Excavator, management device for excavator

Abstract

The present invention provides an excavator having: a comparison unit that compares first image data of a bucket in a specified posture taken at a first time point with second image data of the bucket in the specified posture taken at a second time point different from the first time point; and an output unit that outputs based on a comparison result of the comparison unit.

Description

Technical Field

[0001] The present invention relates to an excavator and a management device for an excavator. Background Art

[0002] Conventionally, there has been known an excavator in which, in accordance with an instruction for a specified operation displayed on a display unit in a cab, an operator performs a specified operation, and detection values from sensors during the operator's performance of the specified operation are stored in a storage unit in association with the specified operation (see Patent Document 1). For example, detection values from sensors associated with the specified operation are transmitted to a management device for use in failure diagnosis of the excavator and the like.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2015-63864 Summary of the Invention

[0006] Technical Problem to be Solved by the Invention

[0007] Since the bucket of an excavator is an operating part that comes into contact with a target surface or the like, it is difficult to provide sensors. Conventionally, therefore, the management of the bucket state has been performed by measurement based on the naked eye or by hand, and is complicated.

[0008] Therefore, in view of the above circumstances, an object is to easily grasp the state of the bucket.

[0009] Means for Solving the Technical Problem

[0010] The excavator according to an embodiment of the present invention includes: a comparison unit that compares first image data of a bucket in a specified posture taken at a first time point with second image data of the bucket in the specified posture taken at a second time point different from the first time point; and an output unit that outputs a comparison result based on the comparison unit.

[0011] The excavator according to an embodiment of the present invention includes: a comparison unit that compares first video data of a bucket starting a specified operation at a first time point with second video data of the bucket starting the specified operation at a second time point different from the first time point; and an output unit that outputs a comparison result based on the comparison unit.

[0012] The management device for an excavator according to an embodiment of the present invention includes: a comparison unit that compares first image data of a bucket in a specified posture of the excavator taken at a first time point with second image data of the bucket in the specified posture taken at a second time point different from the first time point; and an output unit that outputs a comparison result based on the comparison unit.

[0013] The management device for an excavator according to an embodiment of the present invention includes: a comparison unit that compares first video data of a bucket of an excavator that starts a specified operation at a first time point with second video data of the bucket that starts the specified operation at a second time point different from the first time point; and an output unit that outputs based on the comparison result of the comparison unit.

[0014] Advantageous Effects of the Invention

[0015] The state of the bucket can be easily grasped. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 FIG. is a side view showing an example of an excavator according to an embodiment of the present invention.

[0017] Figure 2 FIG. is a block diagram showing a structural example of a drive system of an excavator PS.

[0018] Figure 3 FIG. is a diagram for explaining the functions of a controller.

[0019] Figure 4 FIG. is a diagram showing an example of a selection screen of a diagnosis menu displayed on an image display unit.

[0020] Figure 5 FIG. is a flowchart for explaining the processing of a controller 30 in bucket diagnosis.

[0021] Figure 6 FIG. is a first diagram showing an example of output of an analysis result.

[0022] Figure 7 FIG. is a second diagram showing an example of output of an analysis result.

[0023] Figure 8 FIG. is a side view of an excavator showing various physical quantities related to an attachment device.

[0024] Figure 9 FIG. is a timing chart showing the operation of a management system according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0025] (Embodiment)

[0026] Hereinafter, an embodiment will be described with reference to the drawings. Figure 1 FIG. is a side view showing an example of an excavator according to an embodiment of the present invention.

[0027] On the lower traveling body 1 of the excavator PS, an upper slewing body 3 is rotatably mounted via a slewing mechanism 2. An arm 4 is mounted on the upper slewing body 3. A stick 5 is mounted at the front end of the arm 4. As an end-attached accessory (working part), a bucket 6 is mounted at the front end of the stick 5 via a stick top pin P1 and a bucket link pin P2. As an end-attached accessory, a slope bucket, a dredging bucket, a breaker, etc. can be installed.

[0028] The arm 4, the stick 5, and the bucket 6 constitute an excavating accessory. As an example of the accessory, they are hydraulically driven by an arm cylinder 7, a stick cylinder 8, and a bucket cylinder 9 respectively. An arm angle sensor S1 is mounted on the arm 4, a stick angle sensor S2 is mounted on the stick 5, and a bucket angle sensor S3 is mounted on the bucket 6. A bucket tilt mechanism can be provided in the excavating accessory. Sometimes, the arm angle sensor S1, the stick angle sensor S2, and the bucket angle sensor S3 are also referred to as "posture sensors".

[0029] In Figure 1 In the embodiment, the arm angle sensor S1, the stick angle sensor S2, and the bucket angle sensor S3 are each constituted by a combination of an acceleration sensor and a gyro sensor. However, at least one of the arm angle sensor S1, the stick angle sensor S2, and the bucket angle sensor S3 can be constituted only by an acceleration sensor. Also, the arm angle sensor S1 can be a stroke sensor mounted on the arm cylinder 7, or a rotary encoder, a potentiometer, an inertial measurement unit, etc. The same applies to the stick angle sensor S2 and the bucket angle sensor S3.

[0030] On the upper slewing body 3, a power source such as an engine 11 and a vehicle body tilt sensor S4 are mounted and covered by a hood 3a. An object detection device 80 is provided on the upper part of the hood 3a of the upper slewing body 3.

[0031] The object detection device 80 is configured to detect objects existing around the excavator PS. The objects are, for example, humans, animals, vehicles, construction machinery, buildings, walls, fences, or caves, etc. The object detection device 80 is, for example, an ultrasonic sensor, a millimeter-wave radar, a stereo camera, a LIDAR, a distance image sensor, or an infrared sensor, etc.

[0032] In the present embodiment, the object detection device 80 includes a front sensor 80F mounted at the front end of the upper surface of the cab 10, a rear sensor 80B mounted at the rear end of the upper surface of the upper slewing body 3, a left sensor 80L mounted at the left end of the upper surface of the upper slewing body 3, and a right sensor 80R mounted at the right end of the upper surface of the upper slewing body 3.

[0033] The left sensor 80L and the right sensor 80R are arranged at positions more inward than the side surface of the excavator PS so as not to protrude from the side surface of the excavator PS. Further, the rear sensor 80B is arranged at a position more inward than the rear surface of the excavator PS so as not to protrude from the rear surface of the excavator PS.

[0034] The object detection device 80 of the present embodiment can be configured to detect a specified object within a specified area set around the excavator PS. That is, the object detection device 80 can be configured to be able to identify the type of the object. For example, the object detection device 80 can be configured to be able to distinguish a human body and an object other than a human body.

[0035] On the upper swing body 3, there is provided a cab 10 serving as a driver's cab. On the top of the cab 10, there are provided a GPS device (GNSS receiver) G1 and a transmission device T1. The GPS device (GNSS receiver) G1 detects the position of the excavator PS through the GPS function and provides position data to the equipment guidance device 50 within the controller 30. The transmission device T1 transmits information to the outside of the excavator PS. The transmission device T1 transmits, for example, information that can be received by a management device 90 described later. Further, within the cab 10, there are provided a controller 30, a display device 40, a sound output device 43, an input device 45, and a storage device 47.

[0036] The controller 30 functions as a main control unit for performing drive control of the excavator PS. The controller 30 is composed of an arithmetic processing device including a CPU and an internal memory. Various functions of the controller 30 are realized by the CPU executing a program stored in the internal memory.

[0037] The controller 30 also functions as an equipment guidance device 50 for guiding the operation of the excavator PS. The equipment guidance device 50 notifies, for example, an operator of operation information such as the distance between the target surface, which is the surface of the target terrain set by the operator, and the working part of the attachment. The distance between the target surface and the working part of the attachment is, for example, the distance between the front end (tip) of the bucket 6 serving as an end attachment, the back surface of the bucket 6, the front end of a breaker serving as an end attachment, etc. and the target surface. The equipment guidance device 50 notifies the operator of the operation information through the display device 40 or the sound output device 43, etc., and guides the operation of the excavator PS.

[0038] In the present embodiment, the equipment guidance device 50 is assembled into the controller 30, but the equipment guidance device 50 and the controller 30 may also be provided separately. In this case, similar to the controller 30, the equipment guidance device 50 is composed of an arithmetic processing device including a CPU and an internal memory. Various functions of the equipment guidance device 50 are realized by the CPU executing a program stored in the internal memory.

[0039] The display device 40 displays an image including various operation information according to an instruction from the device guidance device 50 included in the controller 30. The display device 40 is, for example, an in-vehicle liquid crystal display connected to the device guidance device 50.

[0040] The sound output device 43 outputs various sound information according to a sound output instruction from the device guidance device 50 included in the controller 30. The sound output device 43 includes, for example, an in-vehicle speaker connected to the device guidance device 50. Further, the sound output device 43 may include an alarm such as a buzzer.

[0041] The input device 45 is a device for an operator of the excavator PS to input various information to the controller 30 including the device guidance device 50. The input device 45 is configured to include, for example, a membrane switch provided on the surface of the display device 40. Further, the input device 45 may be configured to include a touch panel or the like.

[0042] The storage device 47 is a device for storing various information. The storage device 47 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 stores various information output from the controller 30 including the device guidance device 50 and the like.

[0043] The door lock lever 49 is provided between the door of the cab 10 and the driver's seat and is a mechanism for preventing the excavator PS from being accidentally operated. The controller 30 performs the following control: in a state where the door lock lever 49 is pressed, the door lock valve 49a (refer to Figure 2 ) is set to the "closed" state, and in a state where the door lock lever 49 is pulled up, the door lock valve 49a is set to the "open" state.

[0044] The door lock valve 49a is a switching valve provided in an oil passage between the control valve 17 and the operation levers 26A to 26C (refer to Figure 2 ) and the like. Further, the door lock valve 49a has a structure that is opened and closed by an instruction from the controller 30, but may also have a structure that is mechanically connected to the door lock lever 49 and is opened and closed according to the operation of the door lock lever 49.

[0045] When the door lock valve 49a is in the "closed" state, the flow of the working oil between the control valve 17 and the operation levers 26A to 26C and the like is cut off and the operations of the operation levers 26A to 26C and the like are invalidated. Further, when the door lock valve 49a is in the "open" state, the working oil is communicated between the control valve 17 and the operation levers and the like, and the operations of the operation levers 26A to 26C and the like are made effective. That is, when the operator sits on the driver's seat and pulls up the door lock lever 49, it becomes a state (unlocked state) where the operator cannot exit from the cab 10 but can operate various operating devices 26 (refer to Figure 2 ). When the operator presses the door lock lever 49, it becomes a state (locked state) where the operator can exit from the cab 10 but cannot operate various operating devices 26.

[0046] The sound collection device 92 is disposed outside the cab 10 and includes an external microphone for collecting the surrounding sounds of the cab 10, namely, a left microphone 92L, a right microphone 92R, a rear microphone 92B, and a front microphone 92F.

[0047] The sound collection device 92 of the present embodiment can start collecting sounds at the same time point as the time point when the object detection device 80 acquires data around the excavator PS.

[0048] The sound data collected by the sound collection device 92 can be output together with the data acquired by the object detection device 80. Specifically, for example, the sound data can be played in coordination with the image data (still image data or video data) captured by the object detection device 80.

[0049] The image data captured by the object detection device 80 is, for example, image data of the operation of the bucket 6. In the present embodiment, in this way, by playing the operation of the excavator PS in coordination with the sound data, professionals who perform maintenance on the excavator PS can confirm the states of the bucket 6 and the like of the excavator PS.

[0050] In addition, the sound collection device 92 is disposed inside the cab 10 and includes an internal microphone 92I for collecting the internal sounds of the cab 10. The sounds collected by the left microphone 92L, the right microphone 92R, the rear microphone 92B, the front microphone 92F, and the internal microphone 92I include, for example, sounds such as human speech, the engine sound of the excavator PS, and mechanical sounds such as the sounds at the work site.

[0051] The left microphone 92L, the right microphone 92R, and the rear microphone 92B respectively capture sounds from the left direction, the right direction, and the rear direction from the upper swing body 3 toward the cab 10. In the present embodiment, the left microphone 92L, the right microphone 92R, and the rear microphone 92B are disposed on the upper part of the hood 3a of the upper swing body 3 and are respectively arranged near the left sensor 80L, the right sensor 80R, and the rear sensor 80B.

[0052] In this way, since the left microphone 92L, the right microphone 92R, and the rear microphone 92B are respectively arranged near the left sensor 80L, the right sensor 80R, and the rear sensor 80B, wiring is easy. In addition, the left microphone 92L, the right microphone 92R, and the rear microphone 92B can be arranged, for example, on the upper part of the cab 10.

[0053] Moreover, the left microphone 92L, the right microphone 92R, and the rear microphone 92B are respectively connected to the controller 30 through wires and send the collected sounds to the controller 30.

[0054] Further, the left microphone 92L and the right microphone 92R are arranged at positions more inside than the side surface of the excavator 100 so as not to protrude from the side surface of the excavator 100. Further, the rear microphone 92B is arranged at a position more inside than the rear surface of the excavator 100 so as not to protrude from the rear surface of the excavator 100.

[0055] The front microphone 92F faces the cab 10 from the upper swing body 3 and captures sounds from the front direction. In the present embodiment, the front microphone 92F is arranged on the arm 5. The front microphone 92F is connected to the controller 30 through a wiring line and transmits the collected sounds to the controller 30. Further, the front microphone 92F may be arranged on the boom 4, the bucket 6, or above the cab 10, for example.

[0056] The internal microphone 92I captures sounds inside the cab 10, such as the sounds made by the operator. In the present embodiment, the internal microphone 92I is arranged on the inner wall surface of the cab 10. The internal microphone 92I is connected to the controller 30 through a wiring line and transmits the collected sounds to the controller 30. Further, the internal microphone 92I may be built into the display device 40, for example.

[0057] The left microphone 92L, the right microphone 92R, the rear microphone 92B, the front microphone 92F, and the internal microphone 92I may be, for example, single-direction microphones that are easy to capture sounds in specific directions. However, an omnidirectional (non-directional) microphone that uniformly captures sounds from all directions may also be used, and the functions of two or more of the left microphone 92L, the right microphone 92R, the rear microphone 92B, and the front microphone 92F may be achieved by one microphone. Thereby, the number of microphones for collecting sounds around the excavator PS can be reduced.

[0058] Further, an engine room 85 is formed on the upper swing body 3, and an engine 11 is provided in the engine room 85. The engine room 85 is covered with an engine hood 86.

[0059] Figure 2 represents Figure 1 a structural example of the drive system of the excavator PS. In Figure 2 the example, the excavator PS includes a management system 1 in the excavator PS. The management system 1 includes the excavator PS and a management device 90 that communicates with the excavator PS. Further, the number of excavator PSs included in the management system 1 may be any number.

[0060] The drive system of the excavator PS mainly includes an engine 11, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, a controller 30, an engine control unit (ECU) 74, an engine speed adjustment dial 75, an operation valve 100, etc.

[0061] The engine 11 is the drive source of the excavator PS, for example, a diesel engine that operates in a manner to maintain a specified speed. The output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15.

[0062] The main pump 14 is a hydraulic pump that supplies working oil to the control valve 17 through a high-pressure hydraulic pipeline 16, for example, an inclined plate type variable capacity hydraulic pump.

[0063] The pilot pump 15 is a hydraulic pump for supplying working oil to various hydraulic control devices through a pilot pipeline 25, for example, a fixed capacity hydraulic pump.

[0064] The control valve 17 is a hydraulic control valve that controls the hydraulic system of the excavator PS. The control valve 17 selectively supplies the working oil supplied from the main pump 14 to one or more of the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the traveling hydraulic motor (right) 1A, the traveling hydraulic motor (left) 1B, and the slewing hydraulic motor 2A. In addition, in the following description, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the traveling hydraulic motor (right) 1A, the traveling hydraulic motor (left) 1B, and the slewing hydraulic motor 2A are collectively referred to as "hydraulic actuators".

[0065] The operating device 26 is a device used by the operator to operate the hydraulic actuators, and supplies the working oil supplied from the pilot pump 15 to the pilot ports of the flow control valves corresponding to the respective hydraulic actuators through the pilot pipeline 25. In addition, the pressure of the working oil supplied to each pilot port becomes a pressure corresponding to the operation direction and operation amount of the operation levers 26A to 26C corresponding to the respective hydraulic actuators.

[0066] The controller 30 is a control device for controlling the excavator PS, for example, composed of a computer equipped with a CPU, a RAM, a ROM, etc. The CPU of the controller 30 can execute the processing corresponding to these respective programs by reading the programs corresponding to the actions or functions of the excavator PS from the ROM, expanding them to the RAM, and then executing the programs.

[0067] The ECU 74 is a device that controls the engine 11. The ECU 74 outputs, for example, the fuel injection amount for controlling the engine speed of the engine 11 to the engine 11 according to an instruction from the controller 30 and in accordance with the engine speed (mode) set by the operator through the engine speed adjustment dial 75.

[0068] The engine speed adjustment dial 75 is a dial for adjusting the speed of the engine. In the embodiments of the present invention, the engine speed can be switched in four stages. For example, the engine speed adjustment dial 75 can switch the engine speed in four stages: SP mode, H mode, A mode, and IDLE mode. Additionally, Figure 2 indicates the state where the H mode is selected by the engine speed adjustment dial 75.

[0069] The SP mode is an operation mode selected when priority is given to the amount of work, and the highest engine speed is utilized. The H mode is an operation mode selected when both the amount of work and fuel consumption are to be considered, and the second highest engine speed is utilized. The A mode is an operation mode selected when priority is given to fuel consumption and the excavator PS is to be operated with low noise, and the third highest engine speed is utilized. The IDLE mode is an operation mode selected when the engine is to be set to the idle state, and the lowest engine speed is utilized. Moreover, the engine 11 constantly performs speed control at the engine speed of the operation mode set by the engine speed adjustment dial 75.

[0070] The operation valve 100 is a valve used by the controller 30 to operate the hydraulic actuator, and supplies the working oil supplied from the pilot pump 15 to the pilot ports of the flow control valves corresponding to the respective hydraulic actuators through the pilot pipe 25. Additionally, the pressure of the working oil supplied to each pilot port becomes a pressure corresponding to the control signal from the controller 30. The operation valve 100 is provided on at least one of the rod side and the bottom side corresponding to a specified operation with respect to the cylinders of the boom 4, arm 5, and bucket 6 constituting the attachment device. It may also be provided on both the rod side and the bottom side.

[0071] The specified operation in this embodiment refers to the operation of transitioning from a predetermined first specified posture to a predetermined second specified posture. Therefore, the specified operation is an operation that starts from the first specified posture and ends when the second specified posture is reached. The first specified posture and the second specified posture may be different postures or the same posture. That is, the specified operation may be an operation of changing the posture from a certain specified posture to another specified posture, or an operation of starting from a certain specified posture, performing a specified operation, and then returning to a certain specified posture again.

[0072] Moreover, among the travel hydraulic motor (right) 1A, travel hydraulic motor (left) 1B, and swing hydraulic motor 2A, it is provided on at least one of the discharge side and the suction side. It may also be provided on both the discharge side and the suction side.

[0073] At this time, the operating device 26 can execute a specified action even in the neutral position state. Further, the pressure reducing valve disposed between the operating device 26 and the control valve 17 can function as the operating valve 100. At this time, by sending a pressure reducing command from the controller 30 to the pressure reducing valve in a state where the operating device 26 is pushed down to the maximum extent, a stable action command can be transmitted to the control valve 17.

[0074] Further, a display device 40 is provided in the excavator PS.

[0075] The display device 40 is connected to the controller 30 through a communication network such as CAN (Controller Area Network) or LIN (Local Interconnect Network). Further, the display device 40 may be connected to the controller 30 through a dedicated line.

[0076] Further, the display device 40 includes a conversion processing unit 40a that generates an image to be displayed on the image display unit 41. The conversion processing unit 40a generates a sensor image to be displayed on the image display unit 41 based on the output of the object detection device 80. Therefore, the object detection device 80 is connected to the display device 40 through a dedicated line, for example. Further, the conversion processing unit 40a generates an image to be displayed on the image display unit 41 based on the output of the controller 30.

[0077] The object detection device 80 includes a front sensor 80F, a left sensor 80L, a rear sensor 80B, and a right sensor 80R.

[0078] The front sensor 80F is provided on the front side of the cab 10, for example, on the ceiling portion of the cab 10, and detects the front of the excavator PS and the operations of the boom 4, the arm 5, and the bucket 6. The left sensor 80L is provided, for example, on the upper left side of the hood 3a of the upper swing body 3, and detects the state on the left side of the excavator PS.

[0079] The rear sensor 80B is provided on the rear side of the upper swing body 3, for example, on the upper rear side of the hood 3a of the upper swing body 3, and detects the state on the rear side of the excavator PS. The right sensor 80R is provided, for example, on the upper right side of the hood 3a of the upper swing body 3, and detects the state on the right side of the excavator PS.

[0080] For example, the front sensor 80F, the left sensor 80L, the rear sensor 80B, and the right sensor 80R are digital cameras having imaging elements such as CCD or CMOS, for example.

[0081] At this time, the front sensor 80F is provided on the front side of the cab 10, for example, on the ceiling portion of the cab 10, etc., and captures the front of the excavator PS and the movements of the boom 4, arm 5, and bucket 6. Also, the left sensor 80L is provided, for example, on the left side of the upper part of the cover 3a of the upper slewing body 3, and captures an image of the left side of the excavator PS.

[0082] Also, the rear sensor 80B is provided on the rear side of the upper slewing body 3, for example, on the rear side of the upper part of the cover 3a of the upper slewing body 3, and captures an image of the rear of the excavator PS. The right sensor 80R is provided, for example, on the right side of the upper part of the cover 3a of the upper slewing body 3, and captures the right side of the excavator PS.

[0083] Moreover, each sensor sends the respectively captured images to the display device 40 provided in the cab 10.

[0084] Alternatively, the conversion processing unit 40a may be implemented as a function of the controller 30 rather than as a function of the display device 40. At this time, the object detection device 80 is connected to the controller 30 instead of being connected to the display device 40.

[0085] Also, the display device 40 includes a switch panel as the input unit 42. The switch panel is a panel including various hardware switches. The switch panel includes, for example, a lighting switch 42a, a wiper switch 42b, and a windshield washer switch 42c as hardware buttons.

[0086] The lighting switch 42a is a switch for switching on / off the vehicle lamp installed outside the cab 10. The wiper switch 42b is a switch for switching the operation / stop of the wiper. Also, the windshield washer switch 42c is a switch for spraying windshield washer fluid.

[0087] Also, the display device 40 operates by receiving power supply from the battery 70. Additionally, the battery 70 is charged by the electric power generated by the alternator 11a (generator) of the engine 11. The power of the battery 70 is also supplied to electrical fittings 72, etc. of the excavator PS other than the controller 30 and the display device 40. And the starting device 11b of the engine 11 is driven by the power from the battery 70 to start the engine 11.

[0088] The engine 11 is controlled by the ECU 74. Various data indicating the state of the engine 11 (for example, data indicating the coolant water temperature detected by the water temperature sensor 11c) are always sent from the ECU 74 to the controller 30. Therefore, the controller 30 stores this data in the temporary storage unit 30a and can send it to the display device 40 when necessary.

[0089] Furthermore, various data are supplied to the controller 30 as follows and stored in the temporary storage unit 30a of the controller 30. The stored data can be sent to the display device 40 when necessary.

[0090] First, the data indicating the swash plate angle is sent from the governor 14a of the variable displacement hydraulic pump, i.e., the main pump 14, to the controller 30. Also, the data indicating the discharge pressure of the main pump 14 is sent from the discharge pressure sensor 14b to the controller 30. Moreover, an oil temperature sensor 14c is provided on the pipeline between the tank storing the hydraulic oil sucked by the main pump 14 and the main pump 14, and the data indicating the temperature of the hydraulic oil flowing through this pipeline is sent from the oil temperature sensor 14c to the controller 30.

[0091] Also, the pilot pressure sent to the control valve 17 when the operating levers 26A to 26C are operated is detected by the hydraulic sensors 15a and 15b, and the data indicating the detected pilot pressure is sent to the controller 30.

[0092] Also, the data indicating the set state of the engine speed is always sent from the engine speed adjustment dial 75 to the controller 30.

[0093] Moreover, the excavator PS can communicate with the management device 90 via the communication network 93.

[0094] The management device 90 is, for example, a computer or the like installed at the manufacturer or service center of the excavator PS, and professionals (such as designers) can remotely grasp the status of the excavator PS. The controller 30 can store the data of the detection values from various state detection sensors included in the excavator PS in the temporary storage unit 30a, etc. and send them to the management device 90.

[0095] In addition, the controller 30 has a wireless communication function and can communicate with the management device 90 via the communication network 93. Professionals analyze the data of the detection values from various state detection sensors sent from the excavator PS to the management device 90 and received by the receiving unit 90a of the management device 90, and determine the status of the excavator PS.

[0096] For example, professionals diagnose the presence or absence of faults or abnormalities. In the case of the presence of faults or abnormalities, the location of the fault or abnormality, the cause of the fault or abnormality, etc. can be determined. Thus, it is possible to prepare in advance the parts required for repairing the excavator PS, etc., and the time consumed for maintenance or repair can be shortened. The detailed content of the functions of the controller 30 will be described later.

[0097] Further, the management device 90 has a processing unit 90b. A preset program is input into the processing unit 90b, and the processing unit 90b can perform arithmetic processing on the detection values from various state detection sensors transmitted from the excavator PS through the program. For example, the processing unit 90b includes a diagnostic program input therein, and can perform fault diagnosis or fault prediction using the detection values transmitted from the excavator PS through the diagnostic program. Based on the arithmetic processing result of the processing unit 90b, it can be displayed on the display unit 90c of the management device 90.

[0098] In addition, the management device 90 can be a device that can communicate with the excavator PS indirectly through a server or the like provided at the manufacturer or service center of the excavator PS. Further, the management device 90 can be a stationary computer equipped at the manufacturer or service center, or can be a portable computer that can be carried by the operator in charge, such as a so-called smart phone or tablet terminal, which is a multifunctional portable information terminal as a portable terminal.

[0099] When the management device 90 is portable, it can be carried to the inspection / repair site. Therefore, the inspection / repair work can be carried out while observing the display (display unit 90c) of the management device 90. As a result, the work efficiency of inspection and repair is improved.

[0100] Moreover, when using a portable terminal, it can communicate directly with the excavator through short-range communication such as Bluetooth (registered trademark) or infrared communication without passing through a communication network. At this time, by performing operations such as screen input or voice input to the portable terminal, an execution instruction for a specified operation is transmitted from the portable terminal to the excavator. That is, an instruction to store by associating the detection value from the state detection sensor during the execution of the specified operation with the specified operation is transmitted from the portable terminal to the excavator. Further, by transmitting the operation result of the specified operation from the excavator to the portable terminal, the operation result of the specified operation can be confirmed on the screen of the portable terminal.

[0101] The various state detection sensors included in the excavator PS are sensors that detect the operation states of each part of the excavator PS. The various state detection sensors include a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, a slewing angle sensor S5, a travel rotation sensor (right) S6A, a travel rotation sensor (left) S6B, etc.

[0102] The boom angle sensor S1 is provided at the support part (joint) of the boom 4 on the upper slewing body 3, and detects the angle of the boom 4 from the horizontal plane (boom angle). As the boom angle sensor S1, for example, any angle sensor such as a rotary potentiometer can be used, and the same applies to the arm angle sensor S2 and the bucket angle sensor S3 described later. The detected boom angle is transmitted to the controller 30.

[0103] The arm angle sensor S2 is provided at the support part (joint) of the arm 5 on the boom 4, and detects the angle of the arm 5 relative to the boom 4 (arm angle). The detected arm angle is sent to the controller 30.

[0104] The bucket angle sensor S3 is provided at the support part (joint) of the bucket 6 on the arm 5, and detects the angle of the bucket 6 relative to the arm 5 (bucket angle). The detected bucket angle is sent to the controller 30.

[0105] The vehicle body tilt sensor S4 is a sensor that detects the tilt angles of the excavator PS in two axial directions (front - rear direction and left - right direction) relative to the horizontal plane. As the vehicle body tilt sensor S4, for example, a liquid - filled capacitive tilt sensor, an arbitrary tilt sensor can be used. The detected tilt angles are sent to the controller 30.

[0106] The slewing angle sensor S5 detects the slewing angle of the upper slewing body 3 based on the slewing mechanism 2. As the slewing angle sensor S5, for example, an arbitrary angle sensor such as a rotary encoder can be used. The detected slewing angle is sent to the controller 30.

[0107] The travel rotation sensor (right) S6A and the travel rotation sensor (left) S6B respectively detect the rotational speeds of the travel hydraulic motor (right) 1A and the travel hydraulic motor (left) 1B. As the travel rotation sensor (right) S6A and the travel rotation sensor (left) S6B, for example, an arbitrary rotation sensor such as a magnetic type can be used. The detected rotational speeds are sent to the controller 30.

[0108] And, as described above, as various state - detection sensors included in the excavator PS, there are a water temperature sensor 11c, a regulator 14a, a discharge pressure sensor 14b, an oil temperature sensor 14c, hydraulic sensors 15a, 15b, an engine speed adjustment dial 75, an object detection device 80, etc. The detection values detected by these sensors are also sent to the controller 30. The data sent from the various state - detection sensors included in the above - mentioned excavator PS to the controller 30 is stored in the temporary storage part 30a of the controller 30.

[0109] And, the controller 30 acquires the image data of the bucket 6 captured by the object detection device 80, which is one of the state - detection sensors, and analyzes the state of the bucket 6 using this image data. In addition, the image data of the bucket 6 captured by the object detection device 80 includes still - image data representing a still image and video data representing a video.

[0110] In addition, the data acquired by the object detection device 80 is not limited to image data. For example, when the object detection device 80 is an ultrasonic sensor, the object detection device 80 receives the reflected wave of the ultrasonic wave irradiated toward the bucket 6 instead of image data, thereby acquiring the data around the excavator PS.

[0111] The data around the excavator PS in the present embodiment refers to the data referred to for detecting whether there is an object around the excavator PS, and the object detection device 80 only needs to be a device that acquires the data for detecting the object around the excavator PS.

[0112] More specifically, the controller 30 causes the excavator PS to perform a certain specified operation and acquires the video data of the bucket 6 in the specified operation. Moreover, the controller 30 compares the acquired video data with the video data of the same specified operation performed in the past and outputs the result.

[0113] The controller 30 in the present embodiment can make it easy for workers and the like to grasp the wear degree of the front end (tip) of the bucket 6 and the magnitude of the looseness of the bucket 6 through this comparison. In addition, the details of the wear degree of the tip of the bucket 6 and the magnitude of the looseness will be described later.

[0114] Next, referring to Figure 3 , the functions of the controller 30 in the present embodiment will be described. Figure 3 It is a diagram for explaining the functions of the controller.

[0115] The controller 30 in the present embodiment includes a temporary storage unit 30a, a transmission information storage unit 30b, a human body detection unit 30c, a diagnosis processing unit 30d, and a calibration unit 30e.

[0116] The detection value data from various state detection sensors included in the excavator PS is temporarily stored in the temporary storage unit 30a. Therefore, the image data of the bucket 6 captured by the object detection device 80 included in the state detection sensors is also temporarily stored in the temporary storage unit 30a.

[0117] The transmission information storage unit 30b stores the transmission information transmitted to the management device 90. The details of the transmission information will be described later.

[0118] The human body detection unit 30c detects the human body existing around the excavator PS based on the data around the excavator PS acquired by the object detection device 80. In other words, the human body detection unit 30c determines whether there is a human body or the like around the excavator PS based on the image data of the area around the excavator PS captured by the object detection device 80. In addition, when determining whether there is a human body or the like around the excavator PS, various human body detection sensors that can detect the human body can be used.

[0119] The diagnostic processing unit 30d performs various diagnoses based on the diagnostic parts of the excavator PS and the like. Moreover, the diagnostic processing unit 30d of the present embodiment analyzes the state of the bucket 6 by using the image data captured by the object detection device 80. Both the video data and the still image data included in the image data can be used in the diagnosis of the state of the bucket 6.

[0120] Specifically, the diagnostic processing unit 30d includes a data acquisition unit 30f, an analysis unit 30g, and an output unit 30h. The data acquisition unit 30f acquires the image data captured by the object detection device 80 during the specified operation of the excavator PS. In addition, the specified operation includes a first specified posture and a second specified posture.

[0121] This image data is stored in the transmission information storage unit 30b as transmission information that has a corresponding association with the information for determining the specified operation performed by the excavator PS. The information for determining the specified operation can be, for example, the name of the specified operation.

[0122] The analysis unit 30g analyzes the state of the bucket 6 based on the image data acquired by the data acquisition unit 30f. The details of the processing of the analysis unit 30g will be described later. Moreover, the analysis result based on the analysis unit 30g can be included in the transmission information.

[0123] That is, the transmission information of the present embodiment can include the information for determining the specified operation performed by the excavator PS, the detection value of the state detection sensor including the image data captured during the specified operation, and the analysis result based on the analysis unit 30g.

[0124] The analysis result based on the analysis unit 30g includes the information indicating the magnitude of the looseness of the bucket 6. Moreover, the analysis result based on the analysis unit 30g includes the information indicating the wear amount of the tip of the bucket 6. Moreover, the analysis result based on the analysis unit 30g can include the information indicating the magnitude of the looseness of the bucket 6 and the information indicating the wear amount of the tip.

[0125] Moreover, the analysis result can include the information indicating the state of the bucket 6 inferred from the wear amount of the tip of the bucket 6 and the magnitude of the looseness of the bucket 6. Specifically, the information indicating the state of the bucket 6 shows whether it is necessary to replace the tip of the bucket 6, whether the looseness of the bucket 6 exceeds the allowable range, and the like. That is, the information indicating the state of the bucket 6 includes whether it is necessary to replace the tip according to the wear amount of the tip of the bucket 6, whether it is necessary to detect according to the magnitude of the looseness of the bucket 6, and the like. In addition, the analysis unit 30g can pre-store the threshold value for determining whether it is necessary to replace the tip, the value indicating the allowable range of looseness, and the like.

[0126] Further, for example, the transmitted information may include the date and time when the image data was captured (the date and time when the specified action was performed), the machine identification information for identifying the excavator PS, the operating time of the excavator PS, and the like.

[0127] The output unit 30h outputs based on the analysis result of the analysis unit 30g. In the present embodiment, the case where the transmitted information including the analysis result is sometimes transmitted to the management device 90 is referred to as outputting the analysis result. Also, in the present embodiment, the case where the transmitted information including the analysis result is sometimes displayed on the image display unit 41 of the display device 40 is referred to as outputting the analysis result.

[0128] The calibration unit 30e of the present embodiment calibrates the positional relationship between the front end of the bucket 6 and the boom foot pin position (reference Figure 8 ) based on the analysis result of the state of the bucket 6 by the diagnostic processing unit 30d. The details of the processing of the calibration unit 30e will be described later.

[0129] Next, the processing of the diagnostic processing unit 30d of the present embodiment will be described. Figure 4 It is a diagram showing an example of a selection screen of a diagnostic menu displayed on the image display unit.

[0130] As Figure 4 shown, the selection screen of the diagnostic menu has a diagnostic menu display unit 410. The image displayed on the diagnostic menu display unit 410 is generated from various data transmitted from the controller 30 through the conversion processing unit 40a of the display device 40.

[0131] The diagnostic menu display unit 410 displays a list of multiple diagnostic items according to the diagnostic part and the like. In Figure 4 the example shown, a list of six diagnostic items, namely "Comprehensive Diagnosis", "Simple Diagnosis", "Bucket Diagnosis", "Engine-related", "Hydraulics-related", and "Slewing-related", is displayed in the diagnostic menu display unit 410. The diagnostic items are stored in advance in the ROM or the like of the controller 30. For each diagnostic item, the specified action to be performed for diagnosis can be one or more.

[0132] Also, an "End" menu used when the selection screen of the diagnostic menu is finished being displayed is shown on the image display unit 41. The operator can select any diagnostic item by performing a touch operation on the diagnostic item to be executed in the selection screen of the diagnostic menu displayed on the image display unit 41. In addition, the method of selecting the diagnostic item can be a button operation instead of a touch operation, for example.

[0133] "Comprehensive Diagnosis" is a diagnostic item for comprehensively diagnosing whether each part of the excavator PS is normal. For example, it has corresponding associations with the specified actions related to the engine, hydraulics, and slewing.

[0134] If the operator selects "Comprehensive Diagnosis", the controller 30 executes the specified actions related to the engine, hydraulics, and slewing of the excavator PS in a specified order, and correlates the information determining the executed specified actions with the detection values of the state detection sensors obtained during the specified actions. Moreover, "Comprehensive Diagnosis" can be associated with other specified actions instead of or together with the above-specified actions (the specified actions related to the engine, hydraulics, and slewing).

[0135] The specified actions for collecting the diagnostic data can be executed automatically or manually by the operator operating the joystick after the specified actions for diagnosis are guided and displayed on the display device.

[0136] "Simple Diagnosis" is a diagnostic item for simply diagnosing whether each part of the excavator PS is normal. For example, it is a part related to the engine and a part related to the hydraulics, and is associated with the specified actions that do not include the operation of the attachments of the excavator PS and the slewing action. If the operator selects "Simple Diagnosis", the controller 30 executes the specified actions for a part related to the engine and a part related to the hydraulics of the excavator PS, and correlates the information determining the executed specified actions with the detection values of the state detection sensors obtained during the specified actions.

[0137] Moreover, "Simple Diagnosis" can be associated with other specified actions instead of or together with the above-specified actions (the specified actions for a part related to the engine and a part related to the hydraulics).

[0138] "Bucket Diagnosis" is a diagnostic item for analyzing the state of the bucket 6 of the excavator PS. For example, if "Bucket Diagnosis" is selected, the controller 30 executes the specified actions of the excavator PS associated with "Bucket Diagnosis", and correlates the information determining the executed specified actions with the detection values of the state detection sensors including the image data obtained during the specified actions.

[0139] For example, the specified actions associated with "Bucket Diagnosis" include the action of slewing the upper revolving body 3 while maintaining the posture of the attachment as the first specified posture and the action of operating the attachment without slewing the upper revolving body 3. Moreover, the specified actions associated with "Bucket Diagnosis" include the action of changing the angle of the bucket 6 relative to the arm 5 by hydraulic drive based on the bucket cylinder 9.

[0140] The operations for rotating the upper rotating body 3 include a swinging rotation operation and a repeated rotation operation. When operating the operating lever, it can be achieved by repeatedly pushing the operating lever left and right. The swinging rotation operation refers to a left and right repeated rotation operation at a specified cycle. When operating the operating lever, it can be achieved by pushing the operating lever in one direction and then returning it to the neutral position.

[0141] "Engine related" is a diagnostic item including one or more specified operations for diagnosing whether the engine 11 is normal. If the operator selects "engine related", the controller 30 executes the specified operations related to the engine of the excavator PS.

[0142] "Hydraulic related" is a diagnostic item including one or more specified operations for diagnosing whether the hydraulic system is normal, for example, including one or more specified operations for diagnosing hydraulic pumps such as the main pump 14 and the pilot pump 15 and hydraulic actuators.

[0143] "Hydraulic related" includes, for example, "closing the arm to the end of the stroke (arm closing operation)" as the specified operation α and "raising the boom to the end of the stroke in the state where the arm is closed (boom raising operation)" as the specified operation β. And, "hydraulic related" can include other specified operations instead of the above-specified operations (specified operations α and β) or together with the above-specified operations.

[0144] Among them, examples of the specified operations for attachment devices such as the boom 4 or the arm 5 will be described. First, by outputting an instruction from the controller 30 to the operation valve 100, the boom 4 is rotated to the end of the stroke when the boom is raised. After that, a load is continuously applied. That is, the working oil is continuously supplied to the boom cylinder 7 through the control valve 17. In this state, since the boom 4 reaches the end of the stroke, the working oil is discharged from the safety valve to the tank. In this way, by reaching the end of the cylinder stroke, a state of continuously applying a load can be set.

[0145] Thus, regardless of the working environment, diagnostic data can be detected in a state with good reproducibility and stability. The same applies to the arm 5 or the bucket 6. Moreover, after reaching the end of the cylinder stroke, the load can be changed by adjusting the regulator 14a of the main pump 14 or changing the engine speed.

[0146] By detecting the change in the cylinder pressure of attachment devices such as the boom 4 or the change in the discharge pressure of the main pump 14 when the load is changed, a dynamic state can be reproduced, and the diagnostic accuracy can be further improved. As a result, in addition to the diagnosis of the hydraulic circuit, the main pump 14 or the engine 11 can also be diagnosed.

[0147] "Rotation-related" is a diagnostic item that includes one or more specified operations for diagnosing whether the slewing mechanism 2 (slewing hydraulic motor 2A, slewing reduction gear, etc.) is normal. "Rotation-related" includes, for example, "slewing (slewing operation) with the attachment closed" as a specified operation. Further, "rotation-related" may include other specified operations in place of or together with the above-specified operation (specified operation of the slewing operation). Here, examples of specified operations for driving units using hydraulic motors such as slewing or traveling will be described.

[0148] First, by outputting an instruction from the controller 30 to the operation valve 100, the attachment such as the boom 4 is set to a specified posture. This is because, particularly in the diagnosis of slewing, the slewing load is greatly affected by the slewing inertia moment caused by the posture change of the attachment. Therefore, the boom 4, arm 5, bucket 6, etc. are driven so that the attachment assumes a specified posture.

[0149] Moreover, when a heavy end attachment such as the bucket 6 or breaker is installed, the driver can be urged to change to the specified bucket 6. Thus, before driving the slewing drive unit so that the inertia moment generated during slewing becomes the same, the attachment is adjusted. After the adjustment is completed, a preset drive instruction is output from the controller 30 to the operation valve 100 to cause it to perform a slewing operation. According to the drive instructions for accelerating, constant-speed, and decelerating the slewing hydraulic motor 2A, the slewing hydraulic motor 2A can perform the specified slewing operation.

[0150] Thereby, it is possible to diagnose the slewing hydraulic motor 2A, the hydraulic circuit used by the slewing hydraulic motor 2A, and the slewing reduction gear. For example, when an abnormality occurs in the safety valve of the hydraulic circuit, the slewing acceleration deteriorates. This abnormality can be grasped based on the change in the pressure detection value of the hydraulic circuit of the slewing hydraulic motor 2A.

[0151] Hereinafter, with reference to Figure 5 , the processing of the bucket diagnosis of the excavator PS of the present embodiment will be described. Figure 5 is a flowchart showing the processing of the controller 30 in the bucket diagnosis.

[0152] Figure 5 The processing shown represents the processing of the controller 30 when the diagnostic item "bucket diagnosis" is selected from the selection screen of the diagnostic menu shown in Figure 4 .

[0153] First, the controller 30 determines whether the operator has selected the diagnostic item "bucket diagnosis" from the selection screen of the diagnostic menu (step S501). In step S501, when the diagnostic item "bucket diagnosis" is not selected, the controller 30 stands by until the diagnostic item "bucket diagnosis" is selected.

[0154] In step S501, when the diagnostic item "bucket diagnosis" is selected, the controller 30 determines whether there is a human body or the like around the excavator PS through the human body detection unit 30c (step S502).

[0155] In step S502, when a human body is detected around, the controller 30 causes the display device 40 to display a warning indicating that there is a human body around (step S503), stops the operation of the excavator PS, and ends the process based on the diagnostic processing unit 30d.

[0156] In step S502, when no human body is detected around, the controller 30 causes the excavator PS to operate until it reaches a specified posture (first specified posture) at the start of the specified operation corresponding to the item "bucket diagnosis" through the diagnostic processing unit 30d (step S504). Then, the controller 30 starts shooting image data of the bucket 6 through the object detection device 80 (step S505).

[0157] Next, the controller 30 causes the excavator PS to perform a specified operation (step S506), and causes the excavator PS to operate until it reaches a specified posture (second specified posture) at the end of the specified operation (step S507). In addition, the controller 30 continuously shoots image data of the bucket 6 through the object detection device 80 within a certain period of time after the specified operation ends. Specifically, the object detection device 80 can continuously shoot image data during the period from the end of the specified operation until the bucket 6 stops, and ends shooting the image data after the bucket 6 stops.

[0158] Moreover, the controller 30 can store the image data, which is associated with the information determining the specified operation, in the transmission information storage unit 30b when ending the shooting of the image data through the object detection device 80.

[0159] In the following description, the image data started to be shot in step S506 is sometimes referred to as the image data of the immediately preceding specified operation.

[0160] Next, the controller 30 determines whether the image data of the immediately preceding specified operation is image data that can be used in the analysis by the analysis unit 30g (step S508). Specifically, the diagnostic processing unit 30d determines whether the image quality of the image data of the immediately preceding specified operation is an image quality that can detect the shape and movement of the bucket 6.

[0161] In step S508, when the image data of the immediately preceding specified operation is an image quality that cannot detect the shape and movement of the bucket 6, the controller 30 ends the process. For example, an image quality that cannot detect the shape and movement of the bucket 6 means an image quality that cannot recognize the shape of the bucket 6 through the increase or decrease of light, etc.

[0162] In step S508, when the image data of the immediately preceding specified action is image data that can be used in the analysis by the analysis unit 30g, the controller 30 acquires, through the data acquisition unit 30f, the image data captured when performing the same type of specified action as the specified actions executed in steps S504 to S507 in the past (step S509). In the following description, the image data acquired in step S509 may sometimes be referred to as the image data of the past specified action.

[0163] In addition, the image data acquired in step S509 can be obtained, for example, from the transmission information stored in the transmission information storage unit 30b. Also, the image data acquired in step S509 can be the image data that the controller 30 sends a request for acquiring the image data to the management device 90 and receives from the management device 90.

[0164] Next, the controller 30 analyzes the state of wear of the tip of the bucket 6 by comparing the image data of the immediately preceding specified action (the first image data) with the image data of the past specified action (the second image data) acquired in step S509 through the analysis unit 30g (step S510).

[0165] Hereinafter, the processing of step S510 based on the analysis unit 30g will be described. First, the case where both the image data of the immediately preceding specified action and the image data of the past specified action are video data will be described.

[0166] At this time, the analysis unit 30g acquires, for example, the frame image at the specified time point included in the video data of the immediately preceding specified action and the frame image at the specified time point included in the video data of the past specified action acquired in step S509. That is, here, the frame image at the time point when the excavator PS becomes a certain specified posture is extracted in the immediately preceding specified action, and the frame image at the time point when the excavator PS becomes the same specified posture as a certain specified posture is extracted in the past specified action.

[0167] Moreover, the analysis unit 30g obtains the difference between the length of the tip of the bucket 6 in the frame image extracted from the video data of the immediately preceding specified action and the length of the tip of the bucket 6 in the frame image extracted from the video data of the past specified action, and uses the information indicating this difference as the information indicating the wear amount of the tip of the bucket 6.

[0168] Next, the case where both the image data of the immediately preceding specified action and the image data of the past specified action are still image data will be described. For example, the still image data can be the image data captured when the bucket 6 becomes the specified posture at the start of the specified action, or the image data captured when the bucket 6 becomes the specified posture at the end of the specified action.

[0169] At this time, for example, the analysis unit 30g compares the still image data of the immediately preceding specified posture with the still image data of the past specified posture, and it is sufficient to obtain the difference in the length of the tip of the bucket 6 in the two still images as the analysis result. In this way, in the present embodiment, it is possible for the operator or the like to grasp how much the tip of the bucket 6 has worn compared to when the specified operation was performed in the past.

[0170] That is, the analysis unit 30g of the present embodiment is an example of a comparison unit that compares the first image data of the specified posture taken at the first time point with the second image data of the specified posture taken at a time point different from the first time point.

[0171] In addition, in the above description, in the analysis of the wear state of the tip of the bucket 6, the image data of the immediately preceding specified operation is compared with the image data of the past specified operation, but it is not limited thereto.

[0172] The analysis unit 30g may also compare the image data of the immediately preceding specified operation (specified posture) with the image data of the specified posture of the bucket 6 taken when the bucket 6 is in an unused state. At this time, the wear amount of the tip of the bucket 6 from when it was unused can be obtained.

[0173] Moreover, the analysis unit 30g may also compare both the image data obtained when the past specified operation was performed and the image data of the bucket 6 when the bucket 6 is in an unused state with the image data just obtained.

[0174] If processed in this way, it is possible for the operator to visually grasp the wear mode of the tip according to different working environments.

[0175] For example, assume that the period from when it was unused to when the image data of the past specified posture was obtained and the period from when the image data of the past specified posture was obtained to when the image data of the immediately preceding specified posture was obtained are substantially the same. At this time, when the wear amount of the tip obtained by comparing the image data when it was unused with the image data of the past specified posture is different from the wear amount of the tip obtained by comparing the image data of the past specified posture with the image data of the immediately preceding specified posture, it can be considered that the working environment of the excavator PS is different.

[0176] Therefore, at this time, the controller 30 can simultaneously display the information indicating the working environment in each period and the information indicating the wear amount of the tip in each period. At this time, the information indicating the working environment may be the position information acquired by the excavator PS.

[0177] Next, the controller 30 analyzes the loosening state of the bucket 6 (step S511) by comparing the image data of the immediately preceding specified operation with the image data of the past specified operation acquired in step S509 through the analysis unit 30g.

[0178] The looseness of the bucket 6 is, for example, unstable shaking caused by a gap or rocking resulting from wear of the components constituting the link mechanism that rotates the bucket 6 relative to the arm 5. If looseness occurs, it is difficult to determine the position of the bucket 6. Also, for example, the looseness increases due to sand or the like entering the link mechanism and promoting wear, so it is preferable to regularly check the change in the magnitude of the looseness.

[0179] Hereinafter, the processing of step S511 by the analysis unit 30g will be described. Video data is used in the analysis of the looseness state. Therefore, the image data of the immediately preceding specified operation (first video data) and the image data of the past specified operation (second video data) are both video data.

[0180] The analysis unit 30g calculates the movement amplitude of the image of the bucket 6 in the video after the time point when the specified operation ends in the video shown by the image data of the immediately preceding specified operation, and uses this movement amplitude as information indicating the magnitude of the looseness when the specified operation has just been performed.

[0181] Also, the analysis unit 30g calculates the movement amplitude of the image of the bucket 6 in the video data during the period from the time point when the specified operation ends to the end of the captured image data in the image data of the past specified operation, and uses this movement amplitude as information indicating the magnitude of the looseness when the specified operation was performed in the past.

[0182] That is, in the present embodiment, the shaking amplitude of the bucket 6 at the end of the specified operation is calculated as the movement amplitude (magnitude of looseness) of the image of the bucket 6 in the video. Also, the analysis unit 30g can calculate by overlapping the image data within the specified period during the specified operation as the movement amplitude (magnitude of looseness) of the image of the bucket 6.

[0183] Also, in the present embodiment, for example, the maximum value of the shaking amplitude of the bucket 6 at the end of the specified operation of rotating the upper slewing body 3 while maintaining the posture of the attachment can be detected as the lateral shaking amplitude of the bucket 6. In other words, the lateral shaking amplitude refers to the Figure 1 maximum value of the movement amplitude of the bucket 6 in the Y direction on the YZ plane at the end of the specified operation.

[0184] Also, in the present embodiment, for example, the maximum value of the shaking amplitude of the bucket 6 at the end of the specified operation including the operation of changing the angle of the bucket 6 relative to the arm 5 can be detected as the longitudinal shaking amplitude of the bucket 6. In other words, the longitudinal shaking amplitude refers to the Figure 1 maximum value of the movement amplitude in the Z direction on the YZ plane at the end of the specified operation.

[0185] In addition, in the present embodiment, in the video data, the maximum value of the movement amplitude of the bucket 6 during the period from the end of the specified operation to the stop of the bucket 6 is used as the magnitude of loosening, but it is not limited thereto.

[0186] For example, the magnitude of loosening can be calculated using the time required from the end of the specified operation to the stop of the bucket 6, the cumulative value of the movement amplitude of the bucket 6 from the end of the specified operation to the stop of the bucket 6, and the like.

[0187] Moreover, the analysis unit 30g compares the magnitude of loosening when the specified operation has just been performed with the magnitude of loosening when the specified operation has been performed in the past, and uses the comparison result as the analysis result.

[0188] That is, the analysis unit 30g of the present embodiment is an example of a comparison unit that compares the first video data of the bucket 6 in which the specified operation has started at the first time point with the second video data of the bucket 6 in which the specified operation has started at a second time point different from the first time point.

[0189] If the analysis unit 30g of the present embodiment acquires information indicating the wear amount of the tip of the bucket 6 and information indicating the magnitude of loosening, information indicating the state of the bucket 6 can be generated based on this information and included in the analysis result.

[0190] In addition, in the above embodiment, the bucket 6 is used as the object of the shooting range of the image data based on the object detection device 80, but the boom 5 and the arm 4 can also be included in the shooting range of the image data. Thereby, it is possible to determine whether the loosening of the bucket 6 depends on the wear of the link mechanism or the wear of the boom pin or the arm pin.

[0191] Next, the controller 30 outputs the analysis result through the output unit 30h (step S512). In other words, the controller 30 causes the transmission information including the analysis result to be displayed on the image display unit 41 of the display device 40.

[0192] Next, the controller 30 determines whether the operator has indicated calibration of the positional relationship between the tip of the bucket 6 and the boom foot pin position (step S513). Specifically, the controller 30 determines whether an operation indicating calibration has been performed in the screen of the analysis result displayed on the image display unit 41 in step S512.

[0193] In step S513, when an operation indicating calibration is performed, the controller 30 calibrates the positional relationship with the boom foot pin position through the calibration unit 30e (step S514) and ends the process. In step S513, when an operation indicating calibration is not performed, the controller 30 ends the process.

[0194] In addition, in the present embodiment, the transmission information displayed on the image display unit 41 in step S512 can be transmitted to the management device 90 and stored in the management device 90.

[0195] Next, a description will be given of an example of output of the analysis result with reference to Figure 6 . Figure 6 FIG. is a first diagram showing an example of output of the analysis result.

[0196] Figure 6 The screen 21 shown in FIG. is an example of the screen displayed on the image display unit 41. The screen 21 includes a first image display area 60, a second image display area 61, an inspection date display area 62, a specified operation display area 63, a machine body identification information display area 64, an hour meter display area 65, an inspection part display area 66, and an inspection status display area 67. And, buttons 68 and 69 are displayed on the screen 21.

[0197] In the first image display area 60, information indicating the magnitude of looseness of the bucket 6 included in the analysis result is displayed together with the image of the bucket 6. In the second image display area 61, information indicating the wear amount of the tip of the bucket 6 included in the analysis result is displayed together with the image of the bucket 6. And, the first image display area 60 may include images of the arm 5 and the boom 4.

[0198] In addition, the image of the bucket 6 displayed in the first image display area 60 and the second image display area 61 is, for example, an image of the bucket 6 taken from the front.

[0199] The inspection date display area 62 displays the date on which the preceding specified operation was performed. In addition, the inspection date display area 62 may also display the dates on which past specified operations were performed at the same time. The specified operation display area 63 displays information for determining the specified operation. The machine body identification information display area 64 displays the machine body identification information, which is information for determining the excavator PS.

[0200] The hour meter display area 65 displays the operating time of the excavator PS. The inspection part display area 66 displays information indicating the part to be diagnosed. The inspection status display area 67 displays information indicating the state of the inspection part obtained from the analysis result.

[0201] That is, the information including all the information in each display area displayed on the screen 21 is the transmission information, and the information displayed in the first image display area 60, the second image display area 61, and the inspection status display area 67 becomes information indicating the analysis result included in the transmission information.

[0202] In the first image display area 60, an image of the bucket 6, a longitudinal height 60a, and lateral widths 60b, 60c are displayed.

[0203] In Figure 6 the example of Figure 6 , the height 60a represents the magnitude of the longitudinal looseness of the bucket 6, and the sum of the width 60b and the width 60c represents the magnitude of the lateral looseness of the bucket 6.

[0204] Moreover, the name of the specified operation "bucket closing" is displayed in the specified operation display area 63 as information indicating the specified operation corresponding to the first image display area 60. Also, the name of the specified operation "swing in the manner of a fixed attachment" is displayed in the specified operation display area 63 as information indicating the specified operation corresponding to the first image display area 60.

[0205] In the present embodiment, in this way, by displaying the specified operation being performed and the information indicating the magnitude of the looseness detected during the specified operation, it is possible for the operator of the excavator PS or the like to easily grasp how much looseness is generated when a certain operation is performed.

[0206] An image of the bucket 6 and information indicating the wear amount of the tip of the bucket 6 are displayed in the second image display area 61.

[0207] Specifically, the information indicating the wear amount of the tip of the bucket 6 refers to the difference between the shape of the graphic 61f and the shape of the tip of the bucket 6. The graphic 61f represents the shape of the tip of the bucket 6 after just being replaced (unused).

[0208] In the present embodiment, the greater the difference between the graphic 61f and the shape of the tip of the bucket 6, the greater the wear amount of the tip of the bucket 6. In the present embodiment, in this way, by overlapping the image representing the shape of the tip of the bucket 6 after just being replaced with the current tip image, it is possible to visually recognize the wear amount of the current tip relative to the tip after just being replaced.

[0209] Therefore, according to the present embodiment, it is possible for the operator of the excavator PS or the like to easily grasp the wear amount of the tip of the bucket 6.

[0210] In addition, the wear amount of the tip of the bucket 6 can be calculated for each jaw. In particular, during construction, the central jaw and the left and right end jaws become important, so it is possible to calculate the wear amount of the tip of the bucket 6 only for the central jaw and the left and right end jaws.

[0211] Moreover, the inspection status display area 67 of the present embodiment displays information indicating the state of the bucket 6. Specifically, in the inspection status display area 67, information indicating that the lateral looseness has increased is associated with a button 67a for switching to a screen for displaying the details of the looseness of the bucket 6 and is displayed.

[0212] Further, in the inspection status display area 67, information prompting the replacement of the bucket tip is associated with a button 67b for calling the customer service center for replacing the bucket tip and displayed.

[0213] Moreover, for example, the analysis unit 30g of the present embodiment can determine whether there is a change in the shape of the bucket 6 as a comparison result between the immediately acquired image data and the past image data, and include the result in the information indicating the state of the bucket 6. In Figure 6 the example of, information indicating that there is no change in the shape of the bucket 6 and no abnormality is displayed in the inspection status display area 67.

[0214] In addition, cases where the shape of the bucket 6 changes include, for example, cases where the bucket 6 is deformed, cases where holes are formed in the bucket 6, and the like.

[0215] The button 68 is a button for switching the screen 21 to the selection screen of the diagnostic menu. If the button 68 is operated, the controller 30 switches the screen 21 to the selection screen of the diagnostic menu.

[0216] The button 69 is a button for instructing calibration based on the calibration unit 30e. If the button 69 is operated on the screen 21, calibration based on the calibration unit 30e is performed.

[0217] Figure 7 is the second figure showing an output example of the analysis result. Figure 7 The screen 21A shown shows an example of the screen displayed on the image display unit 41 when the button 67a is operated on the screen 21.

[0218] The screen 21A includes a first image display area 60A, a second image display area 61A, an inspection date display area 62, a specified action display area 63A, a machine body identification information display area 64, a timer display area 65, an inspection part display area 66, and an inspection status display area 67A. And, the buttons 68 and 69 are displayed on the screen 21A.

[0219] Information indicating the magnitude of the lateral looseness of the bucket 6 is displayed in the first image display area 60A, and information indicating the magnitude of the longitudinal looseness of the bucket 6 is displayed in the second image display area 61A.

[0220] For example, Figure 7 in the first image display area 60A of, the difference between the magnitude of the lateral looseness of the bucket 6 when the specified action was last performed and the magnitude of the lateral looseness of the bucket 6 when the specified action was performed this time is also displayed.

[0221] Specifically, in the first image display area 60A, the sum of the width 60b1 and the width 60c1 represents the magnitude of the lateral looseness of the bucket 6 when the specified action was last performed.

[0222] Further, in the first image display area 60A, the sum of the width 60b2 and the width 60c2 represents the magnitude of the lateral looseness of the bucket 6 when a specified operation is performed this time.

[0223] In the first image display area 60A, the width 60b2 and the width 60c2 are respectively greater than the width 60b1 and the width 60c1, indicating that the lateral looseness of the bucket 6 has increased.

[0224] For example, in the second image display area 61A, the difference between the magnitude of the longitudinal looseness of the bucket 6 when the specified operation was performed last time and the magnitude of the longitudinal looseness when the specified operation is performed this time is also displayed.

[0225] In the second image display area 61A, the height 60a1 represents the magnitude of the longitudinal looseness of the bucket 6 when the specified operation was performed last time, and the height 60a2 represents the magnitude of the longitudinal looseness of the bucket 6 when the specified operation is performed this time. In Figure 7 this example, it can be seen that the magnitude of the longitudinal looseness has remained substantially unchanged.

[0226] Further, the name of the specified operation "swing in a manner of fixing the attachment device" is displayed in the specified operation display area 63A as information indicating the specified operation corresponding to the first image display area 60A. In other words, the name of the specified operation "swing in a manner of fixing the attachment device" for detecting lateral looseness is displayed in the specified operation display area 63A.

[0227] Further, the name of the specified operation "bucket closing" is displayed in the specified operation display area 63A as information indicating the specified operation corresponding to the second image display area 61A. In other words, the name of the specified operation "bucket closing" for detecting longitudinal looseness is displayed in the specified operation display area 63A.

[0228] Further, information indicating that the lateral looseness is greater than that when the specified operation was performed last time is displayed in the inspection status display area 67A.

[0229] That is, here, a case is shown in which the difference between the magnitude of the lateral looseness detected by the analysis unit 30g last time and the magnitude of the lateral looseness this time becomes equal to or greater than a certain threshold value.

[0230] In the present embodiment, in this way, information indicating the magnitude of the lateral looseness of the bucket 6, information indicating the magnitude of the longitudinal looseness, and an image of each bucket 6 can be simultaneously displayed on the image display unit 41.

[0231] In this way, by displaying the magnitude of the looseness of the bucket 6, the operator or the like can visually grasp the manner in which the looseness occurs.

[0232] Next, referring toFigure 8 , the processing of the calibration unit 30e of the present embodiment will be described. Figure 8 It is a diagram for explaining calibration based on the positional relationship of the calibration unit.

[0233] Figure 8 It is a side view of an excavator showing various physical quantities related to the attachment device. For example, the boom angle sensor S1 acquires the boom angle (θ1). The boom angle (θ1) is the angle of the line segment P3 - P4 connecting the boom foot pin position P3 and the bucket link pin position P4 with respect to the horizontal line in the XZ plane. For example, the bucket angle sensor S2 acquires the bucket angle (θ2). The bucket angle (θ2) is the angle of the line segment P4 - P5 connecting the bucket link pin position P4 and the dipper link pin position P5 with respect to the horizontal line in the XZ plane. For example, the dipper angle sensor S3 acquires the dipper angle (θ3). The dipper angle (θ3) is the angle of the line segment P5 - P6 connecting the dipper link pin position P5 and the dipper tip position P6 with respect to the horizontal line in the XZ plane.

[0234] In the excavator PS, the positional relationship between the dipper tip position P6 and the boom foot pin position P3 depends on the boom angle (θ1), the bucket angle (θ2), and the dipper angle (θ3). Also, the position of the dipper tip position P6 changes according to the wear of the tip of the dipper 6.

[0235] If the controller 30 of the present embodiment receives an instruction for calibrating the positional relationship between the tip of the dipper 6 and the boom foot pin position P3, then through the calibration unit 30e, according to the wear amount of the tip of the dipper 6, the positional relationship between the dipper tip position P6 and the boom foot pin position P3 is updated. Specifically, the calibration unit 30e updates the value of the dipper angle (θ3) that changes according to the wear of the tip.

[0236] Thus, in the present embodiment, since the positional relationship between the tip of the dipper 6 and the boom foot pin position is updated according to the wear amount of the tip of the dipper 6, even when the tip is worn to a certain extent, it is possible to align the tip of the dipper 6 with the target position and maintain the accuracy of the operation.

[0237] As a result, the excavator can accurately move the tip of the dipper 6 along the target track (such as a set construction surface). And the present embodiment can also be applied to remotely operated excavators.

[0238] As described above, according to the present embodiment, it is possible to analyze the state of the dipper 6 using the image data captured by the object detection device 80, which is one of the detection values of the state detection sensor, and display the analysis result on the display device 40. Therefore, according to the present embodiment, there is no need for complicated operations such as visually observing the dipper 6 or manually measuring the length of the tip to confirm the state of the dipper 6, and it is possible for the operator and the like to easily grasp the state of the dipper 6.

[0239] (Another embodiment)

[0240] In another embodiment, the management device 90 has the diagnostic processing unit 30d that the excavator PS has. In the following description of another embodiment, for another embodiment having the same functional structure as the embodiment, the symbols used in the description of the embodiment are marked, and the description thereof is omitted.

[0241] Figure 9 It is a timing chart showing the operation of the management system of another embodiment. The management system 1A has an excavator PS and a management device 90A. The management device 90A has a diagnostic processing unit 30d.

[0242] Therefore, in the management system 1A, the excavator PS sends the image data captured by the object detection device 80 to the management device 90A and receives the result of the processing by the diagnostic processing unit 30d of the management device 90A.

[0243] If no human body is detected in the surroundings and it becomes the posture at the start of the specified operation, the excavator PS starts to capture the image data of the bucket 6 through the object detection device 80 (step S901). Then, the excavator PS performs the specified operation (step S902) and sends the captured image data to the management device 90A when the specified operation ends (step S903).

[0244] At this time, the image data is sent to the management device 90A as transmission information associated with the information for determining the specified operation. And the transmission information may include the date and time when the image data was captured (the date and time when the specified operation was performed), the body identification information for identifying the excavator PS, the operating time of the excavator PS, etc.

[0245] Next, if the management device 90A receives the image data, it stores the image data in a database or the like that the management device 90A has (step S904).

[0246] Next, if the diagnostic item "bucket diagnosis" is selected from the selection screen of the diagnostic menu displayed on the image display unit 41 (step S905), the excavator PS requests the management device 90A to execute the bucket diagnosis (step S906). In addition, the request may include the body identification information for identifying the excavator PS.

[0247] When the management device 90A receives the request, through the diagnostic processing unit 30d, it reads the immediately preceding image data and past image data corresponding to the body identification information included in the request from the database, analyzes the state of the bucket 6 (step S907), and sends the analysis result to the excavator PS (step S908).

[0248] When the excavator PS receives the analysis result, it displays the result on the display device 40 (step S909).

[0249] As described above, in Figure 9 , the excavator PS can store the captured image data in the management device 90A and execute the processing of the diagnostic processing unit 30d in the management device 90A.

[0250] Also, in Figure 9 's example, the analysis result is displayed on the display device 40 of the excavator PS, but it is not limited thereto. For example, the analysis result can also be displayed on the display unit 90c of the management device 90A.

[0251] Also, for example, the analysis result can be displayed on a terminal device or the like that performs wireless communication with the excavator PS near the excavator PS.

[0252] Also, when causing the excavator PS to perform a specified operation, an execution instruction for the specified operation can be sent to the excavator PS from the terminal device via wireless communication.

[0253] At this time, before sending the execution instruction for the specified operation, the terminal device establishes communication with the excavator PS and receives the body identification information of the excavator PS from the excavator PS. Moreover, after sending the execution instruction for the specified operation, when the terminal device receives the analysis result from the management device 90A, it can display the body identification information received from the excavator PS and the analysis result received from the management device 90A on the same screen.

[0254] If processed in this way, by operating the terminal device, the excavator PS can be caused to perform a specified operation, and an analysis result for analyzing the state of the bucket 6 using the image data obtained in the specified operation can be obtained.

[0255] The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the above embodiments, and various modifications and substitutions can be made to the above embodiments without departing from the scope of the present invention.

[0256] This international application claims priority based on Japanese Patent Application No. 2019-170200 filed on September 19, 2019, and incorporates the entire contents of Japanese Patent Application No. 2019-170200 into this international application.

[0257] Reference Signs

[0258] PS - Excavator, 30 - Controller, 30a - Temporary storage unit, 30b - Transmission information storage unit, 30c - Human body detection unit, 30d - Diagnostic processing unit, 30g - Analysis unit, 30e - Calibration unit, 31 - Operating valve, 40 - Display device, 45 - Input device, 80 - Object detection device, 80B, 80F, 80L, 80R - Sensors, 90, 90A - Management devices.

Claims

1. An excavator, comprising: A lower traveling body; An upper slewing body rotatably mounted on the lower traveling body; An arm mounted on the upper slewing body; A boom mounted on the arm; A bucket mounted on the boom; A cab provided on the upper slewing body; A front sensor provided on the front side of the cab; A comparison unit that compares first image data of the bucket in a predetermined posture taken by the front sensor at a first time point with second image data of the bucket in the predetermined posture taken by the front sensor at a second time point different from the first time point; And An output unit that outputs based on the comparison result of the comparison unit; The output unit displays the difference between the image of the bucket tip shown in the first image data and the image of the bucket tip shown in the second image data on a display device as the wear amount of the bucket tip; The excavator further includes a calibration unit that calibrates the positional relationship between the position of the bucket tip and the position of the arm foot pin according to the wear amount of the bucket tip.

2. The excavator according to claim 1, having an object detection device and a human detection unit, The human detection unit determines whether a human body exists in the surroundings according to the surrounding data acquired by the object detection device, When the presence of the human body is detected, the operation is stopped.

3. The excavator according to claim 1, having an object detection device, The predetermined posture means a posture in which the bucket is in an open state relative to the object detection device.

4. The excavator according to claim 1, wherein Both the first image data and the second image data are image data of the bucket in an empty state.

5. An excavator, comprising: A lower traveling body; An upper slewing body rotatably mounted on the lower traveling body; An arm mounted on the upper slewing body; A boom mounted on the arm; A bucket mounted on the boom; A cab provided on the upper slewing body; A front sensor provided on the front side of the cab; a comparison unit that compares first video data of the bucket starting a predetermined operation at a first time point taken by the front sensor with second video data of the bucket starting the predetermined operation at a second time point different from the first time point taken by the front sensor; And An output unit that outputs based on the comparison result of the comparison unit; The predetermined operation means an operation of transitioning from a predetermined first predetermined posture to a predetermined second predetermined posture; The comparison unit compares a first movement amplitude of the image of the bucket in the video after the end time point of the predetermined operation shown in the first video data with a second movement amplitude of the image of the bucket in the video after the end time point of the predetermined operation shown in the second video data; The movement amplitude is the magnitude of unstable shaking caused by gaps or shakes generated due to wear of components; It further has: A lower traveling body, an upper slewing body rotatably mounted on the lower traveling body, and an accessory device mounted on the upper slewing body, The specified operations include: A first specified operation, including an operation of rotating the upper revolving body while maintaining the posture of the attachment device; And A second specified operation, including an operation of changing the angle of the bucket relative to the arm.

6. The excavator according to claim 5, wherein The output unit overlays and displays information indicating either the first movement amplitude or the second movement amplitude as information indicating the magnitude of loosening of the bucket on the image of the bucket.

7. The excavator according to claim 5, wherein The output unit overlays and displays information indicating the first movement amplitude and information indicating the second movement amplitude as information indicating the magnitude of loosening of the bucket on the image of the bucket.

8. A management device for an excavator, comprising: A comparison unit compares first video data of a bucket of an excavator that starts a specified operation at a first time point, which is captured by a front sensor disposed on the front side of the cab of the excavator, with second video data of the bucket that starts the specified operation at a second time point different from the first time point, which is captured by the front sensor; And An output unit that outputs based on the comparison result of the comparison unit; The comparison unit compares a first movement amplitude of the image of the bucket in the video after the time point when the specified operation ends in the video displayed in the first video data with a second movement amplitude of the image of the bucket in the video after the time point when the specified operation ends in the video displayed in the second video data; The movement amplitude is the magnitude of unstable shaking caused by gaps or shaking resulting from wear of components; The specified operations include: A first specified operation, including an operation of rotating the upper revolving body of the excavator while maintaining the posture of the attachment device of the excavator; And A second specified operation, including an operation of changing the angle of the bucket relative to the arm.

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