JP7158874B2 - Excavator and excavator control system - Google Patents

Description

The present invention relates to excavators and control systems for excavators.

Conventionally, there is known an excavator equipped with a safety circuit that throttles and shuts off the return oil of the boom lowering line when the hydraulic hose is damaged (see Patent Documents 1 and 2, for example). This excavator can prevent the attachment from dropping rapidly when the hydraulic hose breaks.

JP 2008-169981 A JP-A-9-317706

However, with the excavator described above, it is difficult to detect gradual descent of the attachment caused by oil leakage or the like. In addition, when the attachment is gently lowered, it is difficult to confirm visually.

Therefore, in view of the above problem, it is an object of the present invention to provide a shovel capable of detecting a gentle descent of an attachment.

An excavator according to an embodiment of the present invention comprises a lower traveling body, an upper revolving body mounted on the lower traveling body so as to be able to turn, an attachment attached to the upper revolving body, and an attachment attached to the attachment. An excavator comprising an attitude detection device that detects an attitude and a control device that detects an abnormality based on the attitude, wherein the control device detects two different points in time during a period from when the excavator is stopped to when the excavator is started. are compared, and an abnormality is detected based on the comparison result .

According to embodiments of the present invention, it is possible to provide a shovel capable of detecting gentle descent of an attachment.

1 is a diagram showing a configuration example of a hydraulic excavator according to an embodiment of the present invention; FIG. Block diagram showing a configuration example of the drive system of a hydraulic excavator Schematic diagram showing a configuration example of a hydraulic system mounted on a hydraulic excavator Flowchart showing the flow of abnormal descent detection processing A diagram showing the relationship between the elapsed time from key OFF to key ON and the threshold FIG. 4 is a diagram exemplifying a display screen displayed on a display device; Diagram for explaining the turning radius of the drilling attachment Diagram showing the relationship between the turning radius of the drilling attachment and the threshold Diagram showing a configuration example of a hydraulic excavator equipped with an excavation attachment including a crusher Diagram showing relationship between drilling attachment weight and threshold

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings. In each drawing, the same components are denoted by the same reference numerals, and redundant description may be omitted.

FIG. 1 is a diagram showing a configuration example of a hydraulic excavator according to an embodiment of the present invention. The hydraulic excavator mounts an upper revolving body 3 on a crawler-type lower traveling body 1 via a revolving mechanism 2 so as to be able to turn.

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. Boom 4 , arm 5 and bucket 6 constitute a digging attachment. Boom 4, arm 5 and bucket 6 are hydraulically driven by boom cylinder 7, arm cylinder 8 and bucket cylinder 9, respectively. The upper swing body 3 is provided with a cabin 10 and mounted with a power source such as an engine. A power source such as an engine is covered with a cover 3a. Although FIG. 1 shows the bucket 6 as an end attachment, the bucket 6 may be a crusher, a lifting magnet, a breaker, a fork, or the like.

The boom 4 is supported so as to be vertically rotatable with respect to the upper rotating body 3, and a boom angle sensor S1 as a posture detection device is attached to a rotation support portion (joint). The boom angle sensor S1 can detect the boom angle α, which is the tilt angle of the boom 4 (the angle of elevation of the boom 4 from the lowest state).

The arm 5 is rotatably supported with respect to the boom 4, and an arm angle sensor S2 as a posture detection device is attached to a rotation support portion (joint). The arm angle sensor S2 can detect the arm angle β, which is the tilt angle of the arm 5 (opening angle of the arm 5 from the most closed state).

The bucket 6 is rotatably supported with respect to the arm 5, and a bucket angle sensor S3 as a posture detection device is attached to a rotation support portion (joint). The bucket angle sensor S3 can detect the bucket angle γ, which is the inclination angle of the bucket 6 (opening angle of the bucket 6 from the most closed state).

The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are each a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, and a rotation angle around the connecting pin. A rotary encoder, a gyro sensor, a combination of an acceleration sensor and a gyro sensor, or the like may be used. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 constitute attitude sensors that detect information about the attitude of the excavation attachment.

FIG. 2 is a block diagram showing a configuration example of the drive system of a hydraulic excavator. The mechanical power system, high-pressure hydraulic line, pilot line, and electric drive/control system are indicated by double lines, solid lines, broken lines, and dotted lines, respectively. show.

The drive system of the hydraulic excavator mainly includes an engine 11, a main pump 12, a regulator 13, a pilot pump 14, a control valve 15, an operating device 16, a pressure sensor 17, a boom cylinder pressure sensor 18a, a discharge pressure sensor 18b, and a controller 30. consists of

The engine 11 is a drive source of the hydraulic excavator, for example, an engine that operates to maintain a predetermined number of revolutions. .

The main pump 12 is a device for supplying pressure oil to the control valve 15 via a high-pressure hydraulic line, and is, for example, a swash plate type variable displacement hydraulic pump.

The regulator 13 is a device for controlling the discharge amount of the main pump 12, and for example, adjusts the swash plate tilt angle of the main pump 12 according to the discharge pressure of the main pump 12 or a control signal from the controller 30. By doing so, the discharge amount of the main pump 12 is controlled.

The pilot pump 14 is a device for supplying pressure oil to various hydraulic control devices via a pilot line, and is, for example, a fixed displacement hydraulic pump.

The control valve 15 is a hydraulic control device that controls the hydraulic system in the hydraulic excavator. The control valve 15 is, for example, one or more of the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the traveling hydraulic motor 20L (for left), the traveling hydraulic motor 20R (for right), and the turning hydraulic motor 21. The pressure oil received from the main pump 12 is selectively supplied to . In the following, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the traveling hydraulic motor 20L (for left), the traveling hydraulic motor 20R (for right), and the turning hydraulic motor 21 are collectively referred to as "hydraulic actuator". shall be referred to as

The operating device 16 is a device used by an operator to operate the hydraulic actuators, and supplies pressurized oil received from the pilot pump 14 to the pilot ports of the flow control valves corresponding to the respective hydraulic actuators via pilot lines. do. The pressure (pilot pressure) of the pressurized oil supplied to each of the pilot ports depends on the direction and amount of operation of levers or pedals (not shown) of the operation device 16 corresponding to each of the hydraulic actuators. It is said that

The pressure sensor 17 is a sensor for detecting the content of an operator's operation using the operation device 16 . The pressure sensor 17 detects, in the form of pressure, the direction and amount of operation of the lever or pedal of the operating device 16 corresponding to each hydraulic actuator, and outputs the detected value to the controller 30 . Note that the operation content of the operating device 16 may be detected using a sensor other than the pressure sensor.

The boom cylinder pressure sensor 18 a detects, for example, the pressure in the bottom side chamber of the boom cylinder 7 and outputs the detected value to the controller 30 .

The discharge pressure sensor 18 b detects, for example, the discharge pressure of the main pump 12 and outputs the detected value to the controller 30 .

The controller 30 is a control device for controlling the operating speed of the hydraulic actuator. The controller 30 is configured by a computer including, for example, a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), and the like. The controller 30 reads programs corresponding to each of the attitude calculation unit 301, the amount of descent calculation unit 302, the abnormal descent determination unit 303, and the warning output unit 304 from the ROM and develops them in the RAM, while executing the corresponding processes by the CPU. to execute.

Specifically, the controller 30 detects detected values output by the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the pressure sensor 17, the boom cylinder pressure sensor 18a, the discharge pressure sensor 18b, etc., and the values input by the input device D1. Then, the attitude calculation unit 301, the descent amount calculation unit 302, the abnormal descent determination unit 303, and the warning output unit 304 execute processing based on the detected value and the input value. After that, the controller 30 appropriately outputs control signals according to the processing results of the attitude calculation unit 301, the amount of descent calculation unit 302, the abnormal descent determination unit 303, and the warning output unit 304 to the audio output device D2 and/or the display device. Output to D3.

The attitude calculation unit 301 calculates the attitude of the excavation attachment. In this embodiment, the attitude calculation unit 301 calculates the attitude of the excavation attachment based on the outputs of the attitude sensors including the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3.

The descent amount calculation unit 302 calculates the descent amount of the excavation attachment. In this embodiment, the descent amount calculation unit 302 calculates the descent amount of the excavation attachment based on the postures of the excavation attachment at two different points in time from when the shovel is stopped to when it is started. For example, the descent amount calculation unit 302 can lower the excavation attachment based on the posture of the excavation attachment calculated when the key is turned off (stopped) and the posture of the excavation attachment calculated when the key is turned on (started). Calculate quantity. Here, the descent amount calculation unit 302 calculates the descent amount of the excavation attachment based on the attitude of the excavation attachment calculated when the engine 11 is stopped and the attitude of the excavation attachment calculated when the engine 11 is started. Alternatively, the descent amount of the excavation attachment is calculated based on the attitude of the excavation attachment calculated when the power of the controller 30 is turned off and the attitude of the excavation attachment calculated when the power of the controller 30 is turned on. can be calculated. Further, the descent amount calculation unit 302 calculates the descent amount of the excavation attachment based on the orientation of the excavation attachment calculated when the shovel is stopped and the orientation of the excavation attachment calculated after a predetermined period of time from when the shovel is stopped. Alternatively, the amount of descent of the excavation attachment may be calculated based on the posture of the excavation attachment calculated at predetermined intervals while the excavator is stopped.

The abnormal descent determination unit 303 determines whether or not the excavation attachment has abnormally descent. In this embodiment, the abnormal descent determination unit 303 determines whether the descent amount of the excavation attachment calculated by the descent amount calculation unit 302 is larger than a preset threshold value, and determines whether the excavation attachment has abnormally descent. determine whether or not Specifically, the abnormal descent determination unit 303 determines whether or not the excavation attachment has abnormally decreased based on the postures of the excavation attachment at two different times during the period from when the shovel is stopped to when it is started. For example, the descent amount calculation unit 302 performs excavation based on the attitude of the excavation attachment when the shovel stops and the attitude of the excavation attachment when the shovel starts after a predetermined time (for example, 12 hours) after the shovel stops. Calculate the descent amount of the attachment. The abnormal descent determination unit 303 compares the calculated descent amount with a normal descent amount (threshold value) after a predetermined time (for example, 12 hours) has elapsed. As a result of the comparison, if the calculated amount of descent exceeds the threshold, it is determined that the excavation attachment has abnormally descent. In this embodiment, the controller 30 inside the excavator executes the determination of abnormal descent. may determine abnormal descent.

A warning output unit 304 outputs a warning to the operator when the abnormal descent determination unit 303 determines that the excavation attachment has abnormally descended. In this embodiment, the warning output unit 304 outputs a warning signal to the display device D3 and displays the warning on the screen displayed on the display device D3. Further, the warning output unit 304 may output a warning signal to the audio output device D2 and output a warning sound from the audio output device D2. Note that the warning output unit 304 may cause the audio output device D2 to output a warning sound based on the abnormal descent information determined by the mobile communication terminal or an external excavator management device.

The causes of the abnormal descent of the excavation attachment will be described with reference to FIG. Note that FIG. 3 is a schematic diagram showing a configuration example of a hydraulic system mounted on a hydraulic excavator. They are indicated by double, solid, dashed and dotted lines, respectively.

The hydraulic system shown in FIG. 3 circulates pressure oil from a main pump 12 (two main pumps 12L, 12R) driven by an engine 11 to a pressure oil tank via center bypass pipes 40L, 40R.

The center bypass line 40L is a high-pressure hydraulic line that communicates with the flow control valves 151, 153, 155 and 157 arranged inside the control valve 15. As shown in FIG.

The center bypass line 40R is a high-pressure hydraulic line that communicates flow control valves 150, 152, 154, 156 and 158 arranged inside the control valve 15. As shown in FIG.

The flow control valves 151 and 152 are spools for switching the flow of pressure oil to circulate the pressure oil discharged from the main pumps 12L and 12R respectively by the traveling hydraulic motor 20L (left) and the traveling hydraulic motor 20R (right). valve.

The flow control valves 153 and 154 switch the flow of pressure oil to supply the pressure oil discharged from the main pumps 12L and 12R to the boom cylinder 7 and to discharge the pressure oil in the boom cylinder 7 to the pressure oil tank. It is a spool valve. The flow control valve 154 is a spool valve (hereinafter referred to as "first-speed boom flow control valve") that always operates when the boom operating lever 16A is operated. The flow control valve 153 is a spool valve (hereinafter referred to as a "second-speed boom flow control valve") that operates only when the boom control lever 16A is operated by a predetermined amount or more.

The flow control valves 155 and 156 switch the flow of pressure oil to supply the pressure oil discharged from the main pumps 12L and 12R to the arm cylinder 8 and discharge the pressure oil in the arm cylinder 8 to the pressure oil tank. It is a spool valve. The flow control valve 155 is a valve (hereinafter referred to as "first speed arm flow control valve") that always operates when an arm control lever (not shown) is operated. The flow control valve 156 is a valve (hereinafter referred to as a "second-speed arm flow control valve") that operates only when the arm control lever is operated by a predetermined amount or more.

The flow control valve 157 is a spool valve that switches the flow of pressure oil to circulate the pressure oil discharged by the main pump 12</b>L in the turning hydraulic motor 21 .

The flow control valve 158 is a spool valve for supplying the pressure oil discharged by the main pump 12R to the bucket cylinder 9 and discharging the pressure oil in the bucket cylinder 9 to the pressure oil tank.

The regulators 13L, 13R control the discharge amounts of the main pumps 12L, 12R by adjusting the tilting angles of the swash plates of the main pumps 12L, 12R according to the discharge pressures of the main pumps 12L, 12R (through total horsepower control). do. Specifically, when the discharge pressure of the main pumps 12L, 12R exceeds a predetermined value, the regulators 13L, 13R adjust the swash plate tilt angles of the main pumps 12L, 12R to reduce the discharge amounts. This is to prevent the pump horsepower represented by the product of the discharge pressure and the discharge amount from exceeding the output horsepower of the engine 11 .

The boom operating lever 16A is an example of the operating device 16, and is an operating device for operating the boom 4. Using the pressure oil discharged by the pilot pump 14, the control pressure corresponding to the lever operation amount is set to the first. It is introduced into either the left or right pilot port of the first speed boom flow control valve 154 . Note that the boom control lever 16A introduces pressurized oil to either the left or right pilot port of the second speed arm flow control valve 153 when the lever operation amount is equal to or greater than a predetermined operation amount.

The pressure sensor 17A is an example of the pressure sensor 17, and detects the details of the operator's operation (lever operation direction and lever operation amount (lever operation angle)) with respect to the boom operation lever 16A in the form of pressure. Output the value to the controller 30 .

Left and right traveling levers (or pedals), arm operating levers, bucket operating levers, and turning operating levers (none of which are shown) are used for traveling the lower traveling body 1, opening and closing the arm 5, opening and closing the bucket 6, and turning the upper portion, respectively. It is an operating device for operating the turning of the body 3 . Similar to the boom operating lever 16A, these operating devices utilize pressure oil discharged from the pilot pump 14 to apply control pressure corresponding to the lever operation amount (or pedal operation amount) to the respective hydraulic actuators. It is introduced into either the left or right pilot port of the control valve. Further, the details of the operator's operation (lever operation direction and lever operation amount) for each of these operating devices are detected in the form of pressure by the corresponding pressure sensor, similarly to the pressure sensor 17A, and the detected value is Output to the controller 30 .

The controller 30 receives outputs from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the pressure sensor 17A, the boom cylinder pressure sensor 18a, the discharge pressure sensor 18b, etc. to output a control signal to change the discharge amounts of the main pumps 12L and 12R.

In the hydraulic system shown in FIG. 3, for example, even if the flow control valve 154 is controlled so that the inside of the boom cylinder 7 and the pressure oil tank are not communicated with each other, the boom cylinder is The pressure oil in 7 may be discharged to the pressure oil tank. This gap tends to increase due to deterioration over time. When the pressure oil in the boom cylinder 7 is discharged to the pressure oil tank through this gap, the boom cylinder 7 expands and contracts, and the excavation attachment gently descends.

Further, for example, oil leakage may occur in the hydraulic hose due to aged deterioration of the hydraulic hose connecting the inside of the boom cylinder 7 and the inside of the flow control valve 154 . When the hydraulic hose leaks oil, the boom cylinder 7 expands and contracts, and the excavation attachment gently descends.

Such gradual descent of the drilling attachment is difficult to visually confirm. Therefore, in the embodiment of the present invention, the controller 30 detects an abnormality based on the posture of the excavation attachment when the key is turned off and when the key is turned on. This makes it possible to detect a moderate and abnormal descent of the drilling attachment caused by oil leakage or the like.

A first embodiment of the process of detecting abnormal descent of the excavation attachment (hereinafter referred to as "abnormal descent detection process") by the controller 30 will be described with reference to FIG. FIG. 4 is a flowchart showing the flow of abnormal descent detection processing. In the first embodiment, determination is made at two different points in time during the period from when the excavator is stopped until when it is started, at the time when the key is turned OFF and then when the key is turned ON.

First, when the operator turns the key OFF (step ST1), the orientation calculation unit 301 calculates the orientation of the excavation attachment (step ST2). In this embodiment, the attitude calculation unit 301 calculates the attitude of the excavation attachment based on the outputs of the attitude sensors including the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3.

After that, when the operator turns the key ON (step ST3), the attitude calculation section 301 calculates the attitude of the excavation attachment (step ST4). In this embodiment, the attitude calculation unit 301 calculates the attitude of the excavation attachment based on the outputs of the attitude sensors including the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3.

Thereafter, the descent amount calculation unit 302 calculates the descent amount (actual descent amount) of the excavation attachment (step ST5). In this embodiment, the descent amount calculator 302 calculates the descent amount of the excavation attachment based on the orientation of the excavation attachment calculated when the key is off and the orientation of the excavation attachment calculated when the key is on.

After that, the abnormal descent determination unit 303 determines whether or not the excavation attachment has abnormally descent (step ST6). In this embodiment, the abnormal descent determination unit 303 determines whether the descent amount of the excavation attachment calculated in step ST5 is larger than a preset threshold value, and determines whether the excavation attachment has abnormally descent. judge. The threshold is a value based on the normal descent of the digging attachment at two different times during the period from when the shovel is stopped to when it is started. For example, as shown in FIG. 5, this may be set to a larger value as the elapsed time from key OFF to key ON increases. FIG. 5 is a diagram showing the relationship between the elapsed time from key OFF to key ON and the threshold.

When it is determined that the excavation attachment has abnormally descended (step ST6: YES), the warning output section 304 outputs a warning to the operator (step ST7). In this embodiment, the warning output unit 304 outputs a warning signal to the display device D3 and displays the warning on the screen displayed on the display device D3. Further, the warning output unit 304 may output a warning signal to the audio output device D2 and output a warning sound from the audio output device D2. A display screen displayed on the display device D3 will be described later.

If it is determined that the excavation attachment has not abnormally descended (step ST6: NO), the warning output unit 304 ends the process without outputting a warning to the operator.

Next, the display screen 41V displayed on the display device D3 will be described with reference to FIG. FIG. 6 is a diagram illustrating a display screen 41V displayed on the display device D3.

As shown in FIG. 6, a warning indicating that the excavation attachment has abnormally descended is displayed on the display screen 41V when the key is turned ON, as shown in FIG. 6, for example. In the example of FIG. 6, a warning message "Attack drop abnormality" is displayed superimposed on the display screen 41V. An error code indicating abnormal descent of the excavation attachment may be used instead of the warning message, or both of them may be used. An example of the display screen 41V displaying a warning indicating that the excavation attachment has abnormally lowered will be described below.

As shown in FIG. 6, the display screen 41V includes a date and time display area 41a, a driving mode display area 41b, an attachment display area 41c, a fuel consumption display area 41d, an engine control state display area 41e, an engine operating time display area 41f, and a coolant temperature display area 41f. It includes a display area 41g, a fuel remaining amount display area 41h, a rotation speed mode display area 41i, a urea water remaining amount display area 41j, a hydraulic oil temperature display area 41k, a camera image display area 41m, and a warning display area 41n. Here, the date and time display area 41a, the running mode display area 41b, the attachment display area 41c, the engine control state display area 41e, and the rotation speed mode display area 41i are set information set by the operator. An operating time display area 41f, a cooling water temperature display area 41g, a fuel remaining amount display area 41h, a urea water remaining amount display area 41j, and a working oil temperature display area 41k are operating state information of equipment provided in the excavator.

The date and time display area 41a is an area for displaying the current date and time. In the example shown in FIG. 6, a digital display is employed to indicate the date (April 1, 2014) and time (10:05).

The running mode display area 41b is an area for displaying the current running mode. The travel mode represents the setting state of a travel hydraulic motor using a variable displacement pump. Specifically, the running mode has a low-speed mode and a high-speed mode, in which a "tortoise" mark is displayed in the low-speed mode, and a "rabbit" mark is displayed in the high-speed mode. In the example shown in FIG. 6, a mark in the shape of a "turtle" is displayed so that the driver can recognize that the low speed mode is set.

The attachment display area 41c is an area for displaying an image representing the currently attached attachment. The excavator 100 is equipped with various attachments such as a bucket, crusher, rock drill, grapple, and lifting magnet. The attachment display area 41c displays, for example, marks representing these attachments and numbers corresponding to the attachments. In the example shown in FIG. 6, a mark representing a rock drill is displayed, and "1" is displayed as a number indicating the magnitude of output of the rock drill.

The fuel consumption display area 41 d is an area for displaying fuel consumption information calculated by the controller 30 . The fuel consumption display area 41d includes an average fuel consumption display area 41d1 that displays the lifetime average fuel consumption or the section average fuel consumption, and an instantaneous fuel consumption display area 41d2 that displays the instantaneous fuel consumption. 6, the average fuel consumption display area 41d1 displays the section average fuel consumption as a unit [L/hr (liters/hour)], and the instantaneous fuel consumption display area 41d2 displays the instantaneous fuel consumption. A bar graph consisting of 9 segments whose ON/OFF state is individually controlled according to the size is displayed.When the instantaneous fuel consumption increases, the number of segments in the lighting state increases, and when the instantaneous fuel consumption decreases, Each segment is controlled so that the number of segments in the lighting state is reduced, and the driver can visually recognize the magnitude of the instantaneous fuel consumption.

The engine operating time display area 41f is an area for displaying the cumulative operating time of the engine 11. FIG. In the example shown in FIG. 6, the cumulative operation time since the count was restarted by the driver is displayed together with the unit "hr (hour)". In the engine operating time display area 41f, at least one of the lifetime operating time for the entire period after the excavator 100 is manufactured and the interval operating time after the count is restarted by the driver is displayed.

When the driver presses an operating time display changeover switch (not shown), the operating time information displayed in the engine operating time display area 41f and the fuel consumption information displayed in the average fuel consumption display area 41d1 are switched. For example, when the section operating time is displayed in the engine operating time display area 41f, the section average fuel consumption is displayed in the average fuel consumption display area 41d1. Further, when the lifetime operating time is displayed in the engine operating time display area 41f, the lifetime average fuel efficiency is displayed in the average fuel efficiency display area 41d1. Furthermore, when both the section operating time and the lifetime operating time are displayed in the engine operating time display area 41f, both the section average fuel efficiency and the lifetime average fuel efficiency are displayed in the average fuel efficiency display area 41d1.

In this way, every time the operating time display changeover switch is pressed, the fuel consumption information displayed in the average fuel consumption display area 41d1 is changed from "section average fuel consumption", "lifetime average fuel consumption", or "section average fuel consumption and lifetime average fuel consumption". can be switched to Therefore, by pressing the operation time display changeover switch, the driver can grasp the segment average fuel consumption and lifetime average fuel consumption. It becomes possible to proceed with the work.

The lifetime average fuel consumption or section average fuel consumption displayed in the average fuel consumption display area 41d1 may be displayed in a unit different from the example shown in FIG. 6, or may be displayed as a bar graph. Further, the instantaneous fuel consumption may be displayed numerically in the instantaneous fuel consumption display area 41d2.

The engine control state display area 41e is an area where the control state of the engine 11 is displayed. In the example shown in FIG. 6, the “automatic deceleration/automatic stop mode” is selected as the control state of the engine 11 . The "automatic deceleration/automatic stop mode" means a control state in which the engine speed is automatically reduced and the engine 11 is automatically stopped according to the duration of the low engine load state. In addition, the control state of the engine 11 includes "automatic deceleration mode", "automatic stop mode", "manual deceleration mode", and the like.

The cooling water temperature display area 41g is an area for displaying the current temperature state of the engine cooling water. In the example shown in FIG. 6, a bar graph representing the temperature state of the engine cooling water is displayed. The temperature of the engine cooling water is displayed based on the data output by the water temperature sensor 11c attached to the engine 11. FIG. Specifically, the coolant temperature display area 41g includes an abnormal range display 41g1, a caution range display 41g2, a normal range display 41g3, a segment display 41g4, and an icon display 41g5.

The abnormal range display 41g1, the caution range display 41g2, and the normal range display 41g3 are displays for informing the driver that the temperature of the engine cooling water is in an abnormally high temperature state, a caution-requiring state, and a normal state, respectively. A segment display 41g4 is a display for notifying the driver of the temperature of the engine cooling water. Also, the icon display 41g5 is an icon such as a symbol figure representing that the abnormal range display 41g1, the caution range display 41g2, the normal range display 41g3, and the segment display 41g4 are displays related to the temperature of the engine cooling water. Note that the icon display 41g5 may be characters or the like indicating that the display relates to the temperature of the engine cooling water.

In the example shown in FIG. 6, the segment display 41g4 is composed of eight segments whose ON/OFF states are individually controlled, and the number of segments in the ON state increases as the cooling water temperature increases. In the example shown in FIG. 6, four segments are lit. In the example shown in FIG. 6, the width of temperature represented by each segment is the same, but the width of temperature may be changed for each segment.

In the example shown in FIG. 6, the abnormal range display 41g1, the caution range display 41g2, and the normal range display 41g3 are arc-shaped figures arranged side by side along the segment display 41g4, for example, red, yellow, and green. is always lit. In the segment display 41g4, the 1st (lowest) to 6th segments belong to the normal range, the 7th segment belongs to the caution range, and the 8th (highest) segment belongs to the abnormal range.

In addition, instead of displaying the abnormal range display 41g1, the caution range display 41g2, and the normal range display 41g3 as arc-shaped figures, the cooling water temperature display area 41g displays characters, symbols, etc., representing the abnormal level, the caution level, and the normal level, respectively. may be displayed on the border of

The above configuration including the abnormal range display, the caution range display, the normal range display, the segment display, and the icon display is the same for the fuel remaining amount display area 41h, the urea water remaining amount display area 41j, and the hydraulic oil temperature display area 41k. Adopted. In addition, in the fuel remaining amount display area 41h and the urea water remaining amount display area 41j, instead of displaying arc-shaped figures representing the abnormal range, the caution range, and the normal range, characters representing "Full (full tank state)" are displayed. An “F” or a black circle (filled circle), a letter “E” representing “Empty” or a white circle (unfilled circle), etc. may be displayed at each boundary.

The fuel remaining amount display area 41h is an area for displaying the remaining amount of fuel stored in the fuel tank. In the example shown in FIG. 6, a bar graph representing the current remaining amount of fuel is displayed. The remaining amount of fuel is displayed based on the data output by the fuel remaining amount sensor.

The rotation speed mode display area 41i is an area for displaying an image of the current rotation speed mode set by the engine rotation speed adjustment dial. The rotational speed modes include, for example, the SP mode, H mode, A mode, and idling mode described above. In the example shown in FIG. 6, the symbol "SP" representing the SP mode is displayed.

The urea water remaining amount display area 41j is an area for displaying an image of the remaining amount of urea water stored in the urea water tank. In the example shown in FIG. 6, a bar graph representing the current remaining amount of urea water is displayed. The remaining amount of urea water is displayed based on data output from a urea water remaining amount sensor provided in the urea water tank.

The hydraulic oil temperature display area 41k is an area for displaying the temperature state of the hydraulic oil in the hydraulic oil tank. In the example shown in FIG. 6, a bar graph representing the temperature state of hydraulic oil is displayed. The temperature of the hydraulic oil is displayed based on the data output by the oil temperature sensor 14c.

In addition, in the example shown in FIG. 6, each segment display of the cooling water temperature display area 41g, the fuel remaining amount display area 41h, the urea water remaining amount display area 41j, and the hydraulic oil temperature display area 41k is the same one predetermined circle. It is displayed to expand and contract along the circumferential direction. Specifically, the cooling water temperature display area 41g, the remaining fuel amount display area 41h, the urea water remaining amount display area 41j, and the hydraulic oil temperature display area 41k are respectively displayed on the left, upper, lower, and right portions of the predetermined circle. placed. In the cooling water temperature display area 41g and the hydraulic oil temperature display area 41k, an abnormal range display, a caution range display, and a normal range display are arranged in order from the top. Abnormal range display, caution range display, and normal range display are arranged in order from the left. Further, in the remaining fuel amount display area 41h and the remaining urea water amount display area 41j, the segment display is displayed so that the number of segments in the lighting state increases as the remaining amount increases. The segment belongs to the normal range, the 7th segment belongs to the caution range and the 8th (leftmost) segment belongs to the abnormal range.

Further, in the cooling water temperature display area 41g, the fuel remaining amount display area 41h, the urea water remaining amount display area 41j, and the hydraulic oil temperature display area 41k, a needle display may be adopted instead of the bar graph display.

The camera image display area 41m is an area for displaying a captured image captured by an imaging device (not shown) provided on the cover 3a that covers the engine mounted on the upper rotating body 3 and the like. In the example shown in FIG. 6, a captured image of the rear area of the hydraulic excavator captured by the imaging device is displayed in the camera image display area 41m. In the camera image display area 41m, instead of the captured image of the rear area of the excavator, the captured image of the left area or the right area of the excavator may be displayed. In addition, these multiple captured images may be displayed at the same time, or a bird's-eye view image obtained by synthesizing these captured images may be displayed. By displaying a plurality of captured images in the camera image display area 41m in this way, the operator can perform work while checking the surroundings of the hydraulic excavator in a wider range. At this time, imaging devices such as cameras are arranged on the left, right, and rear of the upper rotating body 3 .

Note that the captured image displayed in the camera image display area 41m is displayed independently with respect to the traveling direction of the lower traveling body 1 of the hydraulic excavator. In other words, regardless of the traveling direction of the undercarriage 1, the picked-up image selected from the rear area, the left area, and the right area of the hydraulic excavator or the synthesized bird's-eye view image is displayed in the camera image display area 41m.

Note that the captured image is captured such that a part of the cover 3a of the upper rotating body 3 is included. By including a part of the cover 3a in the displayed image, it becomes easier for the operator to grasp the sense of distance between the object displayed in the camera image display area 41m and the hydraulic excavator.

The warning display area 41n is an area for displaying a warning indicating that the excavation attachment has abnormally descended. In the example shown in FIG. 6, a warning message "Att descent error" is displayed to indicate that the excavation attachment has been descent abnormally. An error code indicating abnormal descent of the excavation attachment may be displayed in the warning display area 41n instead of the warning message. Also, a warning message and an error code may be displayed at the same time.

Also, the size and arrangement of each display area on the display screen 41V may be changed as necessary. Furthermore, the display screen 41V may omit part of the display area shown in FIG. 6, or may include display areas other than the above. For example, the display screen 41V may include an exhaust gas filter state display area that displays the degree of clogging of an exhaust gas filter (for example, a diesel particulate filter (DPF: Diesel Particulate Filter)). Specifically, the exhaust gas filter state display The area may display a bar graph representing the percentage of the current usage time of the exhaust gas filter relative to the maximum allowable usage time.

As described above, in the first embodiment, the controller 30 detects an abnormality based on the posture of the excavation attachment when the key is turned off and when the key is turned on. This makes it possible to detect a moderate and abnormal descent of the drilling attachment caused by oil leakage or the like.

Further, when the excavation attachment is abnormally lowered, a warning is displayed on the display screen 41V of the display device D3. As a result, the operator can easily confirm that the drilling attachment is slowly and abnormally lowered due to oil leakage or the like. Therefore, it is possible to prevent the machine from going down due to deterioration of the oil leakage or breakage of the hydraulic hose, which may be caused by the operator performing the work without noticing the oil leakage.

Next, a second embodiment of the abnormal descent detection process will be described with reference to FIGS. 7 and 8. FIG. Whereas in the first embodiment the threshold was based on the normal descent of the digging attachment at two different times during the excavator's stop-to-start period, in the second embodiment the threshold is It differs from the first embodiment in that it changes based on the turning radius of the excavation attachment when the key is turned off. Other points can be the same as those of the first embodiment, so description thereof will be omitted.

FIG. 7 is a diagram for explaining the turning radius of the excavation attachment. In FIG. 7, the solid line indicates an example of the posture of the excavation attachment when the turning radius is large, and the broken line indicates an example of the posture of the excavation attachment when the turning radius is small. FIG. 8 is a diagram showing the relationship between the turning radius of the excavation attachment and the threshold.

In the second embodiment, the threshold value is set based on the turning radius of the excavation attachment when the key is turned off. For example, as shown in FIG. 8, the larger the turning radius of the excavation attachment, the larger the threshold is set. The relationship between the turning radius of the drilling attachment and the threshold value shown in FIG. It is determined so that the amount of change in the threshold is large.

As described above, in the second embodiment, the controller 30 determines whether or not the excavation attachment has abnormally descended based on the threshold value set according to the turning radius of the excavation attachment. As a result, even if the turning radius of the drilling attachment differs when the key is turned off, it is possible to accurately detect a moderate and abnormal descent of the drilling attachment caused by oil leakage or the like.

Here, the first embodiment may take into account the second embodiment. That is, the relationship between the elapsed time from key OFF to key ON and the threshold shown in FIG. 5 may be set based on the turning radius of the excavation attachment. Specifically, the smaller the turning radius of the excavation attachment, the smaller the slope of the straight line representing the relationship between the elapsed time from key OFF to key ON and the threshold shown in FIG. , the slope of the straight line representing the relationship between the elapsed time from key OFF to key ON and the threshold increases.

Further, when the excavation attachment is abnormally lowered, a warning is displayed on the display screen 41V of the display device D3. As a result, the operator can easily confirm that the drilling attachment is slowly and abnormally lowered due to oil leakage or the like. Therefore, it is possible to prevent the machine from going down due to deterioration of the oil leakage or breakage of the hydraulic hose, which may be caused by the operator performing the work without noticing the oil leakage.

Next, a third embodiment of abnormal descent detection processing will be described with reference to FIGS. 9 and 10. FIG. Whereas in the first embodiment the threshold was based on the normal descent of the excavating attachment at two different times during the excavator stop-to-start period, in the third embodiment the threshold is It differs from the first embodiment in that it changes based on the weight of the drilling attachment. Other points can be the same as those of the first embodiment, so description thereof will be omitted.

FIG. 9 is a diagram showing a configuration example of a hydraulic excavator provided with an excavation attachment including a crusher. FIG. 10 is a diagram showing the relationship between the weight of the excavation attachment and the threshold.

In the third embodiment, the threshold is set based on the weight of the drilling attachment, and is set to a larger value as the weight of the drilling attachment increases, as shown in FIG. 10, for example. The relationship between the weight of the drilling attachment and the threshold shown in FIG. 10 is determined, for example, based on the normal amount of descent of the drilling attachment due to an internal leak in an oil passage. It is determined so that the amount of change is large. The weight of the drilling attachment depends on the type of end attachment. Specifically, for example, when a bucket 6 is attached as an end attachment as shown in FIG. 1, and when a crusher 6a is attached as an end attachment as shown in FIG. Different weight. The weight of the excavation attachment may be, for example, the weight estimated based on the pressure detected by the boom cylinder pressure sensor 18a, or the weight input by the operator via the input device D1.

As described above, in the third embodiment, the controller 30 determines whether or not the excavation attachment has abnormally descended based on the threshold set according to the weight of the excavation attachment. As a result, even when the weight of the drilling attachment differs due to the different types of end attachments, it is possible to accurately detect an abnormal gradual descent of the drilling attachment caused by an oil leak or the like.

Here, the first embodiment may take into account the third embodiment. That is, the relationship between the elapsed time from key OFF to key ON and the threshold shown in FIG. 5 may be set based on the weight of the excavation attachment. Specifically, the smaller the weight of the excavation attachment, the smaller the slope of the straight line representing the relationship between the elapsed time from key OFF to key ON and the threshold shown in FIG. The slope of the straight line representing the relationship between the elapsed time from key OFF to key ON and the threshold increases.

Similarly, the first embodiment may contemplate the second and third embodiments. That is, the relationship between the elapsed time from key OFF to key ON and the threshold shown in FIG. 5 may be set based on the weight and turning radius of the excavation attachment.

Further, when the excavation attachment is abnormally lowered, a warning is displayed on the display screen 41V of the display device D3. As a result, the operator can easily confirm that the drilling attachment is slowly and abnormally lowered due to oil leakage or the like. Therefore, it is possible to prevent the machine from going down due to deterioration of the oil leakage or breakage of the hydraulic hose, which may be caused by the operator performing the work without noticing the oil leakage.

Although the embodiments for carrying out the present invention have been described above, the above content does not limit the content of the present invention, and various modifications and improvements are possible within the scope of the present invention.

1 lower running body 3 upper rotating body 4 boom 5 arm 6 bucket 30 controller D3 display device S1 boom angle sensor S2 arm angle sensor S3 bucket angle sensor

Claims (9)

a lower running body;
an upper rotating body rotatably mounted on the lower traveling body;
an attachment attached to the upper revolving body;
an orientation detection device attached to the attachment for detecting the orientation of the attachment;
a control device that detects an abnormality based on the attitude;
An excavator comprising
The control device compares the postures at two different points in time from when the excavator stops to when it starts, and detects an abnormality based on the comparison result .
Excavator. The two different time points are the time of stopping and the time of starting, respectively.
Shovel according to claim 1 . a lower running body;
an upper rotating body rotatably mounted on the lower traveling body;
an attachment attached to the upper revolving body;
an orientation detection device attached to the attachment for detecting the orientation of the attachment;
a control device that detects an abnormality based on the attitude;
An excavator comprising
The control device detects an abnormality based on the attitudes at two different points in time from when the excavator stops to when it starts, and
The two different points of time are the time of stopping and the time of starting, respectively;
The control device detects an abnormality when an amount of change in the attitude at the time of starting with respect to the attitude at the time of stopping is greater than a threshold.
Excavator . The threshold value is set to a larger value as the time from the stop time to the start time is longer.
Shovel according to claim 3. The threshold value is set to a larger value as the turning radius of the attachment at the time of stopping is larger.
A shovel according to claim 3 or 4. The threshold value is set to a larger value as the weight of the attachment increases.
Shovel according to any one of claims 3 to 5. a display device that displays the abnormality when the engine of the excavator is started;
Shovel according to any one of claims 1 to 6. an orientation detection unit that detects the orientation of the attachment;
a control unit that detects an abnormality based on the posture;
A control system for an excavator comprising:
The control unit compares the postures at two different points in time from when the excavator stops to when it starts, and detects an abnormality based on the comparison result .
Excavator control system. an orientation detection unit that detects the orientation of the attachment;
a control unit that detects an abnormality based on the posture;
A control system for an excavator comprising:
The control unit detects an abnormality based on the postures at two different points in time from when the excavator stops to when it starts, and
The two different points of time are the time of stopping and the time of starting, respectively;
The control unit detects an abnormality when an amount of change in the attitude at the time of starting with respect to the attitude at the time of stopping is greater than a threshold.
Excavator control system.

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