Work machine

Abstract

A work machine in which safety is improved. A work machine according to an embodiment includes a sensor that detects information related to stress or load of the work machine, and a control device that performs notification when stress or load generated at a prescribed portion of the work machine, which is calculated from the information acquired from the sensor, is greater than a prescribed value.

Description

Technical Field

[0001] This application claims priority based on Japanese Patent Application No. 2024-213319, filed on December 6, 2024. The entire contents of that Japanese application are incorporated herein by reference.

[0002] This invention relates to a work machine. Background Technology

[0003] Previously, there was a technology that allowed operating machinery to identify its current condition and issue warnings corresponding to that condition. For example, a technology that outputs warnings based on the weight of the load on the machine's accessories has been proposed (see Patent Document 1).

[0004] Patent Document 1: Japanese Patent Application Publication No. 2020-165256 However, when the working machinery is in operation, the load applied to each part constituting the machinery varies depending on the operation. Furthermore, the ease with which damage may occur from the load varies from part to part. Therefore, it is difficult for operators of the working machinery to predict whether damage may occur to any part of the machinery. Therefore, it is preferable to provide appropriate notification when there is a possibility of damage to any part of the working machinery. Summary of the Invention

[0005] In light of the above, security can be improved by providing appropriate notifications.

[0006] One aspect of the present invention relates to a working machine comprising: a sensor for detecting information related to stress or load on the working machine; and a control device for notifying the user when the stress or load generated at a specified location on the working machine, calculated based on the information obtained from the sensor, exceeds a specified value.

[0007] Invention Effects According to one aspect of the present invention, security is enhanced by providing appropriate notification. Attached Figure Description

[0008] Figure 1 This is a schematic diagram illustrating an example of the management system for the work machinery according to the first embodiment.

[0009] Figure 2 This is a side view of the working machine according to the first embodiment.

[0010] Figure 3 This is a diagram that schematically illustrates an example of the structure of the working machine according to the first embodiment.

[0011] Figure 4This is a diagram illustrating the load generated at each part of the working machine according to the first embodiment.

[0012] Figure 5 This is a chart illustrating the prescribed values ​​of stress determined by the determination unit according to the first embodiment.

[0013] Figure 6 This is a graph illustrating the relationship between stress amplitude and the number of times until fracture.

[0014] Figure 7 This is a chart used to explain the determination made by the determination unit according to the cumulative value of the degree of damage to a specified part in the first embodiment.

[0015] Figure 8 This is an example of a display screen on a display device showing a notification section according to the first embodiment.

[0016] Figure 9 This diagram illustrates the display screen of the management device showing information sent by the notification unit according to the first embodiment.

[0017] Figure 10 This is a flowchart illustrating the notification processing flow in the operating machinery according to the first embodiment.

[0018] Figure 11 This is a schematic diagram illustrating a structural example of the operating system according to the second embodiment.

[0019] In the diagram: 100-Working machinery, 1-Lower traveling body, 2-Slewing mechanism, 3-Upper slewing body, 4-Boom, 5-Stick, 6-Bucket, T1-Communication device, ST-Auxiliary storage device, ST1-Accumulated value storage unit, D1-Display device, S7R, S7B, S8R, S8B, S9R, S9B-Cylinder pressure sensors, 30-Controller, 301-Acquisition unit, 302-Judgment unit, 303-Notification unit, 304-Storage unit, 305-Evaluation unit, RC-Remote control room, T2-Communication device, D1E-Display device, R40-Remote controller. Detailed Implementation

[0020] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. The embodiments described below are illustrative and do not limit the invention. All features and combinations thereof in the embodiments of the present disclosure are not necessarily the essential content of the invention. Furthermore, in the accompanying drawings, the same or corresponding structures are labeled with the same or corresponding symbols, and sometimes repeated descriptions are omitted.

[0021] The operating machinery 100 involved in the embodiments of this disclosure is an excavator. The operating machinery 100 may be machinery other than excavators, such as construction machinery (e.g., cranes), asphalt rollers, forklifts, or robots. In the example shown in the figures, the excavator as the operating machinery 100 is an excavator equipped with a bucket 6 as an end attachment, but it may also be an application machine such as forestry machinery equipped with end attachments other than the bucket 6. Moreover, it may be a tracked crane equipped with a lower walking body, an upper rotating body, and an auxiliary device provided on the upper rotating body.

[0022] (First Embodiment) First, refer to Figure 1 The outline of the management system (an example of a control system for a work machine) SYS of the first embodiment will be described. Figure 1 This is a schematic diagram illustrating an example of the management system SYS of the work machinery according to the first embodiment.

[0023] <Device constituting a remote operating system> like Figure 1 As shown, the management system SYS of the operating machinery involved in the first embodiment includes the operating machinery 100, the management device 700, and the mobile communication terminal 500. Figure 1 The structure of the management system SYS for the operating machinery shown is an example, but is not limited to this structure.

[0024] The operating machinery 100, the management device 700, and the mobile communication terminal 500 are connected via a communication line NW to enable data transmission and reception.

[0025] The work machine 100 and the mobile communication terminal 500 are capable of wireless communication. Furthermore, the work machine 100 is capable of sending and receiving data between devices connected to the communication line NW (e.g., remote control room RC, management device 700, and mobile communication terminal 500).

[0026] The mobile communication terminal 500 is an information processing device used by personnel maintaining the machinery 100. These personnel may belong to a company that sells the machinery 100 and perform maintenance and parts replacement on the machinery 100.

[0027] The management device 700 is, for example, a server computer (a so-called cloud server) or an edge server. Typically, the management device 700 is a fixed terminal device, but it can also be a portable terminal device (e.g., a laptop, tablet, or smartphone). The management device 700 is, for example, located in a management center at the work site. The management device 700 is configured as an information processing device held by the manager (e.g., owner) of the machinery 100. This embodiment shows an example where the management device 700 is located in a management center, but the functions of the management device could also be implemented as a cloud service.

[0028] The work equipment 100 is present at the work site. Furthermore, the work equipment 100 sends information related to itself and the work site to the management device 700. Therefore, the management device 700 can confirm the status of the work equipment 100 and the work site based on the information received from the work equipment 100. Additionally, this embodiment does not limit the device for measuring the work site to the work equipment 100; it can be other devices such as a fixed-point measuring device present at the work site, a drone flying over the work site, or a user-held camera.

[0029] Furthermore, as needed, the work equipment 100 sends alarms or similar alerts corresponding to its current status to the mobile communication terminal 500. Operators can identify the current status of the work equipment 100 by checking the alarms or similar alerts displayed on the mobile communication terminal 500. Moreover, operators can perform maintenance and management of the work equipment 100 as needed.

[0030] The operating machinery management system SYS can include one or more operating machines 100. Therefore, the operating machinery management system SYS can provide the management device 700 with information related to the work site through one or more operating machines 100.

[0031] <Description of the structure of the operating machinery> First, refer to Figure 2 The general outline of the working machine 100 involved in this embodiment will be described. Figure 2 This is a side view of the work machine 100 according to the first embodiment.

[0032] Figure 2 In the coordinate system, +X represents one direction of the X-axis (not shown), and -X represents the other direction of the X-axis. +Y represents one direction of the Y-axis (not shown), and -Y represents the other direction of the Y-axis. +Z represents one direction of the Z-axis (not shown), and -Z represents the other direction of the Z-axis. Figure 2In the diagram, the +X side of the operating machine 100 corresponds to the front side of the operating machine 100, and the -X side corresponds to the rear side of the operating machine 100. Furthermore, the +Y side of the operating machine 100 corresponds to the left side of the operating machine 100, and the -Y side corresponds to the right side of the operating machine 100. Also, the +Z side of the operating machine 100 corresponds to the top side of the operating machine 100, and the -Z side corresponds to the bottom side of the operating machine 100. The same applies to other diagrams.

[0033] The work machine 100 includes: a lower traveling body 1; an upper slewing body 3, which is rotatably mounted on the lower traveling body 1 via a slewing mechanism 2; an auxiliary device AT for performing various operations; and a driver's cab 10. The driver's cab 10 is also referred to as the driver's compartment or operator's cab. When viewing the work machine 100 from directly above along the axis of rotation of the upper slewing body 3, the front side of the work machine 100 (upper slewing body 3) corresponds to the side where the auxiliary device AT is mounted relative to the upper slewing body 3. Furthermore, the left, right, and rear sides of the work machine 100 (upper slewing body 3) correspond to the left, right, and rear sides as viewed from the operator seated in the driver's cab 10.

[0034] The lower traveling body 1 includes, for example, a pair of tracks 1C, left and right. Specifically, the tracks 1C include a left track and a right track. The left track is powered by a left travel hydraulic motor 2ML (see reference). Figure 3 Driven by the right track, the right track is powered by the right travel hydraulic motor 2MR (reference). Figure 3 The left travel hydraulic motor 2ML drives the left track, which is the driven part, and enables the left track to rotate. The right travel hydraulic motor 2MR drives the right track, which is the driven part, and enables the right track to rotate. Alternatively, the travel drive unit can be an electric motor.

[0035] The boom 4 is rotatably mounted at the front center of the upper rotating body 3, the stick 5 is rotatably mounted at the front end of the boom 4, and the bucket 6 is rotatably mounted at the front end of the stick 5. In the example shown, the boom 4, stick 5, and bucket 6 constitute an excavation attachment as an example of an auxiliary device AT. The boom 4, stick 5, and bucket 6 are driven by the boom cylinder 7, stick cylinder 8, and bucket cylinder 9, respectively.

[0036] Bucket 6 is an example of a working tool (end attachment). Bucket 6 is used, for example, for excavation operations. Other working tools can be installed at the front end of the boom 5 to replace bucket 6, depending on the work being performed. These other working tools can be, for example, large buckets, ramp buckets, dredging buckets, or other types of buckets. Furthermore, these other working tools can be types of working tools other than buckets, such as mixers, crushers, grapples, or lifting magnets. The excavation attachment may also be equipped with a bucket tilting mechanism.

[0037] The slewing hydraulic motor 2A, the left travel hydraulic motor 2ML, the right travel hydraulic motor 2MR, the boom cylinder 7, the stick cylinder 8, and the bucket cylinder 9 are hydraulic actuators driven by working oil discharged from the hydraulic pump.

[0038] Furthermore, in the working machine 100, all or part of the driven parts, such as the lower traveling body 1, the upper slewing body 3, the boom 4, the stick 5, and the bucket 6, can be electrically driven. That is, the working machine 100 can be a hybrid excavator or an electric excavator, etc., in which all or part of the driven parts are driven by electric actuators.

[0039] The camera device S6 is mounted on the upper rotating body 3 to capture images of the periphery of the operating machinery 100 and obtain image information representing the periphery of the operating machinery 100. In the example shown, the camera device S6 includes a front camera S6F, a left camera S6L, a right camera S6R, and a rear camera S6B.

[0040] The front camera S6F is a camera that captures images from the front of the operating machinery 100 and is mounted on the exterior of the cab 10, such as on the roof of the cab 10 and the side of the boom 4. The left camera S6L captures images from the left side of the operating machinery 100, the right camera S6R captures images from the right side of the operating machinery 100, and the rear camera S6B captures images from the rear of the operating machinery 100. Specifically, the front camera S6F, left camera S6L, right camera S6R, and rear camera S6B are all single-lens wide-angle cameras equipped with imaging elements such as CCD or CMOS, and the information of the captured images is input to the controller 30. Furthermore, the images captured by the camera device S6 can be output to the display device D1 (see reference). Figure 3 ).

[0041] In the example shown, the front camera S6F is mounted on the roof of the cab 10, the left camera S6L is mounted on the left end of the upper surface of the upper rotating body 3, the right camera S6R is mounted on the right end of the upper surface of the upper rotating body 3, and the rear camera S6B is mounted on the rear end of the upper surface of the upper rotating body 3.

[0042] The camera device S6 can constitute an object detection device for detecting objects located around the operating machinery 100. The object detection device can be composed of devices other than a camera. For example, the object detection device can be a LiDAR. A LiDAR, for example, is a device capable of measuring the distance between a group of more than one million points within the monitoring range and the LiDAR (laser source). Furthermore, the object detection device can also be other devices capable of measuring the distance to an object, such as a stereo camera, a distance imaging camera, or millimeter-wave radar. When using millimeter-wave radar or the like as the object detection device, multiple signals (laser light, etc.) can be sent from the object detection device to the object, and the reflected signals can be received, thereby deriving the distance and direction of the object. Alternatively, the object detection device can also be a combination of two or more devices. For example, the object detection device can be a combination of a camera device and a LiDAR, a combination of a camera device and a millimeter-wave radar, or a combination of a camera device and a stereo camera.

[0043] The controller 30 is an example of a control device, such as a computer comprising a CPU, volatile memory, non-volatile memory, and various input / output interfaces. Furthermore, the controller 30, for example, reads programs from non-volatile memory and loads them into volatile memory, which are then executed by the CPU, thereby implementing various functions. In the illustrated example, the controller 30 is configured to perform various functions and control the machine 100. These functions include, for example, a device guidance function that guides manual operations performed by an operator on the machine 100. Other functions may include a contact avoidance function that causes the machine 100 to move automatically or autonomously or to stop, to prevent contact between the machine 100 and objects within its monitored perimeter.

[0044] The boom angle sensor S1 detects the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor capable of detecting the rotation angle (hereinafter referred to as "boom angle") of the boom 4 relative to the upper rotating body 3, which changes per unit time. The boom angle sensor S1 can detect the angular velocity of the boom 4, representing the change in the boom angle, and the angular acceleration of the boom 4, representing the proportion of that change. The boom angle is, for example, the minimum angle when the boom 4 is lowered to its maximum extent, and increases as the boom 4 is raised.

[0045] The stick angle sensor S2 detects the rotation angle of the stick 5. In this embodiment, the stick angle sensor S2 is an acceleration sensor capable of detecting the rotation angle of the stick 5 relative to the boom 4 (hereinafter referred to as the "stick angle"). The stick angle sensor S2 can detect the angular velocity of the stick 5, which represents the change in the stick angle, and the angular acceleration of the stick 5, which represents the proportion of that change. The stick angle is, for example, at its minimum when the stick 5 is retracted to its maximum extent, and increases as the stick 5 is extended.

[0046] The bucket angle sensor S3 detects the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor capable of detecting the rotation angle of the bucket 6 relative to the stick 5 (hereinafter referred to as "bucket angle"). The bucket angle sensor S3 can detect the angular velocity of the bucket 6, which represents the change in the bucket angle, and the angular acceleration of the bucket 6, which represents the proportion of that change. The bucket angle is, for example, at its minimum when the bucket 6 is retracted to its maximum extent, and increases as the bucket 6 is opened.

[0047] The boom angle sensor S1, stick angle sensor S2, and bucket angle sensor S3 can be any sensor capable of acquiring information related to the posture of the auxiliary device (an example of a posture sensor). These can be an IMU (Inertial Measurement Unit), a 6-axis sensor, a potentiometer using a variable resistor, a stroke sensor that detects the stroke of the corresponding hydraulic cylinder, a rotary encoder that detects the rotation angle around the connecting pin, a gyroscope sensor, or a combination of an accelerometer and a gyroscope sensor, etc. In this embodiment, examples of acquiring boom angle, stick angle, and bucket angle as posture-related information are described. However, the posture-related information is not limited to boom angle, stick angle, and bucket angle; it can be at least one of these angles, or image information obtained by capturing the posture of the auxiliary device AT in a visible manner.

[0048] The detection signals corresponding to the boom angle from the boom angle sensor S1, the stick angle from the stick angle sensor S2, and the bucket angle from the bucket angle sensor S3 are input to the controller 30. In addition to angle, the detection signals may also include angular velocity.

[0049] The body tilt sensor S4 detects the tilt state of the machine body (upper rotating body 3 or lower traveling body 1) relative to the horizontal plane. The body tilt sensor S4 is, for example, mounted on the upper rotating body 3, and detects the tilt angle of the working machine 100 (i.e., the upper rotating body 3) around two axes: the front-to-back direction and the left-to-right direction. The body tilt sensor S4 can be, for example, an accelerometer, a 6-axis sensor, or an IMU. The detection signal corresponding to the tilt angle based on the body tilt sensor S4 is input to the controller 30.

[0050] The rotation sensor S5 outputs information related to the rotation of the upper rotating body 3. For example, the rotation sensor S5 detects the rotational angular velocity and angular acceleration of the upper rotating body 3 relative to the lower traveling body 1. The rotation sensor S5 can also detect the rotation angle. The rotation sensor S5 can be, for example, a gyroscope sensor, a rotary transformer, or a rotary encoder. The detection signals from the rotation sensor S5, corresponding to the rotation angle, rotational angular velocity, and angular acceleration of the upper rotating body 3, are input to the controller 30.

[0051] A boom rod pressure sensor S7R and a boom bottom pressure sensor S7B are installed in the boom cylinder 7. A stick rod pressure sensor S8R and a stick bottom pressure sensor S8B are installed in the stick cylinder 8. A bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B are installed in the bucket cylinder 9. The boom rod pressure sensor S7R, boom bottom pressure sensor S7B, stick rod pressure sensor S8R, stick bottom pressure sensor S8B, stick rod pressure sensor S9R, and bucket bottom pressure sensor S9B are examples of sensors used to obtain information related to stress or load on the working machinery, and are collectively referred to as "cylinder pressure sensors".

[0052] The boom rod pressure sensor S7R detects the pressure in the rod-side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure"). The boom bottom pressure sensor S7B detects the pressure in the bottom-side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom bottom pressure"). The stick pressure sensor S8R detects the pressure in the rod-side oil chamber of the stick cylinder 8 (hereinafter referred to as "stick rod pressure"). The stick bottom pressure sensor S8B detects the pressure in the bottom-side oil chamber of the stick cylinder 8 (hereinafter referred to as "stick bottom pressure"). The bucket stick pressure sensor S9R detects the pressure in the rod-side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket stick pressure"). The bucket bottom pressure sensor S9B detects the pressure in the bottom-side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket bottom pressure").

[0053] The positioning device PS determines the position of the upper rotating body 3. The positioning device PS, for example, is a GNSS (Global Navigation Satellite System) compass, which detects the position and orientation of the upper rotating body 3. The detection signal corresponding to the position and orientation of the upper rotating body 3 is input to the controller 30. The function of detecting the orientation of the upper rotating body 3 can be achieved by an azimuth sensor installed on the upper rotating body 3. The positioning device PS according to this embodiment determines the current position of the operating machinery 100 using a reference coordinate system capable of determining its position globally.

[0054] A reference coordinate system is, for example, the World Geodetic System, which determines a position on Earth. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with the Earth's center of gravity as the origin, the direction of the intersection of the Greenwich Meridian and the equator as the X-axis, the direction of 90 degrees east longitude as the Y-axis, and the direction of the North Pole as the Z-axis.

[0055] The cab 10 is a section of space for the operator to sit in, located on the front left side of the upper rotating body 3. However, the cab 10 may be omitted when the machine is operated remotely or when the machine is operated in a fully automatic manner.

[0056] The communication device T1 communicates with external devices through a communication network, including a mobile communication network, a satellite communication network, or the Internet. The communication device T1 may be, for example, a mobile communication module corresponding to mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), or 5G (5th Generation); a communication module corresponding to short-range wireless communication standards such as Wi-Fi (registered trademark) or Bluetooth (registered trademark); or a satellite communication module for connecting to a satellite communication network.

[0057] The operating machine 100 activates the actuators according to the operation of the operator sitting in the cab 10, driving the driven parts such as the lower traveling body 1, upper rotating body 3, boom 4, stick 5 and bucket 6.

[0058] Alternatively, the work machinery 100 can be configured to be remotely operated from outside the work machinery 100. In the case of remote operation of the work machinery 100, the interior of the cab 10 can be unmanned.

[0059] Furthermore, the operating machine 100 can also automatically operate the actuators without relying on the operator's actions. Thus, the operating machine 100 achieves the function of automatically operating at least a portion of the driven parts, such as the lower traveling body 1, the upper rotating body 3, the boom 4, the stick 5, and the bucket 6, which is the so-called "equipment control function".

[0060] Figure 3 This is a diagram that schematically illustrates an example of the structure of the work machinery 100 according to this embodiment. Figure 3 In the diagram, the mechanical power transmission system, working oil pipeline, pilot line, and electrical control system are represented by double lines, thick solid lines, thick dashed lines, and dotted lines, respectively.

[0061] The drive system of the work machinery 100 includes an engine 11, a regulator 13, a main pump 14, and a control valve unit 17. Furthermore, the hydraulic drive system of the work machinery 100 includes hydraulic actuators such as a swing hydraulic motor 2A, a left travel hydraulic motor 2ML, a right travel hydraulic motor 2MR, a boom cylinder 7, a stick cylinder 8, and a bucket cylinder 9.

[0062] Engine 11 is one example of the power source for the work machinery 100, for example, it may be mounted at the rear of the upper rotating body 3. Alternatively, the power source for the work machinery 100 may be a combination of a battery or fuel cell power source and an electric motor. Specifically, engine 11 rotates at a constant target speed under the direct or indirect control of controller 30, driving the main pump 14 and pilot pump 15. Engine 11 may be, for example, a diesel engine that uses diesel fuel. Alternatively, engine 11 may be a gasoline engine or a hydrogen engine, etc.

[0063] The regulator 13 controls the discharge volume of the main pump 14. For example, the regulator 13 controls the discharge volume of the main pump 14 by adjusting the angle (deflection angle) of the swashplate of the main pump 14 according to the control command from the controller 30.

[0064] Similar to engine 11, main pump 14 is mounted, for example, at the rear of upper rotating body 3, and supplies working oil to control valve unit 17 via working oil lines. In the example shown, main pump 14 is a variable capacity hydraulic pump.

[0065] Control valve unit 17 is one of the hydraulic control devices for controlling the hydraulic system of the operating machinery 100. In the example shown, control valve unit 17 includes control valves 171 to 176. Control valve unit 17 is configured to selectively supply working oil discharged from main pump 14 to one or more hydraulic actuators via control valves 171 to 176. Control valves 171 to 176 control the flow rate of working oil from main pump 14 to hydraulic actuators and the flow rate of working oil from hydraulic actuators to working oil reservoirs. The hydraulic actuators include boom cylinder 7, stick cylinder 8, bucket cylinder 9, left travel hydraulic motor 2ML, right travel hydraulic motor 2MR, and swing hydraulic motor 2A. Specifically, control valve 171 corresponds to right travel hydraulic motor 2MR, control valve 172 corresponds to left travel hydraulic motor 2ML, and control valve 173 corresponds to swing hydraulic motor 2A. Furthermore, control valve 174 corresponds to bucket cylinder 9, control valve 175 corresponds to boom cylinder 7, and control valve 176 corresponds to stick cylinder 8.

[0066] Pilot pump 15 is an example of a pilot pressure generating device, configured to supply working oil to the hydraulic control device via pilot lines. In the example shown, pilot pump 15 is a fixed-capacity hydraulic pump. However, the pilot pressure generating device can be implemented by main pump 14. That is, in addition to supplying working oil to control valve unit 17 via working oil lines, main pump 14 can also supply working oil to various hydraulic control devices via pilot lines. In this case, pilot pump 15 can be omitted.

[0067] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the example shown in the figure, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0068] The operating device 26 is a device used by the operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator can be a hydraulic actuator or an electric actuator.

[0069] The operation sensor 29 is configured to detect the operation performed by the operator using the operation device 26. In this embodiment, the operation sensor 29 detects the operation direction and amount of the operation device 26 corresponding to each actuator and outputs the detected values ​​to the controller 30. In the example shown, the controller 30 can control the opening area of ​​the proportional valve 31 based on the output of the operation sensor 29. Furthermore, the controller 30 supplies working oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. The pressure of the working oil supplied to each pilot port (pilot pressure) is, in principle, the pressure corresponding to the operation direction and amount of the operation device 26 corresponding to each hydraulic actuator. Thus, the operation device 26 is configured to supply working oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17.

[0070] The proportional valve 31, which functions as a control valve for equipment control, is disposed in the pipeline connecting the pilot pump 15 and the pilot port of the control valve within the control valve unit 17, and is configured to change the flow area of ​​this pipeline. In the illustrated example, the proportional valve 31 operates according to a control command output by the controller 30. Therefore, the controller 30 can adjust the pilot pressure acting on the pilot port of the control valve via the proportional valve 31, independent of the operator's operation of the operating device 26.

[0071] With this structure, the controller 30 can activate the hydraulic actuator corresponding to the specific operating device 26 even without operating the specific operating device 26.

[0072] And, as Figure 3 As shown, the control system of the working machine 100 includes a controller 30, an auxiliary storage device ST, a display device D1, an input device D2, and a communication device T1, etc.

[0073] Display device D1 is positioned in a location easily visible to the operator seated in the cab 10, and displays various information images under the control of controller 30. In the illustrated example, display device D1 is located on the right front of the operator's seat and is connected to controller 30 via a dedicated cable. Display device D1 displays various image information. Display device D1 includes a display screen showing information such as the operating conditions or operational status of the machine 100. The operator seated in the cab can view the various information displayed on display device D1 while performing operations based on the machine 100. An input device D2 may also be provided on display device D1.

[0074] Input device D2 is located within the reach of the operator seated in the driver's seat, accepting various operational inputs from the operator and outputting signals corresponding to the operational inputs to controller 30. Input device D2 includes a touch panel mounted on the display of display device D1, which displays various information images; a rotary switch located at the front end of any one or more of the levers included in operating device 26; or a button switch, joystick, toggle switch, or rotary control panel located around display device D1. Signals corresponding to the operations performed on input device D2 are input to controller 30.

[0075] The controller 30 is configured to output control commands to the regulator 13 as needed to change the discharge volume of the main pump 14.

[0076] Furthermore, the controller 30 may be configured, for example, to perform equipment guidance functions related to guiding (instructing) manual operations performed by the operator on the machine 100 via the operating device 26. Also, the controller 30 may be configured, for example, to perform equipment control functions related to automatically supporting manual operations performed by the operator on the machine 100 via the operating device 26.

[0077] Furthermore, some of the functions of controller 30 can also be implemented by other controllers (control devices). That is, the functions of controller 30 can be implemented in a distributed manner by multiple controllers. For example, equipment guidance functions and equipment control functions can also be implemented by dedicated controllers (control devices).

[0078] The auxiliary storage device ST is a read-write non-volatile storage medium.

[0079] [Explanation related to the load in the operating machinery] The conditions under which the work machinery 100 is used vary depending on the work site and the nature of the work. Therefore, when the work machinery 100 is being operated, under certain conditions, an excessive load may be applied to a part of the work machinery 100, resulting in cases of premature damage to that part.

[0080] Figure 4 This is a diagram illustrating the load generated at each part of the work machinery 100 according to this embodiment. Figure 4 The example shown illustrates the following: when the boom 4 is lowered, the boom 4 moves quickly, and the ground 1401 contains hard materials such as rocks, resulting in a strong impact 1402 at the tip of the bucket 6.

[0081] At this time, loads are generated not only at the tip of the bucket 6, but also at various parts constituting the working machine 100. For example, different loads are generated at a specified location 1411 on the lower plate of the boom 5, a specified location 1412 near the center of the lower plate of the boom 4, and a specified location 1413 near the base of the boom 4.

[0082] The working machine 100 has both parts with strong load-bearing capacity and parts with weak load-bearing capacity. The parts with weak load-bearing capacity include the welded parts of the plates of the auxiliary devices AT that make up the working machine 100 and the surrounding areas.

[0083] Therefore, the controller involved in this embodiment calculates the stress or load generated at each part of the auxiliary device AT constituting the working machine 100, and notifies the controller when a stress or load exceeding a preset value is generated at that part.

[0084] Specifically, various sensors installed in the work machinery 100 according to this embodiment acquire information related to the stress or load of the work machinery. Furthermore, the controller 30 calculates the stress generated at a specified location of the work machinery based on the information acquired by the various sensors, and issues a notification when the stress generated at the specified location exceeds a specified value.

[0085] <Block Structure of the Controller for Operating Machinery> Return to Figure 3 The functional requirements of the controller 30 and auxiliary storage device ST of the machine tool 100 according to this embodiment will be described. The controller 30 (an example of a control unit) according to this embodiment is configured to control the entire machine tool 100. The functional modules within the controller 30 are conceptual and do not necessarily need to be physically configured as shown in the figure. All or part of each functional module can be configured in a functional or physical manner. All or part of each processing function performed by each functional module is implemented by a program executed by the CPU. Alternatively, each functional block can be implemented as hardware based on wiring logic. The controller 30 includes an acquisition unit 301, a determination unit 302, a notification unit 303, a storage unit 304, and an evaluation unit 305 by implementing the program. Furthermore, the auxiliary storage device ST includes a cumulative value storage unit ST1.

[0086] The cumulative value storage unit ST1 stores a corresponding cumulative value for the damage level of a specified location. The cumulative value for the damage level of the specified location refers to the value obtained by accumulating the damage caused by the stress generated at that specified location. Furthermore, the controller 30 anticipates that as the cumulative value for the damage level of the specified location increases, the probability of damage occurring at the specified location may increase. Specific examples regarding the degree of damage will be described later.

[0087] The cumulative value storage unit ST1 in this embodiment stores a cumulative value of the degree of damage to each specified part of the working machine 100, thereby enabling the controller 30 to issue a notification corresponding to the cumulative value. This notification allows for maintenance to be performed before abnormalities such as metal fatigue occur, thus improving safety.

[0088] Next, the structure of the controller 30 will be described. The acquisition unit 301 acquires signals from various detection devices installed on the machine tool 100. For example, the acquisition unit 301 acquires position information from the positioning device PS, indicating the measurement results of the position and orientation of the machine tool 100. Furthermore, the acquisition unit 301 acquires image information from the camera device S6.

[0089] Furthermore, as an example of information related to stress or load on the working machine 100 from various detection devices, the acquisition unit 301 acquires cylinder pressure from cylinder pressure sensors S7R, S7B, S8R, S8B, S9R, and S9B. Moreover, this embodiment does not limit the information related to stress or load on the working machine to the cylinder pressure acquired from cylinder pressure sensors S7R, S7B, S8R, S8B, S9R, and S9B; any information that can be used to calculate the stress or load at a specified location can be used. For example, the acquisition unit 301 can acquire information indicating the stress or load at the location where the strain gauge is installed from a strain gauge or similar accessory device AT installed on the working machine 100, and use this information to calculate the stress or load at a specified location. Furthermore, the acquisition unit 301 can acquire the detection results from an acceleration sensor installed on the auxiliary device AT of the working machine 100 as information for calculating the stress or load generated at a specified location on the working machine 100. Furthermore, the acquisition unit 301 can acquire dynamic images captured by the camera device S6 or sound signals collected by the sound collection device, as information for calculating the stress or load at a specified location.

[0090] Furthermore, the acquisition unit 301 calculates the stress generated at multiple predetermined locations within the machine tool 100 based on the detection results detected by various detection devices, including cylinder pressure sensors S7R, S7B, S8R, S8B, S9R, and S9B. The stress calculation can be performed using any method, or a predetermined formula based on the cylinder pressure detected by the cylinder pressure sensors S7R, S7B, S8R, S8B, S9R, and S9B and the structure of the machine tool 100. Moreover, the acquisition unit 301 can use machine learning to obtain the stress at each location. For example, the acquisition unit 301 inputs the detection results detected by the various detection devices into a learned model, and obtains the stress generated at each of the multiple predetermined locations from the learned model. This learned model is, for example, a model that has undergone machine learning based on training data combining the detection results detected by the various detection devices and the stress generated at the predetermined locations.

[0091] Furthermore, the acquisition unit 301 can convert and acquire stress generated at a specified location based on at least one of the following: acceleration detected by the accelerometer, dynamic images representing the movement of the machine 100 captured by the camera device S6, and sound generated when the machine 100 comes into contact with an object collected by the sound collection device (not shown). For example, the acquisition unit 301 acquires the stress generated at each specified location by inputting at least one of the acceleration, dynamic images, and sound into the learned model.

[0092] The designated location for stress calculation is, for example, a location set by the company or user of the operating machinery 100. For instance, the designated location may be one of at least one of the following: a location where the operator wants to confirm the extent of damage; a location in the operating machinery 100 prone to damage; a structurally load-bearing location; or a location that has previously experienced damage. For example, a designated location may include, in the case of, a welded section included in the auxiliary device AT and its vicinity.

[0093] As specific examples of welded parts and their vicinity included in the auxiliary device AT, for example, the welded parts and their vicinity of the side plates and upper and lower plates of the boom 4 and stick 5 of the auxiliary device AT of the working machine 100, the welded parts and their vicinity of the upper and lower plates, the welded parts and their vicinity of the rolled plates of the upper and lower plates, the welded parts and their vicinity of the side plates, the welded parts and their vicinity of the bosses of the side plates, the welded parts and their vicinity of the bosses of the upper and lower plates, the welded parts and their vicinity of the partitions of the side plates, the welded parts and their vicinity of the rolled plates of the upper and lower plates, the welded parts and their vicinity of the partitions of the upper and lower plates, and the welded parts and their vicinity of the brackets of the upper and lower plates. Furthermore, these specified locations are shown as examples; other locations may also be considered as objects of stress calculation.

[0094] The determination unit 302 determines whether the stress generated at a specified location of the working machine 100 exceeds a specified value. In this embodiment, the specified value is set according to the implementation method, including the structure, material, etc. of the working machine 100. The specified value can be set according to a specified location, or the same value can be used for multiple specified locations.

[0095] Based on the determination result of the determination unit 302, the notification unit 303 notifies at least one of the following: a display device D1 (an example of an output device) for the operator of the work machinery 100; a mobile communication terminal 500 (an example of a first information processing device) held by the maintenance personnel of the work machinery 100; and a management device 700 (an example of a second information processing device) for the manager of the work machinery 100. When notifying the mobile communication terminal 500 and the management device 700, the notification unit 303 sends the notification content using the communication device T1. In this embodiment, by notifying at least one of the display device D1, the mobile communication terminal 500, and the management device 700, personnel associated with the work machinery 100 can identify the load (stress) condition generated in the work machinery 100. Therefore, maintenance can be performed before damage occurs due to the load, thus improving safety.

[0096] In this embodiment, an example of using display device D1 to notify the operator is shown. However, this embodiment does not limit the method of using display device D1 to notify the operator. For example, sound may be output from a speaker (not shown) provided in the cab 10, or a light source may be turned on to remind the operator.

[0097] In this embodiment, when the notification unit 303 notifies at least one of the mobile communication terminal 500 and the management device 700 of the administrator, a method of sending information such as a message indicating the content of the notification is used, but it is not limited to sending information such as messages. For example, other information such as screen information or sound information may also be sent.

[0098] In this embodiment, when it is determined that the stress generated at a specified location of the working machine 100 exceeds a specified value, the notification unit 303 notifies at least one of the following: information indicating the specified location, information indicating the degree of damage to the specified location, and information indicating the action that caused the stress at the specified location to exceed the specified value. Through this notification, the specified location where stress is generated and the condition at which stress is generated can be identified.

[0099] Figure 5 This is a graph illustrating the prescribed stress values ​​determined by the determination unit 302 according to this embodiment. Figure 5 In the chart shown, the vertical axis represents stress, and the horizontal axis represents time.

[0100] exist Figure 5 In the example shown, the first specified value Th1, -Th1 and the second specified value Th2, -Th2 are shown as thresholds for determining stress.

[0101] exist Figure 5 In the example shown, in order to detect the negative and positive stresses generated at specified locations, a first specified value Th1, -Th1 and a second specified value Th2, -Th2 are set on the negative and positive sides, respectively.

[0102] The second specified values ​​Th2 and -Th2 are stresses whose absolute values ​​are higher than the first specified values ​​Th1 and -Th1. In the event of stress exceeding the second specified values ​​Th2 and -Th2, in order to prevent the recurrence of such stress, it is necessary to notify the operator to pay attention to the operation of the working machine 100.

[0103] For example, if the determination unit 302 determines that the absolute value of the peak value of the stress generated at a specified location is greater than a second specified value |Th2|, the notification unit 303 notifies the display device D1. For example, when the notification unit 303 notifies the display device D1, a notification is made displaying information indicating the cause of the stress exceeding the second specified value |Th2|. Furthermore, this embodiment does not limit the notification content to the display device D1 to information indicating the work content; for example, the notification unit 303 may notify at least one of information indicating a specified location where the stress exceeds the second specified value |Th2| and information indicating the degree of damage to the specified location.

[0104] exist Figure 5 In the example shown, when the peak value 1502 of the stress is calculated to be higher than the second specified value |Th2|, and the boom 4 is lowered in the working machine 100 for digging, the notification unit 303 displays a warning on the display device D1 urging a reduction in speed during the next lowering action of the boom 4.

[0105] The first specified values ​​Th1 and -Th1 are thresholds set, for example, based on the allowable stress at a specified location as envisioned when designing the machine 100, and are set as thresholds for predicting damage to the specified location or for early detection of damage. That is, if the stress generated at the specified location exceeds the first specified values ​​Th1 and -Th1, the generated stress is higher than the allowable stress at the specified location; in other words, the impact is greater than the intended use method at the time of design, and therefore notification is required.

[0106] For example, if the determination unit 302 determines that the absolute value of the peak value of the stress generated at the specified location is greater than the first specified value |Th1|, the notification unit 303 notifies one or more of the mobile communication terminal 500 and the management device 700.

[0107] Specifically, when the peak values ​​1501, 1502, 1503, and 1504 of the stress generated at the specified location are calculated—in other words, when the determination unit 302 determines that the absolute value of the peak value of the stress generated at the specified location is greater than a first specified value |Th1|—the notification unit 303 notifies at least one of the mobile communication terminal 500 and the management device 700. When the notification unit 303 notifies at least one of the mobile communication terminal 500 and the management device 700, it notifies information indicating the specified location where the stress is greater than a second specified value |Th1|, information indicating the degree of damage to the specified location, and information indicating the work content that caused the stress to be greater than the first specified value |Th1|. Furthermore, this embodiment does not limit the information notified to at least one of the mobile communication terminal 500 and the management device 700 to information indicating the specified location, information indicating the degree of damage to the specified location, and information indicating the work content (operation of the work machinery 100); it may include at least one of these information, or it may include other information.

[0108] The controller 30 of this embodiment distinguishes the information displayed on the display device D1 (an example of an output device) from the information notified in the mobile communication terminal 500 and the management device 700. This embodiment is not limited to making the information notified to the mobile communication terminal 500 and the management device 700 the same; it is also possible to make the information notified in the mobile communication terminal 500 and the management device 700 different. That is, the controller 30 of this embodiment can improve convenience by prompting appropriate information based on the notification destination.

[0109] The controller 30 of this embodiment notifies the system when the stress generated at a specified location exceeds the absolute values ​​of both the negative and positive specified values. That is, in this embodiment, notification is given regardless of whether the stress generated at the specified location is tensile or compressive stress. Therefore, it can detect unexpected stress at the specified location, thereby improving safety.

[0110] Furthermore, this embodiment shows one example of the information notified by the controller 30, and is not limited to the information notified described above. For example, the notification unit 303 may be configured such that, when notifying the display device D1, it notifies at least one of the following: information indicating a specified location, information indicating the degree of damage to the specified location, and information indicating the work content that causes the stress or load generated at the specified location to exceed a specified value; and when notifying at least one of the mobile communication terminal 500 and the management device 700, it notifies more information than that provided to the display device D1, including information indicating a specified location, information indicating the degree of damage to the specified location, and information indicating the work content that causes the stress or load generated at the specified location to exceed a specified value.

[0111] Thus, when a notification is sent to at least one of the mobile communication terminal 500 and the management device 700, the notification provides more information than when a notification is sent to the display device D1. That is, in this embodiment, since the operator is operating the machinery 100, the notification information is simplified, and the information is presented in a manner that avoids actions that could damage the machinery 100. On the other hand, more information is presented to at least one of the managers and operators than to the operator, enabling them to assess the extent of damage to the machinery 100. Therefore, in this embodiment, after the notification, the extent of damage to the machinery 100 caused by the operator's actions can be suppressed, and since at least one of the managers and operators can identify the extent of damage to the machinery 100, maintenance measures corresponding to the extent of damage can be taken, thereby improving safety.

[0112] Furthermore, this embodiment is not limited to notifying when the absolute value of the peak stress generated at a specified location exceeds a specified value. For example, the determination unit 302 determines the operation being performed by the machine 100 based on at least one of the detection results from angle sensors S1, S2, and S3, the detection result from rotation sensor S5, the stress generated at the specified location, and an image captured by the camera device S6, and notifies the machine if the operation is a specified operation. A specified operation could be, for example, a broom operation involving moving an object such as a soil pipe by moving the bucket 6 laterally. In other words, the controller 30 notifies the machine 100 when it detects an operation (action) that is set to be avoided. The notification destination can be at least one of the display device D1, the mobile communication terminal 500, and the management device 700.

[0113] exist Figure 5The example shown illustrates how the controller 30 notifies the user when the peak value of the stress generated at a specified location of the working machinery 100 exceeds a predetermined value. However, this embodiment is not limited to the example where the peak value of the stress generated at a specified location of the working machinery 100 exceeds a predetermined value. The controller 30 of this embodiment notifies the user when the cumulative value of the damage level based on the stress generated at a specified location of the working machinery 100 exceeds a predetermined threshold.

[0114] If the determination unit 302 determines that the absolute value of the peak value of the stress generated at the specified location is greater than the first specified value |Th1|, the storage unit 304 calculates the degree of damage based on the stress generated at the specified location and stores the cumulative value of the degree of damage at the specified location in the cumulative value storage unit ST1. Next, the degree of damage at the specified location according to this embodiment will be explained.

[0115] In this embodiment, the stress generated at a specified part of the working machine 100 includes stress in the elongation direction (positive direction) and stress in the contraction direction (negative direction).

[0116] For example, in Figure 5 In the example shown, during period 1511, a stress peak 1501 is generated at a specified location along the direction of elongation. Furthermore, during period 1513, a stress peak 1504 is generated at a specified location along the direction of elongation.

[0117] On the other hand, during period 1512, after a stress peak 1502 is generated at a specified location along the elongation direction, a stress peak 1503 is generated along the contraction direction.

[0118] Thus, when stress is generated in the specified part along the elongation direction and then along the contraction direction, the fatigue of the metal, in other words, the degree of damage to the specified part, is greater than when stress is generated only along the elongation direction or only along the contraction direction.

[0119] Therefore, the controller 30 according to this embodiment uses stress amplitude to calculate the degree of damage to a specified location. Stress amplitude is defined as half the difference between the maximum and minimum stress within a specified period. For example, half of the difference between the maximum and minimum stress 1521 becomes the stress amplitude for period 1511, half of the difference between the maximum and minimum stress 1522 becomes the stress amplitude for period 1512, and half of the difference between the maximum and minimum stress 1523 becomes the stress amplitude for period 1513.

[0120] There is a correspondence between the stress amplitude σw and the number of times N occurs until fracture (damage). Figure 6This is a graph illustrating the relationship between stress amplitude σw and the number of times N occurs until fracture (damage). The vertical axis represents the logarithm of stress amplitude (logσw), and the horizontal axis represents the logarithm of the number of times N occurs until fracture (damage) (logN).

[0121] Furthermore, there is a correspondence, represented by line 1601, between the logarithm of the stress amplitude at the specified location (logσw) and the logarithm of the number of times until damage occurs at the specified location (logN). Figure 6 In the example shown, let σw1 > σw2 > σw3, and let N1 < N2 < N3.

[0122] exist Figure 6 In this context, it indicates that the probability of damage to the specified location is high when stress amplitude σw1 generates N1 times, stress amplitude σw2 generates N2 times, or stress amplitude σw3 generates N3 times. In other words, stress amplitude σw1 represents 1 / N1 of the damage level up to the specified location; stress amplitude σw2 represents 1 / N2 of the damage level up to the specified location; and stress amplitude σw3 represents 1 / N3 of the damage level up to the specified location.

[0123] For each type of metal material, the stress amplitude σw and the number of times until fracture N can be expressed by formulas. The following formula (1) is a formula that expresses the relationship between the stress amplitude σw and the number of times until fracture N. In addition, m and C are material constants of the metal used in the specified part.

[0124] [Formula 1] In this embodiment, the damage degree D is set to 1 / N. That is, when the cumulative value of the damage degree D reaches "1", the controller 30 can determine that the probability of the specified part being broken (damaged) is high. The storage unit 304 calculates the damage degree D according to the following formula (2).

[0125] [Formula 2] If the absolute value of the peak value of the stress generated at the specified location exceeds the first specified value |Th1|, the storage unit 304 of this embodiment calculates the degree of damage D of the specified location based on the stress amplitude during the specified period (e.g., 3 seconds) during which the stress was generated, adds it to the cumulative value of the degree of damage of the specified location stored in the cumulative value storage unit ST1, and stores the added cumulative value in the cumulative value storage unit ST1.

[0126] Furthermore, if the absolute value of the peak value of the stress generated at the specified location exceeds the first specified value |Th1|, the storage unit 304 in this embodiment can store the dynamic image captured by the camera device S6 and the sound information collected by the sound collection device (not shown) during a specified period (e.g., 3 seconds) including the time when the first specified value |Th1| ​​is exceeded as the working condition when stress is generated in the auxiliary storage device ST.

[0127] When the cumulative value stored in the cumulative value storage unit ST1 by the storage unit 304 is updated, the notification unit 303 may send a message indicating "the current damage level of a specified part of the working machine 100 is X degree" (where X is a value between 0 and 1) to at least one of the mobile communication terminal 500 and the management device 700 of the manager.

[0128] The determination unit 302 makes a determination based on the cumulative value of the degree of damage to the specified location. Figure 7 This is a graph used to explain the determination unit 302 in this embodiment makes a determination based on the cumulative value of the degree of damage to a specified location. The vertical axis represents the cumulative value of the degree of damage, and the horizontal axis represents time.

[0129] exist Figure 7 In the example shown, as indicated by line 1701, the cumulative value of the degree of damage at the specified location increases over time.

[0130] In this embodiment, two thresholds are set to determine the cumulative value of damage to a specified area. The warning threshold Th11 is set to notify at least one of the operators, managers, and workers that damage has accumulated. For example, the warning threshold Th11 is set to "0.6". Regarding the replacement threshold Th12, since the specified area has a high probability of breakage (damage), it is set to expedite the replacement of the specified area. For example, the replacement threshold Th12 is set to "0.8".

[0131] For example, if the determination unit 302 determines that the cumulative value of the damage to a specified area exceeds the warning threshold Th11, the notification unit 303 displays a message to the display device D1 stating "Damage is accumulating. Please be careful." This display occurs, for example, when the operation of the machine 100 ends.

[0132] Furthermore, if the determination unit 302 determines that the cumulative value of the damage to the specified location is higher than the warning threshold Th11, the notification unit 303 may send information indicating that the damage has been accumulated to at least one of the mobile communication terminal 500 and the management device 700 of the administrator.

[0133] For example, if the determination unit 302 determines that the cumulative value of the damage to a specified location exceeds the replacement threshold Th12, the notification unit 303 displays a message to the display device D1 indicating "Please call the operator" or "Please undergo a detailed inspection." This display can occur, for example, at the end of the operation of the machine 100, or at the moment when the cumulative value of the damage exceeds the replacement threshold Th12.

[0134] Furthermore, if the cumulative value of the damage to a specified part, as determined by the determination unit 302, exceeds the replacement threshold Th12, the notification unit 303 sends a message urging the replacement of the part related to the specified part to at least one of the mobile communication terminal 500 and the management device 700 of the administrator. Therefore, due to damage to the specified part, the operator and the administrator can prepare to replace the part including that specified part.

[0135] The notification unit 303 according to this embodiment notifies the user when the peak value of the stress generated at a specified location of the working machine 100 exceeds a specified value, and also notifies the user when the cumulative value of the damage level at the specified location of the working machine 100 (an example based on the cumulative value of stress) exceeds a warning threshold Th11 or a replacement threshold Th12. Furthermore, this embodiment describes examples of the notification unit 303 notifying the user based on the peak value of the stress generated at the specified location of the working machine 100 and the cumulative value of the damage level at the specified location of the working machine 100 (an example based on the cumulative value of stress), but it is not limited to this notification method. For example, the notification unit 303 may only notify the user based on the peak value of the stress generated at the specified location of the working machine 100 or the cumulative value of the damage level at the specified location of the working machine 100 (an example based on the cumulative value of stress). Moreover, the notification unit 303 may also notify the user based on the average value of the stress generated at the specified location of the working machine 100. Furthermore, this embodiment is not limited to stress-based notifications, but can also provide notifications based on loads (e.g., at least one of the peak load and the cumulative load). For example, notifications can be based on the load applied to the shovel tip during digging, the rotational force applied to the entire auxiliary device AT at the start / stop of rotation, the weight of the auxiliary device AT itself applied to the entire auxiliary device AT during lifting, or the load applied to the bucket 6 when lifting the load / bucket contents.

[0136] Furthermore, in this embodiment, there is a method in which, when the absolute value of the peak value of the stress generated at a specified location exceeds a first specified value |Th1|, the notification unit 303 notifies the number of times the peak value of the stress exceeds the first specified value |Th1| ​​during a specified period (e.g., 3 seconds) including the time when the first specified value |Th1| ​​is exceeded.

[0137] exist Figure 5 In the example shown, when peak value 1501 or peak value 1504 is detected, the notification unit 303 notifies the number of times the first predetermined value |Th1| ​​is exceeded, i.e., once. Furthermore, when peak value 1502 is detected, since peak values ​​1502 and 1503 are within a predetermined period, the notification unit 303 notifies the number of times the first predetermined value |Th1| ​​is exceeded, i.e., twice. Moreover, in addition to the number of notifications, the notification unit 303 in this embodiment also notifies the peak value of the stress or the stress amplitude based on the maximum and minimum stresses within a predetermined period. The notification destination is set to at least one of the mobile communication terminal 500 and the management device 700 of the administrator. Additionally, if the predetermined number of detections exceeds a certain threshold, the display device D1 can be added to the notification destination. Furthermore, the predetermined period is not limited to 3 seconds, etc.; for example, it could be from the start of the engine of the work machinery 100 until the engine stops, etc., as long as it is set according to the embodiment.

[0138] Return to Figure 3 The evaluation unit 305 evaluates the operator's operation of the work machinery 100. For example, before stopping the engine 11, the evaluation unit 305 calculates a score representing the operator's operation of the work machinery 100 based on the cumulative value of the degree of damage to each of the various specified parts of the work machinery 100.

[0139] For example, the auxiliary storage device ST stores standard data of the cumulative damage levels of multiple specified parts of the machine 100 during one hour of operation. Furthermore, when the engine 11 stops, the evaluation unit 305 calculates the hourly average of the cumulative damage levels of the multiple specified parts. The evaluation unit 305 then compares the calculated average damage level with the standard data to calculate a score representing the operator's performance. The score can be calculated using any known method.

[0140] Furthermore, the evaluation unit 305 can compare the calculated score with the scores calculated for each operator operating the machinery 100 nationwide to calculate a nationwide operator ranking. Additionally, the comparison group is not limited to nationwide; the operator's ranking can also be calculated within their work site or within the company owning the machinery 100. Moreover, at least one of the scores calculated by the evaluation unit 305 and the operator ranking is displayed on the display device D1 by the notification unit 303. The ranking can be calculated using any method; for example, the evaluation unit 305 can obtain the cumulative damage level of each operator managed by the management device 700 and determine the operator's ranking (position) based on the obtained cumulative value for each operator.

[0141] Next, the notification content displayed on the display device D1 will be explained. In this embodiment, the notification unit 303 displays the notification content on the display device D1 when the engine 11 of the working machine 100 stops.

[0142] Figure 8 This diagram illustrates a display screen shown on the display device D1 by the notification unit 303 according to this embodiment. Figure 8 The image display unit 42 shown is displayed when the engine 11 of the working machine 100 is stopped.

[0143] The image display unit 42 displays the following areas: date and time display area 42a, driving mode display area 42b, auxiliary device display area 42c, fuel consumption rate display area 42d, engine control status display area 42e, coolant temperature display area 42g, fuel balance display area 42h, speed level display area 42i, urea water balance display area 42j, operating oil temperature display area 42k, image display area 1801, and notification display area 1802.

[0144] The date and time display area 42a is an area that displays an image representing the current date and time.

[0145] The driving mode display area 42b displays an image indicating the current driving mode. The accessory display area 42c displays an image indicating the currently installed accessory. The engine control status display area 42e displays an image indicating the control status of the engine 11. The speed level display area 42i displays an image of the current speed level set by the control panel. A number indicating the selected speed level is displayed in the speed level display area 42i.

[0146] The fuel consumption rate display area 42d is an area that displays an image representing fuel consumption rate information calculated by the controller 30. The fuel consumption rate display area 42d includes, for example, an average fuel consumption rate display area 42d1 that displays an image representing the life-average fuel consumption rate or the interval average fuel consumption rate, and an instantaneous fuel consumption rate display area 42d2 that displays an image representing the instantaneous fuel consumption rate.

[0147] The coolant temperature display area 42g displays an image showing the current engine coolant temperature. The fuel level display area 42h displays an image showing the remaining fuel level in the fuel tank. The urea water level display area 42j displays an image showing the remaining urea water level in the urea water reservoir. The working oil temperature display area 42k displays an image showing the temperature of the working oil in the working oil reservoir.

[0148] The image display area 1801 is set to display the image captured by the camera device S6 before the engine 11 stops.

[0149] The notification display area 1802 is configured to pop up on the image display area 1801 when the engine 11 stops. For example, during the operation of the work machinery 100, if the absolute value of the peak stress generated at a specified location is greater than a second specified value |Th2|, information indicating the reason why the stress is greater than the second specified value |Th2| will be displayed in the notification display area 1802. Figure 8 In the example shown, assuming that the absolute value of the peak is greater than the second specified value |Th2| during the turning motion, the notification unit 303 displays a suggestion 1802B in the notification display area 1802: "Please be careful to avoid contact with objects in the surrounding area during the turning motion."

[0150] Furthermore, the notification unit 303 displays a message 1802A in the notification display area 1802 indicating the operator's performance score. The notification unit 303 also displays a message 1802C indicating the operator's ranking at the work site, such as "5th place ranked at the work site".

[0151] Thus, as a notification corresponding to the moment when the engine (an example of a drive source) 11 is stopped, the notification unit 303 ranks the multiple operators capable of operating the work machinery 100 within Japan, the company, or the work site based on the cumulative value of the degree of damage caused by stress generated at a specified location, according to the operator's actions before stopping the engine 11, and notifies them of their ranking. This embodiment does not limit the content of the notification to ranking. The content of the notification can be any evaluation related to the operations of the operators within Japan, the company, or the work site; for example, it can notify the operator's grade or deviation value. The method for obtaining the cumulative value of the degree of damage of other operators can be any method; for example, the controller 30 can obtain the cumulative value of the degree of damage of other operators from the management device 700.

[0152] In this embodiment, suggestions are displayed related to the work content that causes the stress generated at a specified location to exceed a second specified value |Th2|. Subsequently, by operating the work machinery 100 with the suggestions taken into account, the operator can improve safety. These suggestions can be stored in the auxiliary storage device ST in a correspondence with the work content. Furthermore, the notification unit 303 can notify the operator of the suggestions corresponding to the work content.

[0153] In this embodiment, a score and worker ranking based on the operator's actions are displayed. Therefore, in order to compete with other workers for scores or rankings, operators can operate in a manner that does not generate excessive stress on designated parts of the machine 100, thereby improving safety and durability.

[0154] Furthermore, this embodiment shows an example of a display screen shown when the engine 11 is stopped, but is not limited to this display. Other information may also be displayed on the display surface, such as fuel consumption rate during operation.

[0155] Furthermore, the notification unit 303 sends notification content to at least one of the mobile communication terminal 500 and the management device 700. Therefore, at least one of the mobile communication terminal 500 and the management device 700 displays the notification content.

[0156] Figure 9 This is an example of a display screen on the management device 700 showing information sent by the notification unit 303 according to this embodiment. Figure 9 The display screen 1900 shows information related to the work site A managed by the manager. For example, the name of the work site and the name of the machinery operating at the work site are displayed in the first display area 1901. As another example, the second display area 1902 displays images captured by a camera device installed at work site A.

[0157] The notification display area 1911 is set to pop up on the second display area 1902 when it is determined in the first working machine (an example of working machine 100) that the absolute value of the peak value of the stress generated at a specified location is greater than the first specified value |Th1|.

[0158] The notification display area 1911 shows the operation (work content) 1911A, location 1911B, damage level 1911C, and cumulative degree of damage 1911D of the working machinery.

[0159] In the operation of the machine tool 1911A, the operation (operation content) that causes the stress to exceed the first specified value |Th1| ​​is shown. For example, by displaying it as "rotation operation", the operation that generates excessive stress can be identified.

[0160] Location 1911B shows a specified location where the stress exceeds the first specified value |Th1|. For example, this specified location can be identified as potentially susceptible to damage by being shown as "the welded area of ​​the upper and lower plates on the side of the boom and its vicinity".

[0161] Damage level 1911C shows a damage level that indicates the degree of damage to a specified location.

[0162] Damage levels are information that represents the extent of damage in a recognizable way so that managers can identify the degree of damage. Damage levels are represented, for example, in five stages from 1 to 5. For example, a correspondence between stress amplitude and damage level is established and set in advance. Moreover, damage level 1911C displays the damage level corresponding to the stress amplitude generated at a specified location.

[0163] In the cumulative damage severity rating 1911D, the cumulative value of the damage severity at a specified location is displayed as a percentage. For example, if the cumulative damage severity rating is "0.65", it is displayed as "65 / 100".

[0164] In this embodiment, the management device 700 displays a screen 1900, allowing the manager to identify information related to stress generated at specified locations on the work machinery 100. By identifying the specific condition of the work machinery 100 and developing maintenance plans, the safety of the work machinery 100 can be improved.

[0165] The information displayed on the management device 700 is not limited to... Figure 9 The display screen shown can be used as an example. For instance, the management device 700 can display the operator rankings of each operator in work site A (an example of group A). ​​The manager can identify whether each operator is careful in their work. Therefore, the manager can assign the work machine 100 to operators based on the level of care taken in their work. For example, assigning the work machine 100 with a low cumulative damage value to a careless operator and assigning the work machine 100 with a high cumulative damage value to a careful operator can help prevent damage to the work machine 100.

[0166] Furthermore, regarding Figure 9 The example shown is an image of a display screen 1900 displayed on a management device 700, but... Figure 9 The display screen 1900 shown is not limited to being displayed on the management device 700, but can also be displayed on the mobile communication terminal 500. Therefore, the operator can identify information related to the stress generated at a specified location on the working machinery 100.

[0167] As described above, the notification unit 303 of this embodiment sends notifications corresponding to the time when it is determined that the stress generated at a specified location exceeds a specified value, and also to the time when the working machine 100 stops its engine 11. This embodiment does not limit the timing of the notifications; for example, it can be a notification corresponding to the time when the stress is determined to exceed a specified value, or a notification corresponding to the time when the working machine 100 stops its engine 11, or even a notification at other times. In this embodiment, by sending a notification when it is determined that the stress generated at a specified location exceeds a specified value, the current situation can be identified. Therefore, measures corresponding to the current situation can be taken, thereby improving safety. Furthermore, by sending a notification when the working machine 100 stops its engine 11, the operator can recognize the notification content without interrupting the work. Therefore, a decrease in work efficiency can be suppressed.

[0168] Next, the notification process in the work machinery 100 according to this embodiment will be described. Figure 10 This is a flowchart illustrating the notification processing flow in the work machinery 100 according to this embodiment.

[0169] First, the acquisition unit 301 acquires information related to the stress of the working machine from the cylinder pressure sensors S7R, S7B, S8R, S8B, S9R, and S9B (step S2001).

[0170] In this embodiment, the acquisition unit 301 calculates the stress generated at a specified location A (step S2002A). Furthermore, the determination unit 302 determines whether the absolute value of the peak stress at the specified location A is greater than a first predetermined value (step S2002A). If the determination unit 302 determines that the absolute value of the peak stress at the specified location A is less than or equal to the first predetermined value (step S2002A: No), the process of step S2001 is repeated. On the other hand, if the determination unit 302 determines that the absolute value of the peak stress at the specified location A is greater than the first predetermined value (step S2002A: Yes), the process of step S2004 is performed.

[0171] Furthermore, the acquisition unit 301 calculates the stress generated at the specified location B (step S2002B). The determination unit 302 then determines whether the absolute value of the peak stress at the specified location B is greater than a first predetermined value (step S2002B). If the determination unit 302 determines that the absolute value of the peak stress at the specified location B is less than or equal to the first predetermined value (step S2002B: No), the process of step S2001 is repeated. On the other hand, if the determination unit 302 determines that the absolute value of the peak stress at the specified location B is greater than the first predetermined value (step S2002B: Yes), the process of step S2004 is performed.

[0172] The acquisition unit 301 performs the same processing on each specified part of the working machine 100 that is the object of monitoring as on specified parts A and B. That is, the acquisition unit 301 calculates the stress generated at each specified part that is the object of monitoring, and the determination unit 302 determines whether the absolute value of the peak value of the calculated stress is greater than a first specified value.

[0173] If the determination unit 302 determines that the absolute value of the peak value of the stress related to at least one of the multiple specified parts, including specified part A and specified part B, which are monitored objects, is greater than the first specified value (step S2002A: Yes, step S2002B: Yes, etc.), the notification unit 303 sends a notification message to the management device 700 and the mobile communication terminal 500 (at least one of them) (step S2004).

[0174] Then, for each specified location where the absolute value of the peak stress is determined to be greater than the first specified value, the storage unit 304 calculates the degree of damage D of the specified location based on the stress amplitude during the period of stress generation, and stores the cumulative value of the degree of damage D in the cumulative value storage unit ST1 (step S2005).

[0175] Furthermore, the determination unit 302 determines whether there is a specified location among the multiple specified locations that are monitored, including specified location A and specified location B, where the absolute value of the peak value of the stress calculated in steps S2002A, S2002B, etc. is greater than the second specified value (> the first specified value) (step S2006).

[0176] If the determination unit 302 determines that there is no location where the absolute value of the peak value of stress is greater than the second specified value (> the first specified value) (step S2006: No), the process proceeds to step S2008.

[0177] On the other hand, if the determination unit 302 determines that there is a specified location where the absolute value of the peak value of the stress is greater than the second specified value (> the first specified value) (step S2006: Yes), the notification unit 303 displays a warning on the display device D1 urging the suppression of the currently performed action (an example of a notification) (step S2007).

[0178] Furthermore, the controller 30 determines whether the engine 11 stop operation has been accepted (step S2008). If the engine 11 stop operation has not been accepted (step S2008: No), the process proceeds again from step S2001.

[0179] On the other hand, if the controller 30 determines that it has accepted the engine 11 stop operation (step S2008: Yes), the notification unit 303 displays a notification on the display device D1 containing the score calculated by the evaluation unit 305 (step S2009). The display screen based on this notification is set to... Figure 8 The image shown.

[0180] In the above embodiment, the method of notification based on stress generated at a specified location has been described. However, this embodiment is not limited to the method of notification based on stress generated at a specified location; for example, notification based on load generated at a specified location may also be used. Even in the method of notification based on load generated at a specified location, the process can be the same as described above, so the description is omitted.

[0181] (Second Implementation) In the second embodiment, the situation of remote operation of the work machinery 100 by the operator will be described.

[0182] Next, refer to Figure 11 Here, a structural example of the operating system (an example of a control system) SYS involved in the second embodiment will be described. Figure 11 This is a schematic diagram illustrating an example of the structure of the operating system SYS according to the second embodiment. (Example) Figure 11 As shown, the operating system SYS includes the machine 100, the remote control room RC, the management device 700, and the mobile communication terminal 500. Additionally, in Figure 11 The detailed structure of the operating machinery 100, the management device 700, and the mobile communication terminal 500 is omitted from the illustrations.

[0183] The work machine 100, remote control room RC, management device 700, and mobile communication terminal 500 are connected to each other in a manner that enables data transmission and reception via communication line NW. Alternatively, the work machine 100, remote control room RC, management device 700, and mobile communication terminal 500 can also be connected to each other directly without using communication line NW. In the example shown, the work machine 100 sends information related to the work site to the remote control room RC. Thus, the remote operator OP located in the remote control room RC can monitor the work site status based on the information from the work machine 100.

[0184] For example, the machine 100 sends images captured by the camera device S6 to the remote control room RC.

[0185] The operating system SYS may include one or more work machines 100. In the case of multiple work machines 100, the remote operator OP of a specific work machine 100 can obtain information related to the work site obtained by that specific work machine 100, as well as information related to the work site obtained by one or more other work machines 100.

[0186] The remote control room RC is equipped with a communication device T2, a remote controller R40, an operating device R42, an operating sensor R43, and a display device D1E. Furthermore, the remote control room RC is equipped with an operator's seat DS where a remote operator OP sits to remotely operate the work machinery 100.

[0187] The communication device T2 is configured to communicate with the communication device T1 installed on the work machine 100.

[0188] The remote controller R40 is a computing device that performs various calculations. In this embodiment, the remote controller R40 is composed of a microcomputer including a CPU and memory. Furthermore, the various functions of the remote controller R40 are implemented by the CPU executing programs stored in the memory.

[0189] Display device D1E is a device capable of displaying various information. Display device D1E displays images based on information sent from the work machine 100, enabling the remote operator OP located in the remote control room RC to visually identify the surroundings of the work machine 100. In the example shown, display device D1E is a liquid crystal display showing images captured by the camera device S6 mounted on the work machine 100. Alternatively, display device D1E can be a display or projector that enables naked-eye stereoscopic vision, or it can be VR glasses, etc.

[0190] An operation sensor R43 is provided in the operating device R42 to detect the operation content of the operating device R42. The operation sensor R43 may be, for example, a tilt sensor that detects the tilt angle of the operating lever or an angle sensor that detects the swing angle of the operating lever around its swing axis. The operation sensor R43 may also be composed of other sensors such as a pressure sensor, current sensor, voltage sensor, or distance sensor. The operation sensor R43 outputs information related to the detected operation content of the operating device R42 to the remote controller R40. The remote controller R40 generates an operation signal based on the received information and sends the generated operation signal to the machine 100. Alternatively, the operation sensor R43 may be configured to generate an operation signal. In this case, the operation sensor R43 can output the operation signal to the communication device T2 without going through the remote controller R40. With this structure, the remote operator OP can remotely operate the machine 100 from the remote control room RC.

[0191] The controller 30 in this embodiment has the same structure as that in the first embodiment. Furthermore, the notification unit 303 in this embodiment sends the notification content to the remote controller R40 instead of notifying the display device D1. The remote controller R40 then displays the received notification content on the display device D1E.

[0192] Furthermore, this embodiment is not limited to having a structure for notifying the controller 30, but may also have a structure for notifying the remote controller R40. For example, the controller 30 may send signals from various detection devices installed on the machine tool 100 to the remote controller R40, and the remote controller R40 may perform the same processing as the controller 30 described in the above embodiment.

[0193] In the operating system described in this embodiment, even when the remote operator (OP) operates the work machine 100 from the remote control room (RC), notification is given in the same manner as in the embodiment described above, thus achieving the same effect as in the embodiment described above.

[0194] <Function> The controller 30 described in the above embodiment notifies the operator when excessive load is generated at a designated location on the machine 100. Therefore, the operator can operate the machine without generating excessive load. Furthermore, the manager can share information with the operator to prevent excessive load. Operators can identify the machine that is generating excessive load and pinpoint the designated location within the machine 100 where the excessive load is generated. Therefore, operators can adjust the maintenance schedule for the machine 100 and determine the areas requiring repair based on the load conditions. Thus, the above embodiment prevents damage to the machine 100. Moreover, through the notification, operators or managers can remotely predict and detect damage to the machine 100 remotely. Therefore, downtime of the machine 100 can be reduced.

[0195] The preferred embodiments and variations of this disclosure have been described above. However, the invention disclosed herein is not limited to the embodiments described above. Various modifications and substitutions can be applied to the above embodiments without departing from the scope of the invention disclosed herein. Furthermore, the features described with reference to the above embodiments can be appropriately combined as long as they are not technically contradictory.

Claims

1. A type of operating machinery, comprising: Sensors detect information related to the stress or load on the working machinery; and The control device issues a notification when the stress or load generated at a specified location on the working machinery, calculated based on the information obtained from the sensor, exceeds a specified value.

2. The operating machinery according to claim 1, wherein, The specified values ​​are set separately for stress or load on the negative and positive sides. The control device issues a notification when the stress or load generated at the specified location exceeds the absolute values ​​of both the specified value on the negative side and the specified value on the positive side.

3. The operating machinery according to claim 1, wherein, When the stress or load generated at the specified location exceeds the specified value, the control device shall notify at least one of the following: information indicating the specified location, information indicating the degree of damage to the specified location, and information indicating the work content that causes the stress or load generated at the specified location to exceed the specified value.

4. The operating machinery according to claim 1, wherein, The control device notifies at least one of the following: an output device for the operator of the machinery, a first information processing device for the maintenance personnel of the machinery, and a second information processing device for the manager of the machinery.

5. The operating machinery according to claim 4, wherein, The control device differentiates the notification information based on the notification destination.

6. The operating machinery according to claim 5, wherein, The control device performs the following processing: When the output device is notified, the notification includes at least one of the following: information indicating the specified location, information indicating the degree of damage to the specified location, and information indicating the work content that causes the stress or load generated at the specified location to exceed the specified value. When the first information processing device or the second information processing device is notified, the notification contains more information than the output device, including information indicating the specified location, information indicating the degree of damage to the specified location, and information indicating the work content that causes the stress or load generated at the specified location to exceed the specified value.

7. The operating machinery according to claim 1, wherein, The control device issues at least one of the following: a notification corresponding to the moment when it is determined that the stress or load generated at the specified location is greater than the specified value, and a notification corresponding to the moment when the operating machinery stops its drive source.

8. The operating machinery according to claim 7, wherein, The control device performs the following processing: as a notification corresponding to the moment when the drive source is stopped, it calculates the cumulative value of stress or load generated at the specified location based on the operator's operation before the drive source is stopped, and evaluates the operation within a specified group consisting of multiple operators capable of operating the work machinery based on the cumulative value, and notifies the result of the evaluation.

9. The operating machinery according to claim 1, wherein, The control device shall notify at least one of the following: when the peak value of the stress or the peak value of the load generated at a specified location of the working machinery exceeds a specified value, and when the cumulative value of the stress or the cumulative value of the load generated at a specified location of the working machinery exceeds another specified value.

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