Work machine state management device

Abstract

A state management device manages a state of a work machine. The work machine includes a work device, a posture detection device that detects posture information of the work device, and a motion detection device that detects motion information of an actuator. The state management device includes a control device that performs an operation based on detection results of the posture detection device and the motion detection device, and an output device that outputs an operation result of the control device in an identifiable form. The control device operates a cumulative damage degree of a driven component based on the posture information of the work device and the motion information of the actuator, stores a time change of the cumulative damage degree of a prescribed position of the driven component, and outputs information indicating the time change of the cumulative damage degree of the prescribed position to the output device.

Description

Technical Field

[0001] This invention relates to a status management device for operating machinery. Background Technology

[0002] A known excavator status display device displays the distribution of accumulated damage within the excavator on a display screen (see Patent Document 1). The excavator status display device described in Patent Document 1 displays the distribution of accumulated damage within the excavator's components as an image on a display screen, based on data representing the distribution of accumulated damage within the excavator's components under multiple different operating conditions, allowing for comparison between each operating condition.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2014-222003 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] Excavators, as type of construction machinery, are preferably operated except for maintenance periods to maximize operational efficiency. However, if the machinery operates for extended periods, its operating conditions constantly change, leading to variations in the cumulative damage to components due to various factors. In the status display device described in Patent Document 1, the cumulative damage during maintenance is determined by displaying the distribution of damage accumulated during that time. However, the status display device in Patent Document 1 cannot determine the temporal changes in cumulative damage during machinery operation. Therefore, the technology described in Patent Document 1 may not be able to properly predict the lifespan of components.

[0008] The purpose of this invention is to properly predict the lifespan of the driven components of an operating device.

[0009] Methods for solving problems

[0010] One embodiment of the present invention provides a state management device for operating machinery, wherein the operating machinery includes: an operating device comprising multiple driven components driven by multiple actuators connected by multiple joints in a rotatable manner; an attitude detection device for detecting attitude information of the operating device; and a motion detection device for detecting motion information of the actuators. The state management device includes: a control device for performing calculations based on the detection results of the attitude detection device and the motion detection device; and an output device for outputting the calculation results of the control device in a recognizable form. The control device calculates the cumulative damage degree of the driven components based on the attitude information of the operating device and the motion information of the actuators, stores the time change of the cumulative damage degree at a predetermined position of the driven components, and outputs the time change of the cumulative damage degree at the predetermined position to the output device.

[0011] Invention Effects

[0012] According to the present invention, the lifespan prediction of the driven components of the working device can be appropriately performed. Attached Figure Description

[0013] Figure 1 This is a diagram showing the configuration of the status management device according to the first embodiment.

[0014] Figure 2 This is a functional block diagram of the vehicle controller.

[0015] Figure 3 This is a graph showing an example of an SN curve.

[0016] Figure 4 This is a graph showing the output processing of the cumulative damage degree over time, performed by the onboard controller.

[0017] Figure 5 This is an example of a position selection screen displayed on a display device.

[0018] Figure 6 This is an example of a display device showing a screen indicating the position of the display.

[0019] Figure 7 This is another example of a display device showing a position specification screen.

[0020] Figure 8 This is an example of a display screen showing the cumulative damage level displayed on a display device.

[0021] Figure 9 This is a diagram showing an example of a comparison condition selection screen displayed on a display device.

[0022] Figure 10 This is a diagram showing the configuration of the status management device according to the second embodiment.

[0023] Figure 11 This is a functional block diagram of the vehicle controller and management server. Detailed Implementation

[0024] The accompanying drawings illustrate an embodiment of a status management device for operating machinery.

[0025] <First Embodiment>

[0026] Figure 1 This is a diagram illustrating the configuration of the state management device 10 according to the first embodiment of the present invention. Figure 1 As shown, the status management device 10 of the first embodiment is mounted on the work machine 100. In this embodiment, the work machine 100 is described as an example of a tracked hydraulic excavator. The work machine 100 performs civil engineering work, construction work, dismantling work, dredging work, and other operations at the work site.

[0027] The operating machinery 100 includes a body 5 and an operating device 4 mounted on the body 5. The body 5 has a tracked running body 2 and a rotating body 3 rotatably mounted on the running body 2. The operating device 4 is a multi-joint type operating device mounted on the rotating body 3, having multiple actuators and multiple driven components driven by the multiple actuators, and the multiple driven components are connected by multiple joints in a rotatable manner.

[0028] The working device 4 is composed of three driven components (boom 11, stick 12, and bucket 13) connected in series. The base of the boom 11 is rotatably connected to the front of the rotating body 3 via a boom pin 11p, which acts as a joint. The base of the stick 12 is rotatably connected to the front of the boom 11 via a stick pin 12p, which acts as a joint. The bucket 13 is rotatably connected to the front of the stick 12 via a bucket pin 13p, which acts as a joint. The boom pin 11p, stick pin 12p, and bucket pin 13p are arranged parallel to each other, and each driven component (boom 11, stick 12, and bucket 13) can rotate relative to each other in the same plane.

[0029] The boom 11 is rotated by the extension and retraction of the boom cylinder 11a, which acts as an actuator (hydraulic cylinder). The stick 12 is rotated by the extension and retraction of the stick cylinder 12a, which acts as an actuator (hydraulic cylinder). The bucket 13 is rotated by the extension and retraction of the bucket cylinder 13a, which acts as an actuator (hydraulic cylinder).

[0030] The boom cylinder 11a is rotatably connected at one end to the boom 11 and at the other end to the frame of the slewing body 3. The stick cylinder 12a is rotatably connected at one end to the stick 12 and at the other end to the boom 11. The bucket cylinder 13a is rotatably connected at one end to the bucket 13 via a bucket connecting rod (connecting rod assembly) and at the other end to the stick 12.

[0031] The rotating body 3 includes a driver's cab 18 for the operator and an engine compartment 19 that houses the engine and hydraulic equipment such as hydraulic pumps driven by the engine. The engine is the power source of the working machinery 100, and is composed of an internal combustion engine such as a diesel engine.

[0032] The operating machinery 100 includes: a status management device 10, which manages the status of the operating machinery 100; a posture detection device 123, which detects the posture information of the operating machinery 100 (the posture information of the operating device 4 and the posture information of the body 5); and a motion detection device 124, which detects the motion information of the actuators (boom cylinder 11a, stick cylinder 12a, bucket cylinder 13a).

[0033] The status management device 10 includes: an on-board controller 110, which is a control device for controlling the display device 122, etc.; a touch panel monitor 120; and a communication device 125, which communicates with an external server via a communication network. The touch panel monitor 120 includes: an input device 121, which inputs prescribed information to the on-board controller 110 based on the operation of the user of the status management device 10 (in this embodiment, the operator of the work machinery 100); and a display device 122, which displays a display image on a display screen based on control signals from the on-board controller 110. The display device 122 has a display screen such as a liquid crystal display, and the input device 121 has a touch sensor formed on the liquid crystal display. The display device 122 functions as an output device, outputting the calculation results of the on-board controller 110 to the display screen in a recognizable form.

[0034] The attitude detection device 123 includes multiple angle sensors (boom angle sensor, stick angle sensor, bucket angle sensor, fore-and-aft tilt angle sensor, left-and-right tilt angle sensor, and slewing angle sensor) that detect information related to the attitude of the working machinery 100 (attitude information) and output the detection results to the vehicle controller 110. The boom angle sensor is mounted on the boom pin 11p and detects attitude information representing the rotation angle (boom angle) of the boom 11 relative to the slewing body 3. The stick angle sensor is mounted on the stick pin 12p and detects attitude information representing the rotation angle (stick angle) of the stick 12 relative to the boom 11. The bucket angle sensor is mounted on the bucket pin 13p and detects attitude information representing the rotation angle (bucket angle) of the bucket 13. The fore-and-aft tilt angle sensor is mounted on the slewing body 3 and detects attitude information representing the tilt angle (pitch angle) of the slewing body 3 relative to a reference plane (e.g., a horizontal plane) in the fore-and-aft direction. A left and right tilt angle sensor is mounted on the rotating body 3 to detect attitude information representing the tilt angle (tilt angle) of the rotating body 3 in the left and right directions. A rotation angle sensor detects attitude information representing the relative angle (rotation angle) of the rotating body 3 with respect to the traveling body 2 in a plane orthogonal to the rotation center axis.

[0035] Each angle sensor constituting the attitude detection device 123 can be, for example, a potentiometer that outputs a signal (voltage) corresponding to the angle of the component. Alternatively, the angle sensor can be an IMU (Inertial Measurement Unit), which acquires angular velocity and acceleration along three orthogonal axes, calculates the angle of the component based on the acquired data, and outputs the calculation result as attitude information to the vehicle controller 110.

[0036] The motion detection device 124 detects information related to the motion of the actuator (motion information) and outputs the detection results to the vehicle controller 110. Examples of motion detection devices 124 include a cylinder pressure gauge 124a, an oil temperature gauge 124b, an engine tachometer 124c, a hydraulic pump discharge pressure gauge 124d, a hydraulic motor inlet pressure gauge 124e, and an accelerometer 124f (see [link to documentation]). Figure 2 ).

[0037] The cylinder pressure gauge 124a includes a boom bottom pressure sensor that detects the action information of the working oil pressure (bottom pressure) in the bottom oil chamber of the boom cylinder 11a, a boom rod pressure sensor that detects the action information of the working oil pressure (rod pressure) in the rod oil chamber of the boom cylinder 11a, a stick bottom pressure sensor that detects the action information of the working oil pressure (bottom pressure) in the bottom oil chamber of the stick cylinder 12a, a stick rod pressure sensor that detects the action information of the working oil pressure (rod pressure) in the rod oil chamber of the stick cylinder 12a, a bucket bottom pressure sensor that detects the action information of the working oil pressure (bottom pressure) in the bottom oil chamber of the bucket cylinder 13a, and a bucket rod pressure sensor that detects the action information of the working oil pressure (rod pressure) in the rod oil chamber of the bucket cylinder 13a.

[0038] The working oil temperature gauge 124b is a sensor that detects the temperature of the working oil supplied to the hydraulic motor, hydraulic cylinder, etc. by a hydraulic pump (not shown). The engine tachometer 124c is a rotation sensor that detects the rotational speed of an engine (not shown). The hydraulic pump discharge pressure gauge 124d is a pressure sensor that detects the pressure of the working oil supplied to the hydraulic motor, hydraulic cylinder, etc. by a hydraulic pump (not shown). The hydraulic motor inlet pressure gauge 124e is a pressure sensor that detects the pressure of the working oil supplied to the rotary hydraulic motor, traveling hydraulic motor, etc. (not shown). The accelerometer 124f is an acceleration sensor that detects the vibration acceleration generated by the traveling body 2 and the rotating body 3. Each sensor 124a, 124b, 124c, 124d, 124e, and 124f outputs the detection results as action information of the actuator to the vehicle controller 110.

[0039] like Figure 1 As shown, the vehicle controller 110 comprises a computer equipped with processors 111 such as a CPU (Central Processing Unit), MPU (Micro Processing Unit), and DSP (Digital Signal Processor); non-volatile memory 112 such as ROM (Read Only Memory), flash memory, and hard disk drive; volatile memory 113 such as RAM (Random Access Memory); input interface 114; output interface 115; and other peripheral circuits. It should be noted that the vehicle controller 110 can be composed of one computer or multiple computers.

[0040] The non-volatile memory 112 stores programs capable of performing various operations. That is, the non-volatile memory 112 is a storage medium capable of reading programs that implement the functions of this embodiment. The processor 111 is an execution processing device that expands and processes the program stored in the non-volatile memory 112 in the volatile memory 113, and performs prescribed operations on the data retrieved from the input interface 114, the non-volatile memory 112, and the volatile memory 113 according to the program.

[0041] Input interface 114 converts input operation signals into data that can be processed by processor 111. In addition, output interface 115 generates an output signal corresponding to the processing result of processor 111 and outputs the signal to display device 122 and communication device 125.

[0042] Figure 2 This is a functional block diagram of the vehicle-mounted controller 110. The vehicle-mounted controller 110 calculates the cumulative damage degree D of the driven components (boom 11, stick 12, and bucket 13) constituting the working device 4 based on the detection results of the attitude detection device 123 (attitude information of the working machinery 100) and the detection results of the motion detection device 124 (motion information of the actuator), and outputs the control signal generated based on its calculation results to the display device 122 of the touch panel monitor 120. The functions of the vehicle-mounted controller 110 are described in detail below.

[0043] like Figure 2As shown, the vehicle controller 110 has a basic information storage unit 136 and a display information storage unit 137 for storing information. It should be noted that the functions of the basic information storage unit 136 and the display information storage unit 137 are achieved through programs stored in the non-volatile memory 112. The vehicle controller 110 includes: an action status management unit 131, which acquires attitude information and action information, establishes a correspondence between the acquired information and time, and stores it in the basic information storage unit 136; an operation status management unit 132, which acquires the operation status from the input device 121, or from an external server via the communication device 125, or determines the operation status based on the information stored in the basic information storage unit 136, establishes a correspondence between the operation status and time, and stores the operation status in the display information storage unit 137; and a stress calculation unit 133, which calculates the stress based on the attitude information and action information (from the cylinder pressure gauge 124a, the working oil temperature gauge 124b, and the engine) stored in the basic information storage unit 136. The stress of the driven component is calculated using motion information obtained from the tachometer 124c, hydraulic pump discharge pressure gauge 124d, hydraulic motor inlet pressure gauge 124e, and accelerometer 124f. The damage calculation unit 134 calculates the cumulative damage of the driven component based on the calculation results of the stress calculation unit 133, establishes a correspondence between the cumulative damage and time, and stores it in the display information storage unit 137. The output control unit 135 outputs a control signal to the display device 122, which generates a display image based on the input signal from the input device 121 and the cumulative damage stored in the display information storage unit 137, and displays the generated display image on the display device 122. The functions of the motion status management unit 131, stress calculation unit 133, damage calculation unit 134, operation status management unit 132, and output control unit 135 are performed by the processor 111 executing a program stored in the non-volatile memory 112. It should be noted that the stress calculation unit 133 also functions as a stress storage unit for storing the time-varying stress calculated, and this function is performed by the program stored in the non-volatile memory 112. In this embodiment, the time includes time information such as year, month, day, hour, minute, and second, which is determined by the timer function of the vehicle controller 110.

[0044] The motion status management unit 131 acquires the posture information of the working machine 100 detected by the posture detection device 123 and the motion information of the actuator detected by the motion detection device 124 at predetermined time intervals, establishes a correspondence with the acquired time, and stores it in the basic information storage unit 136. The basic information storage unit 136 pre-stores the three-dimensional shape data and dimension data of the driven components constituting the working device 4. The three-dimensional shape data includes mesh data, which contains information related to the mesh (features) that divides the multiple driven components of the working device 4 into small regions. The mesh data includes the coordinates of multiple nodes and the construction data of multiple nodes of the specified mesh (features). In addition, as multiple position information, the basic information storage unit 136 pre-stores the position information of the elements of each joint in the boom 11, the position information of the elements of each joint in the stick 12, and the position information of the elements of each joint in the bucket 13. In addition, the basic information storage unit 136 pre-stores boundary condition setting data corresponding to the posture of the working device 4 for setting boundary conditions.

[0045] The stress calculation unit 133 calculates the stress generated on the driven component of the working device 4 by stress analysis based on the well-known finite element method. The stress calculation unit 133 sets boundary conditions (load boundary conditions and displacement boundary conditions) based on attitude information and motion information by referring to the boundary condition setting data stored in the basic information storage unit 136.

[0046] The stress calculation unit 133 sets boundary conditions based on attitude and motion information, and calculates the stress generated in each element of the driven component, which is divided into multiple small regions, using the finite element method. The calculated stress of each element is stored at different times. The damage calculation unit 134 calculates the cumulative damage based on the time change of the stress of each element calculated by the stress calculation unit 133. Thus, the location distribution of the cumulative damage in the driven component can be obtained.

[0047] The cumulative damage degree is calculated based on the extreme values ​​of stress extracted from the time-varying stress. The damage degree calculation unit 134 detects the maximum and minimum values ​​of the time-varying stress (time waveform). Based on the maximum and minimum values, the damage degree calculation unit 134 calculates the range of stress variation, i.e., the stress range Δσ, and calculates the frequency of occurrence of each stress range Δσ. The frequency of occurrence of the stress range Δσi is represented by ni.

[0048] Figure 3 This is a graph showing an example of an SN curve. (e.g.) Figure 3 As shown, the fatigue life (number of repeated fractures) of the stress range Δσi is Ni times. If the stress amplitude corresponding to the fatigue life Ni is set as ni, then based on the linear cumulative damage rule, the cumulative damage degree D is expressed by the following equation (1).

[0049]

Number 1

[0050]

[0051] The damage calculation unit 134 calculates the cumulative damage degree D of each element of the driven component according to equation (1). The damage calculation unit 134 stores the cumulative damage degree D of each element at each time (i.e., the time change of the cumulative damage degree D) in the display information storage unit 137.

[0052] Furthermore, the damage calculation unit 134 calculates the cumulative damage degree D according to the operating conditions based on the operating condition information stored in the display information storage unit 137 and the time change of stress calculated by the stress calculation unit 133, and stores the time change of the cumulative damage degree D for each operating condition in the display information storage unit 137.

[0053] Figure 2 The operation status management unit 132, as shown, acquires or determines the operation status, establishes a correspondence with time, and stores the operation status in the display information storage unit 137. Operation status refers to external factors that may affect the degree of damage to the components (driven components) of the machine 100 during operation. Operation status may include information such as job type, work site, day / night cycle, weather at the work site, operator, and operator skill level.

[0054] The operation status management unit 132 determines the job type based on the attitude and motion information stored in the basic information storage unit 136, establishes a correspondence between the determined job type and the time, and stores it in the display information storage unit 137. The operating machinery 100 performs a series of digging / loading operations, that is, for example, after the digging operation of the operating device 4 begins, it lifts the excavated sand and rotates the slewing body 3, loads the sand into a dump truck or other transport vehicle, and returns the slewing body 3 and the operating device 4 to the starting position of the digging operation. The operation status management unit 132 determines whether a digging / loading operation has been performed based on the attitude and motion information (motion information obtained from the cylinder pressure gauge 124a, the working oil temperature gauge 124b, the engine tachometer 124c, the hydraulic pump discharge pressure gauge 124d, the hydraulic motor inlet pressure gauge 124e, and the accelerometer 124f). When the operation status management unit 132 determines that an excavation / loading operation has been performed, it stores the operation type from the start time to the end time of the excavation / loading operation as "excavation / loading operation" in the display information storage unit 137. Additionally, the work machine 100 performs a compaction operation by moving the bucket 13 forward, compacting the ground with the back of the bucket 13. The operation status management unit 132 determines whether a compaction operation has been performed based on posture and motion information. When the operation status management unit 132 determines that a compaction operation has been performed, it stores the operation type from the start time to the end time of the compaction operation as "compaction operation" in the display information storage unit 137. It should be noted that the operation status management unit 132 may also consider the amount of operation of the operating components operated by the operator to determine the operation type.

[0055] The Operation Status Management Unit 132 determines day and night based on the time measured by the timer function of the vehicle controller 110, establishes a correspondence between the determined day / night information and the time, and stores it in the Display Information Storage Unit 137. The Operation Status Management Unit 132 defines the period from time 1 to time 2 as daytime and the period from time 2 to time 1 as nighttime. It should be noted that time 1 and time 2 may vary daily or remain unchanged. The Operation Status Management Unit 132 determines the work site and its weather based on meteorological information obtained from an external server via the communication device 125, establishes a correspondence between the determined work site and its weather and the time, and stores it in the Display Information Storage Unit 137. The Operation Status Management Unit 132 obtains the operator's identification information from the input device 121 and stores the obtained identification information in the Display Information Storage Unit 137. The Operation Status Management Unit 132 refers to the operator's proficiency table stored on the external server via the communication device 125, obtains proficiency information corresponding to the obtained identification information, establishes a correspondence between the obtained identification information, and stores it in the Display Information Storage Unit 137. It should be noted that the method for obtaining the operating status of the Operation Status Management Unit 132 is not limited to this. For example, a weather sensor can be installed in the work machinery 100 to determine the weather at the work site based on meteorological information from the weather sensor. The weather sensor may consist of, for example, a temperature sensor that measures air temperature, a pressure sensor that measures air pressure, and a humidity sensor that measures humidity.

[0056] Based on input information from input device 121, output control unit 135 outputs (displays) a pattern (display image) stored in display information storage unit 137 representing the time change of cumulative damage at a predetermined position of the driven component. Additionally, when an operation signal for comparing the time change of cumulative damage according to operating conditions is input from input device 121, output control unit 135 generates a pattern (display image) capable of comparing the time changes of cumulative damage for multiple operating conditions, and outputs (displays) the generated display image to display device 122.

[0057] Reference Figure 4 This describes the output processing of the time-varying curve of the cumulative damage degree performed by the vehicle controller 110. Figure 4 The process shown in the flowchart is initiated by the user of the status management device 10 operating the input device 121 and inputting a command from the input device 121 to the vehicle controller 110 to display the cumulative damage curve.

[0058] In step S100, the vehicle controller 110 causes the display device 122 to display a driven component selection screen, allowing selection of only one driven component from multiple driven components (boom 11, stick 12, and bucket 13). The driven component selection screen displays a boom selection button, a stick selection button, and a bucket selection button. If step S100 is completed, the vehicle controller 110 proceeds to step S105.

[0059] In step S105, the vehicle controller 110 determines whether a driven component has been selected. If any of the boom selection button, stick selection button, or bucket selection button is touched, the vehicle controller 110 determines that the driven component has been selected and proceeds to step S110. If none of the boom selection button, stick selection button, or bucket selection button is touched, the vehicle controller 110 determines that no driven component has been selected. The driven component selection determination process (S105) is repeated until it is determined that a driven component has been selected. The following describes the case where the stick selection button is touched.

[0060] In step S110, the vehicle controller 110 causes the display screen 122a of the display device 122 to display the location selection screen. Figure 5 This diagram illustrates an example of a position selection screen displayed on a display device 122. The display device 122 reads and displays a position selection screen stored in a non-volatile memory 112 based on control signals from an onboard controller 110. This position selection screen contains images representing multiple positions corresponding to elements that divide multiple driven components into multiple small areas. For example, such as... Figure 5 As shown, a registration position selection area 140 is pre-displayed on the position selection screen, allowing selection of a specified position on the stick 12 stored (registered) in the non-volatile memory 112, and a position specification screen is displayed to allow selection of any position on the stick 12 (see [link]). Figure 6 Any specified region 141.

[0061] The registration position selection area 140 is used to select a specified engagement point from multiple engagement points on the stick 12. The registration position selection area 140 displays a boom engagement point selection button 140a for selecting the boom engagement point, a bucket engagement point selection button 140b for selecting the bucket engagement point, a stick cylinder engagement point selection button 140c for selecting the stick cylinder engagement point, and a bucket cylinder engagement point selection button 140d for selecting the bucket cylinder engagement point. Engagement points on the stick 12 are more likely to be damaged than other parts of the stick 12. Therefore, location information of engagement points on the stick 12, representing locations with a high incidence of damage, is pre-stored in non-volatile memory 112. It should be noted that an engagement point refers to a representative location on the stick 12 that contacts the pin that engages the stick 12 with other components (boom 11, stick cylinder 12a, bucket 13, bucket cylinder 13a).

[0062] like Figure 4 As shown, after the vehicle controller 110 completes the processing in step S110, it proceeds to step S115 to determine whether any designated area 141 has been operated. In step S115, if any designated area 141 (see...) Figure 5 If any designated area 141 is touched, the vehicle controller 110 determines that the designated area 141 has been operated and proceeds to step S130. In step S115, if any designated area 141 is not touched, the vehicle controller 110 determines that the designated area 141 has not been operated and proceeds to step S120.

[0063] In step S120, the vehicle controller 110 determines whether a specified position (connection point) has been selected. If any of the connection point selection buttons 140a to 140d are touched in step S120, the vehicle controller 110 determines that a specified position (connection point) has been selected and proceeds to step S160. If none of the connection point selection buttons 140a to 140d are touched in step S120, the vehicle controller 110 determines that a specified position (connection point) has not been selected and returns to step S115.

[0064] In step S130, the vehicle controller 110 calculates the stress in each element of the mesh data of the boom 12 using the finite element method, based on the attitude and motion information of the working machine 100 stored in the non-volatile memory 112 (motion information of the actuators obtained from cylinder pressure gauge 124a, working oil temperature gauge 124b, engine tachometer 124c, hydraulic pump discharge pressure gauge 124d, hydraulic motor inlet pressure gauge 124e, and accelerometer 124f). The stress in each element is calculated at predetermined time intervals from a reference time (e.g., the time when the working machine 100 was manufactured) to the current time (the latest time stored in the non-volatile memory 112). It should be noted that if the calculation up to the predetermined time from the reference time to the current time has been completed, only the stress from the predetermined time to the current time is calculated.

[0065] After the processing in step S130 is completed, the vehicle controller 110 proceeds to step S135 to perform the calculation of cumulative damage degree. In step S135, the vehicle controller 110 calculates the cumulative damage degree of each element based on the time change of stress in each element and stores it in the non-volatile memory 112. During the period from the reference time to the current time, the cumulative damage degree of each element is calculated at predetermined time intervals and stored in the non-volatile memory 112. It should be noted that if the calculation up to the predetermined time from the reference time to the current time has been completed, only the calculation of the cumulative damage degree from the predetermined time to the current time is performed.

[0066] In the non-volatile memory 112, the operating conditions, stresses of each element, and time are established and stored. In step S135, the vehicle controller 110 calculates the cumulative damage degree of each element according to the operating conditions based on the information stored in the non-volatile memory 112, and stores the time change of the cumulative damage degree for each operating condition in the non-volatile memory 112. That is, the non-volatile memory 112 stores the time change of the cumulative damage degree calculated independently of the operating conditions and the time change of the cumulative damage degree calculated according to the operating conditions.

[0067] After the vehicle controller 110 completes the processing in step S135, it proceeds to step S140, and based on the cumulative damage degree of each element at the current moment stored in the non-volatile memory 112 (the cumulative damage degree calculated regardless of the operating condition), it causes the display screen 122a of the display device 122 to display the position specified screen. Figure 6 This diagram shows an example of a position specification screen displayed on the display device 122. Figure 7 This is another example of a position specification screen displayed on the display device 122.

[0068] like Figure 6 and Figure 7 As shown, the location-specified screen displays a rectangular distribution map display area 142, an image movement button 143, a display mode change button 144, a zoom-in button 145a, a zoom-out button 145b, and an OK button 146. The distribution map display area 142 displays stick images 142a and 142c showing the location distribution of the cumulative damage degree of the stick 12 at the current (latest) moment. Additionally, a center mark 142b is displayed at the center of the distribution map display area 142. In this way, the display device 122 displays the location distribution of the cumulative damage degree of the driven components based on control signals from the vehicle controller 110.

[0069] If the user touches the image movement button 143, the vehicle controller 110 moves the pole images 142a and 142c within the distribution map display area 142. The image movement button 143 has an up button, a down button, a left button, and a right button. For example, if the user touches the up button, the pole images 142a and 142c move upward within the distribution map display area 142 during the touch operation.

[0070] If the zoom-in button 145a is touched, the vehicle controller 110 zooms in on the stick images 142a and 142c within the distribution map display area 142, centered on the center mark 142b. If the zoom-out button 145b is touched, the vehicle controller 110 zooms out on the stick images 142a and 142c within the distribution map display area 142, centered on the center mark 142b.

[0071] Whenever the display mode change button 144 is touched, the vehicle controller 110 changes the display mode of the boom images 142a and 142c displayed in the distribution map display area 142. For example... Figure 6 As shown, when the stick image 142a is displayed in a two-dimensional manner, and the user touches the display mode change button 144, the vehicle controller 110 causes the display device 122 to display... Figure 7 The indicated location specifies the screen.

[0072] exist Figure 7 The indicated location specifies that a three-dimensional pole image 142c and multiple rotation buttons 147 for rotating the three-dimensional pole image 142c in the distribution map display area 142 are displayed. Figure 7 As shown, when the boom image 142a is displayed in a three-dimensional manner, and the user touches the display mode change button 144, the vehicle controller 110 causes the display device 122 to display... Figure 6 The indicated location specifies the screen.

[0073] The onboard controller 110 generates composite images as stick images 142a and 142c and displays them on the display device 122. These composite images are obtained by synthesizing the location distribution of cumulative damage from images of an imaginary stick 12 viewed from an imaginary viewpoint in an imaginary space. Figure 6 In the example shown, the onboard controller 110 displays a synthetic image as a stick image 142a, wherein the synthetic image is obtained by synthesizing the location distribution of cumulative damage from an image of the three-dimensional shape data of the stick 12 viewed from a left-hand viewpoint. Figure 7 In the example shown, when the user touches the rotary button 147, the vehicle controller 110 updates the pole image 142c by changing the position of the imaginary viewpoint used to generate the pole image 142c based on the input operation from the input device 121. Thus, by using the rotary button 147, the displayed image continuously changes in the manner of the imaginary pole 12 rotating as displayed on the display device 122. Therefore, the user can specify... Figure 6 The position shown indicates a position that cannot be specified on the screen (e.g., the position on the right side or the top surface of the imaginary stick 12).

[0074] exist Figure 6 and Figure 7 In the example shown, the pole images 142a and 142c are contour maps formed by the outline of the pole 12 and colors representing the magnitude of cumulative damage. The user can zoom in, zoom out, or move the pole images 142a and 142c horizontally or vertically. Within the pole images 142a and 142c, the user overlaps the position where they wish to confirm the time-varying cumulative damage with the center mark 142b and touches the confirmation button 146. When the confirmation button 146 is touched, the onboard controller 110 sets the confirmation position on the pole 12 for displaying the time-varying cumulative damage based on the position of the center mark 142b overlapping with the pole images 142a and 142c.

[0075] It should be noted that when the touch operation confirm button 146 is pressed, if the center mark 142b does not overlap with the pole images 142a and 142c, the vehicle controller 110 causes the display device 122 to display an image such as a message indicating that the time change curve of the cumulative damage cannot be displayed.

[0076] like Figure 4As shown, if the vehicle controller 110 displays the position specification screen on the display device 122 in step S140, then proceeds to step S145. In step S145, the vehicle controller 110 determines whether a specified position for displaying the time change of cumulative damage has been specified. In step S145, if the operation confirmation button 146 is touched while the center mark 142b overlaps with the pole images 142a and 142c, the vehicle controller 110 determines that the specified position has been specified and proceeds to step S150. In step S145, if the operation confirmation button 146 is not touched while the center mark 142b overlaps with the pole images 142a and 142c, the vehicle controller 110 determines that the specified position has not been specified. The position specification determination process is repeated until it is determined that the specified position has been specified (S145).

[0077] In step S150, the vehicle controller 110, referring to the non-volatile memory 112, generates a time-varying curve of the cumulative damage degree D in the element corresponding to the location specified in step S145. The vehicle controller 110 causes the display screen 122a of the display device 122 to display the generated time-varying curve of the cumulative damage degree D. In this way, when location information specified based on the location distribution of the cumulative damage degree is input from the input device 121 (Y in step S145), the vehicle controller 110 sets a predetermined location based on the input location information and outputs the time-varying curve of the cumulative damage degree at the predetermined location to the display device 122.

[0078] Figure 8 This is a diagram showing an example of a cumulative damage display screen displayed on the display device 122. (See diagram for example.) Figure 8 As shown, the cumulative damage display screen displays a time-varying curve 151 of the cumulative damage, display period change buttons 154a and 154b, a time axis switch button 148a, a comparison display selection button 148b, and an end button 148c. The horizontal axis of the time-varying curve 151 of the cumulative damage represents the time axis, and the vertical axis represents the cumulative damage. Figure 8 In the example shown, one day (24 hours) is set as the unit of time, and the cumulative damage per unit of time is displayed in the form of a line graph. It should be noted that the form of the cumulative damage over time curve 151 is not limited to a line graph; it can also be a bar graph.

[0079] Display period change buttons 154a and 154b are operation buttons used to change the display period of the cumulative damage rate time change curve 151 displayed on the display screen 122a. In the illustrated example, the display period is from January 1st to January 8th. For example, in the illustrated state, if the display period change button 154a is touched once, the vehicle controller 110 will set the display period from January 2nd to January 9th, and the display device 122 will display the cumulative damage rate time change curve 151 within that period. Then, if the display period change button 154b is touched once, the display period will be set from January 1st to January 8th, and the display device 122 will display the cumulative damage rate time change curve 151 within that period.

[0080] The time axis switching button 148a is an operation button used to change the unit time of the time axis. Each time the time axis switching button 148a is touched, the vehicle controller 110 sequentially switches the unit time of the time axis to "1 day", "1 week", "1 month", and "1 year". It should be noted that the unit time setting is not limited to these; any period can be set as the unit time. For example, if the operator rotation is regular, a work cycle can also be selected as the unit time. The vehicle controller 110 automatically adjusts the width of one scale of the cumulative damage display corresponding to the set unit time.

[0081] The comparison display selection button 148b is an operation button used to display a comparison condition selection screen, where the comparison conditions for the operating status are selected. For example... Figure 8 As shown, when the cumulative damage display screen is displayed, if the user touches the comparison display selection button 148b, the vehicle controller 110 will cause the display device 122 to display the comparison condition selection screen.

[0082] Figure 9 This diagram shows an example of a comparison condition selection screen displayed on the display device 122. (See diagram for example.) Figure 9 As shown, the comparison condition selection screen displays a job type selection button 149a for selecting job type as comparison condition, a job site selection button 149b for selecting job site as comparison condition, a day / night selection button 149c for selecting day / night as comparison condition, a weather selection button 149d for selecting weather as comparison condition, and an operator selection button 149e for selecting operator as comparison condition.

[0083] When the day / night selection button 149c is touched, the vehicle controller 110 sets day / night as a comparison condition, such as... Figure 8As shown, the display device 122 displays a cumulative damage display screen. Information about the set comparison conditions is displayed in the comparison condition display area 156 of the cumulative damage display screen. The vehicle controller 110 can display, side-by-side, a first cumulative damage line 152a and a second cumulative damage line 152b based on the time changes of cumulative damage for each operating condition stored in the non-volatile memory 112. The first cumulative damage line 152a represents the time change of cumulative damage caused by operation under the first operating condition (daytime in the illustrated example) corresponding to the set comparison conditions, and the second cumulative damage line 152b represents the time change of cumulative damage caused by operation under the second operating condition (nighttime in the illustrated example). Thus, in this embodiment, the time changes of cumulative damage for each operating condition are displayed in a comparative form.

[0084] It should be noted that, in Figure 8 The example shown illustrates displaying the first cumulative damage line 152a and the second cumulative damage line 152b within the same graph area; however, they could also be displayed in different graph areas. In other words, in Figure 8 In the example shown, the horizontal axis (time axis) and vertical axis of the first cumulative damage line 152a and the second cumulative damage line 152b are common, but the horizontal axis (time axis) and vertical axis of the first cumulative damage line 152a can also be set independently of the horizontal axis (time axis) and vertical axis of the second cumulative damage line 152b.

[0085] The vehicle controller 110 displays an image of a word indicating the first operating condition (daytime in the illustrated example) in the first operating condition name display area 157a near the first cumulative damage line 152a. Additionally, the vehicle controller 110 displays an image of a word indicating the second operating condition (nighttime in the illustrated example) in the second operating condition name display area 157b near the second cumulative damage line 152b.

[0086] Although not illustrated, if you touch the operation site selection button 149b (see...) Figure 9If the work site is set as the comparison condition, the vehicle controller 110 sets the work site as the comparison condition and causes the display device 122 to display the cumulative damage display screen. In this case, the vehicle controller 110 causes the display device 122 to display a first cumulative damage line 152a and a second cumulative damage line 152b, wherein the first cumulative damage line 152a represents the time change of cumulative damage caused by work at work site A (first operating condition), and the second cumulative damage line 152b represents the time change of cumulative damage caused by work at work site B (second operating condition). In addition, the vehicle controller 110 displays the text image of "Work Site A" in the first operating condition name display area 157a and the text image of "Work Site B" in the second operating condition name display area 157b. It should be noted that when there are more than three work sites, the vehicle controller 110 causes the display device 122 to display more than three cumulative damage lines.

[0087] Although not illustrated, if you touch the operation job type selection button 149a (see...) Figure 9 If the operation type is specified, the vehicle controller 110 sets the operation type as the comparison condition and causes the display device 122 to display the cumulative damage display screen. In this case, the vehicle controller 110 causes the display device 122 to display a first cumulative damage line 152a and a second cumulative damage line 152b, wherein the first cumulative damage line 152a represents the time change of cumulative damage caused by the operation with excavation / loading (first operating condition), and the second cumulative damage line 152b represents the time change of cumulative damage caused by the operation with compaction (second operating condition). In addition, the vehicle controller 110 displays the text image of "excavation / loading operation" in the first operating condition name display area 157a and the text image of "compaction operation" in the second operating condition name display area 157b. It should be noted that when there are three or more operation types, the vehicle controller 110 causes the display device 122 to display three or more cumulative damage lines.

[0088] Although not illustrated, touching the weather selection button 149d (see...) Figure 9If the weather is set as the comparison condition, the vehicle controller 110 will set the weather as the comparison condition and cause the display device 122 to display the cumulative damage display screen. In this case, the vehicle controller 110 will cause the display device 122 to display a first cumulative damage line 152a and a second cumulative damage line 152b, wherein the first cumulative damage line 152a represents the time change of cumulative damage caused by operation in sunny weather (first operating condition), and the second cumulative damage line 152b represents the time change of cumulative damage caused by operation in rainy weather (second operating condition). In addition, the vehicle controller 110 will display the text image of "sunny weather" in the first operating condition name display area 157a and the text image of "rainy weather" in the second operating condition name display area 157b.

[0089] Although not illustrated, the operator selects button 149e by touching it (see [link]). Figure 9 If the operator is selected as the comparison condition, the vehicle controller 110 sets the operator as the comparison condition and causes the display device 122 to display a cumulative damage display screen. In this case, the vehicle controller 110 causes the display device 122 to display a first cumulative damage line 152a and a second cumulative damage line 152b, wherein the first cumulative damage line 152a represents the time change of cumulative damage caused by the operation under the condition of operator A (first operating condition), and the second cumulative damage line 152b represents the time change of cumulative damage caused by the operation under the condition of operator B (second operating condition). In addition, the vehicle controller 110 displays the text image of "operator A" in the first operating condition name display area 157a and the text image of "operator B" in the second operating condition name display area 157b. It should be noted that the vehicle controller 110 can also display the proficiency of operator A in the first operating status name display area 157a and the proficiency of operator B in the second operating status name display area 157b.

[0090] It should be noted that, Figure 8 The image shown is an example of a screen where day and night are set as comparison conditions, in step S145 (see...). Figure 4 In this case, if the specified position is determined, the display device 122 may display a graph of the time change of the cumulative damage calculated independently of the operating conditions on the initially displayed screen. Alternatively, the screen displayed after setting the comparison conditions may display a button for displaying a graph of the time change of the cumulative damage calculated independently of the operating conditions. In this case, when the button is touched, the vehicle controller 110 will cause the display screen 122a of the display device 122 to display a graph of the time change of the cumulative damage calculated independently of the operating conditions.

[0091] like Figure 4As shown, after the vehicle controller 110 completes the processing in step S150, it proceeds to step S190 to determine whether an end operation has been performed. In step S190, the touch operation end button 148c (see...) is pressed. Figure 8 When this occurs, the vehicle controller 110 determines that the operation has ended and sets the cumulative damage display screen to not display, thus... Figure 4 The process shown in the flowchart ends. In step S190, if the operation end button 148c is not touched, the vehicle controller 110 determines that the operation has not been completed. The operation end determination process is repeated until it is determined that the operation has been completed (S190). It should be noted that, if the operation end determination process (S190) determines that the operation has been completed, the vehicle controller 110 may return to step S100 and display the driven component selection screen on the display device 122 for selecting a driven component from the boom 11, stick 12, and bucket 13.

[0092] In step S160, the vehicle controller 110 performs the same stress calculation process as in step S130, and proceeds to step S165. In step S165, the vehicle controller 110 performs the same cumulative damage calculation process as in step S135, and proceeds to step S180.

[0093] In step S180, similarly to step S150, the vehicle controller 110 performs the display processing of the cumulative damage time change curve 151 and proceeds to step S190. It should be noted that the processing in step S150 is the display of the cumulative damage time change curve 151 at the location specified in step S145. In contrast, the processing in step S180 is the display of the cumulative damage time change curve 151 at the location selected in step S120, which differs from the processing in step S150. That is, if location information selected from multiple location information (Y in step S120) is input from the input device 121, the vehicle controller 110 sets a predetermined location based on the input location information and outputs the cumulative damage time change of the element at the predetermined location to the display device 122 (step S180).

[0094] As described above, during maintenance of the machine tool 100 that operates continuously for a long period, the condition management device 10 of this embodiment not only outputs the cumulative damage level at that moment, but also outputs the time change of the cumulative damage level from the previous maintenance to the current maintenance. Therefore, when the operating conditions change from the previous maintenance to the current maintenance, the user can confirm the time change (rate of increase) of the cumulative damage level caused by the change in operating conditions. As a result, the user can appropriately predict the lifespan of the driven components.

[0095] It should be noted that, in addition to the time changes of the cumulative damage level mentioned above, the time changes of the mining volume and maintenance management costs of the operating machinery 100 are also obtained. By comparing these with the time changes of the cumulative damage level, it is possible to appropriately establish long-term operation plans such as the selection of the next maintenance period and economic management.

[0096] According to the above embodiments, the following effects can be obtained.

[0097] (1) The status management device 10 is a device for managing the status of the working machine 100. In this embodiment, the status management device 10 is mounted on the working machine 100. The working machine 100 includes: a working device 4, which is configured to rotatably connect multiple driven components (boom 11, stick 12, and bucket 13) driven by multiple actuators (boom cylinder 11a, stick cylinder 12a, and bucket cylinder 13a) with multiple joints; a posture detection device 123, which detects the posture information (boom angle, stick angle, and bucket angle) of the working device 4; and a motion detection device 124, which detects the motion information (pressure of boom cylinder 11a, stick cylinder 12a, and bucket cylinder 13a, etc.) of the actuators.

[0098] The status management device 10 includes: an on-board controller 110, which is a control device that performs calculations based on the detection results of the attitude detection device 123 and the motion detection device 124 to manage the status of the operating machinery 100; and a display device 122, which is an output device that outputs the calculation results of the on-board controller 110 in a recognizable form. The on-board controller 110 calculates the cumulative damage degree of the driven components based on the attitude information of the operating device 4 and the motion information of the actuator, stores the time change of the cumulative damage degree at a specified position of the driven components of the operating machinery 100, and outputs the time change of the cumulative damage degree at the specified position to the display device 122. The display device 122 displays the time change of the cumulative damage degree at the specified position on the display screen 122a.

[0099] Therefore, the user of the condition management device 10 can confirm the time change of the cumulative damage at a specified location of the driven component. Thus, the user can appropriately make long-term predictions of the cumulative damage, i.e., predict the lifespan of the driven component of the working device 4. Furthermore, based on the time change of the cumulative damage, the user can appropriately establish a long-term work plan that includes the work content of the working machine 100, the workload per unit time, the work period, and the maintenance and management costs of the working machine 100.

[0100] (2) The state management device 10 includes: a non-volatile memory 112 storing multiple location information corresponding to elements that divide multiple driven components into multiple small regions; an input device 121 that inputs input operation signals to the vehicle controller 110; and a display device 122 that displays an image representing the multiple location information based on control signals from the vehicle controller 110. The input device 121 inputs location information read from the non-volatile memory 112 to the vehicle controller 110. When location information selected from the multiple location information is input from the input device 121, the vehicle controller 110 sets a predetermined position based on the input location information and outputs the time change of the cumulative damage degree of the elements at the predetermined position to the display device 122. The display device 122 displays the time change of the cumulative damage degree at the predetermined position on the display screen 122a.

[0101] According to this configuration, information on the locations of areas of the work machinery 100 with frequent damage (i.e., locations where the cumulative damage is likely to be high) can be stored in advance in the non-volatile memory 112. In this embodiment, as multiple location information, the location information of the joints between driven components and the location information of the joints between the driven components and the actuator (hydraulic cylinder) are stored in advance in the non-volatile memory 112. As a result, the display device 122 can display a graph of the time change of the cumulative damage of areas with frequent damage with simple operation. In other words, according to this embodiment, the user's operation time can be shortened.

[0102] (3) The status management device 10 includes: an input device 121 that inputs location information to the vehicle controller 110; and a display device 122 that displays the location distribution of cumulative damage to the driven component based on control signals from the vehicle controller 110. When location information specified based on the location distribution of cumulative damage is input from the input device 121, the vehicle controller 110 sets a predetermined location based on the input location information and outputs the time change of cumulative damage at the predetermined location to the display device 122. The display device 122 displays the time change of cumulative damage at the predetermined location on a display screen 122a. Thus, the user can freely specify the location where they wish to confirm the time change of cumulative damage while simultaneously checking the location distribution of cumulative damage.

[0103] (4) The vehicle controller 110 causes the display device 122 to display a composite image, wherein the composite image is an image obtained by synthesizing the location distribution of cumulative damage from an image of a hypothetical driven component viewed from a hypothetical viewpoint in a hypothetical space. The vehicle controller 110 changes the position of the hypothetical viewpoint based on input operations from the input device 121. According to this configuration, the user can freely specify the position where they wish to confirm the time change of cumulative damage while confirming an image of the driven component viewed from any angle.

[0104] (5) The on-board controller 110 outputs the time changes of the cumulative damage degree of each of the multiple operating conditions to the display device 122 in a comparative form. The display device 122 displays a display image on the display screen 122a that shows the time changes of the cumulative damage degree of each of the multiple operating conditions. As a result, the operating conditions that have a large impact on the time changes of the cumulative damage degree can be easily identified. As a result, the user can more appropriately establish long-term work plans.

[0105] <Second Implementation>

[0106] Reference Figure 10 and Figure 11 The status management device 10B of the second embodiment will be described. It should be noted that in the figures, the same or equivalent parts as in the first embodiment are labeled with the same reference numerals, and the differences are mainly explained. In the first embodiment, an example of the status management device 10 being mounted on a work machine 100 that is the object of management will be described (see...). Figure 1 ).

[0107] In contrast, the status management device 10B of this second embodiment is an external device installed outside the work machinery 100 that is the object of management. Figure 10 This is a diagram showing the configuration of the status management device 10B according to the second embodiment. (See diagram below.) Figure 10 As shown, the status management device 10B is an external device for remotely managing (controlling, monitoring) the status of the work machinery 100. The status management device 10B is an external device installed, for example, in the headquarters, branch offices, factories, or other facilities of the manufacturer of the work machinery 100, the rental company of the work machinery 100, a data center dedicated to server operation, or the facilities of the owner of the work machinery 100.

[0108] In this second embodiment, the status management system 10D is composed of an information management device 10A mounted on the work machinery 100, a status management device 10B installed on an external device, and a mobile terminal 10C. The mobile terminal 10C is a smartphone, tablet PC, laptop PC, etc.

[0109] In the status management system 10D, bidirectional communication is conducted between the information management device 10A mounted on the work machinery 100 that is operating at the work site, the status management device 10B located at a location far from the work site, and the mobile terminal 10C held by the maintenance personnel who are maintaining the work machinery 100 at the work site, via a communication network 190 which is a wide area network.

[0110] The communication network 190 includes mobile phone communication networks (mobile communication networks) and the Internet, etc., deployed by mobile phone operators. For example, when the information management device 10A and the wireless base station 191 are connected via a mobile phone communication network (mobile communication network), the wireless base station 191, when receiving vehicle body data from the information management device 10A, transmits the received vehicle body data to the status management device 10B via the Internet. The status management device 10B then displays the vehicle body data obtained from the information management device 10A on the display screen of the display device 182.

[0111] The status management device 10B includes: a management server 170, which is a control device for controlling the display device 182, the printing device 183, and the communication device 185; a communication device 185, which is used to communicate with the information management device 10A and the mobile terminal 10C via a communication network 190; an input device 181, which inputs prescribed information to the management server 170 based on the operation of the user of the status management device 10B; a display device 182, which displays a display image on a display screen based on control signals from the management server 170; and a printing device 183, which prints a printing image on paper based on control signals from the management server 170.

[0112] The management server (control device) 170 comprises a computer including processors such as a CPU (Central Processing Unit), MPU (Micro Processing Unit), and DSP (Digital Signal Processor) 171; non-volatile memory such as ROM (Read Only Memory), flash memory, and hard disk drive 172; volatile memory such as RAM (Random Access Memory) 173; input interfaces 174; output interfaces 175; and other peripheral circuits. It should be noted that the management server 170 can be composed of a single computer or multiple computers.

[0113] The non-volatile memory 172 stores programs capable of performing various operations. That is, the non-volatile memory 172 is a storage medium capable of reading programs that implement the functions of this embodiment. The processor 171 is a processing device that expands and executes the program stored in the non-volatile memory 172 in the volatile memory 173, performing prescribed operations on the data retrieved from the input interface 174, the non-volatile memory 172, and the volatile memory 173 according to the program.

[0114] Input interface 174 converts the input signal into data that can be processed by processor 171. In addition, output interface 175 generates an output signal corresponding to the processing result of processor 171 and outputs the signal to display device 182, printing device 183 and communication device 185.

[0115] Figure 11 This is a functional block diagram of the vehicle controller 110A and the management server 170. The vehicle controller 110A includes an operation status management unit 131, a basic information storage unit 136, and an operation status management unit 132, as described in the first embodiment. Furthermore, the vehicle controller 110A replaces the display information storage unit 137 described in the first embodiment with an operation status information storage unit 237, and replaces the output control unit 135 described in the first embodiment with an output control unit 235.

[0116] The operation status management unit 132 establishes a correspondence between the operation status and time and stores it in the operation status information storage unit 237. The output control unit 235 sends the attitude information of the machine 100 and the action information of the actuator stored in the basic information storage unit 136, as well as the operation status and identification information of the machine 100 stored in the operation status information storage unit 237, to the management server 170 via the communication network 190 through the communication device 125.

[0117] The management server 170 includes an input control unit 331, a mechanical information storage unit 332, a stress calculation unit 333, a damage degree calculation unit 334, an output information storage unit 335, and an output control unit 336. The functions of the input control unit 331, stress calculation unit 333, damage degree calculation unit 334, and output control unit 336 are performed by the processor 171 executing programs stored in the non-volatile memory 172. The functions of the mechanical information storage unit 332 and the output information storage unit 335 are performed by programs stored in the non-volatile memory 172. It should be noted that the stress calculation unit 333 also functions as a stress storage unit for storing the time-varying stress values ​​calculated; this function is performed by programs stored in the non-volatile memory 172.

[0118] The input control unit 331 acquires attitude information, motion information, operating status, and identification information of the working machine 100 sent from the vehicle controller 110A via the communication device 185, and stores them in the machine information storage unit 332. Additionally, the input control unit 331 also acquires information from the mobile terminal 10C via the communication device 185. The mobile terminal 10C is equipped with a device capable of displaying information based on information from the management server 170. Figures 5-9 The application software shown in the image.

[0119] The mechanical information storage unit 332 stores three-dimensional shape data and dimension data of the driven components constituting the working device 4. The three-dimensional shape data and dimension data are associated with the identification information of the working machine 100. It should be noted that the three-dimensional shape data includes the mesh data of the driven components of the working device 4. Furthermore, as multiple location information, the mechanical information storage unit 332 pre-stores the location information of elements of each joint on the boom 11, the location information of elements of each joint on the stick 12, and the location information of elements of each joint on the bucket 13. Additionally, the mechanical information storage unit 332 pre-stores boundary condition setting data for setting boundary conditions corresponding to the posture of the working device 4.

[0120] The stress calculation unit 333 has the same function as the stress calculation unit 133 described in the first embodiment. Based on the information stored in the mechanical information storage unit 332, it calculates and stores the stress generated by the driven component of the working device 4 through stress analysis based on the well-known finite element method. The damage degree calculation unit 334 has the same function as the damage degree calculation unit 134 described in the first embodiment. Based on the time change of stress calculated by the stress calculation unit 333, it calculates the cumulative damage degree of the driven component and stores the calculation result in the output information storage unit 335.

[0121] Similar to the output control unit 135 described in the first embodiment, the output control unit 336 outputs (displays) the time change (image display) of the cumulative damage degree of a predetermined position of the driven component stored in the output information storage unit 335, based on the input information from the input device 181.

[0122] It should be noted that, in the second embodiment, the output control unit 336, based on input information from the input device 181, outputs (prints) the time change of cumulative damage at a predetermined position of the driven component stored in the output information storage unit 335 (printed image) via the printing device 183. Additionally, based on input information from the mobile terminal 10C, the output control unit 336 outputs (sends) the time change of cumulative damage at a predetermined position of the driven component stored in the output information storage unit 335 to the mobile terminal 10C via the communication device 185. The mobile terminal 10C displays the time change of cumulative damage on a display screen (display image) based on information input from the management server 170.

[0123] According to this second embodiment, the following effects can be obtained on the basis of having the same effects as the first embodiment.

[0124] (6) The condition management device 10B is installed on an external device that is far away from the machine 100. Therefore, the user can remotely implement condition management of the machine 100, including life prediction of the driven parts of the machine 100.

[0125] (7) The condition management device 10B is equipped with a communication device (output device) 185 that sends (outputs) the time change of the cumulative damage level to the mobile terminal (external machine) 10C. Therefore, maintenance personnel can perform condition management of the machine 100, including life prediction of the driven parts of the machine 100, without having to ride on the machine 100.

[0126] (8) The status management device 10B is equipped with a printing apparatus (output device) 183 that displays the time variation of the cumulative damage degree during printing (output). Therefore, it is possible to output the time variation of the cumulative damage degree in the form of a maintenance report document.

[0127] The following variations are also within the scope of the present invention. The configurations shown in the variations may be combined with the configurations described in the above embodiments, the configurations described in the different embodiments described above may be combined with each other, or the configurations described in the different variations below may be combined with each other.

[0128] <Variation Example 1>

[0129] The types of operating conditions are not limited to those described in the above embodiments. For example, the geology of the work site can also be stored as an operating condition in the non-volatile memory 112. In this configuration, the time variation of accumulated damage is output according to the geology. According to this configuration, it is possible to achieve appropriate life prediction of the driven component that takes into account the influence of geology on the rate of increase in damage.

[0130] <Variation Example 2>

[0131] The control devices (110, 170) can also output the time variations of other data within a specified period, along with the time variations of the cumulative damage within the specified period, to the output device. For example, the control devices (110, 170) can also output a graph showing the time variation of the mining volume and a graph showing the time variation of the cumulative damage within the specified period. Figure 1 This information is displayed by display devices 122 and 182. Thus, by comparing the time variation of cumulative damage with the time variation of mining volume, the user can achieve an appropriate prediction of the lifespan of the driven component, taking into account the influence of mining volume on the time variation (rate of increase) of cumulative damage.

[0132] <Variation Example 3>

[0133] In the first embodiment, an example of an output device for displaying the time-varying cumulative damage level was described, but the present invention is not limited thereto. In the first embodiment, the output device may also be a printing device or a communication device as described in the second embodiment.

[0134] <Variation Example 4>

[0135] In the above embodiments, a hydraulic excavator was used as an example of the working machinery, but the present invention is not limited thereto. For example, the present invention can also be applied to working machinery such as wheel loaders, forklifts, dump trucks, and cranes.

[0136] <Variation Example 5>

[0137] In the first embodiment, an example of calculating the cumulative damage degree by stress analysis based on the finite element method was described, but other numerical analysis methods, statistical methods such as regression analysis, can also be used depending on the computing power of the machine 100.

[0138] <Variation Example 6>

[0139] In the first embodiment, an example of storing the cumulative damage degree D in the non-volatile memory 112 was described. However, to improve the ease of understanding the damage condition, information other than the cumulative damage degree D may also be stored in the non-volatile memory 112. For example, a weighted value corresponding to the operating environment of the machine 100 and the material properties of each component may be calculated for the cumulative damage degree D, or the value representing the cumulative damage degree may be corrected so that it falls within the range of 0 to 100, and then stored in the non-volatile memory 112.

[0140] The embodiments of the present invention have been described above, but the above embodiments are merely examples of application of the present invention and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments.

[0141] Explanation of reference numerals in the attached figures

[0142] 2…Traveling body, 3…Rotating body, 4…Working device, 5…Main body, 10, 10B…Status management device, 10C…Mobile terminal (input and output devices), 10D…Status management system, 11…Boom (driven component), 11a…Boom cylinder (actuator), 12…Stick (driven component), 12a…Stick cylinder (actuator), 13…Bucket (driven component), 13a…Bucket cylinder (actuator), 100…Working machinery, 110…On-board controller (control device), 112…Non-volatile memory, 121…Input device, 122…Display device (output device), 123…Attitude detection device, 124…Motion detection device, 124a…Cylinder pressure gauge, 124b…Oil temperature gauge, 124c…Engine tachometer, 124d…Hydraulic pump discharge pressure gauge, 124e… …Hydraulic motor inlet pressure gauge, 124f…Accelerometer, 125…Communication device (output device), 131…Motion status management unit, 132…Operating status management unit, 133…Stress calculation unit, 134…Damage degree calculation unit, 135…Output control unit, 136…Basic information storage unit, 137…Display information storage unit, 170…Management server (control device), 172…Non-volatile memory, 181…Input device, 182…Display device (output device), 183…Printing device (output device), 185…Communication device (output device), 222…Mechanical information storage unit, 235…Output control unit, 237…Operating status information storage unit, 331…Input control unit, 333…Stress calculation unit, 334…Damage degree calculation unit, 335…Output information storage unit, 336…Output control unit.

Claims

1. A status management device for operating machinery, used for managing the status of the operating machinery, wherein, The operating machinery includes: an operating device comprising multiple driven components, each driven by multiple actuators, rotatably connected via multiple joints or pins; an attitude detection device for detecting the attitude information of the operating device; and a motion detection device for detecting the motion information of the actuators. The state management device of the operating machinery includes: a control device for performing calculations based on the detection results from the attitude detection device and the motion detection device; and an output device for outputting the calculation results from the control device in a recognizable form. The characteristic of the status management device for the operating machinery is that... It has an input device that inputs specified information into the control device based on user operations. Based on the posture information of the working device and the action information of the actuator, the control device divides the driven component and the engagement point into multiple small regions, and calculates the cumulative damage degree of the elements of the multiple grids obtained from the division. The engagement point is the location where a pin contacts the driven component and other driven components connected to it, and the location where a pin contacts the driven component and the actuator connected to it. The time variation of the cumulative damage degree among multiple elements of the driven component is stored according to the aforementioned elements. The time variation of the cumulative damage degree among the multiple elements of the driven component, corresponding to the time variation of the cumulative damage degree among the elements of the driven component at a specified position selected or specified based on the operation of the input device, is output to the output device in graphical form.

2. The status management device for operating machinery according to claim 1, characterized in that, include: A non-volatile memory that stores multiple location information corresponding to multiple elements among the multiple driven components; as well as A display device that displays an image representing multiple locations based on control signals from the control device. The input device performs input based on the user's operation, selecting the location information from the image displayed on the display device. When the control device inputs location information selected from multiple location information from the input device, it sets the specified location based on the input location information and outputs the time change of the cumulative damage degree of the element at the set specified location to the output device.

3. The status management device for operating machinery according to claim 1, characterized in that, It includes a display device that, based on control signals from the control device, displays an image representing the location distribution of cumulative damage to the driven component. The input device performs input based on user actions to specify a particular position of the image displayed on the display device. When the control device inputs location information specified by the user based on the image representing the location distribution of the cumulative damage degree from the input device, it sets the specified location based on the input location information and outputs the time change of the cumulative damage degree at the specified location to the output device.

4. The status management device for operating machinery according to claim 3, characterized in that, The control device causes the display device to display a composite image, wherein the composite image is an image obtained by synthesizing the location distribution of the cumulative damage from an image of the imaginary driven component observed from an imaginary viewpoint in an imaginary space. The position of the hypothetical viewpoint is changed based on input operations from the input device.

5. The status management device for operating machinery according to claim 1, characterized in that, The control device outputs the time variation of the cumulative damage degree of each of the multiple operating conditions to the output device in a comparative form.

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