Shovel and shovel management device

Abstract

To provide a shovel and a management device of a shovel precisely evaluating skill of an operator.SOLUTION: A shovel comprises: a lower traveling body; a super structure; an attachment attached on the super structure; and a control device. The control device has a skill evaluation section evaluating a skill of an operator for each operation process of the shovel.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a shovel and a management device for the shovel. [Background technology]

[0002] There is a demand for evaluating the skills of operators who operate excavators. For example, a driving operation guidance device in a transmission and reception system for construction machinery that instructs operators on how to improve fuel consumption has been disclosed (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-235716 Summary of the Invention [Problem to be solved by the invention]

[0004] However, it is difficult to properly evaluate an operator's skills by evaluating only fuel consumption. For example, when performing operations that require repeated acceleration and deceleration, such as rotating the upper rotating body or opening and closing an attachment, the operation is not smooth, resulting in increased vibration of the excavator. This in turn reduces positioning accuracy and reduces workability.

[0005] In view of the above, an object of the present invention is to provide an excavator and an excavator management device that suitably evaluate the skills of an operator. [Means for solving the problem]

[0006] In order to achieve the above object, one embodiment of the present invention provides a vehicle equipped with a lower traveling body, an upper rotating body, and a vehicle equipped with ... , with joints and an attachment for the attachment. The joint Inoke Corneran angle sensor for detecting the angle of the upper rotating body or the lower running body; a machine body tilt sensor for detecting the tilt state of the upper rotating body or the lower running body; a turning state sensor for detecting the turning state of the upper rotating body; Sa include Multiple A sensor and a control device, the control device Multiple a data storage unit that stores data of the shovel including the detected values ​​of the sensor in a storage device; and The detected values ​​of any one or more of the plurality of sensors included in a work determination unit that determines which work process the shovel is currently performing among an excavation process, a boom raising and swinging process, an earth removal process, and a boom lowering and swinging process based on the data of the shovel stored in the storage device for each of the work processes; The detected values ​​of any one or more of the plurality of sensors included in Based on Based on at least one of the following: whether or not the aircraft has swayed, whether or not a return operation has occurred, the number of return operations, and the return amount of the return operation A skill evaluation unit that evaluates the skill of an operator is provided. [Effects of the Invention]

[0007] According to the above-described embodiment, it is possible to provide a shovel and a management device for the shovel that suitably evaluate the skill of an operator. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a side view of a shovel as an excavator according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing a configuration example of the excavator in FIG. 1. [Figure 3] 10 is a flowchart illustrating an operator's operation skill evaluation process for the excavator according to the present embodiment. [Figure 4] 10 is an example of a display screen displayed on a display device of the shovel according to the present embodiment. [Figure 5] 10 is a graph showing fluctuations in roll angle and pitch angle during operation of a shovel. [Figure 6] FIG. 2 is a schematic diagram showing the trajectory of the toe of the bucket when the excavator is working. [Figure 7] 10 is a graph showing the change over time in the swing speed during the boom raising swing process of the excavator. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the invention will be described with reference to the drawings.

[0010] [Outline of the Excavator] First, an overview of a shovel 100 according to this embodiment will be described with reference to FIG.

[0011] FIG. 1 is a side view of a shovel 100 as an excavator according to this embodiment.

[0012] The excavator 100 of this embodiment comprises a lower running body 1, an upper rotating body 3 mounted on the lower running body 1 so as to be freely rotatable via a rotating mechanism 2, a boom 4, an arm 5, and a bucket 6 constituting an attachment (working machine), and a cabin 10.

[0013] The lower traveling body 1 has a pair of left and right crawlers that are hydraulically driven by hydraulic traveling motors 1L, 1R (see FIG. 2, which will be described later), thereby causing the excavator 100 to travel. In other words, the pair of hydraulic traveling motors 1L, 1R (an example of a traveling motor) drive the lower traveling body 1 (crawlers) as a driven part.

[0014] The upper rotating body 3 is driven by a hydraulic swing motor 2A (see FIG. 2 described later) to rotate relative to the lower traveling body 1. In other words, the hydraulic swing motor 2A is a swing drive part that drives the upper rotating body 3 as a driven part, and can change the orientation of the upper rotating body 3.

[0015] The upper rotating body 3 may be electrically driven by an electric motor (hereinafter referred to as "swing electric motor") instead of the swing hydraulic motor 2A. In other words, the swing electric motor is a swing drive part that drives the upper rotating body 3 as a driven part, similar to the swing hydraulic motor 2A, and can change the orientation of the upper rotating body 3.

[0016] A boom 4 is pivotally attached to the front center of the upper rotating body 3 so as to be able to tilt up and down, an arm 5 is pivotally attached to the tip of the boom 4 so as to be able to rotate up and down, and a bucket 6 serving as an end attachment is pivotally attached to the tip of the arm 5 so as to be able to rotate up and down. The boom 4, arm 5, and bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, each serving as a hydraulic actuator.

[0017] The bucket 6 is an example of an end attachment, and other end attachments, such as a slope bucket, a dredging bucket, or a breaker, may be attached to the tip of the arm 5 instead of the bucket 6, depending on the work content, etc.

[0018] The cabin 10 is a cab in which an operator sits, and is mounted on the front left side of the upper rotating body 3. An engine 11 is also provided on the upper rotating body 3.

[0019] Also provided within the cabin 10 are a controller 30, a display device 40, an input device 42, an audio output device 43, and a storage device 47.

[0020] The controller 30 (an example of a control device) is provided, for example, in the cabin 10 and controls the driving of the excavator 100. The functions of the controller 30 may be realized by any hardware, software, or a combination thereof. For example, the controller 30 is configured mainly with a microcomputer including a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), a non-volatile auxiliary storage device, various input / output interfaces, etc. The controller 30 realizes various functions by, for example, executing various programs stored in the ROM or non-volatile auxiliary storage device on the CPU.

[0021] The display device 40 is provided in a location that is easily visible to an operator seated in the cabin 10, and displays various information images under the control of the controller 30. The display device 40 may be connected to the controller 30 via an in-vehicle communication network such as a Controller Area Network (CAN), or may be connected to the controller 30 via a one-to-one dedicated line.

[0022] The input device 42 is provided within reach of an operator seated in the cabin 10, accepts various operational inputs from the operator, and outputs signals corresponding to the operational inputs to the controller 30. The input device 42 includes a touch panel mounted on the display of the display device 40 that displays various information images, a knob switch provided at the tip of the lever portion of the operating lever, and button switches, levers, toggles, rotary dials, etc. that are provided around the display device 40. A signal corresponding to the content of an operation on the input device 42 is taken into the controller 30.

[0023] The audio output device 43 is provided, for example, inside the cabin 10, connected to the controller 30, and outputs audio under the control of the controller 30. The audio output device 43 is, for example, a speaker or a buzzer. The audio output device 43 outputs various types of information by audio in response to an audio output command from the controller 30.

[0024] The storage device 47 is provided, for example, in the cabin 10, and stores various pieces of information under the control of the controller 30. The storage device 47 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices during operation of the shovel 100, or may store information obtained via various devices before operation of the shovel 100 is started. The storage device 47 may store, for example, data related to a target construction plane that is obtained via the communication device T1 or the like, or that is set via the input device 42 or the like. The target construction plane may be set (saved) by the operator of the shovel 100, or may be set by a construction manager or the like.

[0025] The boom angle sensor S1 is attached to the boom 4 and detects the elevation / depression angle of the boom 4 relative to the upper rotating structure 3 (hereinafter referred to as the "boom angle"), for example, the angle formed by a line connecting the fulcrums at both ends of the boom 4 relative to the rotation plane of the upper rotating structure 3 in a side view. The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), etc. The boom angle sensor S1 may also include a potentiometer using a variable resistor, a cylinder sensor that detects the stroke amount of a hydraulic cylinder (boom cylinder 7) corresponding to the boom angle, etc. The same applies to the arm angle sensor S2 and the bucket angle sensor S3 below. A detection signal corresponding to the boom angle detected by the boom angle sensor S1 is input to the controller 30.

[0026] The arm angle sensor S2 is attached to the arm 5 and detects the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as the "arm angle"), for example, the angle formed by a line connecting the fulcrums at both ends of the arm 5 with a line connecting the fulcrums at both ends of the boom 4 in a side view. A detection signal corresponding to the arm angle detected by the arm angle sensor S2 is input to the controller 30.

[0027] The bucket angle sensor S3 is attached to the bucket 6 and detects the rotation angle of the bucket 6 relative to the arm 5 (hereinafter referred to as the "bucket angle"), for example, the angle formed by a line connecting the fulcrum of the bucket 6 and the tip (cutting edge) with respect to a line connecting the fulcrums at both ends of the arm 5 in a side view. A detection signal corresponding to the bucket angle by the bucket angle sensor S3 is input to the controller 30.

[0028] The machine body tilt sensor S4 detects the tilt state of the machine body (the upper rotating body 3 or the undercarriage 1) relative to a horizontal plane. The machine body tilt sensor S4 is attached to, for example, the upper rotating body 3, and detects the tilt angles of the excavator 100 (i.e., the upper rotating body 3) about two axes in the fore-aft and lateral directions (hereinafter referred to as the "fore-aft tilt angle" and the "lateral tilt angle"). The machine body tilt sensor S4 may include, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU, etc. The detection signals corresponding to the tilt angles (fore-aft tilt angle and lateral tilt angle) detected by the machine body tilt sensor S4 are input to the controller 30.

[0029] The rotation state sensor S5 outputs detection information related to the rotation state of the upper rotating body 3. The rotation state sensor S5 detects, for example, the rotation angular velocity and rotation angle of the upper rotating body 3. The rotation state sensor S5 may include, for example, a gyro sensor, a resolver, a rotary encoder, etc. The detection signal corresponding to the rotation angle and rotation angular velocity of the upper rotating body 3 detected by the rotation state sensor S5 is input to the controller 30. The boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, and the rotation state sensor S5 are included in the attitude sensors. The attitude sensor detects not only the toe position of the bucket 6 but also the boom angle, boom angular velocity, boom angular acceleration, etc.

[0030] The imaging device S6, which serves as a spatial recognition device, captures images of the periphery of the shovel 100. The imaging device S6 includes a camera S6F that captures an image in front of the shovel 100, a camera S6L that captures an image to the left of the shovel 100, a camera S6R that captures an image to the right of the shovel 100, and a camera S6B that captures an image behind the shovel 100.

[0031] Camera S6F is attached, for example, to the ceiling of cabin 10, i.e., inside cabin 10. Camera S6F may also be attached to the exterior of cabin 10, such as the roof of cabin 10 or the side of boom 4. Camera S6L is attached to the left end of the upper surface of the upper rotating body 3, camera S6R is attached to the right end of the upper surface of the upper rotating body 3, and camera S6B is attached to the rear end of the upper surface of the upper rotating body 3.

[0032] The imaging device S6 (cameras S6F, S6B, S6L, and S6R) is, for example, a monocular wide-angle camera having a very wide angle of view. The imaging device S6 may also be a stereo camera or a distance imaging camera. Images captured by the imaging device S6 are input to the controller 30 via the display device 40.

[0033] The imaging device S6 as a spatial recognition device may function as an object detection device. In this case, the imaging device S6 may detect objects present around the shovel 100. Objects to be detected may include, for example, people, animals, vehicles, construction machinery, buildings, holes, etc. The imaging device S6 may also calculate the distance from the imaging device S6 or the shovel 100 to the recognized object. The imaging device S6 as an object detection device may include, for example, a stereo camera, a range image sensor, etc. The spatial recognition device is, for example, a monocular camera having an imaging element such as a CCD or a CMOS, and outputs a captured image to the display device 40. The spatial recognition device may also be configured to calculate the distance from the spatial recognition device or the shovel 100 to the recognized object. In addition to the imaging device S6, other object detection devices such as an ultrasonic sensor, millimeter-wave radar, LIDAR, or infrared sensor may also be provided as the spatial recognition device. When a millimeter wave radar, ultrasonic sensor, laser radar, or the like is used as a spatial recognition device, multiple signals (laser light, etc.) may be emitted to an object, and the reflected signals may be received, from which the distance and direction of the object may be detected.

[0034] The imaging device S6 may be directly connected to the controller 30 so as to be able to communicate with it.

[0035] A boom rod pressure sensor S7R and a boom bottom pressure sensor S7B are attached to the boom cylinder 7. An arm rod pressure sensor S8R and an arm bottom pressure sensor S8B are attached to the arm cylinder 8. A bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B are attached to the bucket cylinder 9. The boom rod pressure sensor S7R, boom bottom pressure sensor S7B, arm rod pressure sensor S8R, arm bottom pressure sensor S8B, bucket rod pressure sensor S9R, and bucket bottom pressure sensor S9B are collectively referred to as "cylinder pressure sensors."

[0036] The boom rod pressure sensor S7R detects the pressure in the rod-side oil chamber of the boom cylinder 7 (hereinafter referred to as the "boom rod pressure"), and the boom bottom pressure sensor S7B detects the pressure in the bottom-side oil chamber of the boom cylinder 7 (hereinafter referred to as the "boom bottom pressure"). The arm rod pressure sensor S8R detects the pressure in the rod-side oil chamber of the arm cylinder 8 (hereinafter referred to as the "arm rod pressure"), and the arm bottom pressure sensor S8B detects the pressure in the bottom-side oil chamber of the arm cylinder 8 (hereinafter referred to as the "arm bottom pressure"). The bucket rod pressure sensor S9R detects the pressure in the rod-side oil chamber of the bucket cylinder 9 (hereinafter referred to as the "bucket rod pressure"), and the bucket bottom pressure sensor S9B detects the pressure in the bottom-side oil chamber of the bucket cylinder 9 (hereinafter referred to as the "bucket bottom pressure").

[0037] The positioning device P1 measures the position and orientation of the upper rotating body 3. The positioning device P1 is, for example, a Global Navigation Satellite System (GNSS) compass, and detects the position and orientation of the upper rotating body 3, and a detection signal corresponding to the position and orientation of the upper rotating body 3 is input into the controller 30. Furthermore, the function of detecting the orientation of the upper rotating body 3, which is one of the functions of the positioning device P1, may be substituted by a direction sensor attached to the upper rotating body 3.

[0038] The communication device T1 communicates with external devices through a predetermined network including a mobile communication network with a base station as an end, a satellite communication network, the Internet, etc. The communication device T1 is, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network.

[0039] Next, the basic system of the shovel 100 will be described with reference to Fig. 2. The basic system of the shovel 100 mainly includes an engine 11, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, a controller 30, an engine control unit (ECU) 74, and the like.

[0040] The engine 11 is a drive source of the excavator 100, and is, for example, a diesel engine that operates to maintain a predetermined rotation speed. The output shaft of the engine 11 is connected to the input shafts of a main pump 14 and a pilot pump 15.

[0041] The main pump 14 is a hydraulic pump, such as a swash plate-type variable displacement hydraulic pump, that supplies hydraulic oil to a control valve 17 via a high-pressure hydraulic line 16. The main pump 14 adjusts the stroke length of the piston by changing the angle (tilt angle) of the swash plate, thereby varying the discharge flow rate, i.e., the pump output. The swash plate of the main pump 14 is controlled by a regulator 14a. The regulator 14a changes the tilt angle of the swash plate in response to changes in the control current to an electromagnetic proportional valve (not shown). For example, by increasing the control current, the regulator 14a increases the tilt angle of the swash plate, thereby increasing the discharge flow rate of the main pump 14. Conversely, by decreasing the control current, the regulator 14a decreases the tilt angle of the swash plate, thereby decreasing the discharge flow rate of the main pump 14.

[0042] The pilot pump 15 is a hydraulic pump for supplying hydraulic oil to various hydraulic control devices via a pilot line 25, and is, for example, a fixed displacement hydraulic pump.

[0043] The control valve 17 is a hydraulic control valve. The control valve 17 selectively supplies hydraulic oil supplied from the main pump 14 through a high-pressure hydraulic line 16 to, for example, one or more of the boom cylinder 7, arm cylinder 8, bucket cylinder 9, traveling hydraulic motor 1L (for left), traveling hydraulic motor 1R (for right), and swing hydraulic motor 2A, in accordance with pressure changes corresponding to the operation direction and operation amount of levers or pedals 26A to 26C (described later). In the following description, the boom cylinder 7, arm cylinder 8, bucket cylinder 9, traveling hydraulic motor 1L (for left), traveling hydraulic motor 1R (for right), and swing hydraulic motor 2A will be collectively referred to as the "hydraulic actuator."

[0044] A pressure sensor 51 is connected to the oil chamber on the rod side of the boom cylinder 7. The pressure sensor 51 detects the pressure on the rod side of the boom cylinder 7. A pressure sensor 52 is connected to the oil chamber on the bottom side of the arm cylinder 8. The pressure sensor 52 detects the pressure on the bottom side of the arm cylinder 8. A pressure sensor 53 is connected to the oil chamber on the bottom side of the bucket cylinder 9. The pressure sensor 53 detects the pressure on the bottom side of the bucket cylinder 9.

[0045] A pressure sensor 54 and a pressure sensor 55 are connected to the left and right sides of the swing hydraulic motor 2A.

[0046] The operating device 26 is a device used by an operator to operate the hydraulic actuators. The operating device 26 supplies hydraulic oil supplied from the pilot pump 15 via the pilot line 25 through the pilot line 25a to the pilot ports of the flow control valves corresponding to each of the hydraulic actuators. The pressure of the hydraulic oil supplied to each of the pilot ports corresponds to the operation direction and operation amount of the levers or pedals 26A to 26C corresponding to each of the hydraulic actuators. In this embodiment, the operating lever 26A is an operating lever located on the right side of the operator's seat for operating the boom 4 and the bucket 6. The operating lever 26B is an operating lever located on the left side of the operator's seat for operating the arm 5 and the upper rotating body 3.

[0047] The controller 30 is a control device for controlling the shovel 100, and is configured, for example, by a computer equipped with a CPU, RAM, ROM, etc. The CPU of the controller 30 reads out programs corresponding to the operations and functions of the shovel 100 from the ROM and loads them into the RAM while executing the programs, thereby causing the controller 30 to execute processing corresponding to each of the programs.

[0048] The controller 30 controls the discharge flow rate of the main pump 14. For example, the controller 30 changes the control current in accordance with the negative control pressure of a negative control valve (not shown) to control the discharge flow rate of the main pump 14 via the regulator 14a.

[0049] The engine control unit (ECU) 74 is a device that controls the engine 11. For example, based on a command from the controller 30, the ECU 74 outputs to the engine 11 a fuel injection amount and the like for controlling the rotation speed of the engine 11 in accordance with the engine rotation speed (mode) set by the operator using an engine rotation speed adjustment dial 75, which will be described later.

[0050] The engine speed adjustment dial 75 is a dial provided inside the cabin 10 for adjusting the engine speed, and in this embodiment, the engine speed can be switched between four levels. That is, the engine speed adjustment dial 75 allows the engine speed to be switched between four levels: SP mode, H mode, A mode, and idling mode. Note that FIG. 2 shows a state in which the SP mode is selected with the engine speed adjustment dial 75.

[0051] The SP mode is a rotation speed mode selected when prioritizing the amount of work, and uses the highest engine rotation speed. The H mode is a rotation speed mode selected when prioritizing both the amount of work and fuel economy, and uses the second highest engine rotation speed. The A mode is a rotation speed mode selected when prioritizing fuel economy and operating the excavator 100 with low noise, and uses the third highest engine rotation speed. The idling mode is a rotation speed mode selected when idling the engine, and uses the lowest engine rotation speed. The engine 11 is controlled to a constant rotation speed at the engine rotation speed mode set by the engine rotation speed adjustment dial 75. Note that, although an example of adjusting the engine rotation speed in four stages using the engine rotation speed adjustment dial 75 has been shown here, any number of stages is possible and is not limited to four.

[0052] Furthermore, the shovel 100 is provided with a display device 40 disposed near the driver's seat in the cabin 10 to assist the driver in driving. The driver can input information and commands to the controller 30 using an input unit 420 of the display device 40. Furthermore, the operating status, control information, and operation analysis information of the shovel 100 can be displayed on the image display unit 41 of the display device 40, thereby providing information to the driver.

[0053] The display device 40 includes an image display unit 41 and an input unit 420 (an example of the input device 42 shown in FIG. 1 ). The display device 40 is fixed to a console inside the driver's seat. Generally, the boom 4 is located on the right side of the driver seated in the driver's seat, and the driver often operates the excavator 100 while visually checking the arm 5 and bucket 6 attached to the tip of the boom 4. The frame on the front right side of the cabin 10 obstructs the driver's field of view, but in this embodiment, this portion is utilized to provide the display device 40. As a result, the display device 40 is located in a portion that originally obstructed the field of view, so that the display device 40 itself does not significantly obstruct the driver's field of view. Depending on the width of the frame, the display device 40 may be configured so that the image display unit 41 is vertically long so that the entire display device 40 fits within the width of the frame.

[0054] The display device 40 of this embodiment has a data accumulation button on the image display unit 41 for accumulating data of the shovel 100. The display device 40 also has an evaluation start button on the image display unit 41 for analyzing the accumulated data of the shovel 100, performing an evaluation of the operator's operating skills, and displaying the analysis results. Note that the data accumulation button and the evaluation start button are not limited to being provided on the image display unit 41, and may be implemented on any of the input devices 42.

[0055] In this embodiment, the display device 40 is connected to the controller 30 via a communication network such as CAN or LIN. The display device 40 may also be connected to the controller 30 via a dedicated line.

[0056] The display device 40 also includes a conversion processing unit 40a that generates an image to be displayed on the image display unit 41. The conversion processing unit 40a generates an image to be displayed on the image display unit 41 based on the output of the controller 30.

[0057] The conversion processing unit 40a may be realized as a function of the controller 30, rather than as a function of the display device 40.

[0058] The display device 40 also includes a switch panel as an input unit 420. The switch panel is a panel including various hardware switches. In this embodiment, the switch panel includes a light switch 42a, a wiper switch 42b, a window washer switch 42c, a screen switching button 42d, and a cursor movement button 42e as hardware buttons. The light switch 42a is a switch for switching on and off lights attached to the exterior of the cabin 10. The wiper switch 42b is a switch for switching on and off the wipers. The window washer switch 42c is a switch for spraying window washer fluid. The screen switching button 42d is a button for switching the screen displayed on the image display unit 41 of the display device 40. The cursor movement button 42e is a button for moving a selection area (cursor area) displayed on the image display unit 41 of the display device 40 to select and confirm various setting items, etc.

[0059] The display device 40 operates by receiving power from a storage battery 70. The storage battery 70 is charged with power generated by an alternator 11a (generator) of the engine 11. The power of the storage battery 70 is also supplied to electrical components 72 of the excavator 100 other than the controller 30 and the display device 40. The starter 11b of the engine 11 is driven by power from the storage battery 70 to start the engine 11.

[0060] As described above, the engine 11 is controlled by the engine control unit (ECU) 74. The ECU 74 constantly transmits various data indicating the state of the engine 11 (for example, data indicating the coolant temperature (physical quantity) detected by the water temperature sensor 11c) to the controller 30.

[0061] In addition, various data are supplied to the controller 30 as follows.

[0062] Data indicating the tilt angle of the swash plate is supplied to the controller 30 from a regulator 14a of the main pump 14, which is a variable displacement hydraulic pump. Data indicating the discharge pressure of the main pump 14 is sent to the controller 30 from a discharge pressure sensor 14b. An oil temperature sensor 14c is provided in the pipeline between the main pump 14 and a tank that stores the hydraulic oil to be sucked into the main pump 14, and data indicating the temperature of the hydraulic oil flowing through the pipeline is supplied from the oil temperature sensor 14c to the controller 30.

[0063] Furthermore, when the levers or pedals 26A to 26C are operated, the pilot pressure sent to the control valve 17 through the pilot line 25a is detected by the hydraulic sensors 15a and 15b, and data indicating the detected pilot pressure is supplied to the controller 30. Furthermore, each pressure value from the pressure sensors 51 to 55 is supplied to the controller 30.

[0064] The engine speed adjustment dial 75 constantly transmits data indicating the setting state of the engine speed to the controller 30 .

[0065] As described above, detection signals from the attitude sensors (boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine body inclination sensor S4, and turning state sensor S5) are input to the controller 30. Images captured by the imaging device S6 are input to the controller 30 via the display device 40. Detection signals from the cylinder pressure sensors (boom rod pressure sensor S7R, boom bottom pressure sensor S7B, arm rod pressure sensor S8R, arm bottom pressure sensor S8B, bucket rod pressure sensor S9R, and bucket bottom pressure sensor S9B) are input to the controller 30.

[0066] The controller 30 also includes a data storage unit 31 that stores data of the shovel 100 in a memory device 47, a skill evaluation unit 32 that evaluates the operating skills of the operator, and a work judgment unit 33 that judges the work process of the shovel 100.

[0067] The data accumulation unit 31 accumulates data of the excavator 100 in the storage device 47. For example, the data accumulation unit 31 accumulates detected values ​​of the attitude sensors (boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine body inclination sensor S4, and turning state sensor S5) in the storage device 47.

[0068] The skill evaluation unit 32 evaluates the operating skill of the operator based on the data of the shovel 100 stored in the storage device 47. The evaluation method will be described later.

[0069] The work determination unit 33 determines the work process of the shovel 100 (for example, an excavation process, a boom raising and swinging process, an earth removal process, or a boom lowering and swinging process) based on the data of the shovel 100 stored in the storage device 47.

[0070] Next, a series of work flows for evaluating the operating skill of an operator in the shovel 100 of this embodiment will be specifically described with reference to Fig. 3. Fig. 3 is a flowchart for explaining the process for evaluating the operating skill of an operator in the shovel 100 of this embodiment.

[0071] In step S101, the controller 30 determines whether or not a data accumulation button for starting accumulation of data of the shovel 100 used for evaluating the operator's operating skill has been operated. If the data accumulation button has been operated (S101: Yes), the processing of the controller 30 proceeds to step S102. If the data accumulation button has not been operated (S101: No), the processing of the controller 30 repeats step S101.

[0072] In step S102, the data storage unit 31 of the controller 30 stores the data of the excavator 100 in the storage device 47.

[0073] In step S103, the controller 30 determines whether or not an evaluation start button for evaluating the operator's operating skill has been operated. If the evaluation start button has been operated (S103: Yes), the process of the controller 30 proceeds to step S104. If the evaluation start button has not been operated (S103: No), the process of the controller 30 repeats step S103.

[0074] In step S104 , the skill evaluation unit 32 of the controller 30 evaluates the operating skill of the operator based on the data of the shovel 100 accumulated in the storage device 47 .

[0075] In step S105, the controller 30 causes the display device 40 to display the evaluation result of step S104.

[0076] FIG. 4 is an example of a display screen displayed on the display device 40 of the shovel 100 according to this embodiment.

[0077] As shown in FIG. 4, the main screen 410 includes a date and time display area 41a, a driving mode display area 41b, an end attachment display area 41c, an engine control status display area 41e, an engine operating time display area 41f, a coolant temperature display area 41g, a remaining fuel amount display area 41h, a rotation speed mode display area 41i, a hydraulic oil temperature display area 41k, a camera image display area 41m, an orientation display icon 41x, an evaluation result display area 41r, and an improvement proposal display area 41s.

[0078] The date and time display area 41a is an area for displaying the current date and time as an image.

[0079] The travel mode display area 41b is an area that displays an image of the current travel mode. The travel mode indicates the setting state of the travel hydraulic motor that uses a variable displacement pump. Specifically, the travel mode has a low-speed mode and a high-speed mode. The low-speed mode is displayed with a mark shaped like a turtle, and the high-speed mode is displayed with a mark shaped like a rabbit.

[0080] The end attachment display area 41c is an area for displaying an image representing the end attachment currently attached. In the embodiment shown in Fig. 4, a mark representing a bucket is displayed.

[0081] The engine control state display area 41e is an area that displays an image of the control state of the engine 11. In the embodiment shown in Fig. 4, the driver can recognize that the "automatic deceleration / automatic stop mode" has been selected as the control state of the engine 11. Other control states of the engine 11 include "automatic deceleration mode," "automatic stop mode," and "manual deceleration mode."

[0082] The engine operation time display area 41f is an area for visually displaying the cumulative operation time of the engine 11. In the embodiment shown in Fig. 4, a value using the unit "hr (hour)" is displayed.

[0083] The coolant temperature display area 41g is an area for displaying an image of the current temperature state of the engine coolant.

[0084] The remaining fuel amount display area 41h is an area for displaying an image of the remaining amount of fuel stored in the fuel tank.

[0085] The rotation speed mode display area 41i is an area that displays the current rotation speed mode as an image. The rotation speed modes include, for example, the above-mentioned four modes: SP mode, H mode, A mode, and idling mode. In the embodiment shown in FIG. 4, the symbol "SP" representing the SP mode is displayed.

[0086] The hydraulic oil temperature display area 41k is an area for displaying an image of the temperature state of the hydraulic oil in the hydraulic oil tank.

[0087] The camera image display area 41m is an area where a camera image is displayed. In this embodiment, the excavator is equipped with an imaging device S6 (see FIG. 1) for capturing images of areas outside the operator's field of vision. The imaging device S6 sends the captured camera image to the conversion processing unit 40a of the display device 40. This allows the operator to view the camera image captured by the imaging device S6 on the main screen 410 of the display device 40.

[0088] The orientation display icon 41x is an icon that indicates the relative relationship between the orientation of the imaging device S6 that captured the image displayed on the display screen and the orientation of the excavator 100 (the attachment of the upper rotating body 3).

[0089] The evaluation result display area 41r displays the evaluation result of the skill evaluation unit 32. For example, the evaluation result display area 41r displays a message indicating the evaluation result, such as "There is a large swing during the downturn."

[0090] The improvement suggestion display area 41s displays an operation improvement suggestion based on the evaluation result of the skill evaluation unit 32 and its effect. For example, the improvement suggestion display area 41s displays a message indicating the operation improvement suggestion and its effect, such as "Reducing the vibration will improve positioning and reduce fatigue." Note that, for example, the storage device 47 stores a map indicating the correspondence between the evaluation result, the operation improvement suggestion, and its effect. The skill evaluation unit 32 can determine the operation improvement suggestion and its effect based on the evaluation result and the map stored in the storage device 47.

[0091] Next, a method for evaluating the operation skill of an operator in the skill evaluation unit 32 will be described with reference to FIGS. 5 to 7 as examples.

[0092] FIG. 5 is a graph showing fluctuations in the roll angle and pitch angle when the excavator 100 is working. FIG. 5(a) shows an example in which the operator is a veteran (an operator with a high skill rating). FIG. 5(b) shows an example in which the operator is a novice (an operator with a low skill rating). The horizontal axis represents time, and the vertical axis represents angle. Furthermore, the solid lines represent roll angles (101, 103), and the dashed lines represent pitch angles (102, 104). The roll angle and pitch angle are detected by an attitude sensor (for example, machine body tilt sensor S4).

[0093] First, the work determination unit 33 determines the work process of the shovel 100 (for example, an excavation process, a boom raising and swinging process, an earth removal process, and a boom lowering and swinging process) based on the data of the shovel 100 stored in the storage device 47. The skill evaluation unit 32 evaluates the operating skill of the operator for each operation process of the shovel 100.

[0094] As shown in Figure 5(a), during the boom-raising rotation process performed by the experienced operator, the upper rotating body 3 rotates, increasing the roll angle 101, which is the tilt of the upper rotating body 3 in the left-right direction. In addition, the boom-raising operation reduces the pitch angle 102, which is the tilt of the upper rotating body 3 in the front-to-rear direction.

[0095] Furthermore, during the soil unloading process by an experienced operator, the left and right shaking (fluctuations in the roll angle 101) is reduced by smoothly turning the machine to the soil unloading position. Furthermore, the soil unloading operation causes forward and backward shaking (fluctuations in the pitch angle 102).

[0096] Furthermore, during the boom lowering swing process performed by the experienced operator, the roll angle 101 decreases in the opposite direction to that during the boom raising swing process due to the swing operation. Furthermore, during the boom lowering operation, there is almost no fluctuation in the pitch angle 102 direction.

[0097] In contrast, as shown in Figure 5(b), in the boom-raising and swinging process by a novice operator, because the swing operation amount is unknown, the number of times the control lever is returned is large, resulting in small swings in the roll angle 103. Also, because the boom-raising amount is unknown, the number of times the control lever is returned is large, resulting in small swings in the pitch angle 104.

[0098] Furthermore, in the soil discharge process, when a novice operator moves the bucket 6 to the soil discharge position, the position is not fixed, and the pitch angle 104 fluctuates in small increments. Furthermore, when opening the arm 5 and bucket 6 to perform soil discharge, the lever operation is awkward, and the pitch angle 104 fluctuates in small increments.

[0099] Furthermore, in the boom lowering and swinging process, when a novice operator moves the bucket 6 to the next excavation position, the position is not fixed, and the pitch angle 104 fluctuates in small increments. Furthermore, because the boom lowering operation and swing operation cannot be performed simultaneously, the operating lever is returned many times, causing the pitch angle 104 to fluctuate in small increments.

[0100] FIG. 6 is a schematic diagram showing the trajectory of the toe of the bucket 6 when the excavator 100 is working. FIG. 6(a) is a plan view, and FIG. 6(b) is a side view. The trajectory 105 of an experienced operator is shown by a solid line, and the trajectory 106 of a novice operator is shown by a dashed line. The trajectory of the toe of the bucket 6 is detected by posture sensors (for example, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, and a swing state sensor S5).

[0101] The novice operator's trajectory 106 will be explained in comparison with the veteran operator's trajectory 105. In the novice operator's trajectory 106, the swing lever is turned too far during the boom-raising swing process from excavation position P1, resulting in swing at a lower position than the veteran operator's trajectory 105. As a result, the swing is stopped and the boom is suddenly raised, resulting in overshooting the height of the earth-discharging position. In the novice operator's trajectory 106, the boom 4 is raised too far and swings toward the dump truck DT. At this time, the center of gravity of the bucket 6 loaded with earth and sand becomes higher, which increases the vibration of the excavator 100. Furthermore, in the novice operator's trajectory 106, the novice operator is unable to stop at the earth-discharging position even during swing, resulting in a return operation.

[0102] 7 is a graph showing the change over time in the swing speed during the boom-raising swing process of the excavator 100. The horizontal axis represents time, and the vertical axis represents the swing angle. The solid line indicates the trajectory 107 of the experienced operator, and the dashed line indicates the trajectory 108 of the novice operator.

[0103] The trajectory 108 of the novice operator will be explained in comparison with the trajectory 107 of the experienced operator. In the trajectory 108 of the novice operator, the swing cannot be stopped properly at the dumping position, so a reverse swing operation occurs. In other words, the swing speed ω becomes a negative value. Furthermore, because a return operation occurs, the time t2 required to move to the dumping position becomes longer than the time t1 of the experienced operator.

[0104] 5 to 7, the work determination unit 33 of the controller 30 determines the work process (for example, an excavation process, a boom raising and swinging process, an earth removal process, and a boom lowering and swinging process). Then, the skill evaluation unit 32 of the controller 30 can evaluate the operating skill of the operator based on the detection signals of the attitude sensors (S1 to S5) of the shovel 100. Here, the skill evaluation is performed for each work process of the shovel 100.

[0105] For example, in the example shown in Fig. 5, the skill evaluation unit 32 detects vibrations of the pitch angle and roll angle based on data from the aircraft tilt sensor S4. The skill evaluation unit 32 counts the number of times the pitch angle and roll angle exceed threshold values ​​111 and 112, and evaluates the operator's skill based on the count. Alternatively, the skill may be evaluated based on the number of times the time differential values ​​of the pitch angle and roll angle exceed the threshold value. Alternatively, the skill may be evaluated based on the maximum absolute value of the time differential values.

[0106] 6 and 7, the skill evaluation unit 32 detects whether a return operation has occurred, the number of return operations, the return amount of the return operation, etc., based on data from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, and the swing state sensor S5. The skill evaluation unit 32 evaluates the operator's skill based on whether a return operation has occurred, the number of return operations, the return amount of the return operation, etc. Furthermore, the skill of the operator may be evaluated by detecting whether the operating lever has been turned on or off based on the time derivative of the detected values ​​of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, and the swing state sensor S5.

[0107] Furthermore, although not shown in the drawings, during the horizontal pulling operation (finishing process) of bed excavation, the skill evaluation unit 32 detects the trajectory of the toe of the bucket 6 based on data from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, and the swing state sensor S5. The skill evaluation unit 32 may evaluate the skill of the operator based on the levelness of the detected trajectory of the toe of the bucket 6.

[0108] As described above, the excavator 100 according to this embodiment makes it possible to appropriately evaluate the skill of the operator. The evaluation results are displayed on the display device 40. This allows the operator to check the state of his or her operating skills. The display device 40 also displays improvement suggestions along with the evaluation results. This allows the operator to check ways to improve their operation, which can be useful in improving their operating skills.

[0109] The above describes embodiments of the shovel 100, but the present invention is not limited to the above embodiments, and various modifications and improvements are possible within the scope of the gist of the present invention described in the claims.

[0110] Although the skill evaluation unit 32 and the work judgment unit 33 have been described as being provided in the controller 30 of the shovel 100, the present invention is not limited to this. The skill evaluation unit 32 and the work judgment unit 33 may be provided in the management device for the shovel 100. That is, the data accumulation unit 31 of the shovel 100 accumulates data of the shovel 100 in the storage device 47. The accumulated data of the shovel 100 is then output to the management device for the shovel 100 via, for example, the communication device T1. The skill evaluation unit 32 of the management device for the shovel 100 may evaluate the operating skill of the operator based on the input data of the shovel 100. Furthermore, the work judgment unit 33 of the management device for the shovel 100 may judge the work process of the shovel 100 based on the input data of the shovel 100. [Explanation of symbols]

[0111] 100 Shovel 1 Undercarriage 2. Swivel mechanism 3 Upper rotating body 4. Boom 5 Arm 6 buckets 30 Controllers 31 Data storage unit 32 Skills Evaluation Department 33 Work judgment section 40 Display device 47 Storage device S1 Boom angle sensor (acceleration sensor) S2 Arm angle sensor (acceleration sensor) S3 Bucket angle sensor (acceleration sensor) S4 Aircraft tilt sensor (acceleration sensor) S5 Turning status sensor (acceleration sensor)

Claims

1. a lower running body; An upper rotating body; an attachment attached to the upper rotating body and having a joint; a plurality of sensors including an angle sensor that detects an angle at the joint of the attachment, a machine body tilt sensor that detects an inclination state of the upper rotating body or the lower running body, and a rotation state sensor that detects a rotation state of the upper rotating body; a control device; The control device a data storage unit that stores data of the shovel including detection values ​​of the plurality of sensors in a storage device; a work determination unit that determines which work process the shovel is performing, among an excavation process, a boom raising and swinging process, an earth removal process, and a boom lowering and swinging process, based on detection values ​​of any one or more of the plurality of sensors included in the shovel data accumulated in the storage device; and a skill evaluation unit that evaluates the skill of the operator based on at least one of the detection values ​​of one or more of the sensors included in the data of the shovel stored in the storage device for each of the work processes, whether or not shaking of the machine body or a return operation has occurred, the number of return operations, and the return amount of the return operation. Shovel.

2. a lower running body; An upper rotating body; an attachment attached to the upper rotating body; a sensor including a machine body inclination sensor that detects an inclination state of the upper rotating body or the lower traveling body; a control device; The control device a data storage unit that stores data of the shovel including the detection values ​​of the sensors in a storage device; a work determination unit that determines which work process the shovel is currently performing, among an excavation process, a boom-raising and swinging process, an earth-removal process, and a boom-lowering and swinging process, based on the data of the shovel stored in the storage device and on fluctuations in the roll angle and pitch angle acquired by the machine body inclination sensor; a skill evaluation unit that detects vibrations of the roll angle and pitch angle acquired by the machine body inclination sensor based on the data of the shovel stored in the storage device for each of the work processes, and evaluates the operator as a novice operator when the number of times the vibrations exceed a threshold is large, Shovel.

3. a display device that displays the evaluation results of the skill evaluation unit; a map showing the correspondence between the evaluation results of the skill evaluation unit and operation improvement proposals is stored in the storage device; the control device causes the display device to display the operation improvement plan corresponding to the evaluation result of the skill evaluation unit based on the evaluation result of the skill evaluation unit and the map. The shovel according to claim 1 or 2.

4. a display device that displays the evaluation results of the skill evaluation unit; The storage device stores a map showing the correspondence between the evaluation result of the skill evaluation unit and operation improvement plans and their effects, the control device causes the display device to display the operation improvement plan corresponding to the evaluation result of the skill evaluation unit and its effect based on the evaluation result of the skill evaluation unit and the map. The shovel according to claim 1 or 2.

5. a first operation button that is provided in a cabin in which an operator rides and that, when operated by the operator, outputs to the control device a command to cause the data accumulation unit to start processing to accumulate data of the shovel in the storage device; a second operation button that is provided in the cabin and that, when operated by an operator, outputs to the control device a command to cause the skill evaluation unit to start a process of evaluating the skill of the operator, The shovel according to any one of claims 1 to 4.

6. a lower running body; An upper rotating body; an attachment attached to the upper rotating body and having a joint; a plurality of sensors including an angle sensor that detects an angle at the joint of the attachment, a machine body tilt sensor that detects an inclination state of the upper rotating body or the lower running body, and a rotation state sensor that detects a rotation state of the upper rotating body; a control device; The control device a data storage unit that stores data of the shovel including detection values ​​of the plurality of sensors in a storage device; a work determination unit that determines which work process the shovel is performing, among an excavation process, a boom raising and swinging process, an earth removal process, and a boom lowering and swinging process, based on detection values ​​of any one or more of the plurality of sensors included in the shovel data accumulated in the storage device; and a skill evaluation unit that evaluates the skill of the operator based on at least one of the detection values ​​of one or more of the sensors included in the data of the shovel stored in the storage device for each of the work processes, whether or not shaking of the machine body or a return operation has occurred, the number of return operations, and the return amount of the return operation. Excavator management device.

7. a lower running body; An upper rotating body; an attachment attached to the upper rotating body; a sensor including a machine body inclination sensor that detects an inclination state of the upper rotating body or the lower traveling body; a control device; The control device a data storage unit that stores data of the shovel including the detection values ​​of the sensors in a storage device; a work determination unit that determines which work process the shovel is currently performing, among an excavation process, a boom-raising and swinging process, an earth-removal process, and a boom-lowering and swinging process, based on the data of the shovel stored in the storage device and on fluctuations in the roll angle and pitch angle acquired by the machine body inclination sensor; a skill evaluation unit that detects vibrations of the roll angle and pitch angle acquired by the machine body inclination sensor based on the data of the shovel stored in the storage device for each of the work processes, and evaluates the operator as a novice operator when the number of times the vibrations exceed a threshold is large, Excavator management device.

Images