JP7455632B2 - Excavators and shovel management devices - Google Patents

Description

The present disclosure relates to a shovel and a shovel management device.

There is a need to evaluate the skills of operators who operate excavators. For example, a driving operation guidance device for a transmission/reception system of construction machinery has been disclosed, which instructs an operator to improve fuel consumption (see Patent Document 1).

JP2009-235716A

However, it is difficult to appropriately evaluate operator skill by evaluating only fuel consumption. For example, when the rotating upper structure or the opening/closing operation of an attachment involves repeated acceleration and deceleration, the excavator vibrates a lot because the operation is not smooth. Therefore, the positioning accuracy deteriorates, and the workability also deteriorates.

Therefore, in view of the above problems, it is an object of the present invention to provide a shovel and a shovel management device that suitably evaluates the skill of an operator.

In order to achieve the above object, an embodiment of the present invention includes an undercarriage, an upper revolving structure, an attachment attached to the upper revolving structure, and at least one of the undercarriage, the upper revolving structure, and the attachment. an acceleration sensor installed in the upper rotating body, an operating device for operating a hydraulic actuator for rotating the upper revolving body and/or operating the attachment, and a control device, the control device being configured to allow an operator to operate the operating device. A shovel is provided, which includes a skill evaluation section that evaluates the skill of an operator after the work, based on accumulated data of the shovel detected by the acceleration sensor during the work of the shovel being operated.

According to the embodiments described above, it is possible to provide a shovel and a shovel management device that suitably evaluates an operator's skill.

FIG. 1 is a side view of a shovel as an excavator according to the present embodiment. FIG. 2 is a block diagram showing a configuration example of the excavator shown in FIG. 1. FIG. It is a flowchart explaining the operation skill evaluation process of the operator in the excavator of this embodiment. It is an example of the display screen displayed on the display device of the excavator concerning this embodiment. 2 is a graph showing changes in roll angle and pitch angle during excavator work. FIG. 3 is a schematic diagram showing the trajectory of the toe of the bucket during work with the excavator. It is a graph which shows the time change of the turning speed at the time of the boom raising turning process of an excavator.

Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings.

[Excavator overview]
First, an overview of the shovel 100 according to the present embodiment will be described with reference to FIG. 1.

FIG. 1 is a side view of a shovel 100 as an excavator according to the present embodiment.

The excavator 100 according to the present embodiment includes a lower traveling body 1, an upper rotating body 3 that is rotatably mounted on the lower traveling body 1 via a rotating mechanism 2, a boom 4, and an arm that constitute an attachment (work machine). 5, a bucket 6, and a cabin 10.

The lower traveling body 1 causes the excavator 100 to travel by hydraulically driving a pair of right and left crawlers by travel hydraulic motors 1L and 1R (see FIG. 2, which will be described later). That is, the pair of traveling hydraulic motors 1L and 1R (an example of traveling motors) drive the lower traveling body 1 (crawler) as a driven part.

The upper rotating body 3 rotates relative to the lower traveling body 1 by being driven by a swing hydraulic motor 2A (see FIG. 2, which will be described later). That is, the swing hydraulic motor 2A is a swing drive unit that drives the rotating upper structure 3 as a driven part, and can change the direction of the rotating upper structure 3.

Note that the upper revolving body 3 may be electrically driven by an electric motor (hereinafter referred to as a "swing motor") instead of the swing hydraulic motor 2A. That is, like the swing hydraulic motor 2A, the swing electric motor is a swing drive unit that drives the upper revolving structure 3 as a driven part, and can change the direction of the upper revolving structure 3.

The boom 4 is pivotally attached to the front center of the upper revolving structure 3 so that it can be lifted up and down, and an arm 5 is pivotally attached to the tip of the boom 4 so that it can be moved up and down. A bucket 6 is pivotally mounted so as to be movable up and down. The boom 4, the arm 5, and the bucket 6 are each hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9 as hydraulic actuators.

Note that the bucket 6 is an example of an end attachment, and depending on the work content, other end attachments may be attached to the tip of the arm 5, such as a bucket for slopes, a bucket for dredging, or a breaker, instead of the bucket 6. etc. may be attached.

The cabin 10 is a driver's room in which an operator rides, and is mounted on the front left side of the upper revolving structure 3. Further, the upper revolving body 3 is provided with an engine 11 .

Further, inside the cabin 10, a controller 30, a display device 40, an input device 42, an audio output device 43, and a storage device 47 are provided.

The controller 30 (an example of a control device) is provided in the cabin 10, for example, and controls the drive of the excavator 100. The functions of the controller 30 may be realized by arbitrary hardware, software, or a combination thereof. For example, the controller 30 is mainly a microcomputer that includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a non-volatile auxiliary storage device, various input/output interfaces, etc. configured. The controller 30 realizes various functions by, for example, executing various programs stored in a ROM or a nonvolatile auxiliary storage device on the CPU.

The display device 40 is provided in a location within the cabin 10 that is easily visible to a seated operator, and displays various information images under the control of the controller 30. The display device 40 may be connected to the controller 30 via an in-vehicle communication network such as a CAN (Controller Area Network), or may be connected to the controller 30 via a one-to-one dedicated line.

The input device 42 is provided within the reach of an operator seated in the cabin 10, receives various operational inputs from the operator, and outputs signals corresponding to the operational inputs to the controller 30. The input device 42 includes a touch panel mounted on the display of the display device 40 that displays various information images, a knob switch provided at the tip of the lever part of the operation lever, a button switch, a lever, and a toggle installed around the display device 40. , including rotary dials, etc. A signal corresponding to the operation content on the input device 42 is taken into the controller 30.

The audio output device 43 is provided in the cabin 10, for example, is connected to the controller 30, and outputs audio under the control of the controller 30. The audio output device 43 is, for example, a speaker, a buzzer, or the like. The audio output device 43 outputs various information as audio in response to an audio output command from the controller 30.

The storage device 47 is provided within the cabin 10, for example, and stores various information under the control of the controller 30. The storage device 47 is, for example, a nonvolatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices while the shovel 100 is in operation, or may store information acquired via the various devices before the shovel 100 starts operating. The storage device 47 may store, for example, data regarding the target construction surface acquired via the communication device T1 or the like or set via the input device 42 or the like. The target construction surface may be set (saved) by the operator of the excavator 100, or may be set by a construction manager or the like.

The boom angle sensor S1 is attached to the boom 4 and measures the elevation angle (hereinafter referred to as "boom angle") of the boom 4 with respect to the upper revolving structure 3, for example, the elevation angle of the boom 4 with respect to the turning plane of the upper revolving structure 3 in a side view. Detect the angle formed by the straight line connecting the fulcrums at both ends. The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU (Inertial Measurement Unit), and the like. The boom angle sensor S1 may also include a potentiometer using a variable resistor, a cylinder sensor that detects the stroke amount of the hydraulic cylinder (boom cylinder 7) corresponding to the boom angle, and the like. The same applies to the arm angle sensor S2 and the bucket angle sensor S3 below. A detection signal corresponding to the boom angle by the boom angle sensor S1 is taken into the controller 30.

The arm angle sensor S2 is attached to the arm 5, and measures the rotation angle of the arm 5 with respect to the boom 4 (hereinafter referred to as "arm angle"), for example, when viewed from the side, the arm angle sensor S2 Detect the angle formed by the straight line connecting the supporting points at both ends. A detection signal corresponding to the arm angle by the arm angle sensor S2 is taken into the controller 30.

The bucket angle sensor S3 is attached to the bucket 6, and measures the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter referred to as "bucket angle"), for example, when viewed from the side, the bucket angle sensor S3 measures the rotation angle of the bucket 6 with respect to the arm 5. Detects the angle formed by the straight line connecting the fulcrum and the tip (cutting edge). A detection signal corresponding to the bucket angle by the bucket angle sensor S3 is taken into the controller 30.

The body inclination sensor S4 detects the inclination state of the body (the upper rotating body 3 or the lower traveling body 1) with respect to a horizontal plane. The body inclination sensor S4 is, for example, attached to the revolving upper structure 3, and is configured to measure the inclination angle (hereinafter referred to as "front-rear inclination angle" and "left-right Detect the angle of inclination). The body tilt sensor S4 may include, for example, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU, and the like. A detection signal corresponding to the inclination angle (the longitudinal inclination angle and the left-right inclination angle) by the aircraft inclination sensor S4 is taken into the controller 30.

The turning state sensor S5 outputs detection information regarding the turning state of the upper revolving structure 3. The turning state sensor S5 detects, for example, the turning angular velocity and turning angle of the upper rotating structure 3. The turning state sensor S5 may include, for example, a gyro sensor, a resolver, a rotary encoder, and the like. Detection signals corresponding to the turning angle and turning angular velocity of the upper rotating structure 3 by the turning state sensor S5 are taken into the controller 30. The boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, body tilt sensor S4, and turning state sensor S5 are included in the attitude sensor. The attitude sensor detects not only the toe position of the bucket 6, but also the boom angle, boom angular velocity, boom angular acceleration, and the like.

An imaging device S6 serving as a space recognition device images the surroundings of the excavator 100. The imaging device S6 includes a camera S6F that images the front of the shovel 100, a camera S6L that images the left side of the shovel 100, a camera S6R that images the right side of the shovel 100, and a camera S6B that images the rear side of the shovel 100. .

The camera S6F is attached to the ceiling of the cabin 10, that is, inside the cabin 10, for example. Moreover, the camera S6F may be attached to the outside of the cabin 10, such as the roof of the cabin 10 or the side of the boom 4. The camera S6L is attached to the left end of the upper surface of the revolving upper structure 3, the camera S6R is attached to the right end of the upper surface of the revolving upper structure 3, and the camera S6B is attached to the rear end of the upper surface of the revolving upper structure 3.

The imaging devices S6 (cameras S6F, S6B, S6L, and S6R) are each, for example, a monocular wide-angle camera having a very wide angle of view. Further, the imaging device S6 may be a stereo camera, a distance image camera, or the like. An image captured by the imaging device S6 is taken into the controller 30 via the display device 40.

The imaging device S6 as a space recognition device may function as an object detection device. In this case, the imaging device S6 may detect objects existing around the excavator 100. Objects to be detected may include, for example, people, animals, vehicles, construction machines, buildings, holes, and the like. Further, the imaging device S6 may calculate the distance from the imaging device S6 or the shovel 100 to the recognized object. The imaging device S6 as an object detection device may include, for example, a stereo camera, a distance image sensor, and the like. The space recognition device is, for example, a monocular camera having an image sensor such as a CCD or CMOS, and outputs the captured image to the display device 40. Further, the space recognition device may be configured to calculate the distance from the space recognition device or shovel 100 to the recognized object. Further, in addition to the imaging device S6, other object detection devices such as an ultrasonic sensor, a millimeter wave radar, a LIDAR, an infrared sensor, etc. may be provided as a space recognition device. When using a millimeter wave radar, ultrasonic sensor, laser radar, etc. as a spatial recognition device, multiple signals (laser light, etc.) are emitted to an object, and the reflected signals are received. The distance and direction may also be detected.

Note that the imaging device S6 may be directly communicably connected to the controller 30.

A boom rod pressure sensor S7R and a boom bottom pressure sensor S7B are attached to the boom cylinder 7. An arm rod pressure sensor S8R and an arm bottom pressure sensor S8B are attached to the arm cylinder 8. A bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B are attached to the bucket cylinder 9. Boom rod pressure sensor S7R, boom bottom pressure sensor S7B, arm rod pressure sensor S8R, arm bottom pressure sensor S8B, bucket rod pressure sensor S9R, and bucket bottom pressure sensor S9B are also collectively referred to as "cylinder pressure sensors."

The boom rod pressure sensor S7R detects the pressure in the rod side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure"), and the boom bottom pressure sensor S7B detects the pressure in the bottom side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure"). , "boom bottom pressure"). The arm rod pressure sensor S8R detects the pressure in the rod side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm rod pressure"), and the arm bottom pressure sensor S8B detects the pressure in the bottom side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm rod pressure"). , "arm bottom pressure") is detected. The bucket rod pressure sensor S9R detects the pressure in the rod side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket rod pressure"), and the bucket bottom pressure sensor S9B detects the pressure in the bottom side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket rod pressure"). , "bucket bottom pressure").

The positioning device P1 measures the position and orientation of the upper revolving body 3. The positioning device P1 is, for example, a GNSS (Global Navigation Satellite System) compass, detects the position and orientation of the upper revolving body 3, and a detection signal corresponding to the position and orientation of the upper revolving body 3 is taken into the controller 30. . Further, among the functions of the positioning device P1, the function of detecting the orientation of the upper revolving structure 3 may be replaced by an orientation sensor attached to the upper revolving structure 3.

The communication device T1 communicates with an external device through a predetermined network including a mobile communication network, a satellite communication network, an Internet network, etc., which terminate at a base station. The communication device T1 is, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network. modules, etc.

Next, the basic system of the excavator 100 will be explained with reference to FIG. 2. The basic system of excavator 100 mainly includes engine 11, main pump 14, pilot pump 15, control valve 17, operating device 26, controller 30, engine control unit (ECU) 74, and the like.

The engine 11 is a driving source for the excavator 100, and is, for example, a diesel engine that operates to maintain a predetermined rotation speed. The output shaft of the engine 11 is connected to the input shafts of a main pump 14 and a pilot pump 15.

The main pump 14 is a hydraulic pump that supplies hydraulic oil to the control valve 17 via a high-pressure hydraulic line 16, and is, for example, a swash plate type variable displacement hydraulic pump. The main pump 14 can adjust the stroke length of the piston by changing the angle (tilting angle) of the swash plate, thereby changing the discharge flow rate, that is, the pump output. The swash plate of the main pump 14 is controlled by a regulator 14a. The regulator 14a changes the tilt angle of the swash plate in response to changes in the control current for an electromagnetic proportional valve (not shown). For example, by increasing the control current, the regulator 14a increases the tilt angle of the swash plate, thereby increasing the discharge flow rate of the main pump 14. Furthermore, by decreasing the control current, the regulator 14a decreases the tilt angle of the swash plate, thereby decreasing the discharge flow rate of the main pump 14.

The pilot pump 15 is a hydraulic pump for supplying hydraulic oil to various hydraulic control devices via the pilot line 25, and is, for example, a fixed displacement hydraulic pump.

Control valve 17 is a hydraulic control valve. The control valve 17 controls, for example, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a traveling hydraulic motor 1L (for left), a pressure change according to the operation direction and operation amount of levers or pedals 26A to 26C, which will be described later. Hydraulic oil supplied from the main pump 14 through the high-pressure hydraulic line 16 is selectively supplied to one or more of the travel hydraulic motor 1R (right) and the swing hydraulic motor 2A. In the following explanation, the boom cylinder 7, arm cylinder 8, bucket cylinder 9, travel hydraulic motor 1L (for left), travel hydraulic motor 1R (for right), and swing hydraulic motor 2A are collectively referred to as "hydraulic actuator". to be called.

A pressure sensor 51 is connected to an oil chamber on the rod side of the boom cylinder 7 . The pressure sensor 51 detects the pressure on the rod side of the boom cylinder 7. A pressure sensor 52 is connected to the oil chamber on the bottom side of the arm cylinder 8 . The pressure sensor 52 detects the pressure on the bottom side of the arm cylinder 8. A pressure sensor 53 is connected to an oil chamber on the bottom side of the bucket cylinder 9 . The pressure sensor 53 detects the pressure on the bottom side of the bucket cylinder 9.

A pressure sensor 54 and a pressure sensor 55 are connected to the left and right sides of the swing hydraulic motor 2A.

The operating device 26 is a device used by an operator to operate the hydraulic actuator. The operating device 26 supplies hydraulic oil supplied from the pilot pump 15 via the pilot line 25 to the pilot port of the flow control valve corresponding to each of the hydraulic actuators via the pilot line 25a. Note that the pressure of the hydraulic oil supplied to each of the pilot ports is determined according to the direction and amount of operation of the lever or pedal 26A to 26C corresponding to each of the hydraulic actuators. Note that in this embodiment, the operating lever 26A is an operating lever disposed on the right side of the driver's seat for operating the boom 4 and bucket 6. The operating lever 26B is an operating lever disposed on the left side of the driver's seat that operates the arm 5 and the upper revolving body 3.

The controller 30 is a control device for controlling the excavator 100, and is composed of, for example, a computer including a CPU, RAM, ROM, and the like. The CPU of the controller 30 reads programs corresponding to the operations and functions of the shovel 100 from the ROM, loads them into the RAM, and executes the programs, thereby executing processes corresponding to each of the programs.

The controller 30 controls the discharge flow rate of the main pump 14. For example, the control current is changed according to the negative control pressure of a negative control valve (not shown), and the discharge flow rate of the main pump 14 is controlled via the regulator 14a.

The engine control unit (ECU) 74 is a device that controls the engine 11. For example, based on a command from the controller 30, the engine 11 adjusts the fuel injection amount, etc. for controlling the rotation speed of the engine 11 according to the engine rotation speed (mode) set by the operator using the engine rotation speed adjustment dial 75, which will be described later. Output to.

The engine rotation speed adjustment dial 75 is a dial for adjusting the rotation speed of the engine provided in the cabin 10, and in this embodiment, the engine rotation speed can be switched in four stages. That is, the engine speed adjustment dial 75 allows the engine speed to be switched in four stages: SP mode, H mode, A mode, and idling mode. Note that FIG. 2 shows a state in which the SP mode is selected with the engine speed adjustment dial 75.

The SP mode is a rotation speed mode selected when it is desired to give priority to the amount of work, and utilizes the highest engine rotation speed. The H mode is a rotational speed mode selected when it is desired to balance work volume and fuel efficiency, and utilizes the second highest engine rotational speed. The A mode is a rotation speed mode selected when it is desired to operate the excavator 100 with low noise while giving priority to fuel efficiency, and uses the third highest engine rotation speed. The idling mode is a rotation speed mode selected when the engine is desired to be in an idling state, and uses the lowest engine rotation speed. The engine 11 is controlled to a constant rotation speed at the engine rotation speed of the rotation speed mode set by the engine rotation speed adjustment dial 75. Although an example of engine rotation speed adjustment in four stages using the engine rotation speed adjustment dial 75 has been shown here, the adjustment is not limited to four stages and may be in any number of stages.

Further, in the excavator 100, a display device 40 is arranged near the driver's seat in the cabin 10 to assist the driver in driving. The driver can input information and commands to the controller 30 using the input section 420 of the display device 40. Furthermore, by displaying the operating status, control information, and operation analysis information of the excavator 100 on the image display section 41 of the display device 40, information can be provided to the driver.

The display device 40 includes an image display section 41 and an input section 420 (an example of the input device 42 shown in FIG. 1). The display device 40 is fixed to a console in the driver's seat. Generally, the boom 4 is placed on the right side as viewed from the driver seated in the driver's seat, and the driver operates the excavator 100 while visually checking the arm 5 and bucket 6 attached to the tip of the boom 4. There are many things. The right front frame of the cabin 10 is a part that obstructs the driver's view, but in this embodiment, the display device 40 is provided using this part. As a result, the display device 40 is placed in a portion that originally obstructed the driver's view, so the display device 40 itself does not significantly obstruct the driver's view. Although it depends on the width of the frame, the display device 40 may be configured so that the image display section 41 is vertically long so that the entire display device 40 fits within the width of the frame.

The display device 40 of this embodiment has a data accumulation button on the image display section 41 for accumulating data of the excavator 100. Further, the display device 40 has an evaluation start button on the image display unit 41 that analyzes the accumulated data of the shovel 100, executes an operator operation skill evaluation, and displays the analysis result. Note that the data accumulation button and the evaluation start button are not limited to being provided on the image display section 41, and may be provided on any of the input devices 42.

In this embodiment, the display device 40 is connected to the controller 30 via a communication network such as CAN or LIN. Note that the display device 40 may be connected to the controller 30 via a dedicated line.

The display device 40 also includes a conversion processing section 40a that generates an image to be displayed on the image display section 41. The conversion processing section 40a generates an image to be displayed on the image display section 41 based on the output of the controller 30.

Note that the conversion processing unit 40a may be realized as a function of the controller 30 instead of a function of the display device 40.

Further, the display device 40 includes a switch panel as an input section 420. The switch panel is a panel that includes various hardware switches. In this embodiment, the switch panel includes a light switch 42a, a wiper switch 42b, a window washer switch 42c, a screen switching button 42d, and a cursor movement button 42e as hardware buttons. The light switch 42a is a switch for switching on/off a light attached to the outside of the cabin 10. The wiper switch 42b is a switch for switching between operating and stopping the wiper. Further, the window washer switch 42c is a switch for injecting window washer fluid. The screen switching button 42d is a button for switching the screen displayed on the image display section 41 of the display device 40. The cursor movement button 42e is a button for moving a selection area (cursor area) displayed on the image display section 41 of the display device 40 to select/determine various setting items.

Further, the display device 40 operates by receiving power from the storage battery 70. Note that the storage battery 70 is charged with electric power generated by the alternator 11a (generator) of the engine 11. The power of the storage battery 70 is also supplied to electrical components 72 and the like of the excavator 100 other than the controller 30 and the display device 40. Further, the starter 11b of the engine 11 is driven by electric power from the storage battery 70 to start the engine 11.

The engine 11 is controlled by the engine control unit (ECU) 74 as described above. The ECU 74 constantly transmits various data indicating the state of the engine 11 (for example, data indicating the cooling water temperature (physical quantity) detected by the water temperature sensor 11c) to the controller 30.

Further, the controller 30 is supplied with various data as described below.

Data indicating the tilt angle of the swash plate is supplied to the controller 30 from the regulator 14a of the main pump 14, which is a variable displacement hydraulic pump. Further, data indicating the discharge pressure of the main pump 14 is sent to the controller 30 from the discharge pressure sensor 14b. Further, an oil temperature sensor 14c is provided in a pipe line between the main pump 14 and a tank in which hydraulic oil sucked by the main pump 14 is stored, and data indicating the temperature of the hydraulic oil flowing through the pipe line is provided. is supplied to the controller 30 from the oil temperature sensor 14c.

Further, when the levers or pedals 26A to 26C are operated, the pilot pressure sent to the control valve 17 through the pilot line 25a is detected by the oil pressure sensors 15a and 15b, and data indicating the detected pilot pressure is supplied to the controller 30. Ru. Furthermore, each pressure value from the pressure sensors 51 to 55 is supplied to the controller 30.

Data indicating the setting state of the engine rotation speed is constantly transmitted from the engine rotation speed adjustment dial 75 to the controller 30.

Further, as described above, the detection signals of the attitude sensors (boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, body tilt sensor S4, and turning state sensor S5) are taken into the controller 30. An image captured by the imaging device S6 is taken into the controller 30 via the display device 40. The detection signals of the cylinder pressure sensors (boom rod pressure sensor S7R, boom bottom pressure sensor S7B, arm rod pressure sensor S8R, arm bottom pressure sensor S8B, bucket rod pressure sensor S9R, bucket bottom pressure sensor S9B) are taken into the controller 30. .

The controller 30 also includes a data storage unit 31 that stores data on the shovel 100 in the storage device 47, a skill evaluation unit 32 that evaluates the operating skills of the operator, and a work determination unit 33 that determines the work process of the shovel 100. It is equipped with

The data storage unit 31 stores data of the shovel 100 in the storage device 47. For example, the detection values of attitude sensors (boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, body tilt sensor S4, and turning state sensor S5) are stored in the storage device 47.

The skill evaluation unit 32 evaluates the operating skill of the operator based on the data of the shovel 100 stored in the storage device 47. Note that the evaluation method will be described later.

The work determination unit 33 determines the work process of the shovel 100 (for example, excavation process, boom raising turning process, earth removal process, boom lowering turning process) based on the data of the shovel 100 stored in the storage device 47.

Next, with reference to FIG. 3, a series of work flows for evaluating the operating skills of the operator in the excavator 100 of this embodiment will be specifically described. FIG. 3 is a flowchart illustrating the operation skill evaluation process of the operator in the excavator 100 of this embodiment.

In step S101, the controller 30 determines whether a data accumulation button for starting data accumulation of the shovel 100 used for evaluating the operator's operating skills has been operated. If the data accumulation button is operated (S101, Yes), the process of the controller 30 proceeds to step S102. If the data accumulation button is not operated (S101, No), the process of the controller 30 repeats step S101.

In step S102, the data storage unit 31 of the controller 30 stores the data of the shovel 100 in the storage device 47.

In step S103, the controller 30 determines whether an evaluation start button for evaluating the operating skill of the operator has been operated. If the evaluation start button is operated (S103, Yes), the process of the controller 30 proceeds to step S104. If the evaluation start button is not operated (S103, No), the process of the controller 30 repeats step S103.

In step S104, the skill evaluation unit 32 of the controller 30 evaluates the operating skill of the operator based on the data of the shovel 100 stored in the storage device 47.

In step S105, the controller 30 causes the display device 40 to display the evaluation result in step S104.

FIG. 4 is an example of a display screen displayed on the display device 40 of the excavator 100 according to the present embodiment.

As shown in FIG. 4, the main screen 410 includes a date and time display area 41a, a driving mode display area 41b, an end attachment display area 41c, an engine control status display area 41e, an engine operating time display area 41f, a cooling water temperature display area 41g, and a fuel It includes a remaining amount display area 41h, a rotation speed mode display area 41i, a hydraulic oil temperature display area 41k, a camera image display area 41m, an orientation display icon 41x, an evaluation result display area 41r, and an improvement suggestion display area 41s.

The date and time display area 41a is an area that displays the current date and time as an image.

The driving mode display area 41b is an area that displays an image of the current driving mode. The travel mode represents the setting state of the travel hydraulic motor using the variable displacement pump. Specifically, the driving mode includes a low speed mode and a high speed mode. Low speed mode is displayed with a mark shaped like a "turtle", and high speed mode is displayed with a mark shaped like a "rabbit".

The end attachment display area 41c is an area that displays an image representing the currently attached end attachment. In the embodiment shown in FIG. 4, a mark shaped like a bucket is displayed.

The engine control state display area 41e is an area where the control state of the engine 11 is displayed as an image. In the embodiment shown in FIG. 4, the driver can recognize that the "automatic deceleration/automatic stop mode" is selected as the control state of the engine 11. Other control states of the engine 11 include "automatic deceleration mode," "automatic stop mode," "manual deceleration mode," and the like.

The engine operating time display area 41f is an area that displays an image of the cumulative operating time of the engine 11. In the embodiment shown in FIG. 4, values are displayed using the unit "hr".

The cooling water temperature display area 41g is an area that displays an image of the current temperature state of the engine cooling water.

The remaining fuel amount display area 41h is an area that displays an image of the remaining amount of fuel stored in the fuel tank.

The rotation speed mode display area 41i is an area where the current rotation speed mode is displayed as an image. The rotation speed modes include, for example, the above-mentioned SP mode, H mode, A mode, and idling mode. In the embodiment shown in FIG. 4, a symbol "SP" representing SP mode is displayed.

The hydraulic oil temperature display area 41k is an area that displays an image of the temperature state of the hydraulic oil in the hydraulic oil tank.

The camera image display area 41m is an area for displaying a camera image. In this embodiment, the excavator includes an imaging device S6 (see FIG. 1) for imaging a portion other than the driver's field of view. The imaging device S6 sends the captured camera image to the conversion processing unit 40a of the display device 40. Thereby, the driver can visually recognize the camera image captured by the imaging device S6 on the main screen 410 of the display device 40.

The orientation display icon 41x is an icon that represents the relative relationship between the orientation of the imaging device S6 that captured the captured image displayed on the display screen and the orientation of the shovel 100 (the attachment of the upper revolving structure 3).

In the evaluation result display area 41r, the evaluation results of the skill evaluation section 32 are displayed. For example, in the evaluation result display area 41r, a message indicating the evaluation result is displayed, such as "The runout in the downward turn is large."

In the improvement proposal display area 41s, operation improvement proposals and their effects on the evaluation results of the skill evaluation section 32 are displayed. For example, in the improvement suggestion display area 41s, a message indicating an operation improvement suggestion and its effects is displayed, such as "Reducing shake will improve positioning. Reduce fatigue." Note that, for example, the storage device 47 stores a map showing the correspondence between evaluation results, operation improvement proposals, and their effects. The skill evaluation unit 32 can determine operation improvement plans and their effects based on the evaluation results and the map stored in the storage device 47.

Next, a method for evaluating the operator's operating skills in the skill evaluation section 32 will be described using FIGS. 5 to 7 as examples.

FIG. 5 is a graph showing changes in the roll angle and pitch angle during operation of the excavator 100. FIG. 5A shows an example where the operator is a veteran (operator with high skill evaluation). FIG. 5(b) shows an example where the operator is a beginner (operator with low skill evaluation). The horizontal axis shows time and the vertical axis shows angle. Further, the solid line indicates the roll angle (101, 103), and the broken line indicates the pitch angle (102, 104). Note that the roll angle and pitch angle are detected by an attitude sensor (eg, body tilt sensor S4).

First, the work determination unit 33 determines the work process of the shovel 100 (e.g., excavation process, boom raising turning process, earth removal process, boom lowering turning process) based on the data of the shovel 100 accumulated in the storage device 47. do. The skill evaluation unit 32 evaluates the operating skill of the operator for each operation process of the shovel 100.

As shown in FIG. 5(a), in the boom raising and turning step of a veteran operator, as the upper revolving body 3 rotates, the roll angle 101, which is the inclination of the upper revolving body 3 in the left-right direction, increases. In addition, due to the boom raising operation, the pitch angle 102, which is the inclination of the upper revolving structure 3 in the longitudinal direction, decreases.

Further, in the earth removal process performed by a veteran operator, by smoothly turning the machine to the earth removal position, side-to-side shaking (fluctuations in the roll angle 101) is reduced. Further, the earth removal operation causes longitudinal shaking (fluctuation of pitch angle 102).

Further, in the boom lowering and turning process of the veteran operator, the roll angle 101 decreases in the opposite direction to the boom raising and turning process due to the turning operation. Furthermore, during the boom lowering operation, there is almost no variation in the pitch angle 102 direction.

On the other hand, as shown in FIG. 5(b), in the boom raising and turning step, a novice operator does not know the amount of turning operation, so the number of return operations of the operating lever is large, and the roll angle 103 fluctuates little by little. Furthermore, since the amount by which the boom is raised is unknown, the operation lever must be returned many times, and the pitch angle 104 fluctuates in small increments.

Furthermore, when a novice operator moves the bucket 6 to the soil unloading position, the position is not fixed and the pitch angle 104 fluctuates little by little. Further, when the arm 5 and the bucket 6 are opened to perform the soil removal operation, the lever operation is awkward and the pitch angle 104 swings little by little.

Further, when a novice operator moves the bucket 6 to the next excavation position in the boom lowering and turning process, the position is not fixed and the pitch angle 104 fluctuates little by little. Further, since the boom lowering operation and the turning operation cannot be performed simultaneously, the number of return operations of the operating lever is large, and the pitch angle 104 fluctuates little by little.

FIG. 6 is a schematic diagram showing the trajectory of the toe of the bucket 6 when the excavator 100 is working. FIG. 6(a) is a plan view, and FIG. 6(b) is a side view. Further, a trajectory 105 of a veteran operator is shown by a solid line, and a trajectory 106 of a novice operator is shown by a broken line. Note that the toe trajectory of the bucket 6 is detected by attitude sensors (eg, boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, and swing state sensor S5).

The novice operator's trajectory 106 will be explained in comparison with the veteran operator's trajectory 105. In the novice operator's trajectory 106, the operator turned at a lower position than the veteran operator's trajectory 105 because the swivel lever was pushed too far during the boom raising and turning process from the excavation position P1. For this reason, since the boom is suddenly raised after stopping its rotation, the boom overshoots the height of the soil unloading position. In the trajectory 106 of the novice operator, the operator turns in the direction of the dump truck DT with the boom 4 raised too high. At this time, the vibration of the shovel 100 also increases because the center of gravity of the bucket 6 loaded with earth and sand becomes higher. Furthermore, in the trajectory 106 of the novice operator, the operator cannot stop at the earth unloading position even when turning, and a return operation occurs.

Figure 7 is a graph showing the change over time in the swing speed during the boom-raising swing process of the excavator 100. The horizontal axis shows time, and the vertical axis shows the swing angle. The trajectory 107 of the veteran operator is shown by a solid line, and the trajectory 108 of the novice operator is shown by a dashed line.

The novice operator's trajectory 108 will be explained in comparison with the veteran operator's trajectory 107. In the trajectory 108 of the novice operator, since the operator is unable to properly stop the rotation at the soil unloading position, a reverse rotation operation occurs. That is, the turning speed ω takes a negative value. Furthermore, due to the occurrence of the return operation, the time t2 required to move to the soil unloading position becomes longer than the time t1 for a veteran operator.

As shown in FIGS. 5 to 7, the work determination unit 33 of the controller 30 determines a work process (for example, an excavation process, a boom raising and turning process, an earth removal process, and a boom lowering and turning process). The skill evaluation unit 32 of the controller 30 can evaluate the operating skill of the operator based on the detection signals of the attitude sensors (S1 to S5) of the excavator 100. Here, the skill evaluation is performed for each work process of the shovel 100.

For example, in the example shown in FIG. 5, the skill evaluation unit 32 detects pitch angle and roll angle vibrations based on data from the aircraft tilt sensor S4. The skill evaluation unit 32 counts the number of times the pitch angle and roll angle exceed the threshold values 111 and 112, and evaluates the skill of the operator based on the counted number. Alternatively, the time differential values of the pitch angle and roll angle may be determined, and the skill may be evaluated based on the number of times the time differential value exceeds a threshold value. Alternatively, the skill may be evaluated based on the maximum absolute value of the time differential value.

For example, in the examples shown in FIGS. 6 and 7, the skill evaluation unit 32 determines whether a returning operation has occurred based on data from the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, and swing state sensor S5. Detects whether or not the return operation is performed, the number of return operations, the return amount of the return operation, etc. The skill evaluation unit 32 evaluates the operator's skill based on whether a return operation has occurred, the number of return operations, the amount of return of the return operation, and the like. Further, re-insertion of the operating lever may be detected based on the time differentiation of the detection values of the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, and swing state sensor S5, and the skill of the operator may be evaluated.

Although not shown, in the leveling operation (finishing process) of floor excavation, the skill evaluation unit 32 uses data from the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, and swing state sensor S5. , the toe trajectory of the bucket 6 is detected. The skill evaluation unit 32 may evaluate the operator's skill based on the detected levelness of the toe trajectory of the bucket 6.

As described above, according to the excavator 100 according to the present embodiment, the skill of the operator can be suitably evaluated. Furthermore, the evaluation results are displayed on the display device 40. This allows the operator to check the state of his or her operating skills. Further, the improvement plan is displayed on the display device 40 together with the evaluation results. This allows the operator to check how to improve the operation, which can be useful for improving the operation skills.

Although the embodiments of the shovel 100 have been described above, the present invention is not limited to the above embodiments, etc., and various modifications and improvements can be made within the scope of the gist of the present invention as described in the claims. is possible.

Although the skill evaluation unit 32 and the work determination unit 33 have been described as being provided in the controller 30 of the excavator 100, they are not limited thereto. The configuration may be such that the management device of the shovel 100 is provided with the skill evaluation section 32 and the work determination section 33. That is, the data storage unit 31 of the shovel 100 stores the data of the shovel 100 in the storage device 47. The accumulated data of the shovel 100 is output to the management device of the shovel 100, for example, via the communication device T1. The skill evaluation unit 32 of the management device for the shovel 100 may evaluate the operating skill of the operator based on the input data of the shovel 100. Further, the work determination unit 33 of the management device of the shovel 100 may determine the work process of the shovel 100 based on the input data of the shovel 100.

100 Excavator 1 Lower traveling body 2 Swivel mechanism 3 Upper rotating body 4 Boom 5 Arm 6 Bucket 30 Controller 31 Data storage section 32 Skill evaluation section 33 Work judgment section 40 Display device 47 Storage device S1 Boom angle sensor (acceleration sensor)
S2 Arm angle sensor (acceleration sensor)
S3 Bucket angle sensor (acceleration sensor)
S4 Aircraft tilt sensor (acceleration sensor)
S5 Turning state sensor (acceleration sensor)

Claims (7)

a lower running body;
an upper rotating body;
an attachment attached to the upper revolving body;
an acceleration sensor provided in at least one of the lower traveling body, the upper revolving body, and the attachment;
an operating device that operates a hydraulic actuator that rotates the upper rotating body and/or operates the attachment;
comprising a control device;
The control device includes:
a skill evaluation unit that evaluates the skill of the operator after the work, based on accumulated data of the shovel detected by the acceleration sensor during work of the shovel in which the operator operates the operating device;
shovel. The skill evaluation department is
Evaluating the skill of the operator for each work process of the excavator;
The excavator according to claim 1. The skill evaluation department is
Evaluating the skill of the operator based on the number of times the detected value of the acceleration sensor exceeds a threshold;
The excavator according to claim 1 or claim 2. the attachment has a bucket;
The skill evaluation department is
evaluating the skill of the operator based on the toe trajectory of the bucket;
The excavator according to any one of claims 1 to 3 . The skill evaluation department is
Evaluating the skill of the operator based on the rotation speed of the upper rotating body;
The excavator according to any one of claims 1 to 4 . The control device includes:
a work determination unit that determines a work process of the shovel based on a detected value of the acceleration sensor;
The excavator according to claim 2. a lower running body;
an upper rotating body;
an attachment attached to the upper revolving body;
an acceleration sensor provided in at least one of the lower traveling body, the upper revolving body, and the attachment;
an operating device that operates a hydraulic actuator that rotates the upper rotating body and/or operates the attachment;
A management device for managing an excavator comprising a control device,
The management device includes:
a skill evaluation unit that evaluates the skill of the operator after the work based on accumulated data of the shovel detected by the acceleration sensor during work of the shovel in which the operator operates the operating device;
Excavator management device.

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