JP7152148B2 - construction machinery - Google Patents

Description

The present disclosure relates to construction equipment.

Construction machines typified by excavators are known to be equipped with a function called "machine control" (for example, Patent Document 1). Machine control is a system that automatically or semi-automatically operates a construction machine, and includes, for example, a boom that is automatically controlled by manipulating only an arm so as to follow a preset construction plane.

JP 2017-71982 A

With machine control, the purpose is to ensure that the machine performs work with high accuracy and efficiency so as to cover the operator's skill. be. In addition, when the operator returns to using the machine normally, he or she may feel a sense of incongruity and cannot master or improve his or her skills, which may lead to an improvement in productivity. Conventionally, when executing machine control functions, it was not possible to improve or learn the operation skill of the operator because the operation amount of the operator was not acquired during execution of the machine control function. This is because it was not possible to compare the amount of operation by the function and the amount of operation by the operator and present it to the operator.

An object of the present disclosure is to provide a construction machine that allows an operator to improve and learn the operation skill even when executing machine control.

A construction machine according to an aspect of an embodiment includes an operation device that receives an operation input from an operator, and a controller that executes a machine control function that automatically controls an operation target. a first operation amount that is the operation amount of the operation target when the machine control function is being executed, and the operator's manual operation based on the acquired operation input if there is no intervention of the machine control function during execution of the machine control function. a second operation amount that is an operation amount of the operation target, and the second operation amount is an operation amount of manual operation performed by the operator during execution of the machine control function; Acquired at the same time as the manipulated variable .

Advantageous Effects of Invention According to the present disclosure, it is possible to provide a construction machine that allows an operator to improve and learn the operation skill even when executing machine control.

1 is a side view of a shovel (excavator) as an example of a construction machine according to an embodiment; FIG. 2 is a diagram showing a configuration example of a drive system mounted on the excavator of FIG. 1; FIG. FIG. 3 is a diagram showing a first example of a screen displayed on a display device; FIG. 10 is a diagram showing a second example of a screen displayed on the display device; FIG. 10 is a diagram showing a third example of a screen displayed on the display device; 1 is a block diagram showing an example of a configuration of a cooperation system between an excavator and an external device; FIG. It is a figure which shows an example of the operation amount comparison information transmitted/received by a cooperation system.

Embodiments will be described below with reference to the accompanying drawings. In order to facilitate understanding of the description, the same constituent elements in each drawing are denoted by the same reference numerals as much as possible, and overlapping descriptions are omitted.

[Overall configuration of excavator]
First, referring to FIG. 1, the overall configuration of the excavator according to the embodiment will be described. FIG. 1 is a side view of a shovel (excavator) as an example of a construction machine according to an embodiment.

As shown in FIG. 1, an upper revolving body 3 is rotatably mounted on a lower traveling body 1 of the excavator via a revolving mechanism 2 . A boom 4 is attached to the upper swing body 3 . An arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5 as an end attachment. The boom 4, arm 5, and bucket 6 constitute an excavation attachment as an example of an attachment, and are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively. The upper revolving body 3 is provided with a cabin 10 which is an operator's cab, and a power source such as an engine 11 is mounted.

A controller 30 is installed in the cabin 10 . The controller 30 is a control device that functions as a main control unit that controls the drive of the shovel. In this embodiment, the controller 30 is configured by a computer including a CPU, RAM, ROM, and the like. Various functions of the controller 30 shown below as a machine control control unit 301, an operation amount calculation unit 302, an operation amount storage unit 303, an operation skill determination unit 304, and a display control unit 305 are executed by, for example, a program stored in a ROM by a CPU. It is realized by executing

[Configuration of drive system]
Next, referring to FIG. 2, the configuration of the drive system of the shovel shown in FIG. 1 will be described. FIG. 2 is a diagram showing a configuration example of a drive system mounted on the excavator of FIG. In FIG. 2, the mechanical power system is indicated by a double line, the hydraulic oil line is indicated by a thick solid line, the pilot line is indicated by a broken line, and the electric control system is indicated by a one-dot chain line.

A main pump 14 and a pilot pump 15 are connected to the output shaft of the engine 11 . The main pump 14 is a variable displacement hydraulic pump whose discharge amount per rotation is controlled by a regulator 14A. Pilot pump 15 is a fixed displacement hydraulic pump. A control valve 17 is connected to the main pump 14 via a hydraulic oil line 16 . An operating device 26 is connected to the pilot pump 15 via a pilot line 25 . An automatic control valve 31 is connected to the pilot pump 15 via a pilot line 34 .

The control valve 17 is a valve set including a plurality of valves and controls the hydraulic system in the excavator. The control valve 17 is connected to hydraulic actuators such as the left traveling hydraulic motor 1L, the right traveling hydraulic motor 1R, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, and the turning hydraulic motor 21 through hydraulic oil lines. ing. The control valve 17 can selectively supply the hydraulic fluid discharged by the main pump 14 to one or more hydraulic actuators, and also controls the flow rate of the hydraulic fluid flowing from the main pump 14 to each hydraulic actuator and the hydraulic fluid from each hydraulic actuator. Controls the flow of hydraulic fluid to the tank.

The operation device 26 is a device for the excavator operator to operate the hydraulic actuator, and includes an operation lever and an operation pedal. The operating device 26 is, for example, a hydraulic operating device. The operating device 26 is connected to the control valve 17 via a pilot line 27 and to an operating pressure sensor 29 via a pilot line 28 . The operating device 26 individually operates levers or pedals for hydraulic actuators such as the left traveling hydraulic motor 1L, the right traveling hydraulic motor 1R, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, and the turning hydraulic motor 21. be prepared for

The operating pressure sensor 29 detects the pilot pressure generated by the operating device 26 and transmits information regarding the detected pilot pressure to the controller 30 . The operating pressure sensor 29 includes an arm operating pressure sensor that detects the operating state of the arm operating lever, a boom operating pressure sensor that detects the operating state of the boom operating lever, and the like.

The automatic control valve 31 is a control valve used by the controller 30 to operate the hydraulic actuator when executing the machine control function. The automatic control valve 31 is arranged in the pilot line 27 and connected between the operating device 26 and the control valve 17 . When executing the machine control function, the automatic control valve 31 generates a predetermined pilot pressure according to a control command from the controller 30 instead of the operating device 26 and supplies it to the control valve 17 . The automatic control valve 31 is also connected to the pilot pump 15 via a pilot line 34 and to the pressure sensor 32 via a pilot line 35 .

The pressure sensor 32 detects the pilot pressure generated by the automatic control valve 31 and transmits information on the detected pilot pressure to the controller 30 . The pressure sensor 32 includes an arm pressure sensor that detects the operating state of the arm by the machine control function, a boom pressure sensor that detects the operating state of the boom, and the like.

The display device 33 (notification device) is a device for displaying various information, and is, for example, a liquid crystal display installed in the cab of the excavator. The display device 33 displays various information according to control signals from the controller 30 .

[Overview of machine control functions]
In this embodiment, the controller 30 is capable of performing machine control functions. A machine control in a construction machine is a system that automatically or semi-automatically operates the operation target elements of the construction machine. In the case of a shovel, for example, there is a function of automatically controlling the boom 4 by operating only the arm 5 so as to follow a preset work surface. In the following description, this function will be described as an example of machine control. That is, a configuration is illustrated in which the controller 30 automatically operates the boom 4 to be operated in response to the operator manually operating the arm 5 using the operating device 26 .

During execution of the machine control function, the controller 30 stops the control of the boom 4 based on the operator's operation input by controlling the automatic control valve 31, and controls the boom 4 according to the operator's operation of the arm 5. automatic operation. In other words, the boom 4 to be operated by the machine control function operates independently of the operator's operation input via the operating device 26 .

Specifically, in this embodiment, the controller 30 prompts the operator with the task of operating the operating device 26 to follow the automatic operation of the boom 4 during execution of the machine control function. Further, in the present embodiment, the controller 30 can acquire information on the amount of manual operation by the operator on the boom 4 to be operated from the operating device 26 even while executing the machine control function. The operator operates the operation device 26 in accordance with the movement of the boom 4 while watching the movement of the boom 4 by automatic operation. The controller 30 acquires the information of the operator's operation input from the operation device 26, and calculates the operation amount of the boom 4 in the case of manual operation by the operator. Then, the operation amount (first operation amount) of the automatic operation by the machine control function and the operation amount (second operation amount) of the manual operation by the operator are compared, and the comparison result is displayed on the display device 33 . By performing the operation while viewing the display contents of the display device 33, the operator can be trained so that the manual operation becomes closer to the automatic operation.

The controller 30 has a machine control control unit 301, an operation amount calculation unit 302, an operation amount storage unit 303, an operation skill determination unit 304, and a display control unit 305 as elements related to the functions described above.

The machine control control unit 301 controls the machine control functions of the excavator. That is, in response to the operator manually operating the arm 5 using the operating device 26, the controller 30 automatically operates the boom 4 to be operated. The machine control control unit 301 can perform a machine control function by controlling the automatic control valve 31 to supply a predetermined pilot pressure to the control valve 17 to be operated.

The operation amount calculation unit 302 calculates the operation amount of the operator's manual operation regarding the hydraulic actuator to be operated while the machine control function is being executed by the machine control control unit 301 . For example, based on pilot pressure information input from the operation pressure sensor 29 according to the operation of the operating device 26 by the operator, the amount of manual operation by the operator can be calculated. The operation amount calculation unit 302 also calculates the operation amount of automatic operation by the machine control function. For example, based on pilot pressure information input from the pressure sensor 32, the manipulated variable of the automatic operation can be calculated.

The operation amount storage unit 303 stores information on the operation amount of the automatic operation and the operation amount of the manual operation calculated by the operation amount calculation unit 302 .

The operation skill determination unit 304 determines the operation skill of the operator based on the operation amount of the automatic operation and the operation amount of the manual operation stored in the operation amount storage unit 303 . For example, it is possible to determine the correlation and difference between the two by using the time-series data of the operation amount of the automatic operation and the manual operation, and determine the operation skill from the extracted information extracted from these correlations and differences.

As the extracted information, for example, the peak value of the differential time-series data and the position and orientation information at which the peak value appears can be used. These pieces of information serve as indicators of momentary operational deficiencies that greatly affect construction accuracy. Alternatively, information on the standard deviation of differences can also be used as extraction information. The standard deviation is an indicator of proficiency (fine adjustment or coarse adjustment) especially when operating while looking at the screen. Alternatively, information on the offset component of the difference can be used as the extraction information. This information serves as an index that indicates the degree of deviation in the overall operation amount of manual operation relative to automatic operation.

The display control unit 305 controls display contents of information presented to the operator using the display device 33 . For example, time-series data such as the operation amount of automatic operation stored in the operation amount storage unit 303, the operation amount of manual operation, and the difference between the two are displayed in a graph, or the operation skill determination unit 304 determines the operation skill of the operator. can be displayed.

Here, examples of screens displayed on the display device 33 by the display control unit 305 will be described with reference to FIGS.

FIG. 3 is a diagram showing a first example of a screen displayed on the display device 33. As shown in FIG. The screen shown in FIG. 3 compares and displays the current values of the operation amount of automatic operation and the operation amount of manual operation in real time during execution of the machine control function. For example, as shown in FIG. 3, the level of the operation amount of automatic operation and the level of the current value of the operation amount of manual operation can be displayed side by side in a bar graph. The bar graph in FIG. 3 is a graph showing the amount of boom operation in manual operation on the left side and the amount of operation in automatic operation on the right side. indicates The more the graph extends upward or downward from the center, the greater the amount of operation for raising or lowering the boom.

On the screen shown in FIG. 3, for example, in the case of FIG. The operator can intuitively grasp from the display screen that the amount of manual operation is insufficient. In the case of FIG. 3B, since the graph of the operation amount level of manual operation on the left side is longer than the graph of the operation amount level of automatic operation on the right side, it is possible to indicate that the operation amount of manual operation is too large at that time. The operator in operation can intuitively grasp the information from the display screen.

FIG. 4 is a diagram showing a second example of a screen displayed on the display device 33. As shown in FIG. The screen shown in FIG. 4 compares and displays time-series data of the operation amount of automatic operation and the operation amount of manual operation in real time during execution of the machine control function. The horizontal axis in FIG. 4 indicates time, and the vertical direction indicates the amount of boom operation. The upper side of the horizontal axis indicates the amount of operation for raising the boom, and the lower side indicates the amount of operation for lowering the boom.

On the screen shown in FIG. 4, the graph of the manual operation and the graph of the automatic operation are superimposed and displayed with the boom operation start timing aligned. By displaying such a graph, the operator can grasp the difference between the manual operation and the automatic operation as a trend. As a result, the operator who is operating can intuitively grasp from the display screen, for example, at which timing in a series of operations, the degree of deviation between the manual operation and the automatic operation is large.

FIG. 5 is a diagram showing a third example of a screen displayed on the display device 33. As shown in FIG. The screen shown in FIG. 5 stores the operation amount of automatic operation and the operation amount of manual operation during execution of the machine control function, and displays the comparison result after the machine control function is finished. Fig. 5 shows the attachment height, attachment distance (distance of the attachment to the excavator body), boom operation amount (automatic operation is solid line, manual operation is dotted line), and boom operation amount difference over the execution period of the machine control function. Series data is displayed graphically. Also, the result of determination of the operator's operation skill by the operation skill determination unit 304 can be displayed on the lower part of the screen.

In this way, by displaying the analysis screen after the machine control function is finished, the operator and others such as the administrator can comprehensively judge the manual operation skill level of the operator.

Note that screens displayed on the display device 33 by the display control unit 305 may have screen configurations other than those shown in FIGS. For example, the level display in FIG. 3 and the time series display in FIG. 4 may be used to display the difference in the amount of operation between the automatic operation and the manual operation, or only part of the analysis screen in FIG. 5 may be displayed. You may

The effects of the excavator of this embodiment will be described. The excavator includes an operation device 26 for receiving operation input from an operator, a controller 30 for executing a machine control function for automatically controlling an operation target, and a display device 33 for presenting information to the operator. During execution of the machine control function, the controller 30 suspends control of the operation target based on the operator's operation input, acquires operation input information from the operation device, and determines the operation amount of automatic operation by the machine control function, The operation amount of the operator's manual operation based on the acquired operation input is compared, and the comparison result is displayed on the display device.

With this configuration, the comparison result between the operator's manual operation during execution of the machine control function and the automatic operation is used to allow the operator to operate so as to minimize the difference between the manual operation and the automatic operation. can improve proficiency in As a result, it is possible to effectively make the operator understand and learn ideal operations (operations equivalent to automatic operations), so even if machine control is executed, the operator's operation skills can be improved and You can try to learn.

In addition, in the excavator of the present embodiment, the controller 30 compares and displays the operation amount of the automatic operation and the operation amount of the manual operation on the display device 33 in real time while executing the machine control function. For example, as illustrated in FIGS. 3 and 4, the display device 33 displays current values or time-series data of the operation amount of the automatic operation and the operation amount of the manual operation.

With this configuration, the operator can operate while looking at the operation screen, sequentially confirming the appropriate amount of operation, and correcting the amount of operation to achieve the ideal operation (operation equivalent to automatic operation). can be understood and learned. As a result, it becomes possible for the body to memorize the operation amount of the automatic operation as teaching data, and the ideal operation can be learned effectively.

Even if such operator training is performed while the machine control function is being executed, the operation target (the boom 4 in this embodiment) itself is automatically operated by the controller 30, so there is no decrease in the amount of work. In other words, the excavator of this embodiment can provide real-time operational guidance to the operator while ensuring the accuracy of the machined surface in automatic operation by the machine control function, thereby contributing to improving the skill of the operator.

In addition, in the excavator of the present embodiment, the controller 30 stores the operation amount of the automatic operation and the operation amount of the manual operation during execution of the machine control function, and displays the comparison result after the machine control function is finished. Displayed on device 33 . This comparison result is, for example, the analysis screen illustrated in FIG.

With this configuration, after the machine control function is executed, the operator can check the difference between the operation amount of the automatic operation and the difference between the operator's manual operation and the automatic operation, and can provide feedback for future operations. can. In addition, by referring to the comparison result, another person such as a manager can objectively determine the operation skill of the operator, and can provide appropriate guidance and advice to the operator. This allows the operator to effectively learn ideal operations.

Further, in the excavator of the present embodiment, the controller 30 determines the operation skill of the operator based on the correlation or difference between the stored time-series data of the operation amount of the automatic operation and the operation amount of the manual operation. With this configuration, it is possible to quantitatively grasp the degree of proficiency of the operator. In addition, by accumulating daily data such as the time-series data of the operation amount shown in the analysis screen of FIG.

Note that an existing machine controller can be used as the machine used in this embodiment, and there is no need to significantly add equipment or sensors, so cost increases can be suppressed. Further, according to this embodiment, by adding processing such as operator identification, for example, it is possible to determine the skill of a plurality of operators with the same excavator.

The present embodiment has been described above with reference to specific examples. However, the present disclosure is not limited to these specific examples. Design modifications to these specific examples by those skilled in the art are also included in the scope of the present disclosure as long as they have the features of the present disclosure. Each element included in each specific example described above and its arrangement, conditions, shape, etc. are not limited to those illustrated and can be changed as appropriate. As long as there is no technical contradiction, the combination of the elements included in the specific examples described above can be changed as appropriate.

In the above embodiment, a shovel is illustrated as an example of a construction machine, but other construction machines equipped with lifting magnets, grapples, crushers, etc. can be applied as long as they can execute the machine control function.

In the above embodiment, the boom cylinder 7 was exemplified as a hydraulic actuator for machine control, but other actuators such as the arm cylinder 8, the bucket cylinder 9, the left traveling hydraulic motor 1L, the right traveling hydraulic motor 1R, the turning hydraulic motor 21, etc. may be used as an operation target. Similarly, in the above embodiment, the boom operation lever was exemplified as the operation device 26 for measuring the operation amount of the operator during execution of machine control. Other operating devices such as levers may be used.

In the above embodiment, a hydraulic operating device was exemplified as the operating device 26, but an electric operating device may be used. In this case, for example, the controller 30 converts the operation direction and the amount of operation of the operation device 26 (the amount of tilting in the case of a lever) into electrical detection values (voltage, current, etc.), and based on the values, the control valve 17 By adjusting the flow rate of the hydraulic actuator can be controlled. When the operation device 26 is an electric type, during execution of machine control, an electric signal related to the operation input is acquired without controlling the control valve 17 according to the operation input, and based on the acquired electric signal An operator's operation amount can be calculated. Further, the operation amount for automatic driving can be calculated based on the control command from the controller 30 .

In the above-described embodiment, the level display of FIG. 3, the time-series display of FIG. 4, the analysis screen of FIG. However, the teaching method for the operator is not limited to the screen. For example, the operator may be notified of the comparison result between the automatic operation and the manual operation using other means such as a light bar, sound, or voice.

In the above embodiment, as the machine control function, the controller 30 automatically operates the boom 4 to be operated in response to the operator manually operating the arm 5 using the operating device 26 (so-called semi-automatic operation). However, it also includes automatic operation in which the controller 30 automatically operates all the operation targets. In the case of automatic operation, for example, when an operator presses a switch, automatic operation is performed without operator's operation. Further, the machine control function may include an operation assist function that assists the operation input so that the operation target moves along an appropriate trajectory in response to the operator's manual operation of the operation target.

In the case of the semi-automatic operation of the above embodiment, the controller 30 acquires the operation amount (first operation amount) of the automatic operation by the machine control function and the operation amount (second operation amount) of the manual operation by the operator. , the information to be acquired is not limited to this. For example, when operation assist is included as a machine control function, the operation amount (first operation amount) when the machine control function intervenes, and the operator's manual operation based on the acquired operation input when there is no intervention It can be expressed in a broader expression that the quantity (second manipulated variable) is acquired.

In the above embodiment, the operation amount of automatic operation by the machine control function (first operation amount) is compared with the operation amount of manual operation by the operator (second operation amount), and the comparison result is displayed on the display device 33. Although the configuration has been exemplified, the display destination of the comparison result is not limited to the display device 33 mounted on the shovel. For example, the information on the first operation amount and the second operation amount and the information on the comparison result may be output to an external device such as a management server, PC, smartphone, or mobile terminal, and displayed on the external device. Also, the information of the manipulated variable may be stored in these external devices, and the comparison result may be calculated by the external device. Further, when the external device is a smart phone, an application installed on the smart phone may be used to calculate and display the comparison result.

An example of such a cooperation system between an excavator and an external device will be described with reference to FIGS. 6 and 7. FIG. FIG. 6 is a block diagram showing an example of a configuration of a cooperation system 100 between an excavator and an external device. FIG. 7 is a diagram showing an example of operation amount comparison information transmitted and received by the cooperation system 100. As shown in FIG.

As shown in FIG. 6 , the system 100 includes an excavator, a management server 200 communicatively connected to the excavator through a communication network 150 , and a management terminal 300 capable of communicating with the management server 200 through the communication network 150 .

The management server 200 (an example of an external device) performs various types of management of the excavator based on various types of information transmitted from the excavator. The management server 200 is communicably connected to the excavator (communication device 80) via the communication network 150 and receives various information transmitted from the excavator. For example, the management server 200 stores information (manipulation amount comparison information) regarding the comparison result between the operation amount (first operation amount) of the automatic operation by the machine control function and the operation amount (second operation amount) of the manual operation by the operator. The information is received from the excavator and transmitted to a computer terminal used by a work site supervisor or worker, a work site supervisor's mobile terminal, other work machines at the work site, and the like.

As shown in FIG. 7, the operation amount comparison information includes, for example, the operation amount of automatic operation by the machine control function (automatic operation amount), the operation amount of manual operation by the operator (manual operation amount), the automatic operation amount and the manual operation amount. , and the determination result of the operator's operation skill by the operation skill determination unit 304 (maximum difference, difference standard deviation, correlation, skill determination). The operation amount comparison information is created, for example, by the operation skill determination unit 304 of the excavator controller 30 and stored in the storage unit 310 in the controller 30 (operation amount comparison information 3101).

Management server 200 includes communication device 210 and processing device 220 .

The communication equipment 210 is any communication device for bidirectionally communicating with each of the excavator and the management terminal 300 through the communication network 150 .

The processing device 220 performs various control processes in the management server 200 . The functions of the processing device 220 may be realized by arbitrary hardware, software, or a combination thereof, and include, for example, a CPU, a RAM, a ROM, an auxiliary storage device, a predetermined communication interface, and the like. It is configured around one or more server computers. The processing device 220 includes a data acquisition unit 2201 and a data distribution unit 2202 as functional units implemented by executing one or more programs stored in a ROM or auxiliary storage device. The processing device 220 also includes a storage unit 2200 realized as a storage area in the auxiliary storage device of the server computer, and the processing of saving (storing) various data in the storage unit 2200 is stored in the ROM or the auxiliary storage device. It is implemented by a predetermined program that

The data acquisition unit 2201 acquires operation amount comparison information transmitted from the excavator to the management server 200 through the communication device 210 . The data acquisition unit 2201 stores the acquired operation amount comparison information in the storage unit 2200 (operation amount comparison information 2200A).

The data distribution unit 2202 controls the communication device 210 and distributes the operation amount comparison information 2200A to the management terminal 300 in response to a request from the mobile terminal or in accordance with predetermined push notification requirements.

In addition to the management terminal 300, the data delivery unit 2202 can also be used for other work machines communicably connected to the management server 200 (other work machines at the same work site other than the excavator that is the transmission source of the operation amount comparison information). ), for example, it may be delivered to a bulldozer or the like in addition to an excavator.

The management terminal 300 is communicably connected to the management server 200, and allows a supervisor who manages the work site where the excavator works, a worker who actually performs the work, and the like to view various information displayed on a display unit such as a display. any terminal. The management terminal 300 may be, for example, a desktop terminal installed in a temporary building at the work site. Also, the management terminal 300 may be a portable terminal such as a mobile phone, a smart phone, or a tablet terminal possessed by a supervisor or worker at the work site.

The management terminal 300 includes a communication device 315 , a processing device 320 and a touch panel display 330 .

The communication device 315 is any device that communicates with the management server 200 or the like through the communication network 150 . The communication device 315 is, for example, a mobile communication module compatible with communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation).

The processing device 320 performs various control processes in the management terminal 300 . The functions of the processing device 320 may be realized by arbitrary hardware, software, or a combination thereof. For example, a computer including a CPU, a RAM, a ROM, an auxiliary storage device, and a predetermined communication interface may be configured around The processing device 320 includes, for example, a data acquisition unit 3201 and a display control unit 3202 as functional units realized by executing one or more programs stored in a ROM or auxiliary storage device on the CPU. Further, the processing device 320 includes, for example, a storage unit 3200 implemented as a storage area in an auxiliary storage device, and the processing of saving (storing) various data in the storage unit 3200 is stored in the ROM or the auxiliary storage device. It is realized by a predetermined program.

For example, the functions of the data acquisition unit 3201 and the display control unit 3202 can be executed by activating an application program (hereinafter referred to as “management application”) installed in the auxiliary storage device of the processing device 320. It may be in the form of

The data acquisition unit 3201 acquires various data, specifically, operation amount comparison information from the management server 200 via the communication device 315 according to predetermined conditions. The data acquisition unit 3201 stores the acquired operation amount comparison information in the storage unit 3200 (operation amount comparison information 3200A).

For example, the data acquisition unit 3201 manages the operation amount comparison information by controlling the communication device 315 and transmitting a distribution request to the management server 200 in response to a predetermined operation by the user requesting display of the operation amount comparison information. It may be obtained from the server 200 . At this time, the user's operation on the management terminal 300 may be, for example, a software operation using a touch panel on a predetermined GUI (Graphical User Interface) displayed on the display 330 in conjunction with the operation of the management application. Alternatively, the operation may be performed on an operation unit or the like by hardware installed in or attached to the management terminal 300 . The same applies to other operations on the management terminal 300 below.

Further, for example, the data acquisition unit 3201 may acquire operation amount comparison information delivered from the management server 200 in accordance with predetermined push notification requirements.

The display control unit 3202 causes the display 330 to display the operation amount comparison information 3200A. As a result, even when the user is not on the shovel, the user can check the operation amount comparison information, which can be used for later confirmation and site management, for example.

For example, the display control section 3202 may cause the display 330 to display the operation amount comparison information 3200A in accordance with a predetermined operation by the user.

Further, for example, when the operation amount comparison information is delivered from the management server 200 in the form of a push notification, the display control unit 3202 causes the display 330 to display the operation amount comparison information when the data acquisition unit 3201 acquires the operation amount comparison information. may At this time, the display control unit 3202 may cause the display 330 to display the operation amount comparison information as a pop-up display, or may cause the display 330 to display a digest version of the operation amount comparison information.

In this example ( FIG. 6 ), the operation amount comparison information is generated by the excavator controller 30 , but the operation amount comparison information may be generated by the management server 200 or the management terminal 300 . In other words, the function of the operation skill determination unit 304 may be transferred to the management server 200 or the management terminal 300 .

26 operating device 30 controller 33 display device (informing device)
200 management server (external device)

Claims (11)

an operation device for receiving an operation input from an operator;
a controller that executes a machine control function that automatically controls an operation target;
with
The controller obtains a first operation amount, which is an operation amount of the operation target when the machine control function intervenes, and a first operation amount when the machine control function does not intervene during execution of the machine control function. obtaining both a second operation amount that is an operation amount of the operation target manually operated by the operator based on the operation input ;
The second operation amount is an operation amount of the operator's manual operation performed during execution of the machine control function, and is acquired at the same time as the first operation amount.
construction machinery. During execution of the machine control function, the controller suspends control of the operation target based on the operator's operation input, and acquires information on the operation input from the operation device.
The construction machine according to claim 1. A notification device for notifying information to the operator,
The controller compares the first operation amount and the second operation amount, and notifies the operator of the comparison result by the notification device.
The construction machine according to claim 1 or 2. The notification device is a display device having a display screen for displaying information to the operator,
The construction machine according to claim 3. The controller compares and displays the first manipulated variable and the second manipulated variable in real time on the display device during execution of the machine control function.
The construction machine according to claim 4. The controller displays current values or time-series data of the first manipulated variable and the second manipulated variable on the display device during execution of the machine control function.
The construction machine according to claim 5. The controller stores the first manipulated variable and the second manipulated variable during execution of the machine control function, and displays the comparison result on the display device after the machine control function is finished.
The construction machine according to any one of claims 4-6. The controller determines the operation skill of the operator based on the correlation or difference between the stored first operation amount and the time-series data of the second operation amount.
The construction machine according to claim 7. The controller displays a difference between the first manipulated variable and the second manipulated variable during execution of the machine control function on the display device.
The construction machine according to any one of claims 4-8. The controller outputs the first manipulated variable and the second manipulated variable during execution of the machine control function to an external device so that they can be displayed on the external device.
The construction machine according to any one of claims 1-9. the external device is a smartphone,
The first operation amount and the second operation amount can be displayed by an application installed on the smartphone.
The construction machine according to claim 10.

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