Methods for monitoring excavation work

Abstract

A method is provided for monitoring the excavation work performed by a work machine. The method includes receiving data indicating the available power for the actuators of the work machine used to perform the excavation work over the duration of the excavation work. Data indicating the power consumed by the actuators of the work machine used to perform the excavation work over the duration of the excavation work is also received. The method includes calculating the total energy consumed by the actuators of the work machine based on the data indicating the power consumed by the actuators over the duration of the excavation work. The method also includes calculating the total energy available for the actuators of the work machine over the duration of the excavation work. The method also includes calculating a drilling efficiency parameter based on the ratio of the total energy consumed to the total energy available over the duration of the excavation work. The method also includes outputting the drilling efficiency parameter.

Description

Technical Field

[0001] The present disclosure relates to a work machine. In particular, the present disclosure relates to an excavation operation performed by a work machine.

Background Art

[0002] An excavation operation may be performed using a work machine. For example, an excavator typically includes a boom, an arm, and a bucket, and one or more actuators are associated with each of the boom, the arm, and the bucket. An operator may cause the excavator to perform various excavation operations, such as, for example, an operation of excavating a trench, an operation of moving a load from a pile, and similar operations, by controlling the actuators. It will be understood that the type of excavation operation performed by the work machine can vary depending on the type of work machine, the nature of the work site, and the requirements of the operator.

[0003] In many instances, the effectiveness of an excavation operation depends on the manner in which an operator controls the work machine performing the excavation operation. In particular, each operation of one or more actuators of the work machine causes the work machine to consume energy. In the case of a work machine including an internal combustion engine, the energy consumption by the work machine results in the emission of particulate matter. In order to reduce the emission of particulate matter and also to improve the productivity of the work site, it is desirable that each excavation operation of the work machine be performed in an efficient and effective manner.

[0004] U.S. Patent No. US-B-10982409 discloses measurement control logic for an excavator. In U.S. Patent No. US-B-10982409, an operating cycle of the excavator is detected, and by providing one or more load sensors, the characteristics of the load moved during the operating cycle are sensed. The position where the load was moved is also sensed.

[0005] U.S. Patent No. US-B-8156048 discloses an adaptive payload monitoring system for drilling machines. U.S. Patent No. US-B-8156048 discloses that the payload monitoring system includes a tool, a first sensor configured to generate a first signal indicating the speed of the tool, and a second sensor configured to generate a second signal indicating the lifting force of the tool. A controller is provided to record the speed and lifting force of the tool during the work cycle.

[0006] Against this backdrop, this disclosure aims to provide an improved alternative method, or at least a commercially relevant alternative method, for monitoring drilling operations. [Overview of the project]

[0007] According to a first aspect of this disclosure, a method is provided for monitoring excavation work performed by a work machine. This method is Receiving data indicating the available power for the actuators of the work machinery used to perform the excavation work over the duration of the excavation work, Receiving data indicating the power consumed by the actuators of the work machinery used to perform the excavation work over the duration of the excavation work, Based on data showing the power consumed by the actuators over the duration of the excavation work, the total energy consumed by the actuators of the work machine is calculated, and To calculate the total energy available for the actuators of the work machine over the duration of the excavation work, The drilling efficiency parameter is calculated based on the ratio of total energy consumed to total energy available over the duration of the drilling operation, This includes outputting drilling efficiency parameters.

[0008] Therefore, according to the first embodiment of the method, the efficiency of the excavation work performed by the work machine can be monitored. In particular, when the work machine is driven by a human operator, the method may provide a way to quantify how effectively the operator is using the work machine to perform the excavation work.

[0009] It will be understood that the excavation work performed by a working machine (e.g., an excavator) involves the simultaneous control of multiple mechanical components (e.g., boom, arm, and bucket) of the working machine and its associated actuators. Advantageously, the method according to the first embodiment provides a method for monitoring the operational efficiency of these mechanical components without involving complex sensing configurations (e.g., detecting the relative positions of various components of the excavator with respect to the ground during excavation). Rather, the method according to the first embodiment utilizes readily available data, for example, with respect to the engine control unit of the working machine, to evaluate the efficiency of the excavation work performed by the working machine.

[0010] In particular, the method according to the first embodiment determines that relatively efficient excavation work is being performed when the actuator of the work machine is using a larger amount of available power to perform the excavation work.

[0011] According to a second aspect of this disclosure, a controller is provided for monitoring the excavation work of a work vehicle. The controller is To receive data indicating the available power for the actuators of the work machines used to perform the excavation work over the duration of the excavation work, To receive data indicating the power consumed by the actuators of the work machinery used to perform the excavation work over the duration of the excavation work, Based on data showing the power consumed by the actuators over the duration of the excavation work, the total energy consumed by the actuators of the work machine is calculated. To calculate the total energy available for the actuators of the work machine over the duration of the excavation work, Based on the ratio of total energy consumed to total energy available over the duration of the drilling operation, the drilling efficiency parameter is calculated, and It is configured to output drilling efficiency parameters.

[0012] Thus, a controller according to the second embodiment can be used to perform the method according to the first embodiment. It will be understood that any optional features and any related advantages of the first embodiment may be incorporated into the controller according to the second embodiment.

[0013] A third aspect of this disclosure provides a work machine configured to perform an excavation operation. The work machine includes a plurality of actuators configured to cause the work machine to perform an excavation operation, and a controller according to a second aspect of this disclosure.

[0014] Thus, a working machine according to a third embodiment may be used to carry out the method according to the first embodiment of this disclosure. It will be understood that a working machine according to a third embodiment may incorporate any optional features and any related advantages of the first embodiment.

[0015] In some embodiments, the actuators include multiple hydraulic actuators, and the work machine further includes a hydraulic pump connected to the multiple hydraulic actuators. Thus, the work machine according to the third embodiment may include a hydraulic system configured to drive the excavation tool of the work machine.

[0016] In some embodiments, the multiple actuators include multiple electromechanical actuators. Thus, the working machine according to the third embodiment may be an electrically powered working machine or a hybrid working machine. That is, the working machine according to the third embodiment may include an electromechanical system configured to drive the drilling tool of the working machine.

[0017] According to a fourth aspect, there is provided a computer program comprising instructions for causing a processor to execute the method according to the first aspect.

[0018] According to a fifth aspect, there is provided a computer-readable medium storing the computer program according to the fourth aspect.

[0019] Any optional features and associated advantages in any of the first to third aspects of the present disclosure may be incorporated in the fourth and fifth aspects.

Brief Description of Drawings

[0020] As an example only, aspects of the present disclosure will be described with reference to the following drawings.

[0021] [Figure 1] FIG. 1 shows a schematic view of a working machine according to an embodiment of the present disclosure. [Figure 2] FIG. 2 shows a block diagram of a method according to an embodiment of the present disclosure. [Figure 3] FIG. 3 shows a graph representing a received data signal according to an embodiment of the present disclosure. [Figure 4] FIG. 4 shows a graph representing an executed energy calculation according to an embodiment of the present disclosure.

Modes for Carrying Out the Invention

[0022] FIG. 1 shows a perspective view of a working machine 1 according to an embodiment of the present disclosure. Although the working machine 1 shown in FIG. 1 is a tracked excavator, it will be understood that the present disclosure is not limited to tracked excavators. For example, the working machine 1 according to the present disclosure may be an excavator, a bulldozer, a backhoe loader, or any other working machine that can be used to perform excavation work.

[0023] The working machine 1 may include a plurality of actuators 10, 11, 12 that can be driven to cause the working machine 1 to perform excavation work. In the embodiment of Figure 1, the actuators 10, 11, 12 are configured to drive the boom 20, the arm 21, and the bucket 22, respectively (in the embodiment of Figure 1, two actuators 10 are provided to drive the boom 20). In the embodiment of Figure 1, each of the boom actuator 10, the arm actuator 11, and the bucket actuator 12 is a hydraulic actuator. Each of the hydraulic actuators may be supplied with hydraulic fluid from a hydraulic fluid pump (not shown in Figure 1). The hydraulic actuators and hydraulic fluid pump may be provided as part of a hydraulic fluid system. In other embodiments, electromechanical actuators may be provided.

[0024] The working machine 1 may also include a controller (not shown in Figure 1). The controller may be configured to cause actuators 10, 11, and 12 to perform excavation work. In some embodiments, the controller may be configured to control one or more actuators 10, 11, and 12 in response to input from an operator. The controller may also be configured to control other parts of the working machine 1. For example, the controller may be configured to control the operation of a hydraulic pump connected to actuators 10, 11, and 12. In particular, the controller may be configured to receive data from the hydraulic fluid pump indicating the power it is consuming. In some embodiments, the controller may be configured to receive data indicating the outlet pressure of the hydraulic fluid pump. In the case of a hydraulic fluid pump with a known displacement (or a hydraulic fluid pump with a controllable displacement), the controller may determine the flow rate of the hydraulic fluid based on the engine speed used to drive the hydraulic fluid pump and also based on the displacement of the hydraulic fluid pump. Thus, in some embodiments, the controller may receive data indicating the hydraulic fluid pump displacement and the hydraulic fluid pump speed (or engine speed), and the hydraulic fluid flow rate may be calculated from such data. Subsequently, the power consumed by the hydraulic fluid pump may be calculated using the hydraulic fluid flow rate and outlet pressure of the hydraulic fluid pump.

[0025] In the case of a hydraulic fluid pump that does not have controllable displacement, an angle sensor can be installed on the hydraulic pump to sense the displacement, or the controller can estimate the displacement based on sensor readings from other parts of the hydraulic fluid system. Thus, those skilled in the art will understand that there are various ways in which the controller can obtain data indicating the power consumed by the hydraulic fluid pump.

[0026] The working machine 1 may be configured to perform an excavation operation. The working machine 1 in Figure 1 may perform an excavation operation by being controlled by an operator (i.e., a user). Those skilled in the art will understand that the efficiency of the excavation operation may be affected by the manner in which the operator controls the boom 20, arm 21, and bucket 22. For example, the operator may control the working machine 1 in such a manner that only a relatively small amount of material is moved by each excavation operation, or the excavation operation may be controlled so that material is removed only during a portion of the excavation operation. Alternatively, the operator may control the working machine 1 in such a manner that a relatively large material removal rate per hour is obtained (i.e., a relatively efficient excavation operation). Embodiments of the present disclosure aim to provide a method for monitoring an excavation operation that provides an indicator of the efficiency of the excavation operation being performed. In particular, embodiments of the present disclosure aim to provide a measure of excavation efficiency without knowing the amount of material removed per hour, and without directly sensing such an amount (e.g., by a payload sensor or otherwise). Therefore, the method according to this disclosure can be incorporated into a wide range of work machines 1 without requiring the connection of any complex and / or additional sensors to the work machine 1.

[0027] Figure 2 shows a block diagram relating to a method 100 for monitoring excavation work performed by a work machine 1. For example, although method 100 may be performed by the work machine 1 in Figure 1, it will be understood that method 100 may be performed by other work machines 1 according to this disclosure.

[0028] As shown in Figure 2, Method 100 includes step 101 of receiving data indicating the available power with respect to actuators 10, 11, and 12 of the work machine 1 used to perform the excavation work over the duration of the excavation work. For example, the data may be received by the controller of the work machine 1. In the embodiment of Figure 1, the available power is understood to be the maximum power available with respect to actuators 10, 11, and 12. In the embodiment of Figure 1, the available power may be based on the available power output of the internal combustion engine. In some embodiments, the controller may be configured to receive data from the internal combustion engine indicating the maximum instantaneous torque available at the current engine speed. The maximum torque available of the internal combustion engine does not have to be the same as the current torque output of the internal combustion engine. In particular, the maximum torque available may be greater than the torque currently applied by the internal combustion engine to drive the hydraulic fluid pump. This allows the controller to determine the maximum power available from the hydraulic fluid pump (and thus available with respect to the actuators) based on a known relationship between the hydraulic fluid pump speed and mechanical efficiency. Thus, in the embodiment shown in Figure 1, the controller may determine the maximum power available for the actuator based on data indicating the engine speed of the internal combustion engine and the available instantaneous maximum torque.

[0029] Step 102 includes Method 100 receiving data indicating the power consumed by actuators 10, 11, and 12 of the work machine 1 used to perform the excavation work over the duration of the excavation work. The data may be received by the controller of the work machine 1. In the embodiment of Figure 1, power consumption is understood to be the actual power output of actuators 10, 11, and 12. In the embodiment of Figure 1, Method 100 may calculate the instantaneous power output of each actuator 10, 11, and 12 involved in the excavation work. In the embodiment of Figure 1, if each actuator 10, 11, and 12 is a hydraulic actuator, the instantaneous power output may be calculated based on the instantaneous hydraulic fluid pressure in each cylinder of actuators 10, 11, and 12, and based on the flow rate of hydraulic fluid related to each actuator 10, 11, and 12. The flow rate of hydraulic fluid may be derived, for example, from knowledge of cylinder speed and cylinder dimensions, but other calculations or other sensors may be provided. In some embodiments, it may be assumed that the power consumed by the actuators is the power output by the hydraulic fluid pump.

[0030] In some embodiments, method 100 may include receiving instantaneous power data (samples) at regular intervals. The data may be interpolated between sample points to provide a continuous power profile, for example, as shown in Figure 3. For example, in some embodiments, the data may be received at intervals of about 10 milliseconds.

[0031] According to this disclosure, steps 101 and 102 provide data indicating the power available to and consumed by actuators 10, 11, and 12 over the duration of the drilling operation. According to this disclosure, the drilling operation may be detected by a controller. For example, the controller may monitor actuators 10, 11, and 12 to detect the start and / or end of the drilling operation based on the position of one or more of the actuators 10, 11, and 12. The controller may also monitor the hydraulic fluid pressure in one or more of the actuators 10, 11, and 12 to detect the start and / or end of the drilling operation. The controller may also monitor control inputs made by the operator of the work machine 1 to detect the start and / or end of the drilling operation. For example, the controller may determine that the drilling operation has started by applying one or more logical decisions ("drilling logic"). The controller may also detect the end of the drilling operation based on the position of one or more of the actuators 10, 11, and 12. It will be understood that the drilling logic of the controller is configured to detect the start and end of the drilling operation so that the work performed by the work machine during the drilling operation takes place between the start and end points of the drilling operation.

[0032] As an example, Figure 3 shows a graph representing data received by the controller while the work machine 1 performs a series of excavation operations. As shown in Figure 3, the excavation logic records a logic value of 1 (or "high") when excavation work is detected, and a logic value of 0 (or "low") when excavation work is not detected. Thus, the excavation logic may detect the start of excavation work on the rising edge of the excavation logic. The excavation logic may detect the end of excavation work on the falling edge of the excavation logic.

[0033] Data showing the instantaneous power consumed by the actuators throughout the series of drilling operations shown in Figure 3 is also recorded by the controller. Data showing the instantaneous power available for actuators 10, 11, and 12 is also recorded by the controller. Both data plots are shown in Figure 3. It will be understood that, although the instantaneous power consumed by the actuators changes during the drilling operation, it remains smaller than the instantaneous power available for the actuators. In the graph in Figure 3, the power shown may be the total power from each of the actuators 10, 11, and 12 used to perform the drilling operation.

[0034] From Figure 3, it can be seen that the excavation logic is set to indicate the period of excavation when the work machine is performing effective work (i.e., when the work machine is excavating material, rather than when it is simply lifting the boom 20). Thus, the excavation operations shown in Figure 3 do not necessarily correspond to periods of relatively high instantaneous power consumption. Also, for some excavation operations, the amount of power consumed may be greater compared to other excavation operations.

[0035] In step 103, the controller calculates the total energy consumed by actuators 10, 11, and 12 of the work machine 1, based on data showing the power consumed by actuators 10, 11, and 12 over the duration of the excavation work. As mentioned above, the duration of the excavation work may be determined based on the excavation logic. Figure 4 shows a graph illustrating the calculation of the total energy consumed by actuators 10, 11, and 12 over multiple excavation operations. The graph in Figure 4 is calculated based on the data shown in Figure 3. It will be understood that the graph for total energy consumption increases only when the excavation logic indicates that excavation work is being performed. Power consumed by actuators at other times when excavation work is not being performed (e.g., positioning or moving boom 20) is not considered.

[0036] In step 104, the controller calculates the total energy available for actuators 10, 11, and 12 of the work machine 1 over the duration of the excavation work. The total energy available for the actuators is also shown in Figure 4 and is calculated from the data shown in Figure 3 in a similar manner to the total energy consumed by actuators 10, 11, and 12 described above.

[0037] In step 105, the controller calculates the drilling efficiency parameter based on the ratio of total energy consumed to total energy available over the duration of the drilling operation (i.e., total energy consumed divided by total energy available). In the graphs of Figures 3 and 4, the controller may calculate the drilling efficiency parameter after each drilling operation or after multiple operations. For example, the controller may continue to sum the energy consumed and the energy available for the actuator over a determination period (a predetermined period), in which case the controller calculates the drilling efficiency parameter at the end of the determination period. By considering multiple drilling operations performed over the determination period, the drilling efficiency parameter may effectively represent the average drilling efficiency of the drilling operations performed over that period.

[0038] The drilling efficiency parameter may be expressed as a decimal value between 0 and 1, or alternatively as a percentage. The drilling efficiency parameter provides an indicator of the efficiency of the drilling work being performed. Generally, more skilled operators of the work machine 1 tend to perform drilling work with a higher drilling efficiency parameter compared to operators who require further training. Method 100 may provide means for monitoring the work machine 1 to identify operators who could benefit from further coaching to improve drilling efficiency.

[0039] In some embodiments, the drilling operation may take approximately 15 seconds. Therefore, in some embodiments, the determination period may be at least 1 minute, 10 minutes, 1 hour, 2 hours, 4 hours, 8 hours, 12 hours, or 24 hours. The length of the determination period may be selected or adjusted to change the time resolution from which drilling efficiency data can be output / recorded by the controller.

[0040] In step 106, the controller outputs drilling efficiency parameters. In some embodiments, the controller may output drilling efficiency parameters to a remote device. The remote device may be another computing device provided as part of the work machine 1, or it may be a device physically separated from the work machine 1. For example, the remote device may be a smartphone, laptop computer, tablet computer, desktop computer, computer server, or cloud server, and the like. Thus, the controller may output drilling efficiency parameters to the remote device via a wired connection, a wireless connection, or a combination of both.

[0041] In some embodiments, drilling efficiency parameters are calculated by using data from each drilling operation. However, in some use cases, the operator may intentionally operate the work vehicle in an unconventional manner. In some embodiments, if the operator is not attempting to perform the drilling operation in a relatively efficient manner, it may be desirable to exclude the drilling operation from the data used to calculate the drilling efficiency parameters. Therefore, in some embodiments, the controller may also be configured to receive data indicating the frequency of drilling operations being performed.

[0042] For example, in some embodiments, operator efficiency parameters are calculated based on excavation efficiency parameters and data indicating the frequency of excavation work being performed. Such operator efficiency parameters may be used to identify periods during which the work machine 1 was not used in an efficient manner. Thus, operator efficiency parameters may indicate operators who may require further training regarding the efficient use of the work machine 1.

[0043] In some embodiments, the operator efficiency parameter may provide a weighting of the drilling efficiency parameter according to the frequency of drilling operations. That is, the operator efficiency parameter may be based on a value obtained by multiplying the drilling efficiency parameter by a weight. For example, if the operator is performing drilling operations at a relatively high frequency (e.g., more than 3 drilling operations per minute), the frequency of drilling operations may indicate that the operator is trying to complete the task in an efficient manner. In contrast, if the operator is performing drilling operations at a relatively low frequency (e.g., about 1 drilling operation or less per minute), the frequency may indicate that the operator is not trying to complete the drilling operations in an efficient manner. Therefore, when the operator efficiency parameter is calculated over multiple decision periods, the importance of decision periods with relatively high drilling frequencies may increase, while the importance of decision periods with relatively low drilling frequencies may decrease. That is, the operator efficiency parameter may be weighted to more strongly reflect the drilling efficiency of the operating period of a work vehicle performing relatively high-frequency drilling operations.

[0044] In some embodiments, the controller may be selected to consider excavation work only when the frequency of excavation work exceeds a threshold frequency. That is, in some embodiments, the operator efficiency parameter / excavation efficiency parameter may be calculated based only on excavation work where the frequency of the corresponding excavation work exceeds a frequency threshold. For example, the frequency threshold may be at least two excavation work per minute (i.e., 0.033 Hz). The frequency threshold may be selected by the user or owner of the work machine 1 based on the type of work machine 1 and the nature of the excavation work being performed.

[0045] In some embodiments, the controller may be configured to monitor drilling efficiency parameters and / or operator efficiency parameters, and may also be configured to generate an alarm when the drilling efficiency parameters for the drilling operation (or decision period) fall below a predetermined efficiency threshold. The generated alarm may be output to a remote device, for example, to the display module of the work machine or to a remote device separate from the work machine 1. The alarm may also be output to the operator to indicate that the work vehicle can be driven in a more efficient manner, or that adjustments to the drilling control may be appropriate. Alternatively, the alarm may be output to a remote device, such as a smartphone operating a coaching application. The coaching application may record alarms concerning the operator of the work machine in order to build an operator profile. If a large number of alarms are generated in a short period of time, the coaching application may suggest training material for the operator to help improve the control of the work machine 1.

[0046] In some embodiments, the embodiments of the present disclosure may provide monitoring of the excavation operation without requiring any form of payload monitoring; however, in some embodiments, the work machine 1 may include one or more load (payload) monitoring sensors. Thus, in some embodiments, the controller may receive data from the work machine's load sensors over the duration of the excavation operation. The data from the load sensors may be used to further inform the calculation of excavation efficiency parameters. Thus, the excavation efficiency parameters may be calculated based on the ratio of the total energy consumed to the total energy available over the duration of the excavation operation, and also based on the data from the load sensors.

[0047] In some embodiments, all steps in Method 100 described above may be performed by the controller of the work machine, and in other embodiments, at least some of those steps may be performed by a remote device. For example, in some embodiments, the controller (or another electronic device of the work machine 1) may transmit to the work device data indicating the available power with respect to the actuators of the work machine, and data indicating the power consumed by the actuators of the work machine. Thus, the remote device may receive data indicating the available power with respect to the actuators of the work machine 1, and data indicating the power consumed by the actuators of the work machine 1, in order to perform all steps of Method 100. In other embodiments, the controller of the work machine 1 may perform part of the data processing and then transmit the total energy consumed by the actuators 10, 11, 12 of the work machine 1, and the total energy available with respect to the actuators 10, 11, 12 of the work machine 1, so that the remote device can calculate the drilling efficiency parameter and / or operator efficiency parameter.

[0048] In some embodiments, drilling efficiency parameters and / or operator efficiency parameters may be used by a coaching application, for example, running on a remote device, to identify whether operator training is required. For example, if an operator is performing multiple drilling operations with drilling efficiency parameters (or operator efficiency parameters) below a predetermined threshold, the coaching application may be configured to identify further training material for the operator, or to output a signal that flags further training for the operator may be beneficial. If method 100 includes generating alarms, the coaching application may be configured to identify further training material, or to output a signal when the number of alarms generated over a period exceeds an alarm threshold. [Industrial applicability]

[0049] This disclosure provides a method for monitoring excavation work performed by a work machine. A controller, a work vehicle, a computer program, and a computer-readable medium for monitoring excavation work of a work vehicle are also provided, which may incorporate any optional features of the method described above.

[0050] According to embodiments of the present disclosure, the efficiency of the excavation work performed by the work machine 1 may be monitored. In particular, if the work machine 1 is driven by a human operator, method 100 may provide a method for quantifying how effectively the operator is using the work machine 1 to perform the excavation work.

[0051] It will be understood that the excavation work performed by the work machine 1 (e.g., the excavator in Figure 1) involves the simultaneous control of multiple mechanical components (e.g., boom 20, arm 21, and bucket 22) of the work machine 1 and its associated actuators 10, 11, and 12. Advantageously, method 100 in Figure 2 provides a method for monitoring the operational efficiency of these mechanical components without involving complex sensing configurations (e.g., detecting the relative positions of various components of the work machine 1 and the ground during excavation). Rather, method 100 utilizes readily available data, for example, with respect to the engine control unit of the work machine 1, to evaluate the efficiency of the excavation work performed by the work machine 1.

[0052] In particular, Method 100 determines that relatively efficient excavation work is being performed when actuators 10, 11, and 12 of the work machine 1 are using a larger amount of available power to perform the excavation work. Using this information, it may be possible to infer which operators are utilizing the full capacity of the work machine 1, and to identify operators who could benefit from further training in operating techniques.

[0053] In some embodiments, if the operator is not attempting to perform the excavation work in a relatively efficient manner, it may be desirable to exclude the excavation work from the data used to calculate the excavation efficiency parameter. Thus, in some embodiments of the present disclosure, data indicating the frequency of the excavation work performed may also be received. Thus, the operator efficiency parameter may be calculated to identify periods in which the excavation efficiency parameter is low, even though the excavation work was performed relatively frequently.

[0054] For example, some embodiments may be selected to consider excavation work only when the frequency of excavation work exceeds a threshold frequency. That is, in some embodiments, the operator efficiency parameter / excavation efficiency parameter may be calculated based only on excavation work where the frequency of the corresponding excavation work exceeds a frequency threshold. For example, the frequency threshold may be at least two excavation work per minute (i.e., 0.033 Hz). The frequency threshold may be selected by the user or owner of the work machine 1 based on the type of work machine 1 and the nature of the excavation work being performed.

[0055] The above description relates to the methods of excavation work performed by an excavator. It will be understood that the above disclosure may apply to any work vehicle 1 that performs excavation work. For example, the work machine 1 according to this disclosure may include an excavator, a bulldozer, a backhoe loader, or any other work machine 1 that may be used to perform excavation work.

Claims

1. A method for monitoring excavation work performed by a work machine, Receiving data indicating the available power with respect to the actuators of the work machine used to perform the excavation work over the duration of the excavation work, Receiving data indicating the power consumed by the actuators of the work machine used to perform the excavation work over the duration of the excavation work, Based on the data indicating the power consumed by the actuator over the duration of the excavation work, the total energy consumed by the actuator of the work machine is calculated. To calculate the total energy available with respect to the actuators of the work machine over the duration of the excavation work, The drilling efficiency parameter is calculated based on the ratio of the total energy consumed to the total energy available over the duration of the drilling operation. A method comprising outputting the aforementioned drilling efficiency parameters.

2. The multiple excavation operations performed by the aforementioned work machine are monitored. The method according to claim 1, wherein the drilling efficiency parameter is calculated based on the ratio of the total energy consumed to the total energy available over the duration of the plurality of drilling operations.

3. The method according to claim 1 or 2, wherein multiple excavation operations are monitored over a predetermined period, and the predetermined period is optionally at least 1 minute, 10 minutes, 1 hour, 2 hours, 4 hours, 8 hours, 12 hours, or 24 hours.

4. The method described above is The method according to any one of claims 1 to 3, further comprising receiving data indicating the frequency of the excavation work being performed.

5. The method according to claim 4, further comprising the calculation of an operator efficiency parameter based on the drilling efficiency parameter and the data indicating the frequency of the drilling operations performed.

6. The method according to claim 4 or 5, wherein the drilling efficiency parameter is calculated only with respect to drilling operations in which the frequency of the corresponding drilling operation exceeds a frequency threshold.

7. The method according to any one of claims 1 to 6, further comprising outputting an alarm when the drilling efficiency parameter or the operator efficiency parameter falls below a predetermined efficiency threshold.

8. The actuator of the aforementioned work machine is a hydraulic actuator, The data indicating the available power with respect to the actuator of the work machine is data indicating the maximum output power of the hydraulic pump connected to the actuator of the work machine, The method according to any one of claims 1 to 7, wherein the data indicating the power consumed by the actuator of the work machine is data indicating the power output of the hydraulic pump connected to the actuator of the work machine.

9. The method according to any one of claims 1 to 7, wherein the actuator of the work machine includes at least one electric actuator.

10. The method according to any one of claims 1 to 9, wherein the controller of the work machine monitors the actuator of the work machine to detect the start and / or end of the excavation work.

11. The further includes receiving data from the load sensor of the work machine over the duration of the excavation work, The method according to any one of claims 1 to 10, wherein the drilling efficiency parameter is calculated based on the ratio of the total energy consumed to the total energy available over the duration of the drilling operation, and based on the data from the load sensor.

12. The method according to any one of claims 1 to 11, wherein the method is performed by the controller of the work machine.

13. The method according to any one of claims 1 to 11, wherein the method is performed by a remote device that receives data indicating the available power with respect to the actuator of the work machine and data indicating the power consumed by the actuator of the work machine.

14. A controller for monitoring the excavation work of a work vehicle, wherein the controller is To receive data indicating the available power with respect to the actuators of the work machine used to perform the excavation work over the duration of the excavation work, To receive data indicating the power consumed by the actuators of the work machine used to perform the excavation work over the duration of the excavation work, Based on the data indicating the power consumed by the actuator over the duration of the excavation work, the total energy consumed by the actuator of the work machine is calculated. To calculate the total energy available with respect to the actuators of the work machine over the duration of the excavation work, Based on the ratio of the total energy consumed to the total energy available over the duration of the drilling operation, the drilling efficiency parameter is calculated, and A controller configured to output the aforementioned drilling efficiency parameters.

15. The controller is provided as part of a remote device, The controller according to claim 14, wherein the controller is configured to receive from the work machine via a wireless network the data indicating the power available for the actuator and the data indicating the power available for the actuator.

16. A work machine configured to perform excavation work, A plurality of actuators configured to cause the aforementioned work machine to perform the excavation work, A work machine comprising the controller described in claim 14.

17. The plurality of actuators includes a plurality of hydraulic actuators, The work machine according to claim 16, further comprising a hydraulic pump connected to the plurality of hydraulic actuators.

18. The work machine according to claim 16, wherein the plurality of actuators include a plurality of electromechanical actuators.

19. A computer program comprising instructions causing a processor to perform the method described in any one of claims 1 to 13.

20. A computer-readable medium on which the computer program described in claim 19 is stored.

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