Fastening management unit and fastening management system

Abstract

Provided are a tightening management unit and a tightening management system that enable even an inexperienced operator to perform tightening work efficiently. 【Solution means】On the upper right screen F1, the side line s71 seen from the side of the outer surface s7 of the bucket side graphic s61 and the side line p1 of the construction surface p are displayed together. On the lower right screen F2, the front line s72 seen from the driver's seat S3 side of the outer surface s7 of the bucket front graphic s62 and the front line p2 of the construction surface p are displayed together. With these upper right screen F1 and lower right screen F2, even for the bucket and the construction surface in positions that cannot be directly visually recognized from the driver's seat, the operator can operate the bucket to accurately align the outer surface of the bucket before the tightening work. After the operator operates the bucket to perform alignment, the tightening work is performed on the outer surface. By measuring the continuous tightening work time based on the output signal from the pressure sensor, the tightening state of the construction surface can be managed.

Description

Technical Field

[0001] The present invention relates to a compaction management unit and a compaction management system used when compacting an inclined construction surface by an excavator.

Background Art

[0002] Patent Document 1 discloses a slope compaction management device having a compaction means, a moving means for supporting and moving the compaction means, a position measuring means for measuring the position of the compaction means, and a management means for managing the compaction state by the compaction means.

[0003] The management means integrates the compaction time by the compaction means for each compaction location, compares this integrated time with the required compaction time, and when the integrated time reaches the required compaction time, displays information to that effect on the display unit.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in this Patent Document 1, the relationship between the inclined construction surface and the bucket of the excavator, particularly the side cross-sectional information that cannot be directly visually recognized by the operator from the driver's seat of the excavator, cannot be obtained, and the experience of the operator is required to efficiently perform the compaction work by the bucket of the excavator.

[0006] An object of the present invention is to provide a compaction management unit and a compaction management system that solve the above problems and enable even an inexperienced operator to efficiently perform compaction work by operating the excavator while checking the screen of the monitor unit.

Means for Solving the Problems

[0007] The tightening management unit according to the present invention for achieving the above object is attachable to an excavator equipped with an operator's cab for the operator to perform driving operations, and is a tightening management unit that performs display control associated with the tightening operation on an inclined construction surface by the excavator, and includes a pair of GPS units that specify a reference position and a forward direction, an inclination sensor that detects the inclination angle of the excavator, a plurality of angle sensors that detect the angle of each of a plurality of rotatable rotating parts in the excavator with respect to the mounting surface of the excavator, a pressure sensor that detects the pressure on the outer surface of a bucket which is one of the rotating parts, a processing unit that is connected to the GPS unit, the inclination sensor, the angle sensors, and the pressure sensor and processes various input information, and a monitor unit that displays the information processed by the processing unit on a screen. When the integrated value of the input time of the tightening operation signal input from the pressure sensor reaches a threshold value, the processing unit determines the end of the tightening operation and causes the monitor unit to display that the tightening operation has ended. , change the threshold value for ending the tightening operation according to the inclination angle of the construction surface, and increase the threshold value for ending the tightening operation as the inclination angle of the construction surface increases. It is characterized by the above.

[0008] Further, the tightening management system according to the present invention is characterized by being composed of the tightening management unit, an operator's cab, and an excavator having a plurality of the rotating parts including a bucket, to which the tightening management unit can be attached.

Advantages of the Invention

[0009] Thus, according to the tightening management unit and the tightening management system of the present invention, even an inexperienced operator can efficiently perform the tightening operation by operating the excavator while checking the screen of the monitor unit. In particular, with respect to the bucket and the construction surface at a position that cannot be directly visually recognized from the operator's cab, the operator can accurately ground the outer surface of the bucket on the construction surface and perform alignment of the outer surface.

[0010] Furthermore, by managing the tightening state and position of the location where the tightening work is performed by the processing unit, it is possible to prevent insufficient tightening or partial omission of tightening on the construction surface.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Modes for Carrying Out the Invention

[0012] Hereinafter, the present invention will be described in detail based on the illustrated embodiments. FIG. 1 is a block circuit configuration diagram of the tightening management unit, and the tightening management unit can be attached to an excavator S equipped with a driver's seat for the operator to perform driving operations. FIG. 2 is an explanatory diagram of the excavator S showing the state before the bucket described later contacts the construction surface, and FIG. 3 is an explanatory diagram of the excavator S showing the state where the bucket contacts the construction surface.

[0013] The illustrated excavator S, also called a backhoe, includes a driver's seat S3 for the operator to perform driving operations on a main body S2 that can rotate with respect to a crawler S1, and a plurality of rotatable rotating parts are connected to the main body S2. As these rotating parts, a boom S4, an arm S5, and a bucket S6 are connected in this order from the main body S2.

[0014] This bucket S6 is wide and has a flat bottom, that is, the outer surface S7 is flat. In addition to excavating earth and sand, it is possible to flatten the contact surface by pressing the outer surface S7. A number of claw portions are provided at the tip of the outer surface S7.

[0015] The construction surface P means the slope portion of the so-called cut soil or fill, which is an artificial slope made by cutting and filling. The slope portion shown in the figure is called the slope surface Pa, the shoulder portion at the top is called the slope shoulder Pb, and the lowermost portion is called the slope bottom Pc.

[0016] The compaction management unit 10 performs display control associated with the compaction work on the inclined construction surface P by the excavator S. The compaction management system 20 is composed of the above-mentioned excavator S and the compaction management unit 10.

[0017] The compaction management unit 10 includes a pair of GPS units 11 for specifying the reference position and the forward direction, an inclination sensor 12 for detecting the inclination angle D0 of the excavator S with respect to the horizontal plane, a plurality of angle sensors 13 for detecting the respective angles D of a plurality of rotatable rotating parts in the excavator S, and a pressure sensor 14 for detecting the pressure of the outer surface S7 of the bucket S6 which is one of these rotating parts.

[0018] Further, the GPS unit 11, the inclination sensor 12, the angle sensors 13, and the pressure sensor 14 are connected to the processing unit 15. The information processed by this processing unit 15 is connected to the monitor unit 16 for displaying on the screen F and the wireless communication unit 17. The wireless communication unit 17 is also connected to a management server K outside the management unit 10.

[0019] The plurality of angle sensors 13 are composed of a boom angle sensor 131 for detecting the angle D1 of the boom S4 with respect to the mounting surface C of the excavator S, an arm angle sensor 132 for detecting the angle D2 of the arm S5 with respect to the mounting surface C of the excavator S, and a bucket angle sensor 133 for detecting the angle D3 of the bucket S6 with respect to the mounting surface C of the excavator S. Note that these angle sensors 131 to 133 all have the same function.

[0020] The GPS unit 11 is attached to the front and rear of the main body S2 of the excavator car S, and can identify the reference position of the excavator car S and the forward direction, that is, the direction in which the bucket S6 exists, from the two pieces of position information. Although the inclination sensor 12 is not shown in the figure, it is attached to the main body S2.

[0021] Also, a boom angle sensor 131 is fixed to the tip of the boom S4, an arm angle sensor 132 is fixed to the tip of the arm S5, and a bucket angle sensor 133 is fixed to the tip of the bucket S6, that is, the tip of the claw. In addition, a pressure sensor 14 is attached to the outer surface S7 of the bucket S6.

[0022] As the processing unit 15, a general-purpose microcomputer having, for example, an arithmetic unit, a storage unit, an interface for an external memory, etc. is used, and as the monitor unit 16, a liquid crystal display of about 10 inches is adopted, and both are arranged in the driver's seat S3.

[0023] In the storage unit of the processing unit 15, the length of the boom S4 corresponding to the distance from the boom pin to the arm pin, the length of the arm S5 corresponding to the distance from the arm pin to the bucket pin, and the length of the rotating part which is the bucket S6 corresponding to the distance of the outer surface S7 from the bucket pin to the tip of the bucket claw are stored in advance. Further, in the storage unit of the processing unit 15, the three-dimensional position information of the construction surface P to be compacted is stored via communication with an external memory or a management server.

[0024] Then, based on the length information of the rotating part stored as described above, the reference position and forward direction information input from the GPS unit 11, the inclination information of the inclination angle D0 input from the inclination sensor 12, and the sensor information of the angles D1 to D3 input from the angle sensors 131 to 133, the three-dimensional position of the outer surface S7 of the bucket S6 can be measured and displayed on the monitor unit 16 described later.

[0025] Furthermore, based on the three-dimensional position information of the construction surface P stored in advance as described above and the three-dimensional position information of the outer surface S7 of the measured bucket S6, it is possible to display on the monitor unit 16 described later.

[0026] FIG. 4 is an example of the screen F displayed on the monitor unit 16. Note that, in order to distinguish from the names of the respective parts displayed in capital letters of the excavator S shown in FIGS. 2 and 3, in the screen F, they are described using lowercase letters.

[0027] Based on the three-dimensional position information of the aforementioned construction surface P and the three-dimensional position information of the outer surface S7 of the bucket S6, the side line p1 of the inclined construction surface p with respect to the upper right screen F1 and the bucket side graphic s61 of the bucket S6 are relatively displayed. At the same time, with respect to the lower right screen F2, the front line p2 of the construction surface p when viewed from the driver's seat S3 side and the bucket front graphic s62 are relatively displayed.

[0028] In the upper right screen F1, the side line s71 of the outer surface s7 of the bucket side graphic s61 viewed from the side and the side line p1 of the construction surface p viewed from the side are displayed together. In the lower right screen F2, the front line s72 of the outer surface s7 of the bucket front graphic s62 viewed from the driver's seat S3 side and the front line p2 of the construction surface p viewed from the driver's seat S3 side are displayed together.

[0029] The operator drives and operates the bucket S6 so that the side line p1 of the construction surface p and the side line s71 indicating the outer surface s7 are parallel as shown in the figure, and further makes the front line p2 of the construction surface p and the front line s72 indicating the outer surface S7 parallel. At this time, the distance between these parallel lines is displayed at the lower end of the lower right screen F2.

[0030] In FIG. 4, it means that the distance between the three-dimensional position of the construction surface P and the three-dimensional position of the outer surface S7 of the bucket S6 is 0.02 m. When this distance becomes equal to or less than a predetermined value, the alignment of the bucket S6 is completed.

[0031] Regarding the relative display of the outer surface s7 of the bucket s6 and the construction surface p, for the alignment before the tightening operation, it may be only before the bucket S6 touches the construction surface P, or from the state where there is a gap between the outer surface S7 and the construction surface P before the tightening operation, that is, until the completion of the tightening operation, namely, this gap disappears and the outer surface S7 touches the construction surface P.

[0032] On the left screen F3, an overhead view showing a planar shovel car s is displayed on a two-dimensional map including the inclined construction surface p. The locations of the construction surface p that require tightening operations are displayed, for example, in a band-shaped area sandwiched between the boundary lines L1 and L2 as shown in the figure. This band-shaped area corresponds to the slope surface Pa shown in FIGS. 2 and 3, the boundary line L1 corresponds to the slope shoulder Pb, and the boundary line L1 corresponds to the slope bottom Pc.

[0033] When the operator in the driver's seat S3 operates the shovel car S to move, the shovel car s on the left screen F3 also moves. The surrounding map moves around the shovel car s.

[0034] FIG. 5 is an explanatory diagram of the tightening surface T of the bucket s6 with respect to the mesh-displayed construction surface p. The inclined construction surface p on the left screen F3 is a mesh surface divided into square blocks B with a side length of, for example, 0.25 m as shown in FIG. 5, and the tightening surface T by the outer surface s7 is displayed on this construction surface p.

[0035] FIG. 5 is a mesh surface viewed from directly above in the vertical direction with respect to the inclined construction surface p, and the block B is square. The outer surface s7 of the bucket s6 parallel to the construction surface p determines that the entire block B is tightened when a part of the block B is tightened.

[0036] Therefore, when tightening with the outer surface s7 of the bucket s6, a rectangular tightening surface T indicated by diagonal lines composed of a plurality of blocks B is formed, and this tightening surface T is displayed in different colors according to the time of the tightening operation as shown on the left screen F3.

[0037] Note that the tightening surface T on the construction surface p of the left screen F3 has a vertical width that changes according to the inclination angle of the construction surface p. If the inclination angle is steep, the vertical width of the tightening surface T is displayed short, and if the inclination angle is gentle, the vertical width of the tightening surface T is displayed long.

[0038] After the operator moves the excavator S while looking at the left screen F3, the bucket s6 is operated and moved on the construction surface p with a display color of the reference color, for example, white. After moving the excavator S and roughly operating the bucket s6 in this way using the left screen F3, the accurate alignment of the outer surface s7 of the bucket s6 is performed using the upper right screen F1 and the lower right screen F2 described above.

[0039] With the upper right screen F1 and the lower right screen F2, even for the bucket S6 and the construction surface P that are in positions that cannot be directly visually recognized from the driver's seat S3, the operator can operate the bucket S6 to accurately align the outer surface S7 before the tightening operation.

[0040] In this way, after the operator operates and aligns the bucket S6 so that the side line p1 of the construction surface p and the side line s71 indicating the outer surface S7 are close, and further the front line p2 of the construction surface p and the front line s72 indicating the outer surface S7 are close, the tightening operation is performed on the outer surface S7.

[0041] The tightening operation signal at this time is an output signal from the pressure sensor 14 provided on the outer surface S7, and the processing unit 15 can manage the tightening state of the construction surface P by measuring the continuous tightening operation time based on this output signal.

[0042] Based on the output signal from the pressure sensor 14, the processing unit 15 measures the continuous tightening operation time at the tightening location of the construction surface p, and performs different color displays on the construction surface p according to the time of the tightening operation as shown on the left screen F3.

[0043] These display colors change to yellow, orange, and red according to the number of seconds for tightening, with red indicating the completion of tightening. In this way, the color of the mesh is gradually changed according to the magnitude of the integrated value, which is the integrated time associated with the work progress, until the completion of the tightening work.

[0044] The operator who has confirmed the display of the tightening completion display color moves the bucket S6 to the tightening location on the construction surface p of the reference color before tightening adjacent to the tightened surface T that has turned red, and performs the tightening work using the above-described screen F. The operator repeats this work for the entire surface of the construction surface p.

[0045] At this time, together with the display of the display color indicating the completion of the tightening work, the operator may be notified in words or by voice that the tightening work has been completed. Similarly, before the tightening work, the side line p1 of the construction surface p on the upper right screen F1 and the side line s71 indicating the outer surface s7 are made parallel, and the front line p2 of the construction surface p on the lower right screen F2 and the front line s72 indicating the outer surface S7 are made parallel, and when the distance between these parallel lines is made less than or equal to a predetermined value, the operator may be notified in words or by voice that the alignment of the bucket S6 has been completed.

[0046] Furthermore, the processing unit 15 may change the threshold for ending the tightening work according to the inclination angle of the construction surface P stored in advance. As the inclination angle of the construction surface P increases, the threshold for ending the tightening work is increased. That is, as the inclination angle of the construction surface P increases, the integrated value of the time for inputting the tightening work signal, which is the threshold, is increased. This is because the steeper the inclination angle, the lower the pressure in the vertical direction, so it is necessary to perform the tightening work for a long time to apply sufficient pressure in the vertical direction.

[0047] The processing unit 15 can communicate with an external management server K via a network through the wireless communication unit 17. This management server K can centrally manage the tightening work status of the construction surface P transmitted from one or more tightening management units 10.

[0048] Further, the tightening management units 10 can communicate with each other via the wireless communication unit 17 to share the tightening work status of the construction surface P. When the tightening management unit 10 is operated alone, it is not necessary to provide the wireless communication unit 17.

[0049] Thus, according to the tightening management unit 10 and the tightening management system 20, even an inexperienced operator can efficiently perform the tightening work by operating the excavator S while checking the screen of the monitor unit 16. In particular, with respect to the bucket S6 and the construction surface P at a position that cannot be directly visually recognized from the driver's seat, the operator can accurately ground the outer surface S7 of the bucket S6 on the construction surface P and align the position of the outer surface S7.

[0050] Furthermore, by managing the tightening state and position of the place where the tightening work is performed by the processing unit 15, it is possible to prevent insufficient tightening or partial forgetting of tightening with respect to the construction surface P.

Explanation of Reference Numerals

[0051] 10 Tightening management unit 11 GPS unit 12 Inclinometer 13 Angle sensor 14 Pressure sensor 15 Processing unit 16 Monitor unit 20 Tightening management system B Block F Screen D0 Inclination angle D1 - D3 Angles P, p Construction surface S, s Excavator S2 Main body S3 Driver's seat S6, s6 Bucket s61 Bucket side graphic s62 Bucket front graphic S7, s7 Outer surface s71 Side line s72 Front line T Tightening surface

Claims

1. A compaction management unit that can be attached to a shovel equipped with a driver's seat operated by a worker and performs display control associated with compaction work on an inclined construction surface by the shovel, The system is composed of a pair of GPS units for identifying a reference position and a forward direction, an inclination sensor for detecting the inclination angle of the excavator, a plurality of angle sensors for detecting the angles of a plurality of rotatable rotating parts of the excavator relative to the loading surface of the excavator, a pressure sensor for detecting the pressure on the outer surface of a bucket which is one of the rotating parts, a processing unit which is connected to the GPS units, the inclination sensor, the angle sensor and the pressure sensor, and which processes various types of information input thereto, and a monitor unit which displays information processed by the processing unit on a screen, The processing unit determines that the compaction work is completed when the integrated value of the input time of the compaction work signal input from the pressure sensor reaches a threshold value, displays on the monitor unit that the compaction work is completed, and changes the threshold value for terminating the compaction work according to the inclination angle of the construction surface, and increases the threshold value for terminating the compaction work as the inclination angle of the construction surface increases.

2. The compaction management unit described in claim 1, characterized in that the processing unit measures the three-dimensional position of the outer surface of the bucket based on pre-stored length information of the rotating part, reference position and forward direction information from the GPS unit, inclination information from the inclination sensor, and angle information from the angle sensor, and causes the monitor unit to display the position of the outer surface of the bucket on a map on the screen of the monitor unit.

3. The compaction management unit described in claim 2, characterized in that the processing unit displays a side diagram of the inclined construction surface and a side diagram of the bucket relative to each other on the screen of the monitor unit based on pre-stored three-dimensional position information of the construction surface on which the compaction work is performed and three-dimensional position information of the outer surface of the bucket.

4. The compaction management unit described in claim 3, characterized in that the processing unit relatively displays, on the screen of the monitor unit, the side line of the outer surface of the bucket side figure when viewed from the side and the side line of the construction surface when viewed from the side, and relatively displays the front line of the outer surface of the bucket front figure when viewed from the driver's seat side and the front line of the construction surface when viewed from the driver's seat side.

5. The construction surface is a mesh surface divided into square blocks of a predetermined length, The processing unit determines that the entire block has been compacted when the outer surface of the bucket, which is parallel to the construction surface, has compacted a portion of the block, A compaction management unit as described in any one of claims 1 to 4, characterized in that a rectangular compaction surface composed of a plurality of the blocks is displayed on the monitor unit.

6. The compaction management unit according to claim 5 , wherein the processing unit changes the color of the compaction surface to a different color from before the compaction work is completed to after the compaction work is completed as an indication of the completion of the compaction work.

7. The compaction management unit according to claim 6, characterized in that the processing unit gradually changes the color of the compaction surface depending on the magnitude of the integrated value associated with the degree of work until the compaction work is completed.

8. A compaction management unit according to any one of claims 1 to 4; A compaction management system comprising: a driver's seat; and a shovel having a plurality of rotating parts including the bucket, and to which the compaction management unit can be attached.

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