WO2023281988A1 - Système de machine de travail - Google Patents

Système de machine de travail Download PDF

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Publication number
WO2023281988A1
WO2023281988A1 PCT/JP2022/023601 JP2022023601W WO2023281988A1 WO 2023281988 A1 WO2023281988 A1 WO 2023281988A1 JP 2022023601 W JP2022023601 W JP 2022023601W WO 2023281988 A1 WO2023281988 A1 WO 2023281988A1
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WO
WIPO (PCT)
Prior art keywords
amount
bucket
earth
controller
sand
Prior art date
Application number
PCT/JP2022/023601
Other languages
English (en)
Japanese (ja)
Inventor
展弘 福尾
耕治 山下
大輔 野田
Original Assignee
コベルコ建機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by コベルコ建機株式会社 filed Critical コベルコ建機株式会社
Priority to EP22837406.2A priority Critical patent/EP4345218A1/fr
Priority to CN202280044955.XA priority patent/CN117561358A/zh
Publication of WO2023281988A1 publication Critical patent/WO2023281988A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/267—Diagnosing or detecting failure of vehicles

Definitions

  • the present invention relates to a work machine system for automatic operation of work machines.
  • Patent Literature 1 discloses a working machine that calculates the load of a work object held by a tip attachment based on thrust force information of an actuator, and estimates whether or not a load has been spilled during transportation of the work object. It is
  • the amount of the work object held by the tip attachment will be less than the target value at the time the tip attachment releases the work object.
  • An object of the present invention is to provide a work machine system that can identify factors that cause the amount of work objects held by the tip attachment to be less than the target value.
  • a work machine system includes a lower traveling body, an upper revolving body rotatably attached to an upper portion of the lower traveling body, and a tip attachment capable of holding a work object.
  • a rotatably mounted attachment a controller, wherein the controller directs the upper rotating bed and the attachment such that the upper rotating bed and the attachment perform a series of motions having a plurality of phases of motion; to detect the amount of the work object held by the tip attachment, set a target amount that is the target amount of the work object, and control the amount of the work object held by the tip attachment to the above
  • the operating phases less than the target amount are identified as abnormal phases.
  • the upper rotating body and the attachment are controlled so that they perform a series of motions having multiple motion phases. Then, an operation phase in which the amount of the work object held by the tip attachment is less than the target amount is specified as an abnormal phase. Therefore, an operation phase in which the amount of the work object held by the tip attachment is smaller than the target value can be specified from among the plurality of operation phases. Thereby, it is possible to identify the factor that the amount of the work object held by the tip attachment is less than the target value. For example, in a series of operations including excavation, scooping up, lifting and turning, and earth dumping, if a load spills during turning and the amount of earth and sand becomes less than the target amount, turning is regarded as an abnormal phase. identified. Also, when the excavated amount of earth and sand is less than the target amount, excavation is specified as an abnormal phase.
  • FIG. 1 is a circuit diagram of a work machine and a cockpit;
  • FIG. It is a figure showing the time change of the amount of earth and sand which a bucket holds, and is a figure in the case of excavation being an abnormal phase.
  • FIG. 4 is a diagram showing changes over time in the amount of earth and sand held by the bucket, and is a diagram when the amount of earth and sand that the bucket is trying to hold is not sufficient.
  • a work machine system is a system for automatic operation of a work machine.
  • This working machine system includes a working machine 20 and a cockpit 71 .
  • the working machine 20 is a machine that performs work with an attachment 30, such as a hydraulic excavator.
  • the working machine 20 has a machine main body 24 having a lower travel body 21 and an upper revolving body 22 , an attachment 30 and a cylinder 40 .
  • the lower traveling body 21 is a part that allows the working machine 20 to travel, and includes, for example, crawlers.
  • the upper revolving body 22 is rotatably attached to the upper part of the lower traveling body 21 via a revolving device 25 .
  • a cab (driver's cab) 23 is provided in the front portion of the upper revolving body 22 .
  • the attachment 30 is attached to the upper rotating body 22 so as to be rotatable around a vertically extending rotating shaft.
  • the attachment 30 has a boom 31 , an arm 32 and a bucket 33 .
  • the boom 31 is attached to the upper revolving body 22 so as to be vertically rotatable (up and down).
  • the arm 32 is attached to the boom 31 so as to be vertically rotatable.
  • the bucket 33 is a tip attachment that is the tip of the attachment 30 and can hold earth and sand (work target).
  • the bucket 33 is attached to the arm 32 so as to be rotatable in the front-rear direction.
  • the bucket 33 is a part for excavating, smoothing, scooping, and the like.
  • the object to be worked held by the bucket 33 is not limited to earth and sand, and may be stones or waste (industrial waste, etc.).
  • the tip attachment is not limited to the bucket 33, but may be a grapple, a lifting magnet, or the like.
  • the cylinder 40 can hydraulically rotate the attachment 30 .
  • the cylinder 40 is a hydraulic telescopic cylinder.
  • the cylinder 40 includes a boom cylinder 41 , an arm cylinder 42 and a bucket cylinder 43 .
  • the boom cylinder 41 rotates the boom 31 with respect to the upper swing body 22 .
  • a base end portion of the boom cylinder 41 is rotatably attached to the upper swing body 22 .
  • a tip portion of the boom cylinder 41 is rotatably attached to the boom 31 .
  • the arm cylinder 42 rotates the arm 32 with respect to the boom 31 .
  • a base end of the arm cylinder 42 is rotatably attached to the boom 31 .
  • a tip portion of the arm cylinder 42 is rotatably attached to the arm 32 .
  • the bucket cylinder 43 rotates the bucket 33 with respect to the arm 32 .
  • a base end of the bucket cylinder 43 is rotatably attached to the arm 32 .
  • a tip portion of the bucket cylinder 43 is rotatably attached to a link member 34 rotatably attached to the bucket 33 .
  • the working machine 20 also has an angle sensor 52 and an inclination sensor 60 .
  • the angle sensor 52 detects the turning angle of the upper turning body 22 with respect to the lower traveling body 21 .
  • the angle sensor 52 is, for example, an encoder, resolver, or gyro sensor.
  • the turning angle of the upper turning body 22 when the front of the upper turning body 22 coincides with the front of the lower traveling body 21 is 0°.
  • the tilt angle sensor 60 detects the orientation of the attachment 30 .
  • the tilt angle sensor 60 includes a boom tilt angle sensor 61 , an arm tilt angle sensor 62 and a bucket tilt angle sensor 63 .
  • a boom tilt angle sensor 61 is attached to the boom 31 and detects the attitude of the boom 31 .
  • the boom tilt angle sensor 61 is a sensor that acquires the tilt angle of the boom 31 with respect to the horizontal line, and is, for example, a tilt sensor (acceleration sensor).
  • the boom tilt angle sensor 61 may be a rotation angle sensor that detects the rotation angle of the boom foot pin (boom base end) or a stroke sensor that detects the stroke amount of the boom cylinder 41 .
  • the arm tilt angle sensor 62 is attached to the arm 32 and detects the posture of the arm 32 .
  • the arm tilt angle sensor 62 is a sensor that acquires the tilt angle of the arm 32 with respect to the horizontal line, and is, for example, a tilt sensor (acceleration sensor).
  • the arm tilt angle sensor 62 may be a rotation angle sensor that detects the rotation angle of the arm connecting pin (arm proximal end) or a stroke sensor that detects the stroke amount of the arm cylinder 42 .
  • the bucket tilt angle sensor 63 is attached to the link member 34 and detects the attitude of the bucket 33 .
  • the bucket tilt angle sensor 63 is a sensor that acquires the tilt angle of the bucket 33 with respect to the horizontal line, and is, for example, a tilt sensor (acceleration sensor).
  • the bucket tilt angle sensor 63 may be a rotation angle sensor that detects the rotation angle of the bucket connecting pin (bucket proximal end) or a stroke sensor that detects the stroke amount of the bucket cylinder 43 .
  • the work machine 20 has a LiDAR55.
  • the LiDAR 55 Light Detection and Ranging or Laser Imaging Detection and Ranging
  • the LiDAR 55 acquires point cloud data indicating the distance from the position where the LiDAR 55 is attached to the dirt in the bucket 33 .
  • a stereo camera, a TOF (Time Of Flight) sensor, or the like may be used instead of the LiDAR 55 .
  • Such a working machine 20 is remotely taught by an operator from a cockpit 71 installed at a location away from the working machine 20 .
  • the work machine 20 performs automatic operation based on the content of the work that has been taught.
  • the working machine system includes a controller.
  • the controller of this work machine system includes control means, quantity detection means, target quantity setting means, identification means, and notification means.
  • the controllers of the work machine system include a work machine controller 11 provided in the work machine 20 and a cockpit controller 72 provided in the cockpit 71 .
  • FIG. 2 is a circuit diagram of the work machine 20 and the cockpit 71, the work machine 20 has the work machine controller 11, the work machine communication device 12, and the storage device 13.
  • Information regarding the turning angle (attitude) of the upper rotating body 22 with respect to the lower traveling body 21 detected by the angle sensor 52 is input to the controller 11 . Further, the controller 11 receives information regarding the posture of the boom 31 detected by the boom tilt angle sensor 61 . Further, the controller 11 receives information regarding the posture of the arm 32 detected by the arm tilt angle sensor 62 . In addition, information regarding the attitude of the bucket 33 detected by the bucket tilt angle sensor 63 is input to the controller 11 .
  • the point cloud data acquired by the LiDAR 55 is input to the controller 11 .
  • the controller 11 operates the turning device 25 and the attachment 30 based on the work content taught from the cockpit 71 .
  • the work machine side communication device 12 can communicate with a later-described cockpit side communication device 74 of the cockpit 71 .
  • the storage device 13 stores the contents of work remotely taught from the cockpit 71 .
  • the cockpit 71 has the cockpit-side controller 72 , an operating device 73 , a cockpit-side communication device 74 and a display 75 .
  • the operating device 73 includes devices necessary for remotely operating the working machine 20, such as operating levers and operating buttons.
  • the cockpit-side communication device 74 can communicate with the work-machine-side communication device 12 of the work machine 20 .
  • the work machine 20 When performing teaching from the cockpit 71, the work machine 20 is set to the teaching mode by remote control from the cockpit 71.
  • the operator remotely controls work machine 20 by operating operation device 73 .
  • the scenery of the car window (scenery outside the window) photographed by the camera provided in the cab 23 of the work machine 20 is displayed on the display 75 .
  • Operation contents by remote operation are stored in the storage device 13 .
  • the work machine 20 is set to the automatic operation mode by remote control from the cockpit 71 .
  • the work machine 20 When the work machine 20 is set to the automatic operation mode, the work machine 20 automatically operates. That is, the controller 11 of the work machine 20 automatically operates the work machine 20 by controlling the operations of the upper revolving body 22 and the attachment 30 based on the taught work content (the work content stored in the storage device 13). .
  • the content of the automatic operation performed by the work machine 20 is to excavate the earth and sand from the earth and sand pit (not shown) with the bucket 33 and move the upper revolving body 22 to the dump truck (not shown) while holding the earth and sand. After the earth is dumped onto the loading platform (not shown) of the dump truck, the upper rotating body 22 is rotated toward the earth and sand pit.
  • a series of actions by automated driving has multiple action phases.
  • a plurality of operation phases include excavating, scooping, lifting and turning, and earth discharging.
  • the controller 11 controls the upper slewing body 22 and the attachment 30 so that the upper slewing body 22 and the attachment 30 perform a series of operations having a plurality of operation phases.
  • the controller 11 detects the amount of earth and sand held by the bucket 33 . Specifically, the controller 11 detects the shape of the earth and sand in the bucket 33 from the point cloud data acquired by the LiDAR 55, for example. The controller 11 then calculates the amount of earth and sand in the bucket 33 from the shape of the earth and sand in the bucket 33 .
  • the method by which the controller 11 detects the amount of earth and sand is not limited to the above specific example.
  • the controller 11 may detect the amount of earth and sand in the bucket 33 using, for example, the measurement result of a pressure sensor (not shown) that measures the pressure of the boom cylinder 41 .
  • the controller 11 sets a target amount, which is a target amount of earth and sand.
  • the target amount is set via the cockpit 71 during teaching.
  • the set target amount is stored in the storage device 13 .
  • the controller 11 (the means for identifying the controller) identifies an operation phase in which the amount of earth and sand held by the bucket 33 is less than the target amount as an abnormal phase.
  • the controller 11 detects an abnormality based on whether each of the amount of earth and sand held by the bucket 33 at the start point of the operation phase and the amount of earth and sand held by the bucket 33 at the end point of the operation phase is less than the target amount. Identify phases. That is, the controller 11 determines whether the amount of earth and sand held by the bucket 33 is less than the target amount at the start point of the operation phase, and determines whether the amount of earth and sand held by the bucket 33 is less than the target amount at the end point of the operation phase. It is determined whether or not it is small, and an abnormal phase is specified based on these determination results.
  • Figures 3 and 4 show temporal changes in the amount of earth and sand held by the bucket 33 in each of the operation phases of excavation, scooping up, and lifting and turning.
  • the amount of earth and sand held by the bucket 33 increases from the start point to the end point of the excavation operation phase.
  • the amount of dirt retained by the bucket 33 at the end of the excavation operating phase is less than the target amount indicated by the dashed line.
  • the amount of earth and sand held by the bucket 33 at the start and end points of the operation phase of excavation is less than the target amount, it can be identified that there is a problem with the excavation operation.
  • the bucket 33 is Even if the amount of earth and sand held by the bucket 33 is equal to or greater than the target amount indicated by the dashed line, the amount of earth and sand held by the bucket 33 at the end point of the swing operation phase becomes less than the target amount. In this case, it can be specified that cargo spillage occurred during turning.
  • the controller 11 also controls not only the amount of dirt held by the bucket 33 at the start point of the operation phase and the amount of dirt held by the bucket 33 at the end point of the operation phase, but also the amount of dirt held by the bucket 33 at the intermediate point between the start point and the end point. It may be determined whether the amount of earth and sand held by 33 is less than the target amount. That is, the controller 11 determines the amount of dirt held by the bucket 33 at the start point of the operation phase, the amount of dirt held by the bucket 33 at the end point of the operation phase, and the amount of dirt held by the bucket 33 at the intermediate point between the start point and the end point. An abnormal phase may be identified based on whether each amount of sediment to be measured is less than a target amount.
  • the controller 11 determines whether the amount of earth and sand held by the bucket 33 is less than the target amount at the start point of the operation phase, and determines whether the amount of earth and sand held by the bucket 33 is less than the target amount at the midpoint of the operation phase. It may be determined whether the amount of earth and sand held by the bucket 33 at the end point of the operation phase is less than the target amount, and based on these determination results, the abnormal phase may be specified. .
  • FIG. 5 also shows temporal changes in the amount of earth and sand held by the bucket 33 in each of the operation phases of excavation, scooping up, and lifting and turning.
  • the operation phase is excavation, it is presumed that there is a problem with the excavation operation if the amount of dirt held by the bucket 33 at the end of the operation phase of excavation is less than the target amount.
  • the amount of earth and sand held by the bucket 33 at the midpoint of the excavation operation phase is less than the target amount, and the amount of earth and sand held by the bucket 33 does not change between the midpoint and the end point of the excavation operation phase. to determine that the bucket 33 was not able to hold a sufficient amount of dirt, not because there was a problem with the excavation operation, but because the bucket 33 was not trying to hold enough dirt in the dirt pit. can be done.
  • the respective timings or positions of the start point, middle point and end point of the operation phase may be stored in the storage device 13 at the time of teaching, for example.
  • the controller 11 determines whether the amount of earth and sand is less than the target amount at the start point of the stored operation phase, and determines whether the amount of earth and sand is less than the target amount at the intermediate point of the stored operation phase. It may be determined whether or not the amount of earth and sand at the stored end point is less than the target amount.
  • the operator may use an input device (not shown) to specify the timing of each of the start point, intermediate point, and end point of the operation phase.
  • the controller 11 determines whether the amount of earth and sand is less than the target amount at the start point of the designated operation phase, and determines whether the amount of earth and sand is less than the target amount at the middle point of the designated operation phase. It may be determined whether or not the amount of earth and sand is less than the target amount at the specified end point.
  • the respective timings or positions of the start point, middle point and end point of the operation phase may be determined by other methods than the above two specific examples.
  • an operation phase in which the amount of earth and sand held by the bucket 33 is less than the target amount is identified as an abnormal phase. Therefore, an operation phase in which the amount of earth and sand held by the bucket 33 is less than the target value can be specified from among the plurality of operation phases. This makes it possible to identify the factor that causes the amount of earth and sand held by the bucket 33 to be less than the target value. For example, as shown in FIG. 4, when cargo spillage occurs during turning and the amount of earth and sand becomes less than the target amount, the turning is identified as an abnormal phase. Further, as shown in FIG. 3, when the excavated amount of earth and sand is less than the target amount, excavation is specified as an abnormal phase.
  • an abnormal A phase is identified. This makes it possible to preferably identify the factor that causes the amount of earth and sand held by the bucket 33 to be less than the target value.
  • the amount of earth and sand held by the bucket 33 at the start point of a certain operation phase is equal to or greater than the target amount and the amount of earth and sand held by the bucket 33 at the end point of this operation phase is less than the target amount, during this operation phase It can be identified that a cargo spill occurred in Further, if the operation phase is an operation phase (excavation) for holding earth and sand, and the amounts of earth and sand held by the bucket 33 at the start and end points of this operation phase are each less than the target amount, there is a problem with the operation for holding earth and sand. It can be specified that there is
  • An abnormal phase may be identified based on whether each of the amounts of sediment held by is less than a target amount. This makes it possible to specify in detail the factors that cause the amount of earth and sand held by the bucket 33 to be less than the target value. For example, as shown in FIG. 5, it is possible to specify that the bucket 33 could not hold a sufficient amount of earth and sand because the amount of earth and sand that the bucket 33 is trying to hold in the earth and sand pit is not sufficient.
  • information on the abnormal phase is stored in the storage device 13 and sent to the cockpit 71 together with the identification number of the work machine 20.
  • the cockpit-side controller 72 (notifying means of the controller) notifies the abnormal phase.
  • cockpit-side controller 72 causes display 75 to display information on the abnormal phase together with the identification number of work machine 20 .
  • This allows the operator to recognize the factor that causes the amount of earth and sand held by the bucket 33 of the relevant work machine 20 to be less than the target value. Accordingly, the operator can teach the work machine 20 again to correct the operations of the upper rotating body 22 and the attachment 30 so that the amount of earth and sand held by the bucket 33 is equal to or greater than the target value. can be done.
  • the abnormal phase identified by the controller 11 is stored in the storage device 13 while the predetermined period has elapsed.
  • the predetermined period is a period longer than the series of operations is performed once.
  • the abnormal phase information stored in the storage device 13 is transmitted to the cockpit 71 and notified by the cockpit controller 72 .
  • the frequency of notification can be reduced compared to the case where the abnormal phase is notified each time the abnormal phase is identified.
  • the operator can concentrate on other work, thereby suppressing a decrease in the efficiency of the operator.
  • the abnormal phase specified by the controller 11 continues to be stored in the storage device 13 until the operator who operates the equipment in the cockpit 71 performs a specific operation. Information of all abnormal phases that have been reported may be reported. According to this, it is possible to make the notification at the operator's desired timing.
  • the upper revolving body 22 and the attachment 30 are arranged such that the upper revolving body 22 and the attachment 30 perform a series of operations having a plurality of operation phases. controlled.
  • An operation phase in which the amount of earth and sand held by the bucket 33 is less than the target amount is specified as an abnormal phase. Therefore, an operation phase in which the amount of earth and sand held by the bucket 33 is less than the target value can be specified from among the plurality of operation phases. This makes it possible to identify the factor that causes the amount of earth and sand held by the bucket 33 to be less than the target value.
  • the turning is identified as an abnormal phase.
  • excavation is specified as an abnormal phase.
  • an abnormal A phase is identified. This makes it possible to preferably identify the factor that causes the amount of earth and sand held by the bucket 33 to be less than the target value.
  • the amount of earth and sand held by the bucket 33 at the start point of a certain operation phase is equal to or greater than the target amount and the amount of earth and sand held by the bucket 33 at the end point of this operation phase is less than the target amount, during this operation phase It can be identified that a cargo spill occurred in Further, if the operation phase is an operation phase for holding earth and sand, and the amount of earth and sand held by the bucket 33 at the start point and the end point of this operation phase is less than the target amount, respectively, it is determined that there is a problem with the operation for holding earth and sand. can be specified.
  • an abnormal phase is identified based on whether each amount of earth and sand held by is less than the target amount. This makes it possible to specify in detail the factors that cause the amount of earth and sand held by the bucket 33 to be less than the target value.
  • the operation phase is an operation phase that holds earth and sand, and the amount of earth and sand held by the bucket 33 increases from the start point to the middle point of this operation phase.
  • the amount of earth and sand is less than the target amount and there is no change in the amount of earth and sand held by the bucket 33 between the middle point and the end point of this operation phase, the amount of earth and sand that the bucket 33 is trying to hold is not sufficient. Therefore, it can be determined that the bucket 33 could not hold a sufficient amount of earth and sand.
  • the abnormal phase is notified.
  • the operator can recognize the factor that the amount of earth and sand held by the bucket 33 is less than the target value. Therefore, it is possible to modify the operations of the upper rotating body 22 and the attachment 30 so that the amount of earth and sand held by the bucket 33 is equal to or greater than the target value.
  • the abnormal phase stored in the storage device 13 is notified.
  • the frequency of notification can be reduced compared to the case where the abnormal phase is notified each time the abnormal phase is identified.
  • the operator often performs other work while the work machine 20 is being automatically operated. By reducing the frequency of notification, the operator can concentrate on other work, thereby suppressing a decrease in the efficiency of the operator.
  • the work machine system includes the work machine 20 and the cockpit 71, but the cockpit 71 is not an essential component in the work machine system and may be omitted.
  • the cockpit-side controller 72 notifies the operator of the abnormal phase by causing the display 75 of the cockpit 71 to display information on the abnormal phase.
  • the work machine system does not have to be equipped with a cockpit when notifying the operator of the abnormal phase in the machine or equipment.
  • machines other than the cockpit 71 include working machines, and examples of devices other than the cockpit 71 include information devices such as personal computers, servers, and personal digital assistants.
  • the operator remotely teaches the operation (operation) of the work machine 20 from the cockpit 71 installed at a location away from the work machine 20.
  • the operation device in the cab 23 By operating the operation device in the cab 23 from the driver's seat in the cab 23 , the work content may be taught to the work machine 20 .
  • the work machine system does not have to include the cockpit 71 .
  • control means the amount detection means, the target amount setting means, and the specifying means are included in the working machine controller 11. All may be included in the cockpit side controller 72 . Further, in the above embodiment, the notification means is included in the cockpit controller 72, but may be included in the work machine controller 11. FIG. Moreover, the working machine side controller 11 and the cockpit side controller 72 may be configured by one controller. In this case, the working machine 20 may include the one controller, and the cockpit 71 may be the one controller. may be provided.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

L'invention concerne un système de machine de travail qui comprend un corps mobile inférieur (21), un corps rotatif supérieur (22) fixé rotatif à la partie supérieure du corps mobile inférieur (21), un accessoire (30) qui a un godet (33) pouvant maintenir un objet de travail et qui est fixé de façon rotative au corps rotatif supérieur (22), et un dispositif de commande. Le dispositif de commande commande le corps rotatif supérieur (22) et l'accessoire (30) de sorte que le corps rotatif supérieur (22) et l'accessoire (30) réalisent une série d'actions ayant de multiples phases d'action, détecte la quantité de l'objet de travail maintenu par le godet (33), définit une quantité cible, qui est une cible pour la quantité de l'objet de travail, et spécifie une phase d'action pour laquelle la quantité de l'objet de travail maintenue par le godet (33) est inférieure à la quantité cible en tant que phase anormale.
PCT/JP2022/023601 2021-07-09 2022-06-13 Système de machine de travail WO2023281988A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP22837406.2A EP4345218A1 (fr) 2021-07-09 2022-06-13 Système de machine de travail
CN202280044955.XA CN117561358A (zh) 2021-07-09 2022-06-13 工程机械系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021-113918 2021-07-09
JP2021113918A JP2023010087A (ja) 2021-07-09 2021-07-09 作業機械

Publications (1)

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WO2023281988A1 true WO2023281988A1 (fr) 2023-01-12

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PCT/JP2022/023601 WO2023281988A1 (fr) 2021-07-09 2022-06-13 Système de machine de travail

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EP (1) EP4345218A1 (fr)
JP (1) JP2023010087A (fr)
CN (1) CN117561358A (fr)
WO (1) WO2023281988A1 (fr)

Citations (6)

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Publication number Priority date Publication date Assignee Title
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US20140371994A1 (en) * 2013-06-18 2014-12-18 Caterpillar Inc. System and method for dig detection
JP2019157362A (ja) 2018-03-07 2019-09-19 日立建機株式会社 作業機械
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