

  In recent years, there is a demand for managing the amount of vibration exposure of an operator who operates the above-described work vehicle. As a device for detecting the vibration exposure amount of an operator, a vibration detector for a seat described in ISO 10326-1, ISO 5008, ISO 7096, and the like, and a portable vibration processing device compliant with ISO 2631-1 (1997) are known. ing.

  The above-described conventional vibration detector and vibration processing device are configured as devices different from the work vehicle, and it is necessary for the operator to install them in the cab one by one, which is complicated. Also, if you forget to install a vibration detector and vibration processing device, you cannot manage the amount of vibration exposure.

According to a first aspect of the present invention, there is provided a driver's cab, an operation lever provided in the driver's cab and operated by an operator boarding the driver's cab, and a working actuator that operates in response to the operation of the operation lever. A vibration detector for detecting vibration applied to the operator to manage the vibration exposure amount of the operator, and calculating and integrating the vibration evaluation amount based on the vibration signal output from the vibration detector Vibration processing means for calculating the difference between the integrated value of the vibration evaluation amount and a predetermined allowable value, and calculating means for calculating the estimated workable time until the integrated value reaches the allowable value. In addition, a notification means for notifying the estimated workable time, and whether or not the vibration evaluation amount is accumulated by the vibration processing means, whether or not the operator is in the cab is detected. Determination means based on a signal from the output means, and the vibration processing means is based on vibration detected by the vibration detector when the determination means determines that the operator is on board. To integrate the vibration evaluation amount.
According to a second aspect of the present invention, the work vehicle according to the first aspect further includes prohibiting means for prohibiting the operation of the work actuator when the estimated workable time is less than or equal to an allowable value.
According to a third aspect of the present invention, in the work vehicle according to the first or second aspect, the prohibiting unit prohibits an operation other than the operation on the safety side of the work vehicle.
According to a fourth aspect of the present invention, in the work vehicle according to any one of the first to third aspects, the vibration detector is embedded in a seat of a driver's seat.
According to a fifth aspect of the present invention, in the work vehicle according to any one of the first to third aspects, the vibration detector is installed in a place other than a seat of a driver's seat, and the vibration processing means is the vibration detector. The detected vibration is converted into vibration on the sheet.
According to a sixth aspect of the present invention, in the work vehicle according to any one of the first to fifth aspects, the work vehicle further includes a specifying unit that specifies the operator, and the vibration processing unit is specified by the specifying unit. The vibration evaluation amount is integrated for each operator.
The invention according to claim 7 is a function of the vibration processing means and / or the calculation means based on information from the vibration detector mounted on the work vehicle according to any one of claims 1 to 6. It is a vibration exposure amount management apparatus provided with the management means which substitutes and performs.
According to an eighth aspect of the present invention, in the vibration exposure amount management apparatus according to the seventh aspect, the management means receives information from the vibration detector via wireless communication.

According to the first to sixth aspects of the present invention, the apparatus for calculating the integrated value of the vibration evaluation amount indicating the vibration exposure amount is mounted on the work vehicle, or the integrated value of the vibration evaluation amount indicating the vibration exposure amount. Based on the above, the means for calculating the estimated workable time is mounted on the work vehicle, so that the vibration exposure amount of the operator can be managed reliably.

According to the seventh and eighth aspects of the present invention, the vibration exposure amount of the operator can be managed simply by installing the vibration detector in the work vehicle and transmitting the detection signal by the vibration exposure amount management device.

  A first embodiment in which a vibration exposure amount measuring apparatus according to the present invention is mounted on a hydraulic excavator will be described with reference to FIGS.

  FIG. 1 is an overall view of a hydraulic excavator 10. The hydraulic excavator 10 mainly includes a lower traveling body 11, an upper swing body 12, and a work device 13. The lower traveling body 11 has a function of causing the hydraulic excavator 10 to travel by driving a crawler belt 11e wound around a sprocket 11c and an idler 11d by a hydraulic traveling motor 11b attached to an end of the track frame 11a.

  The work device 13 drives the boom 13a, the arm 13b, and the bucket 13c by the boom cylinder 13e, the arm cylinder 13f, and the bucket cylinder 13g, respectively, and excavates earth and sand by the bucket 13c.

  A cab 14, an engine hydraulic pump unit 15, a control valve 16, a hydraulic swing motor (not shown), and the like are mounted on the upper swing body 12. The hydraulic pressure supplied from the engine hydraulic pump unit 15 is distributed to each hydraulic cylinder and hydraulic motor by the control valve 16. Note that a center joint (not shown) is provided at a connection portion between the lower traveling body 11 and the upper swing body 12 so that hydraulic pressure can be supplied from the upper swing body 12 to the lower traveling body 11.

  Referring also to FIG. 2, the cab 14 is provided with a controller 17, work vehicle operation levers 18 a and 18 b, a travel operation lever 21, consoles 19 a and 19 b, a seat 20, and the like. An antenna 28 is installed on the roof. The seat 20 includes a seat surface 20a in which an accelerometer 26 described later is incorporated, a backrest 20b, a headrest 20c, and armrests 20d and 20e, and is installed on a seat stand 25.

  As shown in FIG. 3, a slit 20f is cut horizontally forward from the urethane rear portion of the seat surface 20a, and an accelerometer 26 is installed in the slit 20f. As shown in FIG. 4, the accelerometer 26 includes a pickup 26a, a metal disk 26b with a diameter of about 75 mm to which the pickup 26a is fixed, and a cable 26c, and vibrates the seat 20 in the x, y, and z directions. To detect. The z direction is a direction orthogonal to the installation surface of the accelerometer 26, and the x and y directions are the front-rear direction and the left-right direction of the work vehicle in a plane orthogonal to the z direction.

  Referring to FIGS. 2 and 5, the controller 17 electronically controls the control valve 16 and the engine hydraulic pump unit 15 according to the operation of the work vehicle operation levers 18 a and 18 b and the travel operation lever 21. The consoles 19a and 19b are provided with working device operation levers 18a and 18b, respectively. The left console 19a is equipped with a radio operation panel 21, and the right console 19b is equipped with an air conditioning operation panel 22, an engine key switch 24, and a main unit 23, respectively. An accelerometer 26, an antenna 28, and a controller 17 installed on the seat 20 are connected to the main unit 23.

The main unit 23 will be described with reference to FIG.
The main unit 23 includes an accelerometer drive circuit 23a, an anti-aliasing filter 23b, an A / D converter 23c, a DSP (digital signal calculator) 23d, a CPU (central processing unit) 23e, an ID card slot 23f, and a wireless communicator 23g. , Constituted by a monitor 23h.

  FIG. 7 is a top view of the main unit 23. The monitor 23h includes an estimated workable time display unit 231 and warning lamps 23i (green), 23j (yellow), and 23k (red) that are turned on according to the estimated workable time.

The accelerometer drive circuit 23a drives the accelerometer 26 with a constant current and detects vibration acceleration based on a change in drive voltage. The anti-aliasing filter 23b is an analog filter that removes unnecessary high-frequency components from the acceleration signal (voltage signal) output from the accelerometer drive circuit 23a. The output of the anti-aliasing filter 23b is digitized by the A / D converter 23c. The digitized signal is subjected to frequency weighting processing specified by ISO2633-1 (1997) by a DSP (digital filter) 23d, and converted into vibration values Ax, Ay, Az (m / s ² ) in each direction. Is done. The subscript of the vibration value A means the direction (x: front and back, y: left and right, z: up and down, with the operator seated).

  As shown in FIG. 5, the wireless communication device 23 g of the main unit 23 transmits various data to the management server 31 of the management office 30 via the antenna 28. The management server 31 is provided with a wireless communication device (not shown) with each work vehicle and an antenna 32. As will be described later, an area for storing the vibration exposure amount is set for each operator in the management server 31. The management server 31 can be installed at each construction site, installed at a management center of a hydraulic excavator maker, or installed at a management center of a company contracted for construction.

  Next, vibration exposure management processing will be described with reference to the flowchart of FIG. This process is performed by the CPU 23e executing a program stored in a memory (not shown) of the main unit 23. In this embodiment, all operators who operate the excavator 10 are identified, and the vibration exposure amount is managed for each operator by the management server 31. The operator shall identify with the dedicated ID card 29 (magnetic card), and insert the ID card 29 into the ID card slot 23f at the start of work.

  When the operator starts the engine of the hydraulic excavator, the vibration exposure amount management processing program is started, and the operation prohibition flag is turned off in step S1. In step S2, the main unit 23 issues a command to stop the operation of the work device 13 and the lower traveling body 11 to the controller 17, performs an operation lock process, and turns on the warning lamp 23k (red).

  The operation lock process is a process for preventing the hydraulic actuator from being driven even when the operation lever is operated.

  In step S3, it is determined whether the ID card 29 is inserted in the ID card slot 23f. If step S3 is affirmed, the process proceeds to step S4, and an operation prohibition flag is determined. The driving prohibition flag is a flag that is turned on in step S21 when it is determined in step S9 that will be described later that the estimated workable time R does not exceed zero.

  If it is determined that the driving prohibition flag is off, the process proceeds to step S5. If it is determined that the driving prohibition flag is on, the process proceeds to step S23. In step S23, it is determined whether or not the ID card determined to be inserted in step S3 is the same as the previous determination. If they are the same, the process returns to step S2, and if they are not the same, that is, if another operator newly inserts an ID card, step S23 is denied and the process proceeds to step S24. In step S24, the operation prohibition flag is turned off and the process proceeds to step S5.

  In step S5, the identification number of the operator read from the inserted ID card 29 is authenticated. That is, it is determined whether or not the read identification number matches the identification number in the operator identification memory provided in the main unit 23. When the identification number is authenticated, the main unit 23 requests the management server 31 for vibration exposure amount data of the corresponding operator in step S6. The management server 31 reads the cumulative work time T and cumulative vibration exposure amounts Px, Py, and Pz of the corresponding operator on that day, and transmits these data to the excavator 10. The main unit 23 proceeds to step S8 when reception of these data is completed in step S7.

In step S8, the main unit 23 uses the cumulative work time T, the cumulative vibration exposure amount Px, Py, Pz, and the cumulative vibration exposure regulation value L (m ² / s ³ ) to calculate the estimated work possible time R by the following formula ( Calculated from 1).

R (h) = T (L-Pmax) / Pmax / 3600 (1)
Here, the cumulative work time T is a time measured while the same operator is driving the engine of the hydraulic excavator. The cumulative vibration exposure regulation value L is an exposure amount that is allowed per day by the worker, and is an allowable value that is appropriately set in advance based on a standard such as ISO. Pmax is a maximum value of cumulative vibration exposure amounts Px, Py, and Pz described later.

  That is, the estimated work possible time R is the time required for the maximum value of the vibration amount cumulative values Px, Py, Pz to which the worker has already been exposed to reach the specified value L. The estimated work possible time R is displayed on the monitor 23h.

  If it is determined in step S9 that the estimated workable time R is equal to or less than zero, the process proceeds to step S20. In step S20, the message “estimated work possible time R is less than zero” or “cumulative vibration exposure exceeds the allowable value” is displayed on the monitor 23h. In step S21, the operation prohibition flag is turned on and the step is performed. Return to S2. That is, a command to stop the operation of the excavator 10 is output to the controller 17 again.

  If it is determined in step S9 that the estimated work possible time R exceeds zero, in step S10, the operation lock performed in step S2 is released, and the process proceeds to step S11. If it is determined in step S11 that the estimated work possible time R is 0.5 hours or more, the warning lamp 23i (green) is turned on (step S12), and if it is less than 0.5 hours, the warning lamp 23j (yellow) is turned on. Lights up (step S13).

  Next, vibration values Ax, Ay, Az performed in parallel during the series of operations are acquired (step S14), and the cumulative work time T and the cumulative work time T are accumulated based on the following equations (2) to (5). The vibration exposure amounts Px, Py, Pz are updated (step S15).

Cumulative work time T = T + ΔT (2)
However, ΔT is the time of the repetition cycle of step S15 in FIG.

Cumulative vibration exposure Px = Px + ΔT (kyAx) ² (3)
Cumulative vibration exposure Py = Py + ΔT (kyAy) ² (4)
Cumulative vibration exposure Pz = Pz + ΔT (kyAz) ² (5)
However, kx, ky, kz are coefficients in the xyz direction,
kx, ky = 1.4
kz = 1.0

  If it is determined that the ID card 29 is inserted (Yes at step S16), data (cumulative work time T, cumulative vibration exposure amount Px, Py, Pz) is transmitted to the management server 31 (step S18). . In order to set the data transmission interval to 10 minutes, in step S17, the process proceeds to step S18 when 10 minutes have elapsed since the previous data transmission, and the process returns to step S8 before 10 minutes have elapsed. The data transmission interval is not limited to 10 minutes.

  If the ID card 29 has been removed, step S16 is denied. In step S22, the data (cumulative work time T, cumulative vibration exposure amount Px, Py, Pz) collected so far by the main unit 23 is transmitted to the management server 31. Then, the process returns to step S2, and a command to stop the operation of the hydraulic excavator is issued to the controller 17.

  Cumulative work time T and cumulative vibration exposure amounts Px, Py, Pz managed by the management server 31 are aggregated as daily report data for each ID number when the work for one day is completed, and then reset to zero. . Therefore, T = Px = Py = Pz = 0 at the start of work on the next day.

  The operator can instruct the end of the day's work by transmitting that fact from the excavator 10 to the management server 31. Alternatively, the operator may notify the management office 30 of the end of the day's work, and the person in charge of the management office may input the fact to the management server 31.

  By such processing, the vibration exposure amount is managed as follows in the hydraulic excavator equipped with the vibration exposure amount management device according to the first embodiment.

  After the engine of the hydraulic excavator is started, when the operator inserts the ID card 29 into the ID card slot 23f and the operator is authenticated (step S5), the accumulated work time T and accumulated vibration of the operator who have been authenticated from the management server 31 that day. The exposure amounts Px, Py, Pz are transmitted to the hydraulic excavator (step S7).

  The main unit 23 of the excavator 10 calculates the estimated workable time R based on the cumulative work time T and the cumulative vibration exposure amounts Px, Py, Pz, and displays it on the monitor 23h (step S8). If the estimated work possible time R is less than or equal to zero, the operation of the hydraulic excavator is prohibited (when step S9 is denied and the process returns to step S2). If the estimated work possible time R is 0.5 hours or more, the green lamp 23i is turned on to permit the operation of the hydraulic excavator (when step S11 is affirmed). If the estimated work possible time R exceeds zero and is less than 0.5 hours, the yellow lamp 23j is turned on to permit the operation of the hydraulic excavator (when step S11 is denied). During this time, the cumulative work time T and the cumulative vibration exposure amounts Px, Py, Pz are integrated (step S15), and the data of the management server 3 is updated every 10 minutes (steps S17, 18).

  When it is determined that the estimated work possible time R of a specific operator is equal to or less than zero, the operator cannot operate the hydraulic excavator 10. In this case, an operator other than the operator can operate the hydraulic excavator 10 to continue the work. When the other operator inserts his / her ID card 29 into the ID card slot 13f, the driving prohibition flag is on, but it is determined that the ID number is different in step S23, and the driving prohibition flag is turned off in step S24. Proceed to step S5. Therefore, if the operator's ID number is authenticated and the estimated work possible time R is zero or more by the same process as described above, the operator can operate. And the vibration exposure amount of this operator is managed similarly.

The following effects are obtained in the first embodiment configured as described above.
When the operator is identified by the ID card 29 inserted by the operator and the maximum value Pmax of the cumulative vibration exposure amount exceeds the specified value L for each operator, the operation of the excavator 10 is locked. As a result, the operation cannot be continued by the intention of the operator, and the vibration exposure state for each operator can be managed reliably.
Since the operator knows the possible work time when the current work content is continued, the intensity of the work can be appropriately adjusted.
Without the ID card 29, the machine cannot be operated. Further, if the communication with the management server 31 is not possible, the machine cannot be operated.

-Second embodiment-
Next, a second embodiment of the present invention will be described with reference to FIGS. The difference from the first embodiment is as follows.
(1) The operator is not identified by the ID card but by the memory card. That is, the memory card storing the ID number is distributed to each operator, and the main unit identifies the operator by the memory card ID number.
(2) The accumulated work time T and the accumulated vibration exposure amounts Px, Py, Pz are not transmitted to the management server for management, but those data are stored and managed in the memory card.

Hereinafter, the differences will be mainly described.
FIG. 9 shows the configuration of the main unit 23A used in the second embodiment, and FIG. 10 shows the equipment arrangement on the upper surface of the main unit 23A. The main unit 23A has a memory card slot 23fA instead of the ID card slot 23f, and the wireless communication device 23g is omitted.

  FIG. 11 is a flowchart showing a processing procedure of a program executed by the main unit 23A used in the second embodiment, and corresponds to the flowchart of the first embodiment in FIG. The differences are mainly explained.

  In step S3A, it is determined whether or not the operator has inserted the memory card 29A into the main unit 23A. In step S23A, it is determined whether or not the memory card 29A is the same. In step S5, the memory unit 23A reads the ID number of the memory card 29A, and authenticates the operator as in the first embodiment. When the authentication is completed normally, the operator's accumulated work time T and accumulated vibration exposure amounts Px, Py, Pz recorded on the memory card 29A are read (step S7A).

  Similarly to the first embodiment, the memory unit 23A calculates the estimated work possible time R based on the cumulative work time T, the cumulative vibration exposure amount Px, Py, Pz, and the like (step S8), and the estimated work available time. The point that the operation is locked or the operation lock is released according to R is the same as in the first embodiment.

In step S14, vibration measurement values Ax, Ay, Az (m / s ² ) are acquired, and data is updated in step S15. If it is determined in step S16A that the memory card 29A is inserted, the data in the memory card 29A is updated every 10 minutes in step S18A. If it is determined in step S16A that the memory card 29A has been removed, the data updated in the immediately preceding step S15 is recorded in the memory card 29A, and the process returns to step S2.

  The operator sets the memory card 29A in the management server 31 at the end of the day's work, and manages the work time T and the accumulated vibration exposure amounts Px, Py, Pz recorded in the memory card 29A. Forward to 31. The management server 31 aggregates these data as daily report data, and then resets the data in the memory card 29A to zero. Therefore, at the start of work on the next day, the data T, Px, Py, Pz, in the memory card 29A become zero.

  The vibration exposure amount management system according to the second embodiment can provide the same effects as the system according to the first embodiment. In this embodiment, the wireless communication device 23g is unnecessary, and the cost can be reduced as compared with the hydraulic excavator of the first embodiment.

-Third embodiment-
Next, a third embodiment of the present invention will be described with reference to FIGS. The difference from the first embodiment is as follows.
(1) Instead of identifying an operator with an ID card, the operator is identified with an identification code entered using a numeric keypad. That is, an identification code is given for each operator, and the main unit identifies the operator with the identification code.
(2) The timing of transmitting and managing the data of the accumulated work time T and the accumulated vibration exposure amounts Px, Py, Pz to the management server is different from that of the first embodiment. In the third embodiment, data is transmitted when the work end button is operated, and data is transmitted at an interval of 10 minutes when the work end button is not operated.

Hereinafter, the differences will be mainly described.
FIG. 12 shows the configuration of the main unit 23B used in the third embodiment, and FIG. 13 shows the equipment arrangement on the upper surface of the main unit 23B. The main unit 23B is provided with a numeric keypad 23fB instead of the ID card slot 23f. A work start button 23p and a work end button 23q are also provided.

  FIG. 14 is a flowchart showing a processing procedure of a program executed in the main unit 23B used in the third embodiment, and corresponds to the flowchart of the first embodiment in FIG. The differences are mainly explained.

  In step S3B, it is determined whether or not the operator has input an identification number by operating the numeric keypad. In step S23B, it is determined whether or not the identification numbers input by the numeric keypad are the same (step S23B). In step S5, the memory unit 23B reads the input identification number, and authenticates the operator as in the first embodiment. When the authentication is normally completed, an identification code is transmitted to the management server 31. The management server 31 refers to the transmitted identification code, and the cumulative work time T of the operator and the cumulative vibration exposure amount Px, Py, Pz. Is read from the memory and transmitted to the excavator 10, which is received by the main unit 23B (step S7).

  Similarly to the first embodiment, the memory unit 23B calculates the estimated work possible time R based on the cumulative work time T, the cumulative vibration exposure amount Px, Py, Pz, and the like (step S8), and the estimated work available time. The operation is locked or the operation lock is released according to R. This is the same as in the first embodiment.

In step S14, vibration measurement values Ax, Ay, Az (m / s ² ) are acquired, and data is updated in step S15. While it is not determined in step S16B that the work end button 23q has been operated, in the same manner as in the first embodiment, in step S18, update data is transmitted to the management server 31 every 10 minutes, and the management server 31 Update the data. If it is determined in step S16B that the work end button 23q has been operated, the data updated in the immediately preceding step S15 is transmitted to the management server 31, and the process returns to step S2.

  The vibration exposure amount management system according to the third embodiment can provide the same operational effects as the system of the first embodiment. In this embodiment, since the identification number is input using the numeric keypad, an ID card reader is not required, and the cost can be reduced.

-Fourth embodiment-
In the first to third embodiments described above, an operator is identified by an identification number. The fourth embodiment assumes a case where the same operator exclusively uses one work vehicle. That is, the work vehicle according to the fourth embodiment does not manage the vibration exposure amount by the identification number, but manages the vibration exposure amount by the work vehicle alone.

Hereinafter, differences from the first embodiment will be mainly described.
FIG. 15 shows the configuration of the main unit 23C used in the fourth embodiment, and FIG. 16 shows the equipment arrangement on the upper surface of the main unit 23C. The main unit 23C is provided with a RAM 29C that omits the ID card slot 23f and records various data. The wireless communication device 23g is omitted.

  FIG. 17 is a flowchart showing a processing procedure of a program executed by the main unit 23C used in the fourth embodiment, and corresponds to the flowchart of the first embodiment in FIG. The differences are mainly explained.

  This process is started when the operator starts the engine. In step S2, the operation lock process is executed and the red warning lamp 23k is turned on. In step S7C, the operator's accumulated work time T and accumulated vibration exposure amounts Px, Py, Pz are read from the RAM 29C.

  Similarly to the first embodiment, the memory unit 23C calculates the estimated work possible time R based on the cumulative work time T, the cumulative vibration exposure amount Px, Py, Pz, and the like (step S8), and the estimated work available time. The operation is locked or the operation lock is released according to R. If it is determined in step S9 that the estimated workable time R is less than or equal to zero, in step S20, the message “estimated workable time R is less than or equal to zero” or “the vibration exposure exceeds the allowable value” Is displayed on the monitor 23h, and the process returns to step S2. That is, when the estimated work possible time R is zero or less, the hydraulic excavator is locked. If the estimated workable time R is 0.5 hours or more, the green warning light 23i is turned on, and if the estimated workable time R is less than 0.5 hours, the yellow warning light 23j is turned on.

In step S14, vibration measurement values Ax, Ay, Az (m / s ² ) are acquired, and data is updated in step S15. In step S18C, the recording data in the RAM 29C is updated with the data updated every 10 minutes. The work end time is preset according to the daily work schedule, and the data stored in the RAM 29C is automatically reset at that time. A communication port such as RS232C is provided, data is downloaded by a personal computer, and work end time is preset in the personal computer.

  In such a vibration exposure amount management system according to the fourth embodiment, as in the system of the first embodiment, the vibration amount per day applied to the operator is measured and notified, and the operation of the hydraulic excavator is controlled. Since the lock is provided, the health management of the operator can be achieved. Since it can be managed by a single hydraulic excavator, there is no need for equipment and processing for identifying the operator, and costs can be reduced.

-Fifth embodiment-
In the first to fourth embodiments described above, vibration values are integrated when the engine is started and a predetermined condition is satisfied. Therefore, even if the operator leaves the driver's seat while the engine is running, the vibration value is integrated. Therefore, the system according to the fifth embodiment integrates vibration values only when the operator is seated in the driver's seat, that is, only when the operator is actually receiving vibration.

  FIG. 18 is a flowchart to which a procedure for detecting that the operator is seated in the driver's seat and accumulating vibration values in the first embodiment is added. The difference is that step S51 is inserted after step S14. In step S51, it is determined whether an operator is seated in the driver's seat. If seating is determined, the process proceeds to step S15, and the work time T and the cumulative vibration exposure amounts Px, Py, Pz are updated. If seating is not determined, the process returns to step S8.

  Whether or not an operator is seated in the driver's seat can be detected as follows. For example, the driver's seat can be imaged with a camera, and the captured image can be processed to detect whether the operator in the driver's seat is seated. Alternatively, the operator may be detected by an infrared sensor. The seating of the driver seat may be detected by turning on and off a seat switch provided on the seat surface of the driver seat.

  Instead of directly detecting the operator, the vibration values may be integrated in conjunction with a gate lock lever that is normally mounted on a hydraulic excavator. The gate lock lever is a lever installed at the door entrance of the driver's seat and is operated to the lock position and the unlock position. When the operator is seated and operates the lever to the unlock position, the gate lock valve is opened and pressure oil from the hydraulic pump flows to the actuator. In this unlocked position, the lever closes the door so that the operator cannot move up and down. In the locked position, the gate lock valve is closed, and pressure oil from the hydraulic pump does not flow to the actuator. In the locked position, the lever does not block the door, and the operator can move up and down.

  In addition, the operation lock process of step S2 can be a valve closing process of the gate lock valve.

  According to the vibration exposure amount management apparatus according to the fifth embodiment as described above, the vibration evaluation amount can be integrated when the operator is in the driver's seat, so that the vibration actually received by the operator can be accurately measured. It can be measured.

What has been described above is an example, and the present invention can be implemented with the following modifications.
(1) The work vehicle is not necessarily a hydraulic excavator. The present invention is applicable to all work vehicles where the operator is exposed to vibration. For example, the present invention can be applied to a work vehicle in which an operator operates while standing. In this case, the cumulative exposure amount of the vibration of the work vehicle transmitted to the operator from the back of the foot (contact surface between the human body and the vibration surface) is detected.

(2) Although the vibration detector is realized by an accelerometer installed on the seat, vibration may be measured by other detectors. Further, an accelerometer may be installed at a place other than the seat, and the vibration exposure amount may be converted by converting the measurement data into a value on the seat. For example, an accelerometer can be installed on the floor of the driver's seat. In this case, vibration values Ax, Ay, and Az on the seating surface can be calculated by converting a measured value by a DSP filtering process using a vibration transfer function determined by the seat suspension and the weight of the operator. Here, the seat suspension is for supporting the seat of the driver's seat in order to improve riding comfort performance.

( 3 ) The acceleration of the seat seat surface 20a can also be estimated from the acceleration of the seat stand 25. In this case, it is necessary to accurately consider rotational vibration. However, in practice, it is costly to measure the rotational angular velocity, so only translational vibration is considered. Therefore, the distance between the reference point (in this case, the seat stand 25) and the estimated point (seat seat surface 20a) should be as close as possible so that the influence of rotational vibration is reduced. Therefore, since it is not good in accuracy to use the floor as a reference point, the seat stand 25 (a frame on which seat urethane is fixed or a table on which the frame is fixed) is used as a reference point.

In this case, the vibration transmission characteristic from the seat stand 25 to the seat seat surface 20a can be obtained as follows.
(A) An accelerometer is attached to each position, and impulse responses in the X, Y, and Z directions are obtained.
(B) The measured impulse response is FET processed to obtain a Bode diagram of each data.
(C) From the Bode diagram, the amplitude ratio and phase difference between the seat stand 25 and the seat seat surface 20a for each direction (X, Y, Z) are obtained. That is, based on the Bode diagram of vibration transfer characteristics,
Amplitude ratio (f) = seat seat surface amplitude (f) / seat stand amplitude (f)
Phase difference (f) = seat seat surface phase (f) −seat stand phase (f)
Where f is the frequency.

(D) The obtained vibration transfer characteristic is subjected to inverse FET processing to generate a correction filter coefficient (digital filter).
(E) A convolution operation is performed by the DSP using the obtained correction filter coefficient. That is, FIR filter processing is performed.
(F) Time series data subjected to FIR filter processing is estimated seat seat surface vibration.

  Actually, the seat seat vibration transmission characteristics change from the seat stand depending on the physique and posture of the operator, so in practice, several correction filter coefficients are prepared for each body weight, and the operator inputs the body weight. Thus, a correction filter coefficient suitable for the operator is preferably selected from the plurality of correction filter coefficients.

(4) In the first to third and fifth embodiments, the vibration value detected by the work vehicle is processed by the main unit of the work vehicle to calculate the cumulative vibration exposure amount, but the measured vibration is managed. It may be transmitted to the server, and the cumulative vibration exposure amount may be calculated by the management server. In this case, the estimated workable time may be calculated by the management server, or the cumulative vibration exposure amount may be transmitted to the work vehicle so that the work vehicle may calculate the estimated workable time.

(5) In the first to fifth embodiments, when the estimated work possible time R exceeds zero, the operation lock is released to allow the excavator to run, excavation work, etc. The operation lock is continued. However, the operation lock may be performed when the maximum value of the cumulative vibration exposure amounts Px, Py, Pz exceeds an allowable value. Other values may be used as long as the vibration exposure received by the operator can be evaluated.

(6) Although the operation lock process is immediately performed when the estimated work possible time R is equal to or less than zero, the operation lock may be performed after a predetermined time. If the operation state stops on the dangerous side when the operation is suddenly stopped during the operation, it is desirable to stop the operation with the operation state set to the safe side. For example, a state in which a bucket full of earth and sand is stopped in the air is a dangerous state. In this case, the operation in the direction in which the bucket is lowered may be permitted, and other operations may be prohibited.

(7) Although the vibration processing means is realized by the main units 23, 23A, 23B, and 23C, the present invention is not limited to this. Therefore, although the vibration values Ax, Ay, Az calculated by processing the output signal from the vibration accelerometer 26 are used as vibration evaluation quantities, other vibration values are used as long as the values indicate vibration acting on the operator. May be.

(8) Although the gate lock valve is shown as an example of the prohibition means, the gate lock valve is not limited to the gate lock valve as long as it is a means for prohibiting a driving operation of a work vehicle represented by a hydraulic excavator. For example, the engine may be stopped. Alternatively, the hydraulic excavator may not be operated substantially by setting the discharge flow rate from the hydraulic pump to zero or limiting the discharge flow rate to a very small amount. In an electric work vehicle, a main relay provided in a line between a power source and an electric actuator may be opened so that the electric actuator cannot be driven.

(9) The notification means for notifying the estimated work possible time is realized by the display monitor 23h, but may be notified by voice output. Although a preliminary warning for notifying that the integrated value of the vibration evaluation amount exceeds the allowable value is realized by the lamp 23j, it may be displayed on the display monitor 23h or notified by voice.
(10) The specifying means for specifying the operator is realized by inputting the ID card 29, the memory card 29A, and the numeric keypad, but the specifying means is not limited to this.

(11) The main unit performs vibration processing by digital signal processing, but may be configured by an analog circuit.
(12) The vibration processing means, calculation means, and determination means are realized by a program executed by the CPU 23e, that is, software. However, the present invention is not limited to these, and may be realized by a hard logic circuit or the like.

The figure which shows the hydraulic shovel to which the vibration exposure management system by this invention is applied. The view around the seat in the first embodiment of the present invention The figure which shows the seat surface and accelerometer in the 1st Embodiment of this invention It is a figure which shows the detail of an accelerometer, (a) is a top view, (b) is sectional drawing The system block diagram which shows the 1st Embodiment of this invention The block diagram of the main unit in the 1st Embodiment of this invention The figure which shows the front panel of the main unit in the 1st Embodiment of this invention. The flowchart which shows the vibration exposure amount measurement and management process in the 1st Embodiment of this invention The block diagram of the main unit in the 2nd Embodiment of this invention The figure which shows the front panel of the main unit in the 2nd Embodiment of this invention. Flowchart showing vibration exposure amount measurement and management processing in the second embodiment of the present invention The block diagram of the main unit in the 3rd Embodiment of this invention The figure which shows the front panel of the main unit in the 3rd Embodiment of this invention. Flowchart showing vibration exposure amount measurement and management processing in the third embodiment of the present invention The block diagram of the main unit in the 4th Embodiment of this invention The figure which shows the front panel of the main unit in the 4th Embodiment of this invention. The flowchart which shows the vibration exposure amount measurement and management process in the 4th Embodiment of this invention The flowchart which shows the vibration exposure amount measurement and management process in the 5th Embodiment of this invention

Explanation of symbols

17: Controller 20: Seat 23, 23A, 23B, 23C: Main unit 26: Accelerometer 29: ID card 29A: Memory card 29B: Numeric keypad 29C: RAM 31: Management server

Claims (8)

The cab,
An operation lever provided inside the cab and operated by an operator boarding the cab;
In a work vehicle including a work actuator that operates in response to an operation of the operation lever,
A vibration detector for detecting vibration applied to the operator to manage the vibration exposure of the operator;
Vibration processing means for calculating and integrating a vibration evaluation amount based on a vibration signal output from the vibration detector;
A calculating means for calculating a difference between the integrated value of the vibration evaluation amount and a predetermined allowable value, and calculating an estimated workable time until the integrated value reaches the allowable value;
Informing means for informing the calculated estimated work possible time ;
Determination means for determining whether or not to accumulate the vibration evaluation amount by the vibration processing means based on a signal from a detection means for detecting whether or not an operator is in the cab;
The work vehicle characterized in that the vibration processing means integrates a vibration evaluation amount based on vibration detected by the vibration detector when the determination means determines that an operator is on board . In the work vehicle according to claim 1, in addition,
Wherein when the estimated workable time is less than the allowable value, the work vehicle, characterized in that to obtain Bei the inhibiting means for inhibiting the operation of said working actuator. In the work vehicle according to claim 1 or 2 ,
The prohibiting means prohibits an operation other than a safety-side operation of the work vehicle. In the work vehicle according to any one of claims 1 to 3 ,
A work vehicle characterized in that the vibration detector is embedded in a seat of a driver's seat. In the work vehicle according to any one of claims 1 to 3 ,
Work vehicle wherein installed in addition to the seat of the vibration detector driver's seat, the vibration processing means, characterized in that to convert the vibration detected in the previous SL vibration detector vibration on the sheet. In the work vehicle according to any one of claims 1 to 5 , in addition,
E Bei a specifying means for specifying the operator,
The work vehicle characterized in that the vibration processing means accumulates the vibration evaluation amount for each operator specified by the specifying means. Management means for executing the function of the vibration processing means and / or the calculation means in place of the information from the vibration detector mounted on the work vehicle according to any one of claims 1 to 6. vibration exposure management apparatus comprising: a. In the vibration exposure management apparatus according to claim 7,
The vibration exposure amount management apparatus, wherein the management means receives information from the vibration detector via wireless communication .

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