Work machine, work machine management system, and work machine management device

Abstract

This work machine includes: an operation information acquisition unit that acquires operation information including environment information indicating an environment around the work machine and state information indicating the state of the work machine; an estimation unit that estimates a work procedure in which an excavated surface formed by the excavation operation satisfies a predetermined condition on the basis of the operation information; and a display control unit that displays information indicating the work procedure estimated by the estimation unit.

Description

Work machine, work machine management system, and work machine management device

[0001] The present disclosure relates to a work machine, a work machine management system, and a work machine management device.

[0002] BACKGROUND ART Conventionally, hydraulic excavators are known that automatically adjust the position of the bucket cutting edge relative to a design surface when excavating a slope along the design surface to form a slope.

[0003] JP 2013-217137 A

[0004] The conventional techniques described above do not take into consideration the impact that changes in the inclination and shape of the slope caused by excavation have on the environment around the shovel, and further improvements in safety are required.

[0005] The present disclosure aims to improve safety.

[0006] A work machine according to an embodiment of the present invention is a work machine having an operation information acquisition unit that acquires operation information including environmental information indicating the environment surrounding the work machine and status information indicating the status of the work machine, an estimation unit that estimates, based on the operation information, a work procedure in which the excavation surface formed by the excavation operation satisfies specified conditions, and a display control unit that displays information indicating the work procedure estimated by the estimation unit.

[0007] A work machine management system according to an embodiment of the present invention is a work machine management system including a work machine and a management device that communicates with the work machine, wherein the management device has an information acquisition unit that acquires operation information from the work machine, including environmental information that indicates the environment around the work machine and status information that indicates the status of the work machine, an estimation unit that estimates, based on the operation information, a work procedure that will result in an excavation surface formed by the excavation operation of the work machine satisfying specified conditions, and an output unit that outputs information indicating the work procedure estimated by the estimation unit to the work machine.

[0008] A work machine management device according to an embodiment of the present invention is a work machine management device that communicates with a work machine and has: an information acquisition unit that acquires operation information from the work machine, including environmental information that indicates the environment around the work machine and status information that indicates the status of the work machine; an estimation unit that estimates, based on the operation information, a work procedure that will result in an excavation surface formed by the excavation operation of the work machine satisfying specified conditions; and an output unit that outputs information indicating the work procedure estimated by the estimation unit to the work machine.

[0009] Safety can be improved.

[0010] FIG. 1 is a diagram illustrating an example of a system configuration of a management system for an excavator. FIG. 2 is a diagram illustrating the hardware configuration of each device included in the management system for an excavator. FIG. 3 is a diagram illustrating the functional configuration of each device included in the management system for an excavator. FIG. 4 is a first diagram illustrating a work procedure for an excavator. FIG. 5 is a second diagram illustrating a work procedure for an excavator. FIG. 6 is a flowchart illustrating the processing of a learning unit of a management device. FIG. 7 is a sequence diagram illustrating the operation of a management system for an excavator. FIG. 8 is a diagram illustrating an example of a display of information showing work procedures.

[0011] The excavator management system of this embodiment will be described below with reference to the drawings. Fig. 1 is a diagram showing an example of the system configuration of the excavator management system. In this embodiment, an excavator 100 will be described as an example of construction machinery.

[0012] The excavator management system SYS of this embodiment includes an excavator 100 and a management device 200. In the following description, the excavator 100 management system SYS will be simply referred to as the management system SYS.

[0013] In the management system SYS of this embodiment, the excavator 100 and the management device 200 are connected via a network or the like.

[0014] First, a description will be given of the configuration of a shovel 100 according to this embodiment. FIG. 1 shows a side view of the shovel 100.

[0015] The excavator 100 has a lower traveling body 1, a slewing mechanism 2, and an upper rotating body 3. In the excavator 100, the upper rotating body 3 is rotatably mounted on the lower traveling body 1 via the slewing mechanism 2. A boom 4 is attached to the upper rotating body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5 as an end attachment.

[0016] The boom 4, arm 5, and bucket 6 constitute an excavation attachment, which is an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

[0017] The boom angle sensor S1 is configured to detect the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor, and can detect the rotation angle of the boom 4 relative to the upper rotating body 3 (hereinafter referred to as the "boom angle"). For example, the boom angle is at its minimum when the boom 4 is lowered to the lowest position, and increases as the boom 4 is raised.

[0018] The arm angle sensor S2 is configured to detect the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor, and can detect the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as the "arm angle"). For example, the arm angle is at its smallest when the arm 5 is fully closed, and increases as the arm 5 opens.

[0019] The bucket angle sensor S3 is configured to detect the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor, and can detect the rotation angle of the bucket 6 relative to the arm 5 (hereinafter referred to as the "bucket angle"). For example, the bucket angle is at its minimum when the bucket 6 is fully closed, and increases as the bucket 6 opens.

[0020] The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may each be a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, a rotary encoder that detects the rotation angle around the connecting pin, a gyro sensor, or a combination of an acceleration sensor and a gyro sensor, etc.

[0021] 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.

[0022] 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, the boom bottom pressure sensor S7B, the arm rod pressure sensor S8R, the arm bottom pressure sensor S8B, the bucket rod pressure sensor S9R, and the bucket bottom pressure sensor S9B are also collectively referred to as the "cylinder pressure sensors."

[0023] 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").

[0024] 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").

[0025] The upper rotating body 3 is provided with a cabin 10 serving as a driver's room, and is equipped with a power source such as an engine 11. ２A sensor for detecting the discharge amount may be provided. Furthermore, a counterweight 29 may be disposed at the rear of the upper rotating body 3.

[0026] Furthermore, the upper rotating body 3 is equipped with a controller 30, a display device 40, an input device 42, an audio output device 43, a memory device 47, a positioning device P1, a body tilt sensor S4, a rotation angular velocity sensor S5, an imaging device S6, and a communication terminal T1.

[0027] The upper rotating body 3 may be equipped with a power storage unit that supplies electric power, a motor generator that generates electric power using the rotational driving force of the engine 11, etc. The power storage unit is, for example, a capacitor or a lithium ion battery. The motor generator may function as an electric motor to drive a mechanical load, or may function as a generator to supply electric power to an electrical load.

[0028] The controller 30 functions as a main control unit that controls the drive of the shovel 100. In this embodiment, the controller 30 is configured by a computer including a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), and the like. The various functions of the controller 30 are realized, for example, by the CPU executing programs stored in the ROM. The various functions may include, for example, at least one of a machine guidance function that guides (directs) the operator in manually operating the shovel 100, and a machine control function that automatically assists the operator in manually operating the shovel 100.

[0029] The display device 40 is configured to display various types of information. The display device 40 may be connected to the controller 30 via a communication network such as a CAN, or may be connected to the controller 30 via a dedicated line.

[0030] The input device 42 is configured to allow an operator to input various information to the controller 30. The input device 42 includes at least one of a touch panel, a knob switch, a membrane switch, and the like, which are installed inside the cabin 10.

[0031] The audio output device 43 is configured to output audio. The audio output device 43 may be, for example, an in-vehicle speaker connected to the controller 30, or an alarm such as a buzzer. In this embodiment, the audio output device 43 is configured to output various types of information by audio in response to an audio output command from the controller 30.

[0032] The storage device 47 is configured to store various types of information. 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 while the shovel 100 is in operation, or may store information acquired via various devices before the shovel 100 starts to operate. The storage device 47 may also store operation information, etc. of the shovel 100. The operation information is periodically transmitted to the management device 200 by the communication terminal T1. Details of the operation information will be described later.

[0033] The positioning device P1 is configured to measure the position of the upper rotating body 3. The positioning device P1 may be configured to measure the orientation of the upper rotating body 3. In this embodiment, the positioning device P1 is, for example, a GNSS compass, which detects the position and orientation of the upper rotating body 3 and outputs the detected values ​​to the controller 30. Therefore, the positioning device P1 can also function as an orientation detection device that detects the orientation of the upper rotating body 3. The orientation detection device may be a direction sensor attached to the upper rotating body 3.

[0034] The machine body inclination sensor S4 is configured to detect the inclination of the upper rotating body 3. In this embodiment, the machine body inclination sensor S4 is an acceleration sensor that detects the longitudinal inclination angle about the longitudinal axis and the lateral inclination angle about the lateral axis of the upper rotating body 3 with respect to a virtual horizontal plane. The longitudinal axis and the lateral axis of the upper rotating body 3 are perpendicular to each other at, for example, the shovel center point, which is a point on the rotation axis of the shovel 100.

[0035] The swing angular velocity sensor S5 is configured to detect the swing angular velocity of the upper swing body 3. The swing angular velocity sensor S5 may be configured to detect or calculate the swing angle of the upper swing body 3. In this embodiment, the swing angular velocity sensor S5 is a gyro sensor. The swing angular velocity sensor S5 may also be a resolver, a rotary encoder, or the like.

[0036] The imaging device S6 is an example of a spatial recognition device, and is configured to acquire image data showing an image of the periphery of the shovel 100. In the present embodiment, the imaging device S6 includes a front camera S6F that images the space in front of the shovel 100, a left camera S6L that images the space to the left of the shovel 100, a right camera S6R that images the space to the right of the shovel 100, and a rear camera S6B that images the space behind the shovel 100.

[0037] The imaging device S6 is, for example, a monocular camera having an imaging element such as a CCD or CMOS, and outputs the captured image to the display device 40. The imaging device S6 may be a stereo camera, a distance imaging camera, or the like. The imaging device S6 may also be replaced with another spatial recognition device such as a three-dimensional distance image sensor, an ultrasonic sensor, a millimeter-wave radar, a LIDAR, or an infrared sensor, or may be replaced with a combination of another spatial recognition device and a camera.

[0038] The front camera S6F is attached, for example, to the ceiling of the cabin 10, i.e., inside the cabin 10. However, the front camera S6F may also be attached to the outside of the cabin 10, such as on the roof of the cabin 10 or on the side of the boom 4. The left camera S6L is attached to the left end of the top surface of the upper rotating body 3, the right camera S6R is attached to the right end of the top surface of the upper rotating body 3, and the rear camera S6B is attached to the rear end of the top surface of the upper rotating body 3.

[0039] The communication terminal T1 is configured to control communication with an external device outside the shovel 100. In this embodiment, the communication terminal T1 controls communication with the external device via a satellite communication network, a mobile phone communication network, the Internet network, or the like. The external device is, for example, a management device 200 such as a server installed in an external facility, or a support device 300 such as a smartphone carried by a worker near the shovel 100.

[0040] In the excavator 100 of this embodiment, the various sensors described above, the controller 30, the engine control unit 50 (see FIG. 2 ), etc. are connected to each other via a controller area network (CAN) so that they can communicate with each other, and each transmits and receives data via the CAN. In other words, the controller 30 of this embodiment receives output values ​​output from the various sensors, signals output from the engine control unit 50, etc. via the CAN.

[0041] When the management device 200 of this embodiment receives operation information from the shovel 100, it estimates a work procedure that takes into account the impact on the environment surrounding the shovel 100 based on the received operation information and notifies the operator of the shovel 100.

[0042] More specifically, for example, when the shovel 100 starts work to form a slope, the management device 200 estimates a work procedure that will result in the gradient of the slope (excavation surface) formed by the excavation operation of the shovel 100 satisfying predetermined conditions, based on the operation information received from the shovel 100, and notifies the operator of the shovel 100. The excavation operation is an operation in which the bucket 6 is inserted into soil and then the bucket 6 is closed while closing the arm 5 (pulling it toward the operator).

[0043] In this embodiment, by doing this, it is possible to take into account the impact on the ground of changes in the inclination and shape of the slope caused by excavation, and to prevent changes in the inclination and shape of the slope caused by excavation from affecting the environment around the shovel 100.

[0044] Specifically, for example, in this embodiment, it is possible to prevent the natural ground from collapsing or collapsing due to excavation, and the vehicle itself from falling down a slope due to excavation, thereby improving safety. Details of the management device 200 will be described later.

[0045] 1, the management device 200 is realized by one information processing device, but this is not limiting. The management device 200 may be realized by multiple information processing devices. In other words, the functions realized by the management device 200 may be realized by multiple information processing devices.

[0046] Next, the hardware configuration of each device included in the management system SYS will be described with reference to Fig. 2. Fig. 2 is a diagram illustrating the hardware configuration of each device included in the excavator management system.

[0047] First, a description will be given of the hardware configuration of the excavator 100. Inside the cabin 10, a controller 30, a display device 40, a communication terminal T1, etc. are installed.

[0048] The engine 11 is a diesel engine that employs isochronous control to maintain a constant engine speed regardless of changes in engine load. The amount and timing of fuel injection for the engine 11 are controlled by an engine control unit 50.

[0049] The rotating shaft of the engine 11 is connected to the rotating shafts of a main pump 14 and a pilot pump 15, which serve as hydraulic pumps.

[0050] The regulator 13 is configured to control the displacement of the main pump 14. In this embodiment, the regulator 13 controls the displacement of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in response to a control command from the controller 30. For example, the controller 30 changes the displacement of the main pump 14 by outputting a control command to the regulator 13 in response to the output of the discharge pressure sensor 28, etc. The regulator 13 is configured to transmit data representing the swash plate tilt angle to the controller 30.

[0051] The main pump 14 is configured to supply hydraulic oil to the control valve 17 via a hydraulic oil line. In this embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

[0052] The oil temperature sensor 14c is configured to detect the temperature of the hydraulic oil flowing through the hydraulic oil line between the hydraulic oil tank and the main pump 14. The oil temperature sensor 14c is configured to transmit the detected data to the controller 30.

[0053] The pilot pump 15 is configured to be able to supply pilot pressure to various hydraulic control devices such as operating devices via a pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the function of the pilot pump 15 may be realized by the main pump 14. In this case, the main pump 14 may have a function of lowering the pressure of the hydraulic oil by a throttle or the like and then supplying the hydraulic oil to operating devices or the like, in addition to the function of supplying hydraulic oil to the control valve 17.

[0054] The control valve 17 is a hydraulic control device that controls the hydraulic system of the excavator 100. The control valve 17 is connected to hydraulic actuators such as the right-side traveling hydraulic motor, the left-side traveling hydraulic motor, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, and the swing hydraulic motor.

[0055] The controller 30 is a control device that controls the shovel 100. In this embodiment, the controller 30 is configured by a microcomputer including a CPU, a volatile storage device, a nonvolatile storage device, etc. The various functions of the controller 30 are realized by the CPU executing programs stored in the nonvolatile storage device.

[0056] The display device 40 is attached between the right pillar and the driver's seat and is positioned so that the operator sitting in the driver's seat can see the screen. The display device 40 is configured to be able to display various information in response to commands from the controller 30. In this embodiment, the display device 40 is a liquid crystal display connected to the controller 30.

[0057] An image is displayed on the image display unit 41. The switch panel 45 is a panel including various hardware switches. The switch panel 45 may be a touch panel disposed on the image display unit 41.

[0058] In this embodiment, the display device 40 is configured to operate 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 the controller 30, the communication terminal T1, etc. For example, the starter 11b of the engine 11 is configured to be driven by power from the storage battery 70 to start the engine 11.

[0059] The communication terminal T1 is configured to be able to control communication between the shovel 100 and external devices. In this embodiment, the communication terminal T1 controls wireless communication between the shovel 100 and at least one of the management devices 200 via at least one of a satellite communication line, a mobile phone communication line, a short-range wireless communication line, etc.

[0060] The engine control unit 50 is configured to be able to control the engine 11. The engine control unit 50 is also configured to be able to send data representing the state of the engine 11, such as the coolant temperature, to the controller 30.

[0061] The engine speed adjustment dial 75 is a dial for adjusting the speed of the engine 11. The engine speed adjustment dial 75 transmits data indicating the setting state of the engine speed to the controller 30. The engine speed adjustment dial 75 is configured to be able to switch the engine speed among four stages: SP mode, H mode, A mode, and idling mode.

[0062] The SP mode is a rotation speed mode selected when priority is given to the amount of work, and uses the highest engine rotation speed. The H mode is a rotation speed mode selected when priority is given to 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 priority is given to fuel economy while 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 the engine 11 is to be in an idling state, and uses the lowest engine rotation speed. The engine 11 is controlled to rotate at a constant engine rotation speed corresponding to the rotation speed mode set with the engine rotation speed adjustment dial 75.

[0063] Next, a description will be given of the hardware configuration of the management device 200 of this embodiment. The management device 200 of this embodiment is a computer having a CPU 201, a storage device 202, a communication device 203, an input device 204, and a display device 205, which are all interconnected by a bus.

[0064] The CPU 201 controls the overall operation of the management device 200. The storage device 202 stores programs executed by the CPU 201 and various information related to the shovel 100. The communication device 203 communicates with the shovel 100 and the support device 300 via a network.

[0065] The input device 204 is used to input information to the management device 200, and is realized by, for example, a keyboard, a pointing device, etc. The display device 205 displays various information output from the management device 200, and is realized by, for example, a display.

[0066] Next, the functional configuration of the shovel 100 and the management device 200 will be described with reference to Fig. 3. Fig. 3 is a diagram illustrating the functional configuration of each device included in the management system for the shovel.

[0067] First, a description will be given of the functions of the shovel 100. The shovel 100 has an operation information acquisition unit 31, an operation information output unit 32, and a display control unit 33. Each unit of the shovel 100 may be realized by the controller 30 reading and executing a program stored in a storage device or the like included in the controller 30.

[0068] The operation information acquisition unit 31 of this embodiment periodically acquires operation information of the excavator 100. Here, the operation information of this embodiment will be described.

[0069] Specifically, the operation information in this embodiment includes position information indicating the current position of the excavator, orientation information indicating the orientation of the excavator, work content information indicating the work content, etc. Furthermore, the operation information in this embodiment includes attitude information indicating the attitude of the excavator, information indicating the excavation reaction force, etc. These pieces of information may be indicated based on sensor values ​​output from an acceleration sensor and a gyro sensor provided on the attachment, sensor values ​​output from a cylinder pressure sensor, and pilot pressure. These pieces of information may be examples of status information indicating the status of the excavator 100.

[0070] Furthermore, the operation information in the embodiment includes image data captured by the imaging device S6. The image data includes still image data and video data. Furthermore, the imaging device S6 may be an example of a spatial recognition device, and the operation information may include three-dimensional data indicating the topography around the shovel 100, acquired by the imaging device S6 as a spatial recognition device.

[0071] In this embodiment, the image data acquired by the imaging device S6 is an example of environmental information that indicates the environment around the excavator 100. Furthermore, the environmental information in this embodiment may include information that indicates the condition of the natural ground where excavation is being performed. In other words, the image indicated by the image data acquired by the imaging device S6 may include an image of the natural ground. The information that indicates the condition of the natural ground is information that indicates the shape of the natural ground, the soil quality of the natural ground, the presence or absence of cracks, the presence or absence of water leakage, etc.

[0072] The operation information output unit 32 of this embodiment transmits the operation information acquired by the operation information acquisition unit 31 to the management device 200 via the communication terminal T1.

[0073] The display control unit 33 controls the display on the shovel 100. Specifically, the display control unit 33 may cause the display device 40 to display the work procedure estimated by the management device 200. Furthermore, a display device 40A separate from the display device 40 is provided inside the cabin 10 of the shovel 100, and the display control unit 33 may cause the display device 40A to display information indicating the work procedure.

[0074] Furthermore, the display control unit 33 of this embodiment may superimpose information indicating the work procedure estimated by the management device 200 onto the field of view around the excavator 100 (the excavator itself) as seen by the operator inside the cabin 10. In this case, an image projection device using the front window of the cabin 10 as a projection surface may be installed inside the cabin 10, and the display control unit 33 may control the image projection device to display the information indicating the work procedure on the front window.

[0075] Furthermore, in this embodiment, information indicating the work procedure may be displayed on a head-mounted display worn by the operator. In this case, the display control unit 33 may transmit the information indicating the work procedure to the head-mounted display.

[0076] In this embodiment, by displaying information indicating the work procedure in this manner, the operator can confirm the work procedure from the information displayed superimposed in his or her field of view while sitting in the operator's seat and looking around the excavator 100. This allows the operator to grasp the work procedure together with the situation in front of him or her. In other words, the operator can intuitively understand the work procedure.

[0077] Note that some of the functions of the controller 30 may be realized by another controller (control device). That is, the functions of the controller 30 may be distributed and realized by a plurality of controllers. For example, the controller that realizes the machine guidance function and the machine control function may be separate from the controller that realizes the field of view superimposition display function.

[0078] Next, a description will be given of the functions of the management device 200. The management device 200 of this embodiment has an information acquisition unit 210, a learning unit 220, an estimation unit 230, and an output unit 240. Each unit of the management device 200 is realized by the CPU 201 of the management device 200 reading and executing a program stored in the storage device 202.

[0079] The information acquisition unit 210 acquires various types of information. Specifically, the information acquisition unit 210 periodically acquires operation information from the excavator 100. The learning unit 220 uses the training data to generate or update a trained model 231 that has been machine-learned to learn the association between the operation information and the work procedure. The training data and the learning by the learning unit 220 will be described in detail below.

[0080] The estimation unit 230 holds a trained model 231. In other words, the function of the estimation unit 230 is realized by the trained model 231. The trained model 231 is a trained model that receives operation information as input and outputs information indicating work procedures.

[0081] In other words, the trained model 231 takes as input operation information including status information indicating the status of the shovel 100 and environmental information indicating the environment surrounding the shovel 100, and outputs information indicating the work procedure of the shovel 100 at the work site.

[0082] In the present embodiment, the environmental information is included in the operation information acquired by the shovel 100, but is not limited to this. The environmental information may be acquired, for example, by an imaging device (spatial recognition device) mounted on an aircraft flying around the shovel 100. In this case, the management device 200 may acquire the environmental information from the aircraft, acquire operation information including status information from the shovel 100, and input the environmental information received from the aircraft and the operation information acquired from the shovel 100 into the trained model 231. The environmental information may be acquired by a support device carried by a worker performing work at the work site or an imaging device installed at the work site, and transmitted to the management device 200.

[0083] When the information acquisition unit 210 acquires operation information, the estimation unit 230 inputs the acquired operation information into the trained model 231 and outputs information indicating the work procedure output from the trained model 231.

[0084] The output unit 240 transmits information indicating the work procedure estimated by the estimation unit 230 to the shovel 100.

[0085] Next, the work procedure of the shovel 100 of this embodiment will be further described with reference to Figures 4A and 4B. Figure 4A is a first diagram illustrating the work procedure of the shovel, and Figure 4B is a second diagram illustrating the work procedure of the shovel.

[0086] The examples of FIGS. 4A and 4B schematically show a case where the excavator 100 moves the cutting edge of the bucket 6 along a target construction surface to excavate the natural ground and form a slope.

[0087] 4A shows a case where a current ground surface 402A of the natural ground is excavated from above to form a target construction surface 401A. In this case, the excavator 100 has a machine guidance function that automatically controls the operation of the attachment in response to manual operation by the operator so that the working parts, such as the tip and back of the bucket 6, are aligned with the target construction surface 401A. The target construction surface 401A is set in the excavator 100 in advance.

[0088] At this time, the management device 200 of this embodiment notifies the operator of a work procedure so that the gradient of the excavation surface after excavation of the current ground surface 402A satisfies a predetermined condition. The work procedure here may be information including, for example, the location to be excavated next and the excavation depth (height of the excavation surface).

[0089] The predetermined conditions in this embodiment include the standards for the slope of the excavation surface stipulated in the Industrial Safety and Health Act and the Industrial Safety and Health Regulations based on the provisions of the Enforcement Order of the Industrial Safety and Health Act. The slope of the excavation surface is the angle of the excavation surface relative to the horizontal plane.

[0090] Furthermore, the predetermined conditions may include determining the height and gradient of the excavation surface depending on the type of natural ground. Specific examples of the predetermined conditions are shown below.

[0091] If there is a risk of danger to the operator of the machine due to the collapse of the ground or the falling of earth and rocks, <Ground made of bedrock with no cracks that could cause collapse or falling> When the height of the excavation surface is less than 20m, the gradient of the excavation surface must be 90 degrees or less. When the height of the excavation surface is 20m or more, the gradient of the excavation surface must be 75 degrees or less. <Ground made of bedrock other than the bedrock mentioned in the previous item> When the height of the excavation surface is less than 5m, the gradient of the excavation surface must be 90 degrees or less. When the height of the excavation surface is 5m or more, the gradient of the excavation surface must be 60 degrees or less. <Ground other than the ground mentioned in the previous items> When the height of the excavation surface is less than 2m, the gradient of the excavation surface must be 90 degrees or less. When the height of the excavation surface is 2m or more, the gradient of the excavation surface must be 45 degrees or less.

[0092] In this embodiment, when the operator of the shovel 100 starts work to form a slope, the management device 200 estimates a work procedure in which the gradient and height of the excavation surface satisfy the above-mentioned specified conditions based on the operation information received from the shovel 100 and the trained model 231, and notifies the operator of the shovel 100 of the work procedure.

[0093] In this embodiment, by defining the predetermined conditions in this way, work can be performed in accordance with the Industrial Safety and Health Act and the Industrial Safety and Health Regulations based on the provisions of the Enforcement Order of the Industrial Safety and Health Act.

[0094] 4A , the excavator 100 starts excavation from the upper end Ta of the current ground surface 402A. In this case, the management device 200 determines the condition of the natural ground from the image data included in the operation information using the trained model 231. Specifically, the trained model 231 determines whether or not there are cracks, water leaks, or the like in the natural ground.

[0095] Then, when it is determined that there are no cracks, water leaks, or the like in the ground, the management device 200 uses the trained model 231 to estimate a work procedure in which the gradient and height H11 of the excavation surface 450 formed by excavation satisfy predetermined conditions corresponding to the state of the ground, and notifies the operator of the shovel 100. The gradient of the excavation surface 450 is the angle θ11 between the excavation surface 450 and the horizontal plane H.

[0096] The work procedure notified to the operator by the management device 200 may be, for example, information guiding the excavation location and excavation depth during the excavation operation.

[0097] More specifically, the work procedure notified to the operator by management device 200 may be a method of operation in which the cutting edge of bucket 6 traces a curve indicated by dotted line 410 in FIG. 4A.

[0098] When the excavation surface 450 is formed, the management device 200 estimates a work procedure so that the gradient and height H12 of the excavation surface 451 to be formed next by excavation will satisfy predetermined conditions corresponding to the state of the ground, and notifies the operator of the shovel 100. The gradient of the excavation surface 451 is the angle θ12 between the excavation surface 451 and the horizontal plane H.

[0099] Then, the management device 200 notifies the operator of the operation procedure, which is how to operate the bucket 6 so that the cutting edge thereof traces the curve indicated by the dotted line 411 in FIG. 4A.

[0100] In this manner, in this embodiment, the operator of the shovel 100 is notified of a work procedure that will result in an excavation surface that meets predetermined conditions after excavation.

[0101] Therefore, according to this embodiment, it is possible to prevent the ground from collapsing or collapsing from above during excavation work, and it is possible to prevent the shovel 100 from being buried in earth and sand due to the ground collapsing or collapsing.

[0102] Note that the management device 200 of this embodiment may transmit a notification to the shovel 100 urging the worker to evacuate from the work site if there is a crack, a water leak, or the like in the ground. Upon receiving this notification, the shovel 100 may cause the display device 40 to display a message urging the worker to evacuate from the work site. Furthermore, the shovel 100 may cause the audio output device 43 to output a sound urging the worker at the work site to evacuate from the work site. In this embodiment, by doing so, the worker at the work site can be evacuated from the work site, thereby improving safety.

[0103] 4B shows a case where a current ground surface 402B of the natural ground is excavated downward to form a target construction surface 401B. In this case, the target construction surface 401B is set in the excavator 100, and the operation of the attachment is automatically controlled in response to manual operation by the operator so that the working parts, such as the tip and back of the bucket 6, are aligned with the target construction surface 401B.

[0104] 4B , the excavator 100 starts excavation from the edge Tb of the current ground surface 402B. At this time, the management device 200 determines the state of the natural ground from the image data included in the operation information using the trained model 231.

[0105] Next, the management device 200 uses the trained model 231 to estimate a work procedure in which the gradient and height H21 of the excavation surface 460 formed by excavation satisfy predetermined conditions corresponding to the state of the ground when there are no cracks, water leaks, or the like in the ground, and notifies the operator of the shovel 100. The gradient of the excavation surface 460 is the angle θ21 between the excavation surface 460 and the horizontal plane H.

[0106] Here, the work procedure notified to the operator by management device 200 may be a method of operation in which the cutting edge of bucket 6 traces a curve indicated by dotted line 420 in FIG. 4B.

[0107] When the excavation surface 460 is formed, the management device 200 estimates a work procedure so that the gradient and height H22 of the excavation surface 461 to be formed next by excavation will satisfy predetermined conditions corresponding to the state of the ground, and notifies the operator of the shovel 100. The gradient of the excavation surface 461 is the angle θ22 between the excavation surface 461 and the horizontal plane H.

[0108] Then, the management device 200 notifies the operator of the operation procedure, which is how to operate the bucket 6 so that the cutting edge thereof traces the curve indicated by the dotted line 421 in FIG. 4B.

[0109] In this manner, in this embodiment, by guiding the operator of the shovel 100 through a work procedure that will result in an excavation surface that satisfies predetermined conditions after excavation, it is possible to prevent the shovel 100 from tipping over or falling during work. Also, in this embodiment, it is possible to prevent an excavation reaction force that is so great that it cannot be balanced by the counterweight 29 from being applied to the bucket 6.

[0110] Next, with reference to FIG. 5, the generation and update of the trained model 231 by the management device 200 of this embodiment will be described.

[0111] 5 is a flowchart illustrating the processing of the learning unit of the management device 200. The learning unit 220 of the management device 200 of this embodiment acquires training data (step S501).

[0112] The training data of this embodiment will now be described. The training data of this embodiment is operation information when the shovel 100 is operated so that the excavation surface satisfies predetermined conditions.

[0113] In other words, the training data is operational information when work is being carried out so that the excavation surface formed by excavation satisfies predetermined conditions corresponding to the type of ground.

[0114] The operation information of the shovel 100 that serves as training data may be, for example, operation information acquired when an operator who is highly skilled in operating the shovel 100 is operating the shovel 100.

[0115] This operating information includes environmental information (including the shape of the ground and the soil quality of the ground) indicating the environment around the shovel 100 when a skilled operator is operating the shovel 100, and status information (including various sensor values ​​and information indicating the attitude of the shovel itself) indicating the state of the shovel 100.

[0116] In other words, the operation information when an operator skilled in the operation is operating the shovel 100 can be said to be a data set in which environmental information (environmental conditions) indicating the environment around the shovel 100 is associated with a work procedure (correct data) that takes into account the impact on the environment around the shovel 100. In this embodiment, operation information acquired when an operator skilled in the operation is operating the shovel 100 may be collected and used as training data.

[0117] In this embodiment, the operation information when a specific operator operates the shovel 100 may be used as the training data, but is not limited to this.

[0118] The management device 200 may store operation information when the shovel 100 performs excavation work, and from the stored operation information, extract operation information in which the excavation surface formed by excavation always satisfies specified conditions corresponding to the shape of the ground, and use this information as training data.

[0119] In this embodiment, by collecting training data in this manner and performing machine learning, the trained model 231 is able to estimate work procedures like an operator skilled in the operation.

[0120] When the training data is acquired, the learning unit 220 of the management device 200 performs machine learning on the training data (step S502) and generates or updates the trained model 231 (step S503).

[0121] The trained model 231 of this embodiment may be a trained model mainly composed of a neural network.

[0122] A neural network is a so-called deep neural network that has one or more intermediate layers (hidden layers) between an input layer and an output layer. In a neural network, a weighting parameter representing the connection strength with a lower layer is defined for each of the multiple neurons that make up each intermediate layer. The neural network is configured in such a way that the neurons in each layer output the sum of values ​​obtained by multiplying each input value from the multiple neurons in the upper layer by the weighting parameter defined for each neuron in the upper layer to the neurons in the lower layer via a threshold function.

[0123] The learning unit 220 performs machine learning, specifically deep learning, on the neural network to optimize the weighting parameters. As a result, the neural network receives the operation information acquired by the information acquisition unit 210 as an input signal, and can output information indicating a work procedure in which the excavation surface formed by the excavation operation satisfies predetermined conditions as an output signal.

[0124] In this embodiment, if the trained model 231 has not been generated when the management device 200 acquires the teacher data, the management device 200 generates the trained model 231. Furthermore, if the trained model 231 has not been generated when the management device 200 acquires the teacher data, the management device 200 may perform learning using the learning unit 220 to update the trained model 231 every time operation information that serves as teacher data is acquired.

[0125] In this embodiment, by updating the trained model 231 in this manner, the accuracy of the estimation results by the estimation unit 230 can be improved.

[0126] Next, the operation of the management system SYS of this embodiment will be described with reference to Fig. 6. Fig. 6 is a sequence diagram illustrating the operation of the excavator management system.

[0127] In the management system SYS of this embodiment, when an excavation operation is started, the shovel 100 acquires operation information using the operation information acquisition unit 31 (step S601), and transmits the acquired operation information to the management device 200 using the operation information output unit 32 (step S602).

[0128] When the management device 200 acquires the operation information using the information acquisition unit 210, the estimation unit 230 inputs the acquired operation information into the trained model 231 (step S603). Next, the estimation unit 230 acquires information indicating the work procedure output from the trained model 231 (step S604). Next, the management device 200 transmits the information indicating the work procedure to the excavator 100 using the output unit 240 (step S605).

[0129] When the shovel 100 receives the information indicating the work procedure, it displays the information indicating the work procedure (step S606).

[0130] A display example of the shovel 100 of this embodiment will be described below with reference to Fig. 7. Fig. 7 is a diagram showing a display example of information indicating a work procedure.

[0131] 7 shows a forward field of view 510 when viewed from the front window by an operator inside the cabin 10. As shown in Fig. 7, the operator's forward field of view 510 includes the work area in front of the upper rotating body 3, and also includes attachments (boom 4, arm 5, and bucket 6) in the upper right portion. In addition, an image projection device provided inside the cabin 10 displays (projects) information images 410A, 411A, and 412A within the operator's forward field of view 510 (specifically, on the front window, which serves as a projection surface of the cabin 10).

[0132] The information images 410A, 411A, and 412A are examples of information indicating the procedure for excavation work. Specifically, each of the information images 410A, 411A, and 412A indicates the location to be excavated in one excavation operation and the excavation depth (the height of the excavation surface to be formed).

[0133] Each of the information images 410A, 411A, and 412A is displayed at a position corresponding to the excavation location in the natural ground included in the forward field of view 510. Furthermore, each of the information images 410A, 411A, and 412A may be displayed in a different manner depending on the excavation depth. Specifically, the information images 410A, 411A, and 412A may be displayed in a color or the like depending on the excavation depth.

[0134] 7 shows an example in which the information images 410A, 411A, and 412A are simultaneously displayed, but the present invention is not limited to this. In this embodiment, a corresponding information image may be displayed for each excavation operation.

[0135] Specifically, for example, when the shovel 100 starts an excavation operation, only the information image 410A corresponding to the location to be excavated first is displayed. Then, when the excavation operation at the position corresponding to the information image 410A is completed and the next excavation operation is started, the display control unit 33 may display only the information image 411A as the location to be excavated next after the position corresponding to the information image 410A. In this case, the operation information may be transmitted from the shovel 100 to the management device 200 each time an excavation operation is performed.

[0136] Furthermore, the management device 200 of this embodiment may update the information image to be displayed based on the operation information transmitted from the shovel 100 each time an excavation operation is performed. Specifically, for example, when the location corresponding to the information image 410A is excavated, the information images 411A and 412A displayed next are updated to a result estimated based on the operation information transmitted by the shovel 100 to the management device 200 after the excavation operation for the location corresponding to the information image 410A. In this way, by estimating the work procedure each time an excavation operation is performed, the operator can be notified of the work procedure based on the latest state of the ground.

[0137] Furthermore, the management device 200 of this embodiment may issue a warning to the operator when the gradient of the excavation surface exceeds a value specified in the predetermined condition or approaches within a predetermined range of the value set in the predetermined condition. The warning may be displayed in a position that is easily visible to the operator within the forward field of view 510 shown in FIG. 7. The warning may also be output as a sound.

[0138] Furthermore, when it is determined that there is a crack or a water leak in the ground, the management device 200 of this embodiment may display information indicating the presence of the crack or the water leak within the forward field of view 510. In this case, the information images 410A, 411A, and 412A may not be displayed.

[0139] Furthermore, the management device 200 of this embodiment may display an information image in the forward field of view 510, as well as an image of the side of the shovel 100, an image showing the target construction surface, and a guide image corresponding to dotted lines 410, 411, 420, and 421, as shown in Figures 4A and 4B, on the display device 40 of the shovel 100.

[0140] In addition, instead of projecting an information image onto the front window, the management device 200 of this embodiment may display an image of the side of the shovel 100, an image showing the target construction surface, and a guide image on the display device 40 as information showing the work procedure.

[0141] In this embodiment, the information images 410A, 411A, and 412A may be displayed on a head-mounted display worn by the operator.

[0142] Furthermore, in this embodiment, the information images 410A, 411A, and 412A may be displayed on the display device 40 of the shovel 100. In this case, the display control unit 33 of the shovel 100 may superimpose the information images 410A, 411A, and 412A on the image of the front of the shovel 100 captured by the front camera S6F and display the image on the display device 40.

[0143] In the present embodiment, the management device 200 notifies the operator of the information indicating the work procedure, but the present invention is not limited to this. The management device 200 may control the operation of the shovel 100 based on the information indicating the work procedure.

[0144] In this case, when the controller 30 of the shovel 100 receives information indicating the work procedure from the management device 200, it may generate a command value to operate the attachment based on the information indicating the work procedure, and operate the attachment in accordance with the information indicated by the work procedure.

[0145] Furthermore, the management device 200 of this embodiment may transmit information indicating the work procedure to a remote control room for remotely operating the shovel 100. In this case, the information indicating the work procedure may be displayed on a display device provided in the remote control room, superimposed on an image in front of the shovel 100.

[0146] In this way, by applying this embodiment to the remote operation of the shovel 100, even if the work site of the shovel 100 is an environment where people cannot enter, the shovel 100 can be made to perform highly safe work that takes into account the impact on the environment surrounding the shovel 100.

[0147] Furthermore, the functions of the management device 200 of this embodiment may be provided in the controller 30 of the shovel 100.

[0148] In this case, the controller 30 of the excavator 100 has the functions of the learning unit 220 and the estimation unit 230, inputs the operation information acquired by the excavator into the trained model 231 possessed by the excavator, and displays information indicating the work procedure output from the trained model 231.

[0149] Furthermore, in this embodiment, the management device 200 may be provided with the function of the learning unit 220, and the shovel 100 may be provided with the function of the estimating unit 230. In this case, when the management device 200 generates the trained model 231 using the learning unit 220, the management device 200 transmits the trained model 231 to the shovel 100. The shovel 100 realizes the function of the estimating unit 230 by having the controller 30 store the trained model 231. In this case, the management device 200 may update the trained model 231 stored in the shovel 100 every time the learning unit 220 updates the trained model 231.

[0150] In this embodiment, by providing the shovel 100 with the function of the estimation unit 230, the shovel 100 can perform excavation work with high safety, even if, for example, communication between the shovel 100 and the management device 200 is interrupted.

[0151] Furthermore, in each of the above-described embodiments, the shovel 100 is used as an example of a work machine, but the work machine may be any machine that performs excavation operations, and is not limited to a shovel.

[0152] The preferred embodiments of the present invention have been described above in detail. However, the present invention is not limited to the above-described embodiments. Various modifications, substitutions, etc. may be applied to the above-described embodiments without departing from the scope of the present invention. Furthermore, features described separately may be combined unless technical contradictions arise.

[0153] This international application claims priority based on Japanese Patent Application No. 2023-211306 filed on December 14, 2023, and the entire contents of Japanese Patent Application No. 2023-211306 are incorporated herein by reference.

[0154] REFERENCE SIGNS LIST 1 Lower traveling body 2 Swing mechanism 3 Upper rotating body 4 Boom 5 Arm 6 Bucket 30 Controller 31 Operation information acquisition unit 32 Operation information output unit 33 Display control unit 100 Excavator 200 Management device 210 Information acquisition unit 220 Learning unit 230 Estimation unit 231 Trained model 240 Output unit

Claims

1. A work machine having an operation information acquisition unit that acquires operation information including environmental information indicating the environment around the work machine and status information indicating the status of the work machine; an estimation unit that estimates a work procedure in which an excavation surface formed by an excavation operation satisfies specified conditions based on the operation information; and a display control unit that displays information indicating the work procedure estimated by the estimation unit.

2. A work machine as described in claim 1, wherein the environmental information includes the shape and soil quality of the ground to be excavated by the excavation operation, and the specified condition is that the gradient of the excavation surface is less than a gradient specified according to the type of ground to be excavated by the excavation operation.

3. A work machine as claimed in claim 2, wherein the predetermined condition is that the height of the excavation surface is within a height range defined according to the type of ground to be excavated by the excavation operation.

4. A work machine according to claim 1, wherein the estimation unit acquires the operation information and estimates the work procedure each time the excavation operation is performed.

5. A work machine as described in claim 2, wherein the estimation unit determines whether or not there is a crack or a water leak in the ground based on the environmental information, and outputs a warning if it is determined that there is a crack or a water leak in the ground.

6. A work machine as described in claim 1, wherein the estimation unit is a trained model generated by machine learning using as training data a data set that associates environmental information indicating the environment around the work machine with information indicating the work procedure when the excavation surface formed during excavation work satisfies specified conditions corresponding to the type of ground indicated by the environmental information.

7. A work machine as claimed in claim 1, comprising: an upper rotating body; a lower running body; and an attachment provided on said upper rotating body, and further comprising a control unit that controls the operation of the attachment in accordance with the work procedure estimated by said estimation unit.

8. A work machine management system including a work machine and a management device that communicates with the work machine, wherein the management device has: an information acquisition unit that acquires operation information from the work machine, including environmental information that indicates the environment around the work machine and status information that indicates the status of the work machine; an estimation unit that estimates a work procedure that will result in an excavation surface formed by the excavation operation of the work machine satisfying specified conditions, based on the operation information; and an output unit that outputs information indicating the work procedure estimated by the estimation unit to the work machine.

9. A work machine management device that communicates with a work machine, the work machine management device having: an information acquisition unit that acquires operation information from the work machine, including environmental information that indicates the environment around the work machine and status information that indicates the status of the work machine; an estimation unit that estimates a work procedure that will result in an excavation surface formed by the excavation operation of the work machine satisfying specified conditions, based on the operation information; and an output unit that outputs information indicating the work procedure estimated by the estimation unit to the work machine.

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