Construction machine

Abstract

The hydraulic excavator of the present application determines acceleration data of the driving data during the acceleration period as an operation object and deceleration data of the driving data during the deceleration period as an operation object, respectively, calculates an acceleration evaluation value indicating the skill level of the operator during the acceleration period based on the acceleration data and acceleration evaluation data, calculates a deceleration evaluation value indicating the skill level of the operator during the deceleration period based on the deceleration data and deceleration evaluation data, determines the operation type of the operator based on the acceleration evaluation value and the deceleration evaluation value, and outputs support information associated with the operation type.

Description

Technical Field

[0001] This invention relates to construction machinery, and more specifically to construction machinery that supports specific operations based on the type of operation performed by the operator. Background Technology

[0002] Previously, in the field of construction machinery, systems have been proposed that evaluate driving data by collecting specified driving data from operators and comparing the collected driving data with benchmark data (data from skilled personnel) (e.g., Patent Document 1). According to the technology described in Patent Document 1, operators can identify the driving results for specified driving operations.

[0003] Furthermore, among the operators being evaluated, those operating construction machinery range from cautious to proactive. Therefore, evaluating operations without considering the operator's operational style may render the recommendations provided ineffective.

[0004] In this respect, the technology described in Patent Document 1 does not take into account the type of operation performed by the operator, but instead applies a uniform evaluation process to all operators. Therefore, the suggestions given to operators after evaluating their driving operations may not be suitable for some operators and may not adequately support their driving operations.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Publication No. 2009-235833 Summary of the Invention

[0008] The purpose of this invention is to provide an engineering machine that can provide more appropriate support based on the type of operation performed by the operator performing a specific operation.

[0009] To achieve the above objectives, one aspect of the present invention relates to an engineering machine comprising: a driving data acquisition unit for acquiring driving data regarding a specific operation; an acceleration / deceleration data determination unit for determining acceleration data during an acceleration period and deceleration data during a deceleration period from the driving data; an evaluation data acquisition unit for acquiring acceleration evaluation data for evaluating the acceleration data and deceleration evaluation data for evaluating the deceleration data; an evaluation value calculation unit for calculating an acceleration evaluation value representing the operator's skill level during the acceleration period based on the acceleration data and the acceleration evaluation data, and for calculating a deceleration evaluation value representing the operator's skill level during the deceleration period based on the deceleration data and the deceleration evaluation data; an operation type determination unit for determining the operator's operation type based on the acceleration evaluation value and the deceleration evaluation value; and a notification unit for notifying support information associated with the operation type determined by the operation type determination unit.

[0010] According to the present invention, the operator's operation type is determined based on acceleration and deceleration evaluation values, and support information corresponding to that operation type is notified to the operator. Therefore, more appropriate support can be provided based on the operation type of the operator performing a specific operation. Attached Figure Description

[0011] Figure 1 This is a simplified diagram representing the engineering machinery (hydraulic excavator) of this embodiment.

[0012] Figure 2 It is a block diagram representing the controller and its associated devices.

[0013] Figure 3 It is a flowchart representing the auxiliary processing that supports specific operations.

[0014] Figure 4 It is a graph representing the benchmark table used for evaluation.

[0015] Figure 5 It is a two-dimensional graph with acceleration evaluation value as the horizontal axis and deceleration evaluation value as the horizontal axis.

[0016] Figure 6 This is a diagram representing a support information table that records support information for each operation type.

[0017] Figure 7 This is a diagram representing an example of an operational aid image output to a monitor.

[0018] Figure 8 This is a diagram illustrating an example of an operational auxiliary image involved in a change example.

[0019] Figure 9 It is a graph used to illustrate the distance between the acceleration evaluation value, the deceleration evaluation value and the target value.

[0020] Figure 10 It is a graph representing a frequency table that records the frequency corresponding to distance.

[0021] Figure 11 This is a diagram representing an append information table that records additional information corresponding to distances.

[0022] Figure 12 This is a diagram illustrating an example of an operational aid image involved in another variation.

[0023] Figure 13 This is a diagram illustrating an example of an operational aid image involved in another variation. Detailed Implementation

[0024] <1. Implementation Method>

[0025] Reference Figures 1 to 7 The following describes the engineering machinery involved in the embodiments of the present invention. Hereinafter, a hydraulic excavator 1 (see...) is used as an example. Figure 1 As an example of construction machinery, the hydraulic excavator 1 is equipped with operation assistance functions that support specific operations performed by the operator. Hereinafter, as an example of a specific operation, the operation of raising the boom and stopping it at a designated position (hereinafter also referred to as "boom raise and stop operation") will be explained. The boom is an example of an object being operated on.

[0026] like Figure 1 As shown, the hydraulic excavator 1 is configured to have a lower traveling body 2 and an upper rotating body 3 mounted on the lower traveling body 2 in a rotatable state.

[0027] The upper rotating body 3 is equipped with auxiliary equipment 4, a driver's cab 5, etc. The auxiliary equipment 4 consists of a boom 41, a stick 42, a bucket 43, and hydraulic cylinders 44 (actuators) that drive these devices.

[0028] The boom 41 is oscillatingly supported at the front of the upper slewing body 3, the stick 42 is oscillatingly supported at the distal end of the boom 41, and the bucket 43 is oscillatingly supported at the distal end of the stick 42. The boom 41, stick 42, and bucket 43 oscillate based on the control of the movement of their respective hydraulic cylinders 44.

[0029] The cab 5 is the control room located at the front of the upper slewing body 3. The hydraulic excavator 1 is operated by the operator in the cab 5.

[0030] Inside the cab 5 is a seat for the operator. Control levers (not shown) are located on the left and right sides of the seat. These levers are operating mechanisms that control the movement of the hydraulic cylinder 44 and the rotary motor (not shown), and are operated by the operator by swinging them back and forth and left and right. Corresponding to the direction and amount of operation of the control levers, the upper rotary body 3 rotates, and the boom 41 swings.

[0031] In addition, inside the driver's cab 5, besides the left and right control levers, there are various operating switches (not shown) or monitors 83 for displaying instruments (see reference). Figure 2 Input / output devices such as monitors. Monitor 83 is an example of a display unit according to the present invention.

[0032] like Figure 2 As shown, the hydraulic excavator 1 has a controller 6 consisting of hardware such as a CPU and memory, and software such as a control program installed on the hardware.

[0033] The controller 6 is electrically connected to the storage device 7, sensor 81, lever measuring instrument 82, monitor 83, and operating lever 84. The operating lever 84 is input with the operator's instructions for operating the object. The object being operated may be, for example, the boom 41, stick 42, and bucket 43, as well as the upper slewing body 3 and the lower traveling body 2.

[0034] Sensor 81 is installed on each hydraulic cylinder 44 to detect the extension and retraction speed of each hydraulic cylinder 44 as the actual speed S. a (t). Actual speed S a (t) is detected by sensor 81 at a predetermined period (sampling interval) and input to controller 6.

[0035] The lever measuring instrument 82 is a measuring instrument attached to the operating lever 84. The lever measuring instrument 82 detects the operating amount U(t) of the operating lever 84. The operating amount U(t) is detected by the lever measuring instrument 82 at a predetermined period (sampling interval) and input to the controller 6. When the operating lever 84 is a hydraulic lever, the lever measuring instrument 82 is composed of a pressure sensor that detects the pilot pressure. When the operating lever 84 is an electrically operated lever, the lever measuring instrument 82 is composed of a potentiometer.

[0036] The controller 6 includes, as a functional structure, a driving data acquisition unit 61, an acceleration / deceleration data determination unit 62, an evaluation data acquisition unit 63, an evaluation value calculation unit 64, an operation type determination unit 65, and a display control unit 66. Furthermore, the driving data acquisition unit 61 to the display control unit 66 can each be constructed using dedicated electronic circuits such as ASICs.

[0037] The driving data acquisition unit 61 acquires driving data (described later) regarding specific operations performed by the operator of the evaluation object.

[0038] The acceleration / deceleration data determination unit 62 determines acceleration data during the acceleration period of the driving data for the object being operated on and deceleration data during the deceleration period of the driving data for the object being operated on from multiple driving data.

[0039] Evaluation Data Acquisition Department 63 refers to Evaluation Benchmark Table 71 (refer to) Figure 4 Obtain acceleration evaluation data for evaluating acceleration data and deceleration evaluation data for evaluating deceleration data, respectively.

[0040] The evaluation value calculation unit 64 calculates the acceleration evaluation value Ea based on the acceleration data and acceleration evaluation data, and calculates the deceleration evaluation value Ed based on the deceleration data and deceleration evaluation data. For example, the evaluation value calculation unit 64 decreases the acceleration evaluation value Ea as the difference between the acceleration data and the acceleration evaluation data increases, and decreases the deceleration evaluation value Ed as the difference between the deceleration data and the deceleration evaluation data increases. The specific calculation methods for the acceleration evaluation value Ea and the deceleration evaluation value Ed will be detailed later. The acceleration evaluation value Ea is a numerical value representing the operator's skill level during acceleration. In this embodiment, the larger the acceleration evaluation value Ea, the higher the operator's skill level. The deceleration evaluation value Eb is a numerical value representing the operator's skill level during deceleration. In this embodiment, the larger the deceleration evaluation value Eb, the higher the operator's skill level.

[0041] The operation type determination unit 65 determines the operation type of the operator performing a specific operation based on the acceleration evaluation value Ea and the deceleration evaluation value Ed. Here, the operation type determination unit 65 classifies the operator's operation type as either "aggressive" or "cautious." The specific method for determining the operation type will be detailed later. The operation type represents the characteristic of the operator's action.

[0042] The display control unit 66 generates an operation assistance image containing support information associated with the operation type and outputs it to the monitor 83. The display control unit 66 is an example of a "notification unit" according to the present invention.

[0043] Next, according to Figure 3 The flowchart illustrates the operational support procedures for specific operations performed by operators (in this case, boom raising and stopping).

[0044] First, in step S1, the display control unit 66 outputs a display image (not shown) to the monitor 83 indicating the start of boom raising and stopping operation, thus instructing the operator to carry out the work.

[0045] In step S2, the driving data acquisition unit 61 acquires driving data regarding the boom raising and stopping operation performed by the operator according to the work instructions. Specifically, the driving data acquisition unit 61 acquires the operation amount U(t) detected at a specified cycle and the stop position V of a specific part of the boom 41. out Start-up time T O , to be used as driving data.

[0046] Here, the operating quantity U(t) refers to the value detected by the lever measuring instrument 82 at specified cycles (sampling intervals) during the period when the boom is raised and stopped.

[0047] In addition, the stopping position V of a specific part of the boom 41 out This refers to, for example, the coordinates of the stopping position (height position) of the distal end of the boom 41. Furthermore, the stopping height position of the distal end of the boom 41 can be calculated based on values ​​from angle sensors installed on the boom 41, etc.

[0048] Moreover, shoulder rise time T O This refers to the time from the start of boom 41 operation to acceleration during boom lifting and stopping operations. Lifting time T O This is an example of an acceleration period value that represents the length of the acceleration period.

[0049] In step S3, the acceleration / deceleration data determination unit 62 determines the acceleration data (driving data during acceleration) and the deceleration data (driving data during deceleration) from the driving data acquired in step S2.

[0050] In detail, the acceleration / deceleration data determination unit 62 determines acceleration data when the acceleration α(t) calculated based on the actual velocity Sa(t) detected by the sensor 81 is 0 or greater (acceleration α≥0), and deceleration data when it is less than 0 (acceleration α<0). For example, the acceleration α(t) is calculated according to Equation 1 shown below. In Equation 1, S... a (t) represents the velocity at the current time t, S a (t-1) represents the velocity at a time one step before t, and Δt represents the velocity from S... a (t-1) to S a The elapsed time up to (t). In addition, in this embodiment, the calculation is performed based on a difference of one step, but it can also be performed by comparing with data from an earlier step.

[0051] [Formula 1]

[0052]

[0053] In step S4, the evaluation data acquisition unit 63 refers to the evaluation benchmark table 71 stored in the storage device 7 (refer to...). Figure 4 This allows for the acquisition of acceleration and deceleration evaluation data for boom raising and stopping operations.

[0054] like Figure 4 As shown, in the evaluation benchmark table 71, for specific operations performed in advance by skilled operators, acceleration evaluation data is recorded as driving data during acceleration and deceleration evaluation data as driving data during deceleration. Skilled operators are operators with extensive experience in driving the hydraulic excavator 1, such as operators with a specified number of years (e.g., 10 years) or more of driving experience.

[0055] In evaluation benchmark table 71, “V” s in "V" refers to the average or variance of the operating quantity U(t) detected by the lever measuring instrument 82 at specified intervals during acceleration or deceleration. s in "This is an example of an operation input to the control unit by a skilled operator during acceleration or deceleration." s out "This is the position (height position) where a specific part (distal end) of the boom 41 stops during deceleration." V s out "This is an example of the stopping position of the object being operated on by a skilled operator during deceleration." s O "This refers to the lifting time of boom 41 during acceleration." s O "" is an example of an acceleration period value that represents the length of the acceleration period for a skilled operator.

[0056] Furthermore, in the evaluation benchmark table 71, “ω” in "ω" out "and "ω o " is a weighted parameter used to calculate the acceleration evaluation value Ea and the deceleration evaluation value Ed, which will be discussed later.

[0057] In step S5, the evaluation value calculation unit 64 calculates the acceleration evaluation value Ea and the deceleration evaluation value Ed according to the following formula 2.

[0058] [Equation 2]

[0059]

[0060] First, in the calculation of the acceleration evaluation value Ea, the evaluation value calculation unit 64 calculates the average V of the operation quantity U(t) determined as acceleration data in step S3. inor variance V in The average V of the operation amount U(t) during the acceleration period. in or variance V in This is an example of the acceleration operation amount, representing the magnitude of the operation input by the operator to the control unit during acceleration. The average V of the operation amount U(t) during deceleration is... in or variance V in This is an example of the amount of deceleration operation that is input by the operator into the operating unit during deceleration.

[0061] Then, the evaluation value calculation unit 64 will "V" in “V” collected in step S2 out "and "T O “V”, the acceleration evaluation data obtained in step S4 s in “V” s out “T” s O "ω" in "ω" out "and "ω o Substitute the formula into equation 2 to accelerate the calculation and evaluate the value Ea.

[0062] Furthermore, due to the "ω" of the data used for accelerated evaluation out "Because it is input as 0, the parameter regarding the stop position is ignored in the calculation of the acceleration evaluation value Ea. That is, the evaluation value calculation unit 64 calculates the acceleration operation amount based on the difference between the operator's acceleration operation amount and the skilled operator's acceleration operation amount (|V s in -V in |), and the difference between the acceleration period value of an operator and that of a skilled operator (|T) S O -T O |) increases, thus decreasing the acceleration evaluation value Ea.

[0063] Furthermore, in the calculation of the deceleration evaluation value Ed, the evaluation value calculation unit 64 calculates the average V of the operation quantity U(t) determined as deceleration data in step S3. in or variance V in .

[0064] Then, the evaluation value calculation unit 64 will "V" in “V” collected in step S2 out "and "T O “V”, the deceleration evaluation data obtained in step S4 s in “V” sout “T” s o "ω" in "ω" out "and "ω o Substitute into equation 2 to calculate the deceleration evaluation value Ed.

[0065] Furthermore, due to the "ω" of the deceleration evaluation data o "Because the input is 0, the parameter regarding the lifting time is ignored in the calculation of the deceleration evaluation value Ed. That is, the evaluation value calculation unit 64 calculates the deceleration value based on the difference between the deceleration operation amount of the operator and the deceleration operation amount of the skilled operator (|V s in -V in |), and the difference between the stopping position of the operator and the stopping position of the skilled operator (|V). S out -V out |) increases, thus decreasing the deceleration evaluation value Ed.

[0066] As described above, in this embodiment, by adjusting the weighting parameter "ω" in "ω" out "and "ω o The acceleration evaluation value Ea and the deceleration evaluation value Ed are calculated using the common formula 2.

[0067] In step S6, the operation type determination unit 65 determines the operation type of the operator performing the boom raising and stopping operation based on the acceleration evaluation value Ea and deceleration evaluation value Ed calculated in step S5.

[0068] exist Figure 5 The graph represents a 2D graph with the acceleration evaluation value Ea as the horizontal axis and the deceleration evaluation value Ed as the vertical axis. The straight line SL in the 2D graph is a straight line (with a slope of 1 and an intercept of 0) connecting the origin (acceleration evaluation value Ea = 0 and deceleration evaluation value Ed = 0) and the highest point (acceleration evaluation value Ea = 100 and deceleration evaluation value Ed = 100).

[0069] The acceleration evaluation value Ea and the deceleration evaluation value Ed are plotted on Figure 5 In the case of region AR1 located in the lower right relative to the line SL in the 2D graph shown (e.g.) Figure 5 The operation type determination unit 65 determines that the operator's operation type is "active" when the acceleration evaluation value Ea is greater than the deceleration evaluation value Ed (Ea>Ed).

[0070] On the other hand, the acceleration evaluation value Ea and the deceleration evaluation value Ed are plotted on Figure 5 In the case of the 2D graphic shown, on the line SL or in the region AR2 located in the upper left relative to the line SL (e.g.) Figure 5 The operation type determination unit 65 determines that the operator's operation type is "cautious" when the acceleration evaluation value Ea is less than or equal to the deceleration evaluation value Ed (Ea≤Ed).

[0071] In step S7, the display control unit 66 generates an operation assistance image containing support information associated with the operation type and outputs it to the monitor 83.

[0072] Specifically, the display control unit 66 refers to Figure 6 The support information table 72 shown retrieves support information associated with the operation type determined in step S6. For example, if the operation type is determined to be "Caution" in step S6, the display control unit 66 retrieves support information (thick box portion) associated with the "Caution" type of "Boom Raise Stop".

[0073] The support information recorded in Support Information Table 72 is information (messages) used to remind the operator of the status of the hydraulic excavator 1 (engine tone or dirt in the bucket). In other words, this support information indirectly improves the operator's skill in boom raising and stopping operations by indicating the status of the hydraulic excavator 1 that the operator should be paying attention to.

[0074] Specifically, Support Information Table 72 stores the operation type and corresponding support information for each type of specific operation. Specific operations include, for example, boom raising and stopping operations, slewing position positioning operations, etc. Operation types are the aforementioned "cautious" and "aggressive" types. For example, for a specific operation of "boom raising and stopping" with the "cautious" type, the support information uses a message promoting more aggressive operation, such as "Please perform the operation so that you can clearly hear the engine tone." For example, for a specific operation of "boom raising and stopping" with the "aggressive" type, the support information uses a message promoting more cautious operation, such as "Please perform the operation to prevent soil from spilling from the bucket." Thus, the support information is information that prompts the operator to pay attention to the state of the hydraulic excavator 1 (e.g., "engine tone"), and it includes information to indirectly improve the skill level for the specific operation (e.g., "Please perform the operation so that you can clearly hear the engine tone."). Therefore, the operator can understand how to operate the hydraulic excavator 1 in what state to improve the specific operation.

[0075] Then, as Figure 7 As shown, the display control unit 66 generates support information ( Figure 7 The operation assistance image 700 (part of the dialog box image) is overlaid on the 2D graph 701 on which the acceleration evaluation value Ea and the deceleration evaluation value Ed are drawn, and output to the monitor 83.

[0076] exist Figure 7 In the example, an operation assistance image 700 is shown for a specific operation called "boom raise and stop operation" and the operation type is "cautious". This operation assistance image 700 includes: an image of points 703 representing the operator's acceleration evaluation value Ea and deceleration evaluation value Ed, plotted on a 2D graph 701; and a dialog box image 702 representing support information. A straight line SL, distinguishing between the "cautious" and "aggressive" operation types, is drawn in the 2D graph 701. The dialog box image 702 is displayed in association with the points 703. For the specific operation "boom raise and stop operation" and the operation type "cautious", the dialog box image 702 displays support information pre-registered in the support information table 72 (here, "Please perform the operation where you can clearly hear the engine tone."). By reviewing the operation assistance image 700, the operator can grasp their own operational tendencies and areas for improvement.

[0077] According to the above implementation method, the operator's operation type is determined based on the acceleration evaluation value Ea and the deceleration evaluation value Ed, and the operator is notified of support information corresponding to the determined operation type. Therefore, it is possible to implement support (operation assistance) suitable for the operator's operation type ("aggressive" type or "cautious" type) when performing a specific operation (boom raising and stopping operation) on the hydraulic excavator 1.

[0078] Furthermore, according to the above-described embodiment, since the operator is prompted to observe the state of the hydraulic excavator 1 (engine tone or dirt in the bucket) as supporting information, more effective operational assistance can be provided to inexperienced operators who cannot respond to direct instructions.

[0079] <2. Variations>

[0080] The engineering machinery of the present invention is not limited to the above-described embodiments, but can be modified and improved in various ways within the scope of the invention.

[0081] For example, in the above embodiments, the boom raising and stopping operation is illustrated as an example of a specific operation, but it is not limited to this. The concept of the present invention can be applied to any operation that involves acceleration and deceleration. Specifically, in a slewing position positioning operation that involves turning in a specified direction and stopping, the operator's operation type can be determined, and support information corresponding to that operation type can be provided to the operator.

[0082] Furthermore, in the above embodiments, acceleration data and deceleration data are illustrated by being calculated based on the actual speed S. a The acceleration and deceleration data can be determined by the calculated acceleration a(t), but it is not limited to this. Acceleration and deceleration data can also be determined using only the transformation data (moving average, etc.) of the operation quantity U(t). Alternatively, a combination of acceleration α(t) and operation quantity U(t) can be used to determine acceleration and deceleration data.

[0083] Furthermore, in the above-described embodiments, such as Figure 7 As shown, supporting information is overlaid on a 2D graph 701 plotting acceleration evaluation value Ea and deceleration evaluation value Ed. Figure 7 The operation assistance image 700 (showing the conversation box image 702) is displayed on the monitor 83, but it is not limited to this. For example, instead of displaying the 2D graphic 701, the operation assistance image 700, which only displays supporting text (messages within the conversation box image 702), may be output to the monitor 83.

[0084] Furthermore, in the above-described embodiment, assuming a single boom raising and stopping operation is performed, an operation assistance image 700 is generated, which only displays one acceleration evaluation value Ea and one deceleration evaluation value Ed. Figure 7 However, it is not limited to this.

[0085] For example, in the case of repeated boom raising and stopping operations, an operation auxiliary image 800 can be generated, which plots multiple acceleration evaluation values ​​Ea and multiple deceleration evaluation values ​​Ed. Figure 8 ).like Figure 8 As shown, the operation assistance image 800 includes an image plotted with multiple points 803 and a display volume 804. The multiple points 803 represent multiple acceleration evaluation values ​​Ea and deceleration evaluation values ​​Ed in the 2D graph 801. The display volume 804 uses arrows to indicate the temporal transitions of the multiple points 803. The display volume 804 connects the multiple points 803 in a time sequence. The vertical and horizontal axes of the 2D graph 801 are the same as those of the 2D graph 701. Furthermore, the operation assistance image 800 includes a dialog box image 802. The details of the dialog box image 802 are the same as those of the dialog box image 702.

[0086] Specifically, the evaluation value calculation unit 64 only needs to store the acceleration evaluation value Ea and the deceleration evaluation value Ed in the storage device 7 in time sequence for each implementation of the boom raising and stopping operation. Moreover, the display control unit 66 only needs to generate an operation auxiliary image 800 containing an image in which multiple points 803 and the display volume 804 are drawn on a 2D graphic 801.

[0087] Furthermore, in the above embodiment, at the time when the boom raising and stopping operation is completed, an operation assistance image 700 containing support information is displayed. Figure 7 The output is sent to monitor 83, but it is not limited to that.

[0088] For example, in the case of repeated boom raising and stopping operations, controller 6 can also use the distance L between point 903 (an example of evaluation data) representing the previous acceleration evaluation value Ea and deceleration evaluation value Ed and the target point TV (an example of target data) (refer to...) Figure 9 The frequency of outputting the operation assistance image 700 is determined by the system, and the operation assistance image 700 is output to the monitor 83 at that frequency. Furthermore, the target point TV consists of a predetermined acceleration target value for the acceleration evaluation value and a predetermined deceleration target value for the deceleration evaluation value. An example of each of the acceleration and deceleration target values ​​is 100.

[0089] In this case, the controller 10 only needs to have a frequency determination unit 67 that determines the frequency of the output operation assistance image 700. The frequency determination unit 67 calculates the distance L according to the following formula 3.

[0090] [Formula 3]

[0091]

[0092] In addition, the frequency determination department references 67. Figure 10 Frequency table 73 determines the frequency associated with the calculated distance L value, which is used as the output frequency of the operation assistance image 700. In equation 3, "100" in the first bracket is the acceleration target value, and "100" in the second bracket is the deceleration target value. Frequency table 73 specifies the relationship between distance L and frequency in such a way that the frequency increases as the distance L increases. Frequency table 73 specifies the relationship between distance and frequency in the following way: for example, when the distance L is 0 or more and 19 or less, the operation assistance image 700 is not displayed; when the distance L is 20 or more and 39 or less, the operation assistance image 700 is displayed at the end of the operation; when the distance L is 40 or more and 59 or less, the operation assistance image 700 is displayed when the key of the hydraulic excavator 1 is off.

[0093] For example, when the distance L is "62", the frequency determination unit 67 determines the frequency to be "1 time / 1 hour" by referring to the frequency table 73. In this case, the display control unit 66 outputs the operation assistance image 700 to the monitor 83 at a frequency of once per hour. Furthermore, when the distance L is "86", the frequency determination unit 67 determines the frequency to be "2 times / 1 hour". In this case, the display control unit 66 outputs the operation assistance image 700 at a frequency of twice per hour.

[0094] According to the above-described variation, when the distance between point 903 (represented by acceleration evaluation value Ea and deceleration evaluation value Ed) and the target point TV is large (in other words, when the operator's skill level is low), the operation assistance image 700 is output at a high frequency, thus promoting the operator's skill improvement. On the other hand, when the distance between point 903 (represented by acceleration evaluation value Ea and deceleration evaluation value Ed) and the target point TV is small (in other words, when the operator's skill level is high), the operation assistance image 700 is output at a low frequency (or no operation assistance image is output), thus preventing unnecessary information from being provided to the operator. Therefore, appropriate support corresponding to the operator's skill level can be provided.

[0095] Furthermore, in the above embodiments, operation assistance images 700 and 800 containing support information pre-associated with the operation type are generated, but they are not limited to this. For example, additional information to be added to the support information may be determined based on the distance between the evaluation data represented by the acceleration evaluation value Ea and the deceleration evaluation value Ed and the predetermined target data, so as to generate operation assistance images containing support information and additional information.

[0096] Here, the following scheme is illustrated: based on the distance e from point 903 (an example of evaluation data) represented by the acceleration evaluation value Ea and the deceleration evaluation value Ed to the perpendicular line of the straight line SL (refer to...). Figure 9 ), and decide to add additional information. In this scheme, the data consisting of the acceleration evaluation value Ea and the deceleration evaluation value Eb located at the intersection point 904 of the vertical line and the straight line SL is an example of the target data.

[0097] In this scheme, the controller 10 only needs to have an additional information determination unit 68 that determines additional information to be added to the supporting information. The additional information determination unit 68 calculates the distance e according to the following formula 4.

[0098] [Formula 4]

[0099]

[0100] In addition, 68 additional information decision-making departments were added. Figure 11The supplementary information table 74 shown determines the supplementary information associated with the calculated distance e. Supplementary information table 74 represents supplementary information for a specific operation called "boom raising stop operation" and whose operation type corresponds to the "cautious" type. Supplementary information table 74 specifies supplementary information corresponding to distance e in a manner that emphasizes the negative operation more as distance e increases. For example, when distance e is 0 or more and less than 19, no supplementary information is displayed; when distance e is 20 or more and less than 39, the supplementary information is "operation slightly negative."; and when distance e is 40 or more and less than 59, the supplementary information is "operation negative."

[0101] For example, if the distance e is "74", the additional information decision unit 68 determines "the operation is rather negative" as additional information. In this case, the display control unit 66 will... Figure 12 The operation assistance image 1200 shown is output to the monitor 83. Figure 12 The operation assistance image 1200 shown includes a 2D graphic 1201 and a session frame image 1202. The session frame image 1202 contains support information corresponding to the "Caution" type. Figure 6 The message indicated by the thick frame ("Operation is rather negative") was appended to the message "Operation is rather negative." Furthermore, the content of 2D graphic 1201 is the same as that of 2D graphic 701.

[0102] For example, if the distance e is "22", the additional information decision unit 68, referring to the additional information table 74, determines the additional information to be "operation is slightly negative". In this case, the display control unit 66 will... Figure 13 The operation assistance image 1300 shown is output to the monitor 83. Figure 13 The operation assistance image 1300 shown includes a 2D graphic 1301 and a dialog box image 1302. The dialog box image 1302 contains support information corresponding to the "Caution" type. Figure 6 The message represented by the thick frame ("Operation is slightly negative") was previously appended with the message "Operation is slightly negative," which was determined by the additional information decision unit 68. 2D graph 1301 is identical to 2D graph 801. The session frame image 1302 is displayed in association with the latest point representing the acceleration evaluation value Ea and the deceleration evaluation value Eb.

[0103] According to the above-described variation, the content displayed on the operation assistance image can be changed based on the distance between the acceleration evaluation value Ea and the deceleration evaluation value Ed and the target value (in other words, the operator's skill level). For example, for operators with low skill but large distances between their acceleration evaluation value Ea and deceleration evaluation value Ed and the target data, a strong message is added to the support information. Alternatively, for operators with high skill but small distances between their acceleration evaluation value Ea and deceleration evaluation value Ed and the target data, a weak message is added to the support information, or no message is displayed. Furthermore, the additional information determination unit 68 can also determine the additional information based on the distance L instead of the distance e. In this case, the additional information determination unit 68 only needs to determine the additional information that is incorrectly amplified as the distance L increases based on the additional information table 74.

[0104] Furthermore, in the above-described embodiments, support information is visually communicated by manipulating auxiliary images, but it is not limited to this; support information can also be communicated audibly by sound.

[0105] In this case, the hydraulic excavator 1 only needs to have a speaker (not shown) installed in the operator's cab. Furthermore, the controller 10 only needs to have a sound control unit. The sound control unit only needs to output sound data for supporting information to the speaker. In the above variation, the sound control unit is an example of a "notification unit".

[0106] Furthermore, in the above-described embodiments, the support information is, for example, information about the state of the hydraulic excavator 1 that the operator should observe (engine tone, etc.) that indirectly improves the skill of boom raising and stopping operations, but it is not limited to this. For example, the support information may also be a message that specifically instructs the operation content of the boom raising and stopping operation (lever operation method, etc.). In this case, the support information becomes a message that directly improves the skill of boom raising and stopping operations.

[0107] Furthermore, in the above-described embodiments, the display is real-time (during operation). Figure 7 The illustrated operation assistance image 700 is not limited to this. For example, the operation assistance image may be a report that includes the transformation (level of progress) of skills after receiving support (operation assistance) or information on what should be focused on in order to achieve better operation, which is presented after the completion of the task.

[0108] Furthermore, in the above-described embodiments, the operator's operation type is either "aggressive" or "cautious," but it is not limited to these. The operation type may also include, for example, an "intermediate" type between "aggressive" and "cautious." In this case, the operation type determination unit 65 determines the operation type as "aggressive" only when the acceleration evaluation value Ea is greater than the deceleration evaluation value Eb and the difference between the acceleration evaluation value Ea and the deceleration evaluation value Eb, |Ea-Eb|, is greater than a specified value; if the difference |Ea-Eb|| is less than the specified value, the operation type is determined as "intermediate"; and if the acceleration evaluation value Ea is less than the deceleration evaluation value Eb and the difference |Ea-Eb| is greater than the specified value, the operation type is determined as "cautious."

[0109] (Summary of Implementation Methods)

[0110] The aforementioned construction machinery includes: a driving data acquisition unit that acquires multiple driving data points relating to a specific operation performed by an operator on an object of operation of the construction machinery; an acceleration / deceleration data determination unit that determines acceleration data during the acceleration period of the driving data and deceleration data during the deceleration period of the driving data; an evaluation data acquisition unit that acquires acceleration evaluation data and deceleration evaluation data for evaluating the acceleration data; an evaluation value calculation unit that calculates an acceleration evaluation value representing the operator's skill level during the acceleration period based on the acceleration data and the acceleration evaluation data, and calculates a deceleration evaluation value representing the operator's skill level during the deceleration period based on the deceleration data and the deceleration evaluation data; an operation type determination unit that determines the operator's operation type based on the acceleration evaluation value and the deceleration evaluation value; and a notification unit that notifies support information associated with the operation type determined by the operation type determination unit.

[0111] According to this scheme, the operator's operation type is determined based on acceleration and deceleration evaluation values, and the corresponding support information is then communicated to the operator. Therefore, more appropriate support can be provided based on the operation type of the operator performing a specific operation.

[0112] In the aforementioned construction machinery, it is ideal that the support information is information used to remind the operator of the status of the construction machinery and to improve the skills of the specific operation.

[0113] According to the scheme, the supporting information is information that prompts operators to pay attention to the status of the construction machinery and can provide operators with information to improve their skills.

[0114] In the aforementioned engineering machinery, it is ideal for the notification unit to generate an operation assistance image and output it to the display unit. The operation assistance image includes an image in which the acceleration evaluation value and the deceleration evaluation value are plotted on a 2D graph with the acceleration evaluation value and the deceleration evaluation value as coordinate axes, as well as the support information.

[0115] According to this scheme, since the operation assistance image, which displays the acceleration and deceleration evaluation values ​​plotted on a 2D graph and supporting information, is displayed, operators can easily identify their own operation type.

[0116] Ideally, the aforementioned engineering machinery would also include a storage unit that stores the acceleration evaluation value and the deceleration evaluation value calculated by the evaluation value calculation unit in a time sequence for each implementation of the specific operation; wherein the notification unit generates an operation assistance image that further includes an image in which multiple points and a display volume are drawn on the 2D graphic, the multiple points representing the acceleration evaluation value and the deceleration evaluation value stored in a time sequence, and the display volume representing the temporal transition of the acceleration evaluation value and the deceleration evaluation value.

[0117] According to the scheme, operators can easily grasp the time transition of acceleration and deceleration evaluation values ​​through 2D graphics.

[0118] Ideally, the aforementioned engineering machinery also includes a frequency determination unit, which determines the frequency of notifying the support information based on the distance between the evaluation data composed of the acceleration evaluation value and the deceleration evaluation value and the preset target data; wherein the notification unit notifies the support information at the frequency determined by the frequency determination unit.

[0119] According to this scheme, support information can be notified at a frequency corresponding to the distance between the evaluation data and the target data.

[0120] Ideally, the aforementioned engineering machinery would also include: an additional information determination unit, which determines additional information to be added to the support information based on the distance between the evaluation data composed of the acceleration evaluation value and the deceleration evaluation value and the preset target data; wherein, the notification unit notifies the support information containing the additional information determined by the additional information determination unit.

[0121] According to this scheme, additional information determined based on the distance between the evaluation data and the target data can be included in the supporting information.

[0122] In the aforementioned construction machinery, it is ideal for the operation type determination unit to determine the operator's operation type as positive when the acceleration evaluation value is greater than the deceleration evaluation value.

[0123] According to this scheme, the type of operation performed by the operator can be specifically determined.

[0124] In the aforementioned engineering machinery, ideally, the operation type determination unit determines the operator's operation type as aggressive when the acceleration evaluation value is greater than the deceleration evaluation value by a specified value; determines the operator's operation type as cautious when the deceleration evaluation value is greater than the acceleration evaluation value by a specified value; and determines the operator's operation type as intermediate when the absolute value of the difference between the acceleration evaluation value and the deceleration evaluation value is less than the specified value.

[0125] According to this scheme, the type of operation performed by the operator can be specifically determined.

[0126] In the aforementioned construction machinery, it is ideal for the operation type determination unit to determine the operator's operation type as cautious when the acceleration evaluation value is below the deceleration evaluation value.

[0127] According to this scheme, the type of operation performed by the operator can be specifically determined.

[0128] Ideally, the state of the aforementioned construction machinery should include the engine sound or the state of the soil inside the bucket.

[0129] According to this scheme, support information can be generated using engine sounds or the state of the soil inside the bucket.

[0130] In the aforementioned engineering machinery, it is ideal for the frequency determination unit to determine the frequency of the support information by referring to a frequency table that specifies the relationship between the distance and the frequency, so that the frequency decreases as the distance increases.

[0131] According to this scheme, the frequency of outputting support information can be easily determined.

[0132] In the aforementioned engineering machinery, it is ideal for the evaluation value calculation unit to decrease the acceleration evaluation value as the difference between the acceleration data and the acceleration evaluation data increases, and to decrease the acceleration evaluation value as the difference between the deceleration data and the deceleration evaluation data increases.

[0133] According to this scheme, the acceleration evaluation value decreases as the difference between the acceleration data and the acceleration evaluation data increases, and the deceleration evaluation value decreases as the difference between the deceleration data and the deceleration evaluation data increases. Therefore, the acceleration evaluation value and the deceleration evaluation value can be calculated appropriately.

[0134] In the aforementioned construction machinery, it is preferable that the construction machinery further includes: an operating unit, into which the operator's operation on the object to be operated is input; wherein, the acceleration data includes an acceleration operation amount representing the magnitude of the operation input by the operator into the operating unit during the acceleration period and an acceleration period value representing the length of the acceleration period based on the operator; the acceleration evaluation data includes the acceleration operation amount input by a skilled operator into the operating unit during the acceleration period and the acceleration period value based on the skilled operator; the evaluation value calculation unit decreases the acceleration evaluation value as the difference between the acceleration operation amount based on the operator and the acceleration operation amount based on the skilled operator, and the difference between the acceleration period value based on the operator and the acceleration period value based on the skilled operator, increases.

[0135] According to this scheme, since the acceleration evaluation value decreases as the difference between the acceleration amount of the operator and the acceleration amount of the skilled operator, and the difference between the acceleration period value of the operator and the acceleration period value of the skilled operator, increases, it is possible to calculate an appropriate acceleration evaluation value that takes into account the acceleration amount and acceleration period value.

[0136] In the aforementioned engineering machinery, ideally, the deceleration data includes a deceleration operation amount representing the magnitude of the operation input by the operator to the operating unit during the deceleration period and the stopping position of the object being operated on during the deceleration period. The deceleration evaluation data includes the deceleration operation amount input by the skilled operator to the operating unit during the deceleration period and the stopping position of the object being operated on based on the skilled operator. The evaluation value calculation unit decreases the deceleration evaluation value as the difference between the deceleration operation amount based on the operator and the deceleration operation amount based on the skilled operator, and the difference between the stopping position based on the operator and the stopping position based on the skilled operator, increases.

[0137] According to this scheme, since the deceleration evaluation value decreases as the difference between the deceleration amount of the operator and the deceleration amount of the skilled operator, and the difference between the deceleration period of the operator and the deceleration period of the skilled operator, increases, it is possible to calculate an appropriate deceleration evaluation value that takes into account the deceleration amount and the deceleration period.

[0138] Furthermore, another aspect of the present invention includes an engineering machine comprising: a storage unit for storing acceleration evaluation data and deceleration evaluation data; and a control unit; wherein the control unit acquires driving data for a specific operation, determines acceleration data as driving data during acceleration and deceleration data as driving data during deceleration, acquires the acceleration evaluation data and the deceleration evaluation data from the storage unit, calculates an acceleration evaluation value representing the operator's skill level during acceleration based on the acceleration data and the acceleration evaluation data, calculates a deceleration evaluation value representing the operator's skill level during deceleration based on the deceleration data and the deceleration evaluation data, determines the operator's operation type based on the acceleration evaluation value and the deceleration evaluation value, and notifies support information associated with the operation type.

[0139] According to this scheme, the operator's operation type is determined based on acceleration and deceleration evaluation values, and the corresponding support information is then communicated to the operator. Therefore, more appropriate support can be provided based on the operation type of the operator performing a specific operation.

[0140] Industrial availability

[0141] As described above, the engineering machinery of the present invention is suitable for supporting specific operations performed by operators.

Claims

1. An engineering machinery, characterized in that... include: The driving data acquisition unit acquires multiple driving data points regarding specific operations performed by the operator on the objects to be operated by the construction machinery. The acceleration / deceleration data determination unit determines, respectively, the acceleration data of the driving data during the acceleration period of the object being operated and the deceleration data of the driving data during the deceleration period of the object being operated from the plurality of driving data; The evaluation data acquisition unit acquires acceleration evaluation data for evaluating the acceleration data and deceleration evaluation data for evaluating the deceleration data, respectively. The evaluation value calculation unit calculates an acceleration evaluation value representing the operator's skill level during the acceleration period based on the acceleration data and the acceleration evaluation data, and calculates a deceleration evaluation value representing the operator's skill level during the deceleration period based on the deceleration data and the deceleration evaluation data. The operation type determination unit determines the operation type of the operator based on the acceleration evaluation value and the deceleration evaluation value; as well as, The notification unit notifies the support information associated with the operation type determined by the operation type determination unit.

2. The engineering machinery according to claim 1, characterized in that: The support information is information used to remind the operator of the status of the construction machinery and to improve the skills required for the specific operation.

3. The engineering machinery according to claim 1 or 2, characterized in that: The notification unit generates an operation assistance image and outputs it to the display unit. The operation assistance image includes an image in which the acceleration evaluation value and the deceleration evaluation value are plotted on a 2D graph with the acceleration evaluation value and the deceleration evaluation value as coordinate axes, as well as the support information.

4. The engineering machinery according to claim 3, characterized in that... Also includes: The storage unit stores the acceleration evaluation value and the deceleration evaluation value calculated by the evaluation value calculation unit in a time sequence for each implementation of the specific operation; wherein, The notification unit generates an operation assistance image that includes an image in which multiple points and a display volume are drawn on the 2D graphic, the multiple points representing the acceleration evaluation value and the deceleration evaluation value stored in time sequence, and the display volume representing the temporal transition of the acceleration evaluation value and the deceleration evaluation value.

5. The engineering machinery according to any one of claims 1 to 4, characterized in that... Also includes: The frequency determination unit determines the frequency of notifying the support information based on the distance between the evaluation data composed of the acceleration evaluation value and the deceleration evaluation value and the preset target data; wherein, The notification unit notifies the support information at the frequency determined by the frequency determination unit.

6. The engineering machinery according to any one of claims 1 to 5, characterized in that... Also includes: The supplementary information decision unit determines supplementary information to be added to the support information based on the distance between the evaluation data composed of the acceleration evaluation value and the deceleration evaluation value and the preset target data; wherein, The notification unit notifies the supporting information that includes the additional information determined by the additional information decision unit.

7. The engineering machinery according to any one of claims 1 to 6, characterized in that: If the acceleration evaluation value is greater than the deceleration evaluation value, the operation type determination unit determines the operator's operation type as an aggressive type; if the acceleration evaluation value is less than the deceleration evaluation value, the operation type determines the operator's operation type as a cautious type.

8. The engineering machinery according to any one of claims 1 to 7, characterized in that: The operation type determination unit determines the operator's operation type as aggressive if the acceleration evaluation value is greater than the deceleration evaluation value by a specified value, as cautious if the deceleration evaluation value is greater than the acceleration evaluation value by the specified value, and as intermediate if the absolute value of the difference between the acceleration evaluation value and the deceleration evaluation value is less than the specified value.

9. The engineering machinery according to claim 2, characterized in that: The condition of the construction machinery includes the tone of the engine or the mud in the bucket.

10. The engineering machinery according to claim 5, characterized in that: The frequency determination unit decreases the frequency of notifying the support information as the distance increases.

11. The engineering machinery according to claim 10, characterized in that: The frequency determination unit determines the frequency at which it notifies the support information by referring to a frequency table that defines the relationship between distance and frequency in a manner that decreases as the distance increases.

12. The engineering machinery according to any one of claims 1 to 11, characterized in that: The evaluation value calculation unit decreases the acceleration evaluation value as the difference between the acceleration data and the acceleration evaluation data increases, and decreases the acceleration evaluation value as the difference between the deceleration data and the deceleration evaluation data increases.

13. The engineering machinery according to claim 12, characterized in that... Also includes: The operation unit receives input from the operator regarding their actions on the object being operated on; wherein... The acceleration data includes an acceleration operation amount representing the magnitude of the operation input by the operator to the operating unit during the acceleration period, and an acceleration period value representing the length of the acceleration period based on the operator. The acceleration evaluation data includes the acceleration operation amount input by the skilled operator to the operating unit during the acceleration period and the acceleration period value based on the skilled operator. The evaluation value calculation unit decreases the acceleration evaluation value as the difference between the acceleration operation amount based on the operator and the acceleration operation amount based on the skilled operator, and the difference between the acceleration period value based on the operator and the acceleration period value based on the skilled operator, increases.

14. The engineering machinery according to claim 13, characterized in that: The deceleration data includes the deceleration operation amount, representing the magnitude of the operation input by the operator to the operating unit during the deceleration period, and the stopping position of the object being operated on during the deceleration period. The deceleration evaluation data includes the deceleration operation amount input by the skilled operator to the operating unit during the deceleration period and the stopping position of the object being operated on based on the skilled operator's input. The evaluation value calculation unit decreases the deceleration evaluation value as the difference between the deceleration operation amount based on the operator and the deceleration operation amount based on the skilled operator, and the difference between the stopping position based on the operator and the stopping position based on the skilled operator, increases.

15. An engineering machinery, characterized in that... include: The storage department stores data for acceleration evaluation and data for deceleration evaluation; and, Control Department; among which, The control unit acquires multiple driving data points regarding specific operations performed by the operator on the objects being operated by the construction machinery. The control unit respectively determines the acceleration data of the driving data during the acceleration period of the object being operated on and the deceleration data of the driving data during the deceleration period of the object being operated on from the plurality of driving data. The control unit obtains the acceleration evaluation data and the deceleration evaluation data from the storage unit, respectively. The control unit calculates an acceleration evaluation value, representing the operator's skill level during acceleration, based on the acceleration data and the acceleration evaluation data; and calculates a deceleration evaluation value, representing the operator's skill level during deceleration, based on the deceleration data and the deceleration evaluation data. The control unit determines the operator's operation type based on the acceleration evaluation value and the deceleration evaluation value. The control unit notifies the support information associated with the operation type.

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