JP6617088B2 - Work efficiency index display system for hydraulic excavators - Google Patents

Description

  The present invention relates to a work efficiency index display system for a hydraulic excavator.

  Hydraulic excavators are often used for excavation work. Patent Document 1 discloses a work management system that measures the number and time of excavation work of a hydraulic excavator and manages work based on the measurement result.

Japanese Patent No. 5529949

  There are various types of excavation work for hydraulic excavators. In open pit mines, a terrain with a step shape called a bench is formed, and a hydraulic excavator rides on the bench. Then, for example, the excavator performs an upper work for excavating the upper slope. In this upper work, the upper work (upper scraping) for excavating the slope by moving the bucket from the upper part to the lower part of the slope, and the excavated material scraped to the lower part of the slope by this upper work with the bucket The middle stage work (middle stage scooping) is performed. Further, for example, a lower work (lower work) in which the excavator excavates the lower slope is performed.

  As described above, when the type of excavation work is different, the operation of the hydraulic excavator is greatly different, and the work efficiency is also different. Therefore, when the prior art described in Patent Document 1 is adopted and a work efficiency index (specifically, for example, the time of excavation work) is calculated and displayed for each operator of the hydraulic excavator, which is the work condition of the excavator Since the work efficiency index varies depending on the type of excavation work, the operator cannot grasp the influence on the work efficiency index.

  An object of the present invention is to provide a work efficiency index display system for a hydraulic excavator that enables the operator, who is a work condition, to grasp the influence on the work efficiency index even when the excavator performs a plurality of types of excavation work. It is in.

  In order to achieve the above object, the present invention provides an operation data of a working device for a hydraulic excavator, which is mounted on a hydraulic excavator and is a rotation angle of a boom, an arm, and a bucket, a bottom side pressure and a rod side pressure of a boom cylinder. A plurality of measuring devices for measuring the hydraulic excavator, a working condition obtaining device for obtaining operator information of the excavator as work conditions of the excavator, and operation data and operator information of the working device of the excavator in time series A data storage device to be recorded on, a data processing device to calculate an efficiency index of excavation work based on operation data of the working device of the excavator recorded by the data storage device, and an excavation calculated by the data processing device A display device for displaying a work efficiency index, and the data processing device records the hydraulic pressure recorded by the data storage device. From the operation data of the work equipment, the work type determination unit that determines the type of excavation work classified based on the height of the bucket tip at the start of excavation, and the combination of the type of excavation work and operator information A data sorting unit that classifies operation data, a work efficiency index calculation unit that calculates an efficiency index of excavation work for each of the sorted operation data, and excavation corresponding to each combination of excavation work type and operator information A drawing unit that generates screen data for displaying a work efficiency index.

  According to the present invention, even when a hydraulic excavator performs a plurality of types of excavation work, it is possible to grasp the influence of an operator, which is a work condition, on the work efficiency index.

It is the schematic showing the structure of the working efficiency parameter | index display system of the hydraulic shovel in one Embodiment of this invention. It is a side view showing the structure of the hydraulic excavator in one Embodiment of this invention. It is a block diagram showing the functional structure of the data processor in one Embodiment of this invention. It is a perspective view for demonstrating the upper side operation | work of the hydraulic shovel in one Embodiment of this invention. It is a perspective view for demonstrating the lower side operation | work of the hydraulic shovel in one Embodiment of this invention. It is a side view for demonstrating the kind of excavation operation | work of the hydraulic shovel in one Embodiment of this invention. It is a figure showing the excavation efficiency of each excavation work as a specific example. It is a figure showing the transition of the display screen of the display apparatus in one Embodiment of this invention. It is a figure showing the display screen of the display apparatus in a comparative example. It is a figure showing the graph added and displayed with the display apparatus in one modification of this invention.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic diagram showing a configuration of a work efficiency index display system for a hydraulic excavator in the present embodiment. FIG. 2 is a side view showing the structure of the hydraulic excavator in the present embodiment.

  The work efficiency index display system 1 of this embodiment includes a plurality of measuring devices (details will be described later) mounted on a hydraulic excavator 2 in the mine. In addition, a work condition acquisition device 4, a data storage device 5, a data processing device 6, and a display device 7 installed in the management center 3 are provided.

  The excavator 2 (backhoe) includes a lower traveling body 8, an upper revolving body 9 that is turnable on the upper side of the lower traveling body 8, and a work device 10 that is connected to the front side of the upper revolving body 9. Yes. The lower traveling body 8 travels by the rotational drive of the traveling motor, and the upper swing body 9 rotates by the rotational drive of the swing motor.

  The working device 10 includes a boom 11 that is rotatably connected to the front portion of the upper swing body 9, an arm 12 that is rotatably connected to the distal end portion of the boom 11, and a pivotable motion to the distal end portion of the arm 12. And a bucket 13 connected to. The boom 11, the arm 12, and the bucket 13 are rotated by the expansion and contraction drive of the boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16.

  Although not shown, the upper swing body 9 generates an engine and pressure oil that is driven by the engine and supplied to a hydraulic actuator (specifically, the boom cylinder 14, the arm cylinder 15, the bucket cylinder 16, and the like described above). It is equipped with a hydraulic pump. An engine control device 17 that controls the fuel injection amount of the engine is mounted.

  The hydraulic excavator 2 described above is equipped with a plurality of measuring devices. More specifically, angle sensors 18A, 18B, and 18C for detecting the rotation angle (relative angle) of the boom 11, the rotation angle (relative angle) of the arm 12, and the rotation angle (relative angle) of the bucket 13 are provided. It has been. Boom pressure sensors 19A and 19B for detecting the bottom side pressure and the rod side pressure of the boom cylinder 14 are provided. An arm pressure sensor 20 for detecting the bottom side pressure of the arm cylinder 15 is provided. The engine control device 17 has a fuel consumption sensor function and calculates the fuel consumption based on the fuel injection amount of the engine.

  Then, the operation data of the excavator 2 measured by the measurement device described above at a predetermined cycle (for example, about 0.1 to 1 second) (specifically, the rotation angle of the boom 11 and the rotation angle of the arm 12 described above). , The rotation angle of the bucket 13, the bottom side pressure and rod side pressure of the boom cylinder 14, the bottom side pressure of the arm cylinder 15, and the fuel consumption) are data via the data transmission devices 21 </ b> A and 21 </ b> B (wireless communication devices). The data is sent to the storage device 5 and recorded in the data storage device 5 in time series. That is, time information is associated with the operation data. A portable recording medium may be used instead of the data transmission devices 21A and 21B.

  The work condition acquisition device 4 is operated by, for example, an operation management system 22 in the management center 3 (in detail, a system that manages the hydraulic excavator 2 and the transport vehicle 23 (see FIGS. 4 and 5 described later) in the mine). The work conditions (in detail, operator information) of the excavator 2 and the position information of the transport vehicle 23 are acquired. The work conditions of the excavator 2 acquired by the work condition acquisition device 4 are recorded in the data storage device 5 in time series. That is, time information is associated with the work conditions of the excavator 2.

  Next, the data processing device 6 which is a main part of the present embodiment will be described with reference to FIG. FIG. 3 is a block diagram showing a functional configuration of the data processing device 6 in the present embodiment.

  The data processing device 6 of the present embodiment includes an operation data input unit 24, a work condition input unit 25, a work period determination unit 26, a work type determination unit 27, a data classification unit 28, a work efficiency index calculation unit 29, and a drawing unit 30. have.

  The operation data input unit 24 acquires operation data of the excavator 2 from the data storage device 5 in a predetermined target period (for example, a period of several days to several months). The work condition input unit 25 acquires the work conditions of the excavator 2 during the same target period from the data storage device 5.

  The work period determination unit 26 determines a period during which the excavator 2 is performing excavation work based on the work conditions of the excavator 2 acquired by the work condition input unit 25.

  The work type determination unit 27 extracts the operation data acquired by the operation data input unit 24 corresponding to the excavation work period determined by the work period determination unit 26. Then, it is determined whether the bottom side pressure of the arm cylinder 15 included in the extracted operation data is greater than a predetermined threshold value set in advance. Then, the timing at which the bottom pressure of the arm cylinder 15 becomes greater than a predetermined threshold is determined as the start of each excavation operation (at the start of excavation). Further, the height of the tip of the bucket 13 at the start of excavation is calculated based on the rotation angle of the boom 11, the rotation angle of the arm 12, and the rotation angle of the bucket 13. And based on the height of the front-end | tip of the bucket 13 at the time of an excavation start, the kind of excavation work of each time is determined.

  Here, the type of excavation work of the hydraulic excavator 2 will be described. Excavation work of the hydraulic excavator 2 is roughly classified into upper work and lower work.

  In the upper work shown in FIG. 4, the excavator 2 is on the bench 100, excavating the upper slope 101, and loading the excavated material on the transport vehicle 23. When the upper slope 101 is excavated and moved away from the excavator 2, the excavator 2 moves forward. The excavator 2 repeats the above-described upper work a plurality of times.

  The upper work is further classified into an upper work and a middle work. In the upper stage work shown in FIG. 6A, the bucket 13 is moved from the upper part to the lower part of the slope 101 to excavate the slope 101 (upper scraping), and the excavated material in the bucket 13 is transferred to the transport vehicle 23. Load. In the middle stage work shown in FIG. 6B, the excavated material scraped to the lower part of the slope 101 by the upper stage work is scooped with the bucket 13 (middle stage scooping), and the excavated article is loaded on the transport vehicle 23.

  In the lower work (lower work) shown in FIGS. 5 and 6C, the excavator 2 is on the bench 100, and the lower slope 102 is excavated with the bucket 13 (lower excavation). Load the excavated material. When the lower slope 102 is excavated and brought close to the excavator 2, the excavator 2 moves backward. The excavator 2 repeats the above-described lower operation a plurality of times.

  The work type determination unit 27 determines, as the type of excavation work, any one of an upper stage work that is scraping the upper stage, a middle stage work that is the middle stage scooping, and a lower stage work that is the lower stage excavation. Specifically, for example, the virtual range of the tip height of the bucket 13 at the start of upper scraping, the virtual range of the tip height of the bucket 13 at the start of middle scooping, and the bucket 13 at the start of lower excavation The virtual range of the tip height is stored in advance, and by determining which virtual range the calculated tip height of the bucket 13 at the start of excavation is included, the type of excavation work of each time judge.

  Alternatively, in consideration of the fact that the upper work is continuously repeated and the lower work is continuously repeated, the average value of the heights of the tips of the buckets 13 at the start of excavation in a plurality of excavation work is calculated, When the average value of the height of the tip of the bucket 13 is higher than a preset first threshold value, it is determined as an upper work, and when the average value of the height of the tip of the bucket 13 is lower than the first threshold value, It may be determined as a side work. Then, the height of the tip of the bucket 13 at the start of excavation in each excavation operation is calculated for a plurality of excavation operations determined as the upper operation, and the height of the tip of the bucket 13 is set in advance. Is determined as the upper stage work, and the bucket 13 whose tip height is lower than the second threshold is determined as the middle stage work. Also good.

  The data classification unit 28 extracts operation data corresponding to the excavation work period determined by the work period determination unit 26 from the operation data acquired by the operation data input unit 24. Then, the extracted operation data is classified according to the combination of the type of excavation work determined by the work type determination unit 27 and the operator information acquired by the work condition input unit 25. The work efficiency index calculation unit 29 calculates the efficiency index of excavation work (specifically, cycle time, excavation efficiency, and fuel consumption rate) for each of the operation data sorted by the data sorting unit 28.

  The cycle time is the time (average value) per excavation operation. The work efficiency index calculation unit 29 first calculates the time of each excavation work based on the excavation start timing and the like described above. Then, for each combination of the type of excavation work and the operator information, the work time and the work frequency are totaled, and the cycle time is calculated by dividing the total work time by the total work frequency.

  Excavation efficiency is the ratio of excavation mass to excavation time. The work efficiency index calculation unit 29 uses a balance formula of moments around the rotation center of the base end portion of the boom 11, and uses the bottom side pressure and rod side pressure of the boom cylinder 14, the rotation angle of the boom 11, and the rotation of the arm 12. Based on the moving angle and the rotation angle of the bucket 13, the excavation mass for each excavation operation is calculated. Then, for each combination of the type of excavation work and the operator information, the excavation mass and the work time are totaled, and the excavation efficiency is calculated by dividing the total excavation mass by the total work time. Alternatively, after calculating the excavation efficiency of each excavation operation (see FIG. 7), the average value of the excavation efficiency may be calculated for each combination of the type of excavation operation and the operator information.

  The fuel consumption rate is the ratio of the fuel consumption to the excavation mass. The work efficiency index calculation unit 29 totals the fuel consumption and the excavation mass for each combination of the type of excavation work and the operator information, and divides the total fuel consumption by the total excavation mass to thereby calculate the fuel consumption. Calculate the rate. Alternatively, after calculating the fuel consumption rate of each excavation work, an average value of the fuel consumption rates may be calculated for each combination of the type of excavation work and the operator information.

  The drawing unit 30 uses the calculation result of the work efficiency index calculation unit 29 to generate screen data indicating the efficiency index of the excavation work corresponding to the combination of the type of excavation work and the operator information. The display device 7 is configured to display the screen data generated by the drawing unit 30.

  FIG. 8 is a diagram illustrating transition of the display screen of the display device 7. FIG. 8 shows an example in which the excavation efficiency of each excavation operation shown in FIG. 7 is used and the average value of the excavation efficiency is calculated and displayed for each combination of excavation operation type and operator information.

  The display screen of the display device 7 includes a graph display area 31 and tabs 32A, 32B, and 32C corresponding to the types of excavation work (that is, upper stage work, middle stage work, and lower stage work), respectively. When the tab 32A is selected, the graph 33A corresponding to the upper stage work is displayed in the graph display area 31, and when the tab 32B is selected, the graph 33B corresponding to the middle stage work is displayed in the graph display area 31, When the tab 32C is selected, a graph 33C corresponding to the lower work is displayed in the graph display area 31. That is, the graphs 33A, 33B, and 33C are switched and displayed. However, the graphs 33A, 33B, and 33C may be displayed simultaneously.

  The graph 33A shows the excavation efficiency corresponding to the operators A, B, C, and D, which are the upper stage work. A graph 33B shows the excavation efficiency corresponding to the operators A, B, C, and D in the middle stage work. A graph 33C shows the excavation efficiency corresponding to the operators A, B, C, and D, which are the lower stage work.

  Next, the effect of this embodiment is demonstrated using a comparative example.

  As a comparative example, the operation data is classified based only on the operator information of the hydraulic excavator, the excavation efficiency is calculated for each of the classified operation data, and the excavation corresponding to each of the operators A, B, C, and D is performed. Assume that efficiency is displayed. FIG. 9 is a diagram illustrating a display screen of the display device in the comparative example. FIG. 9 shows an example in which the excavation efficiency of each excavation operation shown in FIG. 7 is used and the average value of the excavation efficiency is calculated and displayed for each operator.

  Generally, since the middle stage scooping time <lower stage excavation time <upper stage scraping time, middle stage work excavation efficiency> lower stage excavation efficiency> upper stage excavation efficiency. Further, as apparent from FIG. 7, the skill of the operator D> the skill of the operator C> the skill of the operator B> the skill of the operator A.

  However, in the comparative example, as shown in FIG. 9, the excavation efficiency of the operator B> the excavation efficiency of the operators D and A> the excavation efficiency of the operator C. This is because, as shown in FIG. 7, the operators B and A frequently performed the middle work, and the operators D and C performed the upper work. That is, in the comparative example, since the excavation efficiency varies depending on the type of excavation work, it is impossible to grasp the influence (operator skill) on the excavation efficiency by the operator.

  On the other hand, in this embodiment, as shown in FIG. 8, the excavation efficiency of the operator D> the excavation efficiency of the operator C> the excavation efficiency of the operator B> the excavation efficiency of the operator A for each type of excavation work. It has become. Therefore, the operator's skill can be grasped. Then, it is possible to obtain hints for improving work efficiency by observing the operation method of a highly skilled operator. Note that the same effect can be obtained when the cycle time or the fuel consumption rate is displayed as the work efficiency index.

  Although not particularly described in the above-described embodiment, the data processing device 6 calculates the average value of the work efficiency index by totaling the work efficiency indices of all operators for each type of excavation work, The display device 7 may additionally display a graph (see FIG. 10) indicating work efficiency indexes (average values) corresponding to the types of excavation work. Thereby, it may be easy to grasp the influence of the type of excavation work on the work efficiency index.

  In the above-described embodiment, the excavator 2 detects the rotation angle (relative angle) of the boom 11, the rotation angle (relative angle) of the arm 12, and the rotation angle (relative angle) of the bucket 13. The case where the angle sensors 18A, 18B, and 18C are mounted has been described as an example. Instead, the rotation angle (absolute angle) of the boom 11, the rotation angle (absolute angle) of the arm 12, and the rotation of the bucket 13 are replaced. A plurality of inclination sensors that respectively detect the moving angle (absolute angle) may be mounted. Alternatively, in order to indirectly detect the pivot angle of the boom 11, the pivot angle of the arm 12, and the pivot angle of the bucket 13, the stroke amount of the boom cylinder 14, the stroke amount of the arm cylinder 15, and the bucket cylinder 16 A plurality of stroke sensors that respectively detect the stroke amount may be mounted.

  Further, in the above-described embodiment, the data processing device 6 has been described by taking the case of calculating the cycle time, the excavation efficiency, and the fuel consumption rate as an example of the efficiency index of the excavation work. However, the present invention is not limited to this. Any one or two of these may be calculated, and other efficiency indexes other than these may be calculated. In connection with this, you may change or add the measuring device mounted in the hydraulic excavator 2. FIG.

  In the above embodiment, the work type determination unit 27 of the data processing device 6 has been described by taking as an example a case where only the height of the tip of the bucket 13 at the start of excavation is used as the determination condition of the type of excavation work. However, the present invention is not limited to this, and other determination conditions may be added. That is, for example, a measuring device that directly or indirectly measures the travel of the hydraulic excavator 2 (specifically, a measuring device that measures, for example, the operation direction and operation amount of the travel lever or the rotation direction and rotation amount of the travel motor). May be mounted on the hydraulic excavator 2. Then, the work type determination unit 27 determines whether the excavator 2 is moving forward based on the operation data measured by the measurement device described above in addition to the height of the tip of the bucket 13 at the start of excavation. , It may be determined whether the work is an upper work (that is, an upper work or a middle work). Further, in addition to the height of the tip of the bucket 13 at the start of excavation, it is determined whether or not the excavator 2 is moving backward based on the operation data measured by the measuring device described above, so that the lower work (ie, It may be determined whether or not the lower stage work). Thereby, the determination accuracy may be improved.

  In the above embodiment, the work condition acquisition device 4, the data storage device 5, the data processing device 6, and the display device 7 have been described as an example provided in the management center 3, but are provided in the hydraulic excavator 2. May be. In this case, the same effect as described above can be obtained.

DESCRIPTION OF SYMBOLS 1 Work efficiency index display system 2 Hydraulic excavator 4 Work condition acquisition device 5 Data storage device 6 Data processing device 7 Display device 10 Work device 17 Engine control device 18A, 18B, 18C Angle sensor 19A, 19B Pressure sensor for boom 20 Pressure for arm Sensor 26 Work period determination unit 27 Work type determination unit 28 Data sorting unit 29 Work efficiency index calculation unit 30 Drawing unit 33A, 33B, 33C Graph

Claims (3)

A plurality of measuring devices mounted on the hydraulic excavator and measuring operation data of the working device of the hydraulic excavator, which are the rotation angle of the boom, arm, and bucket, and the bottom side pressure and the rod side pressure of the boom cylinder;
As a working condition of the hydraulic excavator, a working condition acquisition device that acquires operator information of the hydraulic excavator,
A data storage device for recording operation data and operator information of the working device of the hydraulic excavator in time series;
A data processing device for calculating an efficiency index of excavation work based on operation data of the work device of the excavator recorded by the data storage device;
A display device for displaying an efficiency index of excavation work calculated by the data processing device,
The data processing device includes:
From the operation data of the working device of the excavator recorded by the data storage device, a work type determination unit that determines the type of excavation work classified based on the height of the bucket tip at the start of excavation,
A data separation unit that separates operation data according to the combination of the type of excavation work and operator information;
A work efficiency index calculation unit that calculates an efficiency index of excavation work for each of the separated operation data;
A work efficiency index display system for a hydraulic excavator, comprising: a drawing unit that generates screen data for displaying an efficiency index of an excavation work corresponding to each combination of a type of excavation work and operator information. The work efficiency index display system for a hydraulic excavator according to claim 1,
The work type determination unit determines in advance whether the type of excavation work is one of an upper stage work that is scraping the upper stage, a middle stage work that is middle stage scooping, and a lower stage work that is lower stage excavation. A work efficiency indicator display system for a hydraulic excavator, characterized in that the determination is based on a virtual range of the height of the tip of the bucket at the start of the work. The work efficiency index display system for a hydraulic excavator according to claim 1,
The display device switches or displays a plurality of graphs corresponding to a plurality of types of excavation work, or simultaneously displays each graph, and each graph indicates an efficiency index of the excavation work corresponding to a plurality of operators. Work efficiency indicator display system for hydraulic excavators.

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