Construction machine system

Abstract

The engineering machinery system includes: a lower traveling body (21); an upper slewing body (22) rotatably mounted on the upper part of the lower traveling body (21); an auxiliary device (30) rotatably mounted on the upper slewing body (22) and having a bucket (33) for holding the work object; and a controller. The controller controls the upper slewing body (22) and the auxiliary device (30) to perform a series of actions including multiple action stages, detects the amount of work object held by the bucket (33), sets a target amount of work object, and determines the action stage in which the amount of work object held by the bucket (33) is less than the target amount as an abnormal stage.

Description

Technical Field

[0001] This invention relates to an automatic driving system for construction machinery. Background Technology

[0002] Patent document 1 discloses an engineering machine that calculates the load of the work object held by the remote auxiliary device based on the thrust information of the actuator, and infers whether the work object has spilled during the handling of the work object.

[0003] When a work object spills during transport, the amount of work object held by the remote attachment may be less than the target value when the remote attachment releases the work object. However, the same phenomenon can also occur when the remote attachment holds a work object that is less than the target value, or when the remote attachment fails to hold a sufficient amount of work object because it intended to do so.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Publication No. 2019-157362 Summary of the Invention

[0007] The purpose of this invention is to provide an engineering machinery system that can determine the main reasons why the quantity of work objects held by a remote auxiliary device is less than the target value.

[0008] The engineering machinery system involved in this invention includes: a lower traveling body; an upper rotating body rotatably mounted on the upper part of the lower traveling body; an auxiliary device rotatably mounted on the upper rotating body and having a remote auxiliary device for holding a work object; and a controller, wherein the controller controls the upper rotating body and the auxiliary device in a manner that causes the upper rotating body and the auxiliary device to perform a series of actions including multiple action stages, detects the amount of the work object held by the remote auxiliary device, sets a target amount for the amount of the work object, and determines the action stage in which the amount of the work object held by the remote auxiliary device is less than the target amount as an abnormal stage.

[0009] According to the present invention, the upper rotating body and the auxiliary device are controlled in a manner that causes the upper rotating body and the auxiliary device to perform a series of actions comprising multiple action stages. Furthermore, the action stage in which the amount of work-related material held by the remote auxiliary device is less than the target amount is identified as an abnormal stage. Thus, from multiple action stages, the action stage in which the amount of work-related material held by the remote auxiliary device is less than the target amount can be identified. Therefore, the main reasons why the amount of work-related material held by the remote auxiliary device is less than the target value can be determined. For example, in a series of actions including digging, shoveling, lifting, rotating, and dumping sand, if during rotation the transported material spills and the amount of sand becomes less than the target amount, the rotation is identified as an abnormal stage. Additionally, if the amount of sand excavated is less than the target amount, the excavation is identified as an abnormal stage. Attached Figure Description

[0010] Figure 1 This is a side view of the construction machinery.

[0011] Figure 2 It is a circuit diagram of the engineering machinery and the driver's cab.

[0012] Figure 3 It is a graph showing the change in the amount of sand held in the bucket over time, and it is a graph showing the excavation during an abnormal phase.

[0013] Figure 4 It is a graph showing the change in the amount of sand held in the bucket over time, and it is a graph when the situation returns to an abnormal phase.

[0014] Figure 5 It is a graph showing the change in the amount of sand held by the bucket over time, and it is a graph showing when the amount of sand the bucket is trying to hold is insufficient. Detailed Implementation

[0015] Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

[0016] (Structure of engineering machinery systems)

[0017] The engineering machinery system of this invention is an automatic driving system for engineering machinery. The engineering machinery system includes engineering machinery 20 and a driver's cab 71.

[0018] For example, the side view of construction machinery 20 Figure 1 As shown, the construction machinery 20 is a machine that operates using auxiliary devices 30, such as a hydraulic excavator. The construction machinery 20 includes a main body 24, auxiliary devices 30, and a working cylinder 40. The main body 24 includes a lower traveling body 21 and an upper rotating body 22.

[0019] The lower running gear 21 is the part that enables the construction machinery 20 to move, for example, it is equipped with tracks. The upper slewing body 22 is rotatably mounted on the upper part of the lower running gear 21 via a slewing device 25. A driver's cab 23 is provided at the front of the upper slewing body 22.

[0020] The auxiliary device 30 is rotatably mounted on the upper rotating body 22 about a rotation axis extending vertically. The auxiliary device 30 includes a boom 31, a stick 32, and a bucket 33. The boom 31 is rotatably (erectly) mounted on the upper rotating body 22 in the vertical direction. The stick 32 is rotatably mounted on the boom 31 in the vertical direction. The bucket 33 is the distal end of the auxiliary device 30, i.e., the distal auxiliary device, and is used to hold sand (the work object). The bucket 33 is rotatably mounted on the stick 32 in the front-to-back direction. The bucket 33 is the part used for digging, leveling, and excavating sand. Furthermore, the work object held by the bucket 33 is not limited to sand; it can be stone or waste (industrial waste, etc.). Additionally, the distal auxiliary device is not limited to the bucket 33; it can also be a grab bucket or a lifting magnet, etc.

[0021] The working cylinder 40 can be hydraulically driven to rotate the auxiliary device 30. The working cylinder 40 is a hydraulic telescopic working cylinder. The working cylinder 40 includes a boom working cylinder 41, a stick working cylinder 42, and a bucket working cylinder 43.

[0022] The boom working cylinder 41 causes the boom 31 to rotate relative to the upper slewing body 22. The base end of the boom working cylinder 41 is rotatably mounted to the upper slewing body 22. The distal end of the boom working cylinder 41 is rotatably mounted to the boom 31.

[0023] The stick working cylinder 42 causes the stick 32 to rotate relative to the boom 31. The base end of the stick working cylinder 42 is rotatably mounted to the boom 31. The distal end of the stick working cylinder 42 is rotatably mounted to the stick 32.

[0024] The bucket working cylinder 43 causes the bucket 33 to rotate relative to the stick 32. The base end of the bucket working cylinder 43 is rotatably mounted to the stick 32. The distal end of the bucket working cylinder 43 is rotatably mounted to a connecting rod assembly 34, which is rotatably mounted to the bucket 33.

[0025] In addition, the construction machinery 20 has an angle sensor 52 and a tilt angle sensor 60.

[0026] An angle sensor 52 detects the rotation angle of the upper rotating body 22 relative to the lower traveling body 21. The angle sensor 52 is, for example, an encoder, a resolver, or a gyroscope sensor. In this embodiment, the rotation angle of the upper rotating body 22 when the front of the upper rotating body 22 is aligned with the front of the lower traveling body 21 is set to 0°.

[0027] The tilt angle sensor 60 detects the posture of the auxiliary device 30. The tilt angle sensor 60 includes a boom tilt angle sensor 61, a stick tilt angle sensor 62, and a bucket tilt angle sensor 63.

[0028] A boom tilt angle sensor 61 is mounted on the boom 31 and detects the posture of the boom 31. The boom tilt angle sensor 61 is a sensor that obtains the tilt angle of the boom 31 relative to the horizontal line, such as a tilt sensor (accelerometer). In addition, the boom tilt angle sensor 61 can also be a rotation angle sensor that detects the rotation angle of the boom foot pin (boom base end), or a stroke sensor that detects the stroke of the boom working cylinder 41.

[0029] A stick tilt angle sensor 62 is mounted on the stick 32 and detects the posture of the stick 32. The stick tilt angle sensor 62 is a sensor that obtains the tilt angle of the stick 32 relative to the horizontal line, such as a tilt sensor (accelerometer). In addition, the stick tilt angle sensor 62 can also be a rotation angle sensor that detects the rotation angle of the stick connecting pin (stick base end), or a stroke sensor that detects the stroke of the stick working cylinder 42.

[0030] The bucket tilt angle sensor 63 is mounted on the connecting rod assembly 34 and detects the posture of the bucket 33. The bucket tilt angle sensor 63 is a sensor that obtains the tilt angle of the bucket 33 relative to the horizontal line; for example, it is a tilt sensor (accelerometer). Alternatively, the bucket tilt angle sensor 63 can also be a rotation angle sensor that detects the rotation angle of the bucket connecting pin (bucket base end), or a stroke sensor that detects the stroke amount of the bucket working cylinder 43.

[0031] Additionally, the construction machinery 20 is equipped with a LiDAR55. While the LiDAR55 (Light Detection and Ranging or Laser Imaging Detection and Ranging) is mounted on the boom 31, it can also be mounted on the upper slewing body 22. The LiDAR55 acquires point cloud data representing the distance from the location where the LiDAR55 is mounted to the sand in the bucket 33. Alternatively, a stereo camera or a TOF (Time of Flight) sensor can be used instead of the LiDAR55.

[0032] This type of construction machinery 20 is remotely taught to operate by an operator from a cab 71 located at a location far from the machinery. The construction machinery 20 then operates automatically based on the taught work content.

[0033] The construction machinery system involved in this embodiment includes a controller. The controller of the construction machinery system includes a control unit, a quantity detection unit, a target quantity setting unit, a determination unit, and a reporting unit. The controller of the construction machinery system includes a construction machinery-side controller 11 provided with the construction machinery 20 and a driver's cab-side controller 72 provided with the driver's cab 71.

[0034] (Circuit structure of construction machinery and driver's cab)

[0035] For example, the circuit diagram of construction machinery 20 and cab 71. Figure 2 As shown, the construction machinery 20 includes the construction machinery-side controller 11, the construction machinery-side communication device 12, and the storage device 13.

[0036] The controller 11 receives information from the angle sensor 52 related to the rotation angle (posture) of the upper slewing body 22 relative to the lower traveling body 21. Additionally, the controller 11 receives information from the boom tilt angle sensor 61 related to the posture of the boom 31. Furthermore, the controller 11 receives information from the stick tilt angle sensor 62 related to the posture of the stick 32. Finally, the controller 11 receives information from the bucket tilt angle sensor 63 related to the posture of the bucket 33.

[0037] In addition, the controller 11 is input with point cloud data acquired by the LiDAR55.

[0038] The controller 11 activates the slewing device 25 and auxiliary devices 30 based on the work instructions taught from the driver's cab 71.

[0039] The engineering machinery-side communication device 12 can communicate with the cab-side communication device 74 (described later) in the cab 71. The storage device 13 stores the work content remotely taught from the cab 71.

[0040] The driver's cab 71 includes the driver's cab side controller 72, operating device 73, driver's cab side communication device 74, and display 75.

[0041] The operating device 73 includes devices such as a joystick or operating buttons for remotely operating the construction machinery 20. The cab-side communication device 74 can communicate with the construction machinery-side communication device 12 of the construction machinery 20.

[0042] During teaching operations from the cab 71, the construction machinery 20 is set to teaching mode via remote operation from the cab 71. When the construction machinery 20 is set to teaching mode, the operator remotely operates the construction machinery 20 by operating the operating device 73. During remote operation of the construction machinery 20, the scenery outside the window captured by the camera installed in the cab 23 of the construction machinery 20 is displayed on the monitor 75. The remote operation content is stored in the storage device 13. Then, through remote operation from the cab 71, the construction machinery 20 is set to automatic driving mode. When the construction machinery 20 is set to automatic driving mode, it will perform automatic driving. That is, the controller 11 of the construction machinery 20 controls the movement of the upper rotating body 22 and the auxiliary device 30 based on the taught work content (the work content stored in the storage device 13) to perform automatic driving of the construction machinery 20.

[0043] In this embodiment, the automatic driving of the construction machinery 20 involves repeatedly performing the following actions: using the bucket 33 to excavate sand from a sand pit (not shown), holding the sand and rotating the upper rotating body 22 toward the dump truck (not shown), and after discharging the soil onto the dump truck's platform (not shown), rotating the upper rotating body 22 toward the sand pit.

[0044] The series of actions performed by the autonomous driving system comprises multiple action stages. In the series of actions described above, from excavating sand to discharging soil, the multiple action stages include excavation, digging, lifting and rotating, and discharging. The controller 11 (the control unit of the controller) controls the upper rotating body 22 and the auxiliary device 30 in a manner that causes them to perform a series of actions comprising multiple action stages.

[0045] When the construction machinery 20 is in automatic driving mode, the controller 11 (the quantity detection unit of the controller) detects the amount of sand held in the bucket 33. Specifically, the controller 11 detects the shape of the sand in the bucket 33, for example, based on point cloud data acquired by LiDAR 55. Then, the controller 11 calculates the amount of sand in the bucket 33 based on the shape of the sand in the bucket 33. However, the method by which the controller 11 detects the amount of sand (the amount of the work object) is not limited to the specific example described above. The controller 11 may also use, for example, the measurement results of a pressure sensor (not shown) that measures the pressure of the boom cylinder 41 to detect the amount of sand in the bucket 33.

[0046] Additionally, the controller 11 (the target quantity setting unit of the controller) sets a target quantity for the amount of sand. During teaching, the target quantity is set via the driver's cab 71. The set target quantity is stored in the storage device 13.

[0047] In autonomous driving, the controller 11 (the determining unit of the controller) determines an abnormal phase when the amount of sand held by the bucket 33 is less than the target amount. The controller 11 determines the abnormal phase based on whether the amount of sand held by the bucket 33 at the start of the phase and at the end of the phase is less than the target amount. That is, the controller 11 determines whether the amount of sand held by the bucket 33 is less than the target amount at the start of the phase and at the end of the phase, and determines the abnormal phase based on these determinations.

[0048] Figure 3 and Figure 4 This indicates the change in the amount of sand held by the bucket 33 over time during each stage of the digging, scooping, and lifting / rotating motion. For example... Figure 3 As shown, when the action phase is digging, the amount of sand held by bucket 33 increases from the start to the end of the digging action phase. However, in Figure 3 In the diagram, at the end of the excavation phase, the amount of sand held by the bucket 33 is less than the target amount shown by the dotted line. Thus, when the amount of sand held by the bucket 33 at both the beginning and end of the excavation phase is less than the target amount, it can be determined that there is a problem with the excavation operation.

[0049] In addition, such as Figure 4 As shown, when the operation phase is rotation (lifting rotation), and the amount of sand held by the bucket 33 decreases midway through the rotation phase, even if the amount of sand held by the bucket 33 at the beginning of the rotation phase is above the target amount shown by the dashed line, the amount of sand held by the bucket 33 at the end of the rotation phase becomes less than the target amount. In this case, it can be determined that spillage of the transported material occurred during rotation.

[0050] Furthermore, the controller 11 can determine not only the amount of sand held by the bucket 33 at the beginning and end of the action phase, but also whether the amount of sand held by the bucket 33 is less than the target amount at the midpoint between the beginning and end of the action phase. That is, the controller 11 can determine an abnormal phase based on whether the amount of sand held by the bucket 33 at the beginning, end, and midpoint of the action phase is less than the target amount. In other words, the controller 11 can determine whether the amount of sand held by the bucket 33 is less than the target amount at the beginning, midpoint, and end of the action phase, and determine the abnormal phase based on these determinations.

[0051] in addition, Figure 5 This also indicates the temporal change in the amount of sand held by the bucket 33 during each of the excavation, scooping, and lifting / rotating phases. When the excavation phase is complete, if the amount of sand held by the bucket 33 at the end of the excavation phase is less than the target amount, it is inferred that there is a problem with the excavation action. However, if the amount of sand held by the bucket 33 at the midpoint of the excavation phase is less than the target amount, and the amount of sand held by the bucket 33 remains unchanged between the midpoint and the end of the excavation phase, it can be determined that there is no problem with the excavation action itself, but rather that the amount of sand the bucket 33 is trying to hold in the sand pit is insufficient, thus failing to maintain a sufficient amount of sand in the bucket 33.

[0052] The timing or position of the start, intermediate, and end points of an action phase can be stored in the storage device 13 during teaching, for example. In this case, the controller 11 can also determine whether the amount of sand is less than the target amount at the stored start point of the action phase, at the stored intermediate point of the action phase, and at the stored end point. Alternatively, in automatic driving, the operator can specify the timing of the start, intermediate, and end points of an action phase using an input device (not shown). In this case, the controller 11 can also determine whether the amount of sand is less than the target amount at the specified start point of the action phase, at the specified intermediate point of the action phase, and at the specified end point. However, other methods besides the two specific examples described above can also be used to determine the timing or position of the start, intermediate, and end points of an action phase.

[0053] As described above, the stage in which the amount of sand held by the bucket 33 is less than the target amount is identified as an abnormal stage. Therefore, it is possible to identify the stage in which the amount of sand held by the bucket 33 is less than the target value from among multiple stages of operation. This allows for the identification of the main reasons why the amount of sand held by the bucket 33 is less than the target value. For example, such as... Figure 4 As shown, if spillage of transported material occurs during rotation, and the amount of sand becomes less than the target amount, the rotation is determined to be in an abnormal phase. Additionally, as... Figure 3 As shown, if the amount of sand excavated is less than the target amount, the excavation is determined to be in an abnormal stage.

[0054] Furthermore, an abnormal phase is determined based on whether the amount of sand held by the bucket 33 at the beginning of a certain action phase and at the end of that action phase are both less than the target amount. This allows for the appropriate identification of the main reasons why the amount of sand held by the bucket 33 is less than the target value. For example, if the amount of sand held by the bucket 33 at the beginning of a certain action phase is greater than the target amount, but the amount held by the bucket 33 at the end of that action phase is less than the target amount, it can be determined that spillage occurred during that action phase. Additionally, if the action phase is a sand-holding phase (excavation), and the amount of sand held by the bucket 33 at both the beginning and end of that action phase is less than the target amount, it can be determined that there is a problem with the sand-holding action.

[0055] Alternatively, abnormal phases can be identified based on whether the amount of sand held by the bucket 33 at the beginning of a certain action phase, the amount of sand held by the bucket 33 at the end of that action phase, and the amount of sand held by the bucket 33 at the midpoint between the beginning and end of that action phase are all less than the target amount. This allows for a detailed determination of the main reasons why the amount of sand held by the bucket 33 is less than the target value. For example, as... Figure 5 As shown, it can be determined that because the amount of sand that the bucket 33 in the sand pit wanted to hold was insufficient, it was unable to hold a sufficient amount of sand in the bucket 33.

[0056] return Figure 2 Information regarding the abnormal phase is stored in storage device 13 and sent to the cab 71 along with the identification number of the construction machinery 20. The cab-side controller 72 (the controller's reporting unit) reports the abnormal phase. Specifically, the cab-side controller 72 displays the abnormal phase information and the identification number of the construction machinery 20 on display 75. This allows the operator to identify the main reason why the amount of sand held by the bucket 33 is less than the target value for the relevant construction machinery 20. Consequently, the operator can re-teach the construction machinery 20 and correct the operation of the upper slewing body 22 and auxiliary devices 30 to ensure that the amount of sand held by the bucket 33 exceeds the target value.

[0057] Here, during the automatic driving of construction machinery 20, the operator who operates the various devices in the cab 71 may be teaching other construction machinery or remotely operating other construction machinery. Therefore, if an abnormal phase is reported every time it is identified, the operator will be unable to focus on other tasks.

[0058] Therefore, during the specified period, the abnormal phase determined by the controller 11 is stored in the storage device 13. Here, the specified period is longer than the period required to perform a series of actions once. Then, after the specified period has elapsed, the abnormal phase information stored in the storage device 13 is sent to the driver's cab 71 and reported by the driver's cab-side controller 72. Thus, compared to reporting every abnormal phase that is determined, the frequency of reporting can be reduced. By reducing the frequency of reporting, the operator can focus on other tasks, thereby suppressing the decline in operator efficiency.

[0059] Alternatively, the abnormal phases determined by the controller 11 can be continuously stored in the storage device 13 until a specific operation is performed by an operator who operates the equipment in the driver's cab 71. If the operator performs a specific operation, information on all abnormal phases stored in the storage device 13 is reported. Thus, reporting can be performed at the time desired by the operator.

[0060] (Effect)

[0061] As described above, according to the engineering machinery 20 of this embodiment, the upper rotating body 22 and the auxiliary device 30 are controlled to perform a series of actions including multiple operation stages. Next, the operation stage in which the amount of sand held by the bucket 33 is less than the target amount is determined as an abnormal stage. Therefore, from multiple operation stages, the operation stage in which the amount of sand held by the bucket 33 is less than the target value can be determined. Thus, the main reason why the amount of sand held by the bucket 33 is less than the target value can be determined. For example, for a series of actions including digging, scooping, lifting and rotating, and dumping, if the transported material spills during rotation and the amount of sand becomes less than the target amount, the rotation is determined to be in an abnormal stage. Furthermore, if the amount of sand excavated is less than the target amount, the digging is determined to be an abnormal stage.

[0062] Furthermore, an abnormal phase is determined based on whether the amount of sand held by the bucket 33 at the beginning of a certain action phase and at the end of that action phase are both less than the target amount. This allows for the appropriate identification of the main reasons why the amount of sand held by the bucket 33 is less than the target value. For example, if the amount of sand held by the bucket 33 at the beginning of a certain action phase is greater than the target amount, but the amount held by the bucket 33 at the end of that action phase is less than the target amount, it can be determined that spillage of transported material occurred during that action phase. Additionally, if the action phase involves holding sand, and the amount of sand held by the bucket 33 at both the beginning and end of that action phase is less than the target amount, it can be determined that there is a problem with the sand holding action.

[0063] Furthermore, abnormal stages are determined based on whether the amount of sand held by the bucket 33 at the beginning of a certain action phase, the amount of sand held by the bucket 33 at the end of that action phase, and the amount of sand held by the bucket 33 at the midpoint between the beginning and the end of that action phase are each less than the target amount. This allows for a detailed determination of the main reasons why the amount of sand held by the bucket 33 is less than the target value. For example, it can be determined that a sufficient amount of sand cannot be held in the bucket 33 because the amount of sand the bucket 33 intends to hold is insufficient. This situation refers to an action phase where, although the amount of sand held by the bucket 33 increases from the beginning to the midpoint of that action phase, the amount of sand held by the bucket 33 at the midpoint of that action phase is less than the target amount, and the amount of sand held by the bucket 33 at the midpoint and the end of that action phase remains unchanged.

[0064] In addition, an abnormality is reported. This allows the operator to identify the main reason why the amount of sand held in the bucket 33 is less than the target value. Therefore, the operation of the upper slewing body 22 or the auxiliary device 30 can be corrected to ensure that the amount of sand held in the bucket 33 exceeds the target value.

[0065] Furthermore, when a specified period has elapsed, the abnormal phase stored in storage device 13 is reported. This specified period is longer than the time required to perform a series of actions once. Therefore, compared to reporting every abnormal phase identified, the frequency of reporting can be reduced. In most cases, the operator will perform other tasks during the automatic operation of the construction machinery 20. By reducing the frequency of reporting, the operator can focus on other tasks, thus suppressing a decline in operator efficiency.

[0066] The embodiments of the present invention have been described above. However, these embodiments are merely illustrative examples and do not specifically limit the invention. Appropriate design changes can be made to the specific structure, etc. Furthermore, the effects and benefits described in the embodiments of the invention only represent the optimal effects and benefits produced by the present invention, and the effects and benefits of the present invention are not limited to those described in the embodiments.

[0067] In the described embodiment, although the construction machinery system includes construction machinery 20 and a cab 71, the cab 71 is not a necessary structure for the construction machinery system and can be omitted. Specifically, in the described embodiment, although the cab-side controller 72 reports abnormal situations to the operator by displaying abnormal situation information on the display 75 of the cab 71, the construction machinery system may not have a cab if the controller of the construction machinery system reports abnormal situations to the operator from a machine or device other than the cab 71. Examples of machines other than the cab 71 include construction machinery, and examples of devices other than the cab 71 include personal computers, servers, mobile information terminals, and other information devices. Furthermore, in the described embodiment, although the construction machinery 20 is remotely taught to operate by the operator from the cab 71 located at a location far from the construction machinery 20, the operator may also operate the control devices within the cab 23 from the driver's seat within the cab 23 of the construction machinery 20, thereby teaching the construction machinery 20 to operate. In this case, the construction machinery system may not have a cab 71.

[0068] In the described embodiment, although the control unit, quantity detection unit, target quantity setting unit, and determination unit are included in the construction machinery-side controller 11, some or all of these units may also be included in the cab-side controller 72. Furthermore, although the reporting unit is included in the cab-side controller 72, it may also be included in the construction machinery-side controller 11. Additionally, the construction machinery-side controller 11 and the cab-side controller 72 may be configured as a single controller; in this case, both the construction machinery 20 and the cab 71 may also have this single controller.

Claims

1. An engineering machinery system, characterized in that... include: Lower walking body; The upper rotating body is rotatably mounted on the upper part of the lower traveling body; An auxiliary device is rotatably mounted on the upper rotating body and has a distal auxiliary device for holding the work object; as well as Controller, where The controller The upper rotating body and the auxiliary device are controlled in a manner that causes them to perform a series of actions comprising multiple action stages. The quantity of the work object held by the remote auxiliary device is detected. Set a target quantity for the quantity of the work object. The action phase in which the amount of the work object held by the remote auxiliary device is less than the target amount is identified as an abnormal phase. When the controller is rotating during the aforementioned operation phase, it determines the abnormal phase if the amount of the work object held by the remote auxiliary device is above the target amount at the beginning of the rotation operation phase, or if the amount of the work object held by the remote auxiliary device is less than the target amount at the end of the rotation operation phase.

2. The engineering machinery system according to claim 1, characterized in that: The controller further determines the abnormal phase based on whether the amount of the work object held by the remote auxiliary device at the midpoint between the starting point and the ending point is less than the target amount.

3. The engineering machinery system according to claim 1 or 2, characterized in that: The controller reports the abnormal phase.

4. The engineering machinery system according to claim 3, characterized in that... Also includes: A storage device stores the abnormal phases determined by the controller during a predetermined period, wherein the predetermined period is longer than the period required to perform the series of actions once. When the specified period has elapsed, the controller reports the abnormal phase stored in the storage device.

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