CN111902830A - Support device for construction machine - Google Patents
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- CN111902830A CN111902830A CN201980020159.0A CN201980020159A CN111902830A CN 111902830 A CN111902830 A CN 111902830A CN 201980020159 A CN201980020159 A CN 201980020159A CN 111902830 A CN111902830 A CN 111902830A
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Abstract
An assistance device for a construction machine according to an embodiment of the present invention includes: an image input unit for inputting image data of a construction machine; a processing unit that compares the image data input by the image input unit with image data of the construction machine acquired in the past, and specifies a site related to inspection of the construction machine; and a display unit that displays the image input by the image input unit and displays the portion related to the inspection specified by the processing unit in a superimposed manner on the image.
Description
Technical Field
The present invention relates to an assistance device for a construction machine.
Background
Conventionally, there is known a shovel support device that stores image data input by an image input device in a storage device in association with information indicating a position of a damaged portion input by a damaged portion input device (for example, refer to patent document 1). In this shovel support device, a maintenance worker visually confirms the shovel and operates the image input device to input information indicating the position of the damaged portion.
Documents of the prior art
Patent document
Patent document 1: international publication No. 2014/132903
Disclosure of Invention
Problems to be solved by the invention
However, since a portion of the excavator related to the inspection involves a plurality of aspects, if a maintenance worker with low skill performs the inspection, the damaged portion may be ignored or it may be unknown how to determine whether or not the damaged portion is.
In view of the above problems, it is an object of the present invention to provide an assistance device for a construction machine, which can easily identify a site related to inspection.
Means for solving the problems
An assistance device for a construction machine according to an embodiment of the present invention includes: an image input unit for inputting image data of a construction machine; a processing unit that compares the image data input by the image input unit with image data of the construction machine acquired in the past, and specifies a site related to inspection of the construction machine; and a display unit that displays the image input by the image input unit and displays the portion related to the inspection specified by the processing unit in a superimposed manner on the image.
Effects of the invention
According to the embodiments of the present invention, it is possible to provide an assistance device for a construction machine, which can easily identify a site related to inspection.
Drawings
Fig. 1 is a diagram for explaining a shovel support device according to an embodiment of the present invention.
Fig. 2 is a flowchart showing an example of the inspection site specifying process according to the embodiment of the present invention.
Fig. 3 is a view showing a display screen for displaying a portion related to inspection on an image showing a shovel in a superimposed manner.
Fig. 4 is a view showing a display screen for displaying a portion related to inspection on an image showing a shovel in a superimposed manner.
Fig. 5 is a view showing a display screen for displaying a portion related to inspection on an image showing a shovel in a superimposed manner.
Fig. 6 is a view showing a display screen for displaying a portion related to inspection on an image showing a shovel in a superimposed manner.
Fig. 7 is a view showing a display screen for displaying a portion related to inspection on an image showing a shovel in a superimposed manner.
Fig. 8 is a view showing a display screen for displaying a portion related to inspection in a superimposed manner on an image showing a shovel.
Fig. 9 is a side view of the excavator.
Fig. 10 is a diagram showing a configuration example of a drive control system of the shovel.
Fig. 11 is a block diagram showing a configuration example of the device boot apparatus.
Detailed Description
Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. In the drawings, the same components are denoted by the same reference numerals, and redundant description may be omitted.
An example of a shovel support device 20 that supports a shovel as a construction machine according to an embodiment of the present invention will be described with reference to fig. 1. Fig. 1 is a diagram for explaining a shovel support device 20 according to an embodiment of the present invention. The construction machine to which the present invention can be applied includes an excavator (hydraulic excavator), a bulldozer, a wheel loader, and the like.
The shovel support device 20 includes a display screen 21, a character information input device 22, an image input device 23, a processing device 24, a storage device 25, and a communication device 26. The shovel support device 20 may be a smartphone, tablet terminal, notebook computer, or the like.
The display screen 21 displays the image of the excavator 50 input through the image input device 23, and displays the portion related to the inspection specified by the processing device 24 in a superimposed manner on the image. The portion related to the inspection includes a damaged portion of the shovel 50, a consumed portion of a consumable part, or a portion for periodic inspection.
The character information input device 22 is implemented in a partial area of the display screen 21, for example. When the area to which the character information is to be input is touched, the character information list is displayed as a pull-down menu. By selecting character information to be input from the displayed list, the selected character information is input. Further, a keyboard may be displayed on the display screen 21, and character information may be input using the displayed keyboard.
The image input device 23 is a device for inputting image data of the shovel 50 and the like. The image input device 23 includes, for example, a camera built in the shovel support device 20. By imaging a subject such as the shovel 50 with the camera, image data can be input to the shovel support device 20. The image input device 23 may be, for example, a USB port. At this time, the image data of the shovel 50 captured by the digital camera is input to the shovel support device 20 through the USB port.
The processing device 24 compares the image data of the shovel 50 input through the image input device 23 with the image data of the shovel 50 of the same body identification information (body number) acquired in the past, and specifies a portion of the shovel 50 related to the inspection. The image data of the excavator 50 acquired in the past may be stored in the storage device 25 or the storage device 33 of the management device 30, for example.
The storage device 25 stores programs necessary for the operation of the processing device 24, various data, image data of the excavator 50 input through the image input device 23, and the like. The storage device 25 stores distribution data indicating the degree of damage of the shovel 50. The distribution data indicating the degree of damage of the shovel 50 is data indicating the distribution of the degree of damage stored in each part of the shovel 50, and is calculated for each work type and work site using the shovel 50.
The communication device 26 communicates with the management device 30 and the excavator 50 to be managed via the communication network 40. Also, the communication device 26 may communicate directly with the shovel 50 without passing through the communication network 40.
The management device 30 includes an input device 31, an output device 32, a storage device 33, a processing device 34, and a communication device 35.
The input device 31 is a device for inputting a command (command) by an operator of the management device 30. The output device 32 displays various information received from the shovel support device 20 via the communication network 40. The storage device 33 stores various data such as a computer program executed by the processing device 34 and image data of the excavator 50 as a management target. Also, the storage device 33 may store distribution data indicating the degree of damage of the shovel 50. Processing device 34 may perform a portion or all of the processing performed by processing device 24 in place of processing device 24. The communication device 35 communicates with the shovel support device 20 and the management target shovel 50 via the communication network 40.
The shovel 50 includes a communication device 51 and a GPS terminal 52. For example, a short-range wireless communication method is used for communication between the shovel support device 20 and the shovel 50. For example, a public communication network is used for communication between the shovel support device 20 and the management device 30.
The body number of the shovel 50, the current value of the timetable indicating the cumulative operating time, the current position information, and the like are transmitted from the shovel 50 to the shovel support device 20. The current position information is acquired by a GPS terminal 52 provided in the shovel 50. The management device 30 receives various information useful for managing the shovel 50 from the shovel support device 20 and creates a database. Then, the management device 30 transmits information useful for maintenance and inspection of the excavator 50 to be managed to the excavator support device 20.
An example of a process of specifying a portion of the shovel 50 related to the inspection (hereinafter referred to as "inspection portion specifying process") by the shovel support device 20 will be described with reference to fig. 2. Fig. 2 is a flowchart showing an example of the inspection site specifying process according to the embodiment of the present invention.
When the operator inputs the image data obtained by imaging the shovel 50 through the image input device 23, the processing device 24 acquires the input image data (step ST 1). The operator includes an operator who performs an operation of the shovel 50, a maintenance worker who performs a maintenance work of the shovel 50, and the like. When the shovel support device 20 has a built-in camera, that is, when the image input device 23 includes a camera, the processing device 24 acquires the input image data when the shovel 50 is photographed by the built-in camera. The image data obtained by imaging the excavator 50 may be data of 1 image obtained by imaging the whole or a part of the excavator 50, or may be data of a plurality of images obtained by imaging different portions of the excavator 50.
Then, the processing device 24 compares the image data of the shovel 50 input through the image input device 23 with the image data of the shovel 50 of the same body number acquired in the past, and specifies a portion of the shovel 50 related to the inspection (step ST 2). The body number of the shovel 50 related to the image data input through the image input device 23 is input by an operator operating the image input device 23, for example. The body number of the shovel 50 related to the image data input through the image input device 23 may be input by the operator, for example, photographing a QR code (registered trademark), a barcode, or the like including information identifying the body number displayed on the shovel 50 and inputting the same through the image input device 23. In the present embodiment, the processing device 24 compares the image data of the excavator 50 input through the image input device 23 with the image data of the excavator 50 of the same body number acquired in the past, and determines whether or not there is a different portion in the two image data. If there is a different portion, the processing device 24 determines that the different portion is a portion of the shovel 50 related to the maintenance. If there is no different part, the processing device 24 determines that there is no portion of the shovel 50 related to the inspection. The image data of the excavator 50 acquired in the past is not particularly limited as long as it is image data obtained by imaging the excavator 50 of the same body number in the past, and may be image data of the excavator 50 captured immediately after manufacture or immediately after maintenance, for example. The image data of the excavator 50 acquired in the past may be stored in the storage device 25 of the excavator support device 20 or may be stored in the storage device 33 of the management device 30, for example. In the case where image data of a shovel acquired in the past is stored in the storage device 33, the processing device 24 communicates with the management device 30 via the communication device 26, and acquires the image data stored in the storage device 33. The processing device 34 of the management device 30 may replace the processing device 24 to perform the above-described collation.
Then, the processing device 24 determines whether or not a portion of the shovel 50 related to the inspection is specified (step ST 3). In the present embodiment, when there is a difference between the image data of the shovel 50 input through the image input device 23 and the image data of the shovel 50 of the same body number acquired in the past, the processing device 24 determines that there is a portion of the shovel 50 related to the inspection. On the other hand, if there is no different portion between the image data of the shovel 50 input from the image input device 23 and the image data of the shovel 50 of the same body number acquired in the past, the processing device 24 determines that there is no portion of the shovel 50 related to the inspection.
When there is a portion of the shovel 50 related to the inspection (yes in step ST3), the image input through the image input device 23 is displayed on the display screen 21, and the portion of the shovel 50 related to the inspection specified by the processing device 24 is displayed so as to be superimposed on the displayed image of the shovel 50 (step ST 4). In other words, the image of the excavator 50 actually captured is displayed on the display screen 21, and the portion of the excavator 50 related to the inspection is displayed on the displayed image of the excavator 50 in AR (Augmented Reality). Then, the process is ended. In addition, when the image input through the image input device 23 includes a plurality of images, an expanded view in which the plurality of images are connected may be displayed, and a portion of the shovel 50 related to the inspection may be displayed on the displayed expanded view AR. Further, only the image including the portion of the shovel 50 related to the inspection may be displayed in the plurality of images, and the portion of the shovel 50 related to the inspection may be displayed on the displayed image AR.
On the other hand, when there is no portion of the shovel 50 related to the inspection (no in step ST3), the processing device 24 determines whether or not the distribution data indicating the degree of damage of the shovel 50 of the same body number is stored in the storage device 25 or the storage device 33, and when stored, determines whether or not the degree of damage or the degree of abnormality reaches a predetermined value. Then, the presence or absence of the damage occurrence site and the abnormality occurrence site is determined from the distribution data of the damage degree (step ST 5).
When the distribution data indicating the degree of damage of the shovel 50 is stored in the storage device 25 or the storage device 33 and there are a damage occurrence portion and an abnormality occurrence portion (yes in step ST5), the image of the shovel 50 input from the image input device 23 is displayed on the display screen 21, and a portion determined from the distribution data indicating the degree of damage to have a high possibility of damage occurrence is displayed so as to be superimposed on the displayed image of the shovel 50 (step ST 6). Then, the process is ended.
On the other hand, when it is determined that the distribution data indicating the degree of damage of the shovel 50 is not stored in the storage device 25 or the storage device 33 (no in step ST5), the image of the shovel 50 input through the image input device 23 is displayed on the display screen 21, and information indicating that there is no portion related to the inspection is displayed so as to be superimposed on the displayed image of the shovel 50 (step ST 7). Then, the process is ended.
In the example of fig. 2, both the step ST3 of determining the presence or absence of a repair site from the captured image and the step ST5 of determining the presence or absence of a damage occurring site and an abnormality occurring site from the distribution data of the degree of damage are used, but only the step ST3 of determining the presence or absence of a repair site from the captured image may be used, and only the step ST5 of determining the presence or absence of a damage occurring site and an abnormality occurring site from the distribution data of the degree of damage may be used.
Next, an image displayed on the display screen 21 will be described with reference to fig. 3 to 8. Fig. 3 to 8 are views showing display screens for displaying a portion related to inspection on an image showing the shovel 50 in a superimposed manner.
As shown in fig. 3, the display screen 21 includes a 1 st image display area 60, a 2 nd image display area 61, an occurrence date display area 62, a current position display area 63, a body identification information display area 64, a chronograph display area 65, an inspection site display area 66, and a damaged state display area 67. Then, the final registration button 68 and the next damage information input button 69 are displayed on the display screen 21.
The 1 st image display area 60 is an area for displaying an image input by the operator through the image input device 23. In the example shown in fig. 3 and 4, an image obtained by imaging the boom top of the excavator 50 is displayed. In the example shown in fig. 5 to 7, an image of the entire shovel 50 taken from the cab side is displayed. In the example shown in fig. 8, an image obtained by imaging the bucket of the shovel 50 from the front is displayed.
The 2 nd image display area 61 is an area in which the same image as the image displayed in the 1 st image display area 60 and a portion of the shovel 50 related to inspection are displayed. The portion of the shovel 50 related to the inspection is preferably highlighted on the image displayed in the 2 nd image display area 61. By highlighting, the operator can easily determine where the portion to be inspected is by checking the 2 nd image display area 61.
In the example shown in fig. 3, the maintenance worker first starts the maintenance application of the shovel support device 20. The maintenance worker confirms whether or not the date shown in the date of occurrence display area 62 of the shovel support device 20 is the current date. Then, the current position, the body identification information, the hour meter, and the like are acquired through communication with the shovel 50, and it is confirmed whether or not the current position, the body identification information, and the hour meter are displayed in the current position display area 63, the body identification information display area 64, and the hour meter display area 65. Also, the maintenance worker first uses the camera function of the shovel support device 20 to photograph the boom top portion as the maintenance inspection site shown in the inspection site display area 66. The photographed image of the boom top taken is displayed in the 1 st image display area 60. At this time, the processing device 24 in the shovel support device 20 compares the image data of the shovel 50 input through the image input device 23 with the image data of the shovel 50 of the same body number acquired in the past, and determines whether or not there is a different portion in the two image data. The processing device 24 determines the occurrence of a crack in the boom top on the image as a different portion by the comparison and determination. As a result, the processing device 24 displays the same image as the image displayed in the 1 st image display area 60 in the 2 nd image display area 61 so as to overlap the crack portion of the boom top. At this time, AR shows a curve 61a thicker than the actual crack in order to emphasize the inspection site. The length (50mm) of the crack determined by the processing device 24 is also displayed in the 2 nd image display area 61. Thus, the operator can easily grasp the crack generation portion and the crack length of 50mm by confirming the image shown in fig. 3. The maintenance worker inputs a damaged state that cannot be grasped by shooting with the camera from the damaged state display area 67. When the maintenance and inspection of the boom top is completed, the next damaged information input button 69 is pressed to move to the next inspection and inspection position in order to photograph the next maintenance and inspection position. Here, a mechanism model including the internal structure of the shovel 50 is stored in the storage device 25 of the shovel support device 20 or the storage device 33 of the management device 30. Therefore, as shown in fig. 3, the maintenance worker can output a mechanism model including the internal structure of the excavator from either the storage device 25 or the storage device 33 before moving to the next inspection site in order to determine the cause of the crack in the boom top. In the example shown in fig. 4, an example is shown in which the internal mechanism model output from any one of the storage devices 25 and 33 is displayed so as to be superimposed on the same image as the image displayed in the 1 st image display area 60. Specifically, a broken line 61b indicating an internal bulkhead is displayed in an overlapping manner AR on the boom top portion on the same image as the image displayed in the 1 st image display area 60. Thus, the operator can easily grasp that damage has occurred at the joint with the internal bulkhead at the boom top by confirming the image shown in fig. 4.
As shown in fig. 3, in the damaged portion of the component of the excavator, not only cracks may occur in a portion visible from the surface of the top portion of the boom, but also the interior of the component such as the interior of the boom may be damaged. At this time, the operator cannot confirm the damaged state inside the component even by using the AR display. Therefore, AR display can be performed on the image of the boom top portion so that a probe for measuring a crack can be arranged at a predetermined installation site. In the example shown in fig. 4, as the installation site of the probe, AR display is performed at 2 sites on the upper surface and the side surface of the joint site with the internal bulkhead of the boom top. Thus, the operator can recognize the installation location 61b1 of the probe on the upper surface and the installation location 61b2 of the probe on the side surface by the AR display, and can appropriately install the probe. As the probe, for example, a device that transmits and receives ultrasonic waves can be used. As shown in fig. 4, the location of the probe can be set simultaneously with the AR display of the internal diaphragm. The installation site of the probe is stored in the storage devices 25 and 33 according to the mechanism model. Then, the data is outputted from the storage devices 25 and 33 to the shovel support device 20 in response to a request from the shovel support device 20, and displayed on the display screen 21 as AR.
In the example shown in fig. 5, "whether or not there is a damage occurrence site or an abnormality occurrence site based on the distribution data of the degree of damage? "in" is determined as "no abnormality" in the determination result. The maintenance worker acquires the current position, the body identification information, the hour meter, and the like through communication with the shovel 50, and confirms whether or not the current position, the body identification information, and the hour meter are displayed in the current position display area 63, the body identification information display area 64, and the hour meter display area 65. Then, the processing device 24 determines whether distribution data indicating the degree of damage of the shovel 50 of the same body number is stored in the storage device 25 or the storage device 33. When stored, the data is judged to have a damage occurrence part and an abnormality occurrence part based on the distribution data of the damage degree. When there is no damage occurrence portion or abnormality occurrence portion, a character "no abnormality" is displayed in the 2 nd image display area 61 together with an image obtained by imaging the entire shovel 50 from the cab side. Thus, the operator can easily grasp that there is no abnormality in the shovel 50 by confirming the image shown in fig. 5. In the example shown in fig. 6, "whether or not there is a damage occurrence site or an abnormality occurrence site based on the distribution data of the damage degree? "the determination result in" is determined as "having an abnormality". The processing device 24 determines whether distribution data indicating the degree of damage of the excavators 50 of the same body number is stored in the storage device 25 or the storage device 33. When stored, the data is judged to have a damage occurrence part and an abnormality occurrence part based on the distribution data of the damage degree. The processing device determines the filter replacement timing based on the distribution data of the degree of damage in the use state of the shovel 50. Thereby, the filter is extracted as the abnormality occurrence portion (or a portion where abnormality is likely to occur). Here, a maintenance worker with little experience does not know the arrangement position of the filter to be inspected. Therefore, when the entire shovel 50 is photographed from the cab side by the camera function of the shovel support device 20, for example, a graphic showing the arrangement position and shape of the filter, which is a part related to the inspection, and a character of "filter inspection" are displayed in an upper revolving body AR on the image so as to be superimposed on the image obtained by photographing the entire shovel 50 from the cab side. In the example of fig. 6, the arrangement positions of the air filter 61c and the pre-filter 61d are displayed on the AR of the entire captured image of the shovel 50. Thus, the operator can easily grasp which filter of the plurality of filters the filter to be inspected and the filter to be inspected are by confirming the image shown in fig. 6. In this way, the operator can easily grasp the location and type of the inspection site by confirming the image shown in fig. 6 even when the inspection site is disposed in the housing of the shovel 50 like a filter.
In the example shown in fig. 7, the following example is explained: when the entire shovel 50 is photographed from the cab side, in step ST3, the image data of the shovel 50 input through the image input device 23 is compared with the image data of the shovel 50 of the same body number acquired in the past, and it is determined that there is a different portion between the two image data. For example, when the entire shovel 50 is photographed from the cab side by the camera function of the shovel support device 20, the entire shovel 50 photographed from the cab side is displayed in the 1 st image display area 60. At this time, the processing device 24 compares the image data of the entire shovel 50 captured from the cab side by the camera function of the shovel support device 20 with the image data of the shovel 50 of the same body number acquired in the past, and determines that the cutting edge of the bucket has a different length as a result of the comparison. The processing device 24 determines that the cutting edge length of the bucket is 50mm shorter as a different portion. The processing device 24 displays, in the 2 nd image display area 61, a graph 61e indicating the cutting edge wear and a cutting edge wear amount (50mm) on the cutting edge of the bucket of the shovel 50 in a superimposed manner AR together with an image obtained by imaging the entire shovel 50 from the cab side as the same image as the 1 st image display area 60. Further, a "cutting edge" is displayed as an inspection portion in the inspection portion display area 66. Thus, the operator can easily grasp the cutting edge wear and the cutting edge wear amount by confirming the image shown in fig. 7.
When calculating the cutting edge wear amount of the bucket, the bucket angle or the attachment angle of the jaw is associated with the bucket angle or the attachment angle of the jaw when the previous image (image data of the excavator 50 to be compared) is acquired. Specifically, the bucket angle or the mounting angle of the jaws is made uniform. Thus, the cutting edge wear amount can be calculated by comparing the image data. Further, it is also possible to measure the distance from the bucket pin position P1 to the cutting edge position P2 of the bucket 6 (refer to fig. 9). Also, the cutting edge wear amount can be calculated from the distance from the last bucket pin position P1 to the cutting edge position P2 of the bucket 6, the distance from this bucket pin position P1 to the cutting edge position P2 of the bucket 6, the mounting angle of the jaws, and the like.
In the example shown in fig. 8, together with an image obtained by imaging the bucket of the shovel 50 from the front, a graphic 61f showing the shape of the cutting edge of the bucket immediately after the replacement is displayed in an AR manner overlapping the cutting edge of the bucket on the image. The processing contents of the processing device 24 are the same as those in fig. 7. Thus, the operator can visually recognize the amount of wear of the current cutting edge with respect to the cutting edge immediately after replacement by confirming the image shown in fig. 8. In the example shown in fig. 8, the cutting edge wear amount of the bucket can be calculated for each of the claws. In particular, since the center jaw and the left and right jaws are important during construction, the amount of wear of the cutting edge of the bucket can be calculated only for the center jaw and the left and right jaws.
The occurrence date display area 62 is an area for displaying the occurrence date. The date of occurrence is automatically acquired by a clock function mounted on the shovel support device 20. In the examples shown in fig. 3 to 8, dates (3 months and 1 day of 2013) are shown.
The current position display area 63 is an area where current position information acquired from the shovel 50 is displayed. If the current position display area 63 is touched, switching is made to the map information screen. A map including the current position of the target shovel is displayed on the map information screen, and a mark indicating the current position is displayed at the current position of the target shovel on the map. In the examples shown in fig. 3 to 8, the current position information (35 degrees 19 minutes 23 seconds north latitude, 139 degrees 39 minutes 11 seconds east longitude) is displayed.
The body identification information display area 64 is an area for displaying body identification information acquired from the shovel 50, for example, a body number. Information relating to the manufacture of the target shovel is associated with the body identification information. The information related to manufacturing includes, for example, a date of manufacture, date of shipment, a drawing number, and the like of the target shovel. When the body identification information display area 64 is touched, the information related to the manufacturing is displayed. This makes it possible to easily confirm whether the target shovel is a body that has already been subjected to a predetermined measure in the manufacturing process or a body that has not been subjected to the measure in the field. In the example shown in fig. 3 to 8, the body identification information (XL-0029) is displayed.
The hour meter display area 65 is an area for displaying the current value of the hour meter acquired from the shovel 50. In the example shown in fig. 3 to 8, the current value of the chronograph (1,714 hours 33 minutes) is displayed.
The inspection site display area 66 is an area in which the name of the site related to inspection determined by the processing device 24 is displayed. In the example shown in fig. 3 and 4, the inspection site display area 66 displays "boom top". In the example shown in fig. 5, nothing is displayed in the inspection site display area 66. In the example shown in fig. 6, a "filter" is displayed in the inspection site display area 66. In the example shown in fig. 7 and 8, the inspection site display area 66 is displayed as a "cutting edge". The operator can grasp the inspection site by confirming the inspection site display area 66.
The damaged state display area 67 is an area where the damaged state is input by the operator. For example, when the operator touches the damaged state display area 67, a keyboard is displayed on the display screen, and the mode is switched to the character input mode. The operator inputs the description of the damaged state by operating the keyboard. In the examples shown in fig. 3 to 8, no damaged state is input.
The final registration button 68 is an area that accepts an operation for transmitting the content displayed on the display screen 21 to the management apparatus 30. For example, when the operator touches final registration button 68, the contents displayed in image display area 1, image display area 2, occurrence date display area 62, current position display area 63, body identification information display area 64, chronograph watch display area 65, inspection site display area 66, and damaged state display area 67 of display screen 21 are transmitted to management device 30. Further, the following configuration is possible: when the operator touches the final registration button 68, the contents displayed in the 1 st image display area 60, the 2 nd image display area 61, the occurrence date display area 62, the current position display area 63, the body identification information display area 64, the hour meter display area 65, the inspection part display area 66, and the damaged state display area 67 of the display screen 21 are stored in the storage device 25.
The next damage information input button 69 is an area for receiving an operation for deleting the content displayed on the display screen 21 and setting the state in which the next damage information can be input. For example, when the operator touches the next damage information input button 69, the contents displayed in the 1 st image display area 60, the 2 nd image display area 61, the occurrence date display area 62, the current position display area 63, the body identification information display area 64, the chronograph display area 65, the inspection site display area 66, and the damaged state display area 67 of the display screen 21 are deleted.
As described above, in the shovel support device 20 according to the embodiment of the present invention, the processing device 24 compares the image data obtained by imaging the shovel 50 input through the image input device 23 with the image data of the shovel 50 having the same body number acquired in the past, and specifies the portion of the shovel 50 related to the inspection. Thus, the operator does not need to visually confirm the shovel 50 to determine the location of the damaged portion. Therefore, the location related to the inspection, such as the damaged location, can be easily identified without being affected by the skill of the maintenance worker.
Then, on the display screen 21, the portion related to the inspection specified by the processing device 24 is displayed so as to be superimposed on the image of the shovel 50 together with the image of the shovel 50 input through the image input device 23. Thus, the operator can easily grasp the portion related to the inspection by checking the image displayed on the display screen 21.
Then, the portion related to the inspection displayed on the display screen 21 is highlighted. This allows the operator to easily grasp where the site to be inspected is.
Next, with reference to fig. 9 to 11, a description will be given of an equipment guide function and an equipment control function in consideration of the cutting edge wear amount measured by the processing device 24 in the examples shown in fig. 7 and 8. The machine guide function or the machine control function in consideration of the cutting edge wear amount is executed by the machine guide 150 by inputting the cutting edge wear amount measured by the processing device 24 of the shovel support device 20 to the machine guide 150, which will be described later, via the communication device 26.
First, the overall structure of the shovel 50 will be described with reference to fig. 9. Fig. 9 is a side view of the shovel 50.
The upper revolving structure 3 is rotatably mounted on the lower traveling structure 1 of the shovel 50 via a revolving mechanism 2. A boom 4 is attached to the upper slewing body 3. An arm 5 is attached to the tip of the boom 4. A bucket 6 is attached to the front end of the arm 5 as a terminal attachment (working site). As the terminal attachment, a bucket for slope, a bucket for dredging, a breaker, or the like can be mounted.
The boom 4, the arm 5, and the bucket 6 constitute an excavation attachment as an example of an attachment, and are hydraulically driven by a boom cylinder 7, a stick cylinder 8, and a bucket cylinder 9, respectively. 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. A bucket tilt mechanism may be provided at the excavation attachment. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be referred to as "attitude sensors".
The boom angle sensor S1 detects the turning angle of the boom 4. The boom angle sensor S1 is, for example, an acceleration sensor that detects the inclination with respect to the horizontal plane and detects the turning angle of the boom 4 with respect to the upper slewing body 3.
The arm angle sensor S2 detects the rotation angle of the arm 5. The arm angle sensor S2 is, for example, an acceleration sensor that detects the inclination with respect to the horizontal plane and detects the turning angle of the arm 5 with respect to the boom 4.
The bucket angle sensor S3 detects the rotation angle of the bucket 6. The bucket angle sensor S3 is, for example, an acceleration sensor that detects an inclination with respect to a horizontal plane and detects a turning angle of the bucket 6 with respect to the arm 5.
When the excavation attachment includes the bucket tilting mechanism, the bucket angle sensor S3 additionally detects the rotation angle of the bucket 6 about the tilting axis. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be potentiometers using variable resistors, stroke sensors that detect the stroke amounts of the corresponding hydraulic cylinders, rotary encoders that detect the rotational angles around the links, and the like.
The upper slewing body 3 is mounted with a power source such as the engine 11, a counterweight 3w, and a vehicle body inclination sensor S4, and is covered with a cover body 3 a. The vehicle body inclination sensor S4 detects the inclination angle of the upper slewing body 3. The vehicle body inclination sensor S4 is, for example, an acceleration sensor that detects the inclination with respect to the horizontal plane and detects the inclination angle of the upper slewing body 3.
An imaging device 80 is provided on the upper portion of the cover body 3a of the upper revolving unit 3. The imaging device 80 includes a left side camera 80L for imaging the left side, a right side camera 80R for imaging the right side, and a rear side camera 80B for imaging the rear side, from the upper revolving structure 3 toward the cab 10. The left camera 80L, the right camera 80R, and the rear camera 80B are, for example, digital cameras having imaging elements such as CCDs and CMOSs, and transmit images captured by the cameras to a display device 140 provided in the cab 10.
An operator's cab 10 as an operator's cab is provided in the upper revolving structure 3. A GPS terminal (GNSS receiver) 52 and a communication device 51 are provided on the ceiling of the cab 10. The GPS terminal 52 detects the position of the shovel 50 by the GPS function, and supplies the position data to the equipment guide 150 in the controller 130. The communication device 51 transmits information to the outside of the shovel 50. In the cab 10, a controller 130, a display device 140, an audio output device 43, an input device 45, and a storage device 47 are provided.
The controller 130 functions as a main control unit that performs drive control of the shovel 50. The controller 130 is configured by an arithmetic processing device including a CPU and an internal memory. Various functions of the controller 130 are realized by the CPU executing a program stored in the internal memory. The controller 130 also functions as an equipment guide 150 that guides the operation of the shovel 50.
The equipment guide 150 can perform an equipment control function and automatically support the operation of the excavator by the operator. For example, when the operator performs an excavation operation while executing the equipment control function, the equipment guide device 150 assists the operations of the boom 4, the arm 5, and the bucket 6 so that the target construction surface matches the front end position of the bucket 6. More specifically, for example, when the operator performs an operation to retract the arm, at least one of the boom cylinder 7 and the bucket cylinder 9 is automatically extended and contracted to match the target construction surface with the front end position of the bucket 6. At this time, the operator can perform the excavation work while simultaneously manipulating the boom 4, the arm 5, and the bucket 6 to align the target construction surface with the front end position of the bucket 6 by simply manipulating 1 operation lever.
In the present embodiment, the device guide 150 is incorporated into the controller 130, but the device guide 150 and the controller 130 may be provided separately. In this case, the device boot apparatus 150 is configured by an arithmetic processing apparatus including a CPU and an internal memory, as in the case of the controller 130. Various functions of the device booting apparatus 150 are realized by the CPU executing the program stored in the internal memory.
The display device 140 displays images containing various kinds of work information according to an instruction from the apparatus guide device 150 included in the controller 130. The display device 140 is, for example, an on-vehicle liquid crystal display connected to the equipment guide 150.
The sound output device 43 outputs various sound information according to a sound output instruction from the apparatus guide device 150 included in the controller 130. The sound output device 43 includes, for example, an in-vehicle speaker connected to the device guide device 150. Also, the sound output device 43 may include an alarm such as a buzzer.
The input device 45 is a device for an operator of the excavator 50 to input various information to the controller 130 including the equipment guide 150. The input device 45 is configured to include, for example, a membrane switch provided on the surface of the display device 140. The input device 45 may include a touch panel or the like.
The storage device 47 is a device for storing various kinds of information. The storage device 47 is a nonvolatile storage medium such as a semiconductor memory. The storage device 47 stores various information output by the controller 130 and the like including the apparatus booting device 150.
The door lock bar 49 is provided between the door of the cab 10 and the operator's seat, and is a mechanism for preventing the excavator 50 from being operated by mistake. If the operator sits on the operator's seat to lift the door lock lever 49, the operator cannot leave the cab 10 and can operate various operating devices. When the operator presses the door lock lever 49, the operator can leave the cab 10 and cannot operate various operation devices.
Next, a configuration example of a drive control system of the shovel 50 will be described with reference to fig. 10. Fig. 10 is a diagram showing a configuration example of a drive control system of the shovel 50.
The display device 140 includes a conversion processing unit 140a that generates an image to be displayed on the image display unit 41. The conversion processing unit 140a generates an image including the captured image displayed on the image display unit 41 from the image data obtained from the imaging device 80. Image data is input to the display device 140 from each of the left camera 80L, the right camera 80R, and the rear camera 80B.
The conversion processing unit 140a converts data displayed on the image display unit 41, among various data input from the controller 130 to the display device 140, into an image signal. The data input from the controller 130 to the display device 140 includes, for example, data indicating the temperature of the engine cooling water, data indicating the temperature of the hydraulic oil, data indicating the remaining amount of the urea water, data indicating the remaining amount of the fuel, and the like.
The conversion processing unit 140a outputs the converted image signal to the image display unit 41, and displays the captured image and an image generated from various data on the image display unit 41.
The conversion processing unit 140a may not be provided in the display device 140, and may be provided in the controller 130, for example. At this time, the imaging device 80 is connected to the controller 130.
The display device 140 has a switch panel 42 as an input unit. The switch panel 42 is a panel including various hardware switches. The switch panel 42 includes a light switch 42a, a wiper switch 42b, and a glass washer 42 c.
The illumination switch 42a is a switch for switching on/off of a lamp mounted outside the cab 10. The wiper switch 42b is a switch for switching the operation/stop of the wiper. The glass washer 42c is a switch for spraying a glass window washer fluid.
The display device 140 operates upon receiving power supply from the battery 70. The battery 70 is charged with electric power generated by an alternator 11a (generator) of the engine 11. The electric power of the battery 70 is also supplied to the electric components 72 of the shovel 50 and the like other than the controller 130 and the display device 140. The starter 11b of the engine 11 is driven by the electric power from the battery 70 to start the engine 11.
The engine 11 is connected to the main pump 14 and the pilot pump 15, and is controlled by an Engine Control Unit (ECU) 74. Various data indicating the state of the engine 11 (for example, data indicating the temperature (physical quantity) of the cooling water detected by the water temperature sensor 11 c) is constantly transmitted from the ECU74 to the controller 130. The controller 130 can store the data in the internal storage unit 130a and appropriately transmit the data to the display device 140.
The main pump 14 is a hydraulic pump for supplying hydraulic oil to the control valve 17 via a high-pressure hydraulic line. Main pump 14 is, for example, a swash plate type variable displacement hydraulic pump.
The pilot pump 15 is a hydraulic pump for supplying hydraulic oil to various hydraulic control devices via a pilot line. The pilot pump 15 is, for example, a fixed displacement hydraulic pump.
The control valve 17 is a hydraulic control device that controls a hydraulic system in the power shovel 50. The control valve 17 selectively supplies the hydraulic oil discharged from the main pump 14 to, for example, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the hydraulic motor for traveling, the hydraulic motor for turning, and the like. Hereinafter, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the hydraulic motor for traveling, and the hydraulic motor for turning may be referred to as "hydraulic actuators".
The operating levers 26A to 26C are provided in the cab 10 and are used for operating the hydraulic actuators by an operator. When the operation levers 26A to 26C are operated, the hydraulic oil is supplied from the pilot pump to the pilot ports of the flow rate control valves corresponding to the respective hydraulic actuators. The hydraulic oil at a pressure corresponding to the operation direction and the operation amount of the corresponding operation levers 26A to 26C is supplied to the respective pilot ports.
In the present embodiment, the operation lever 26A is a boom operation lever. When the operator operates the operating lever 26A, the boom cylinder 7 can be hydraulically driven, and the boom 4 can be operated. The lever 26B is an arm lever. When the operator operates the operation lever 26B, the arm cylinder 8 can be hydraulically driven to operate the arm 5. The operating lever 26C is a bucket operating lever. When the operator operates the operating lever 26C, the bucket cylinder 9 can be hydraulically driven to operate the bucket 6. The shovel 50 may be provided with an operation lever, an operation pedal, and the like for driving a traveling hydraulic motor, a turning hydraulic motor, and the like, in addition to the operation levers 26A to 26C.
The controller 130 acquires various data described below, for example. The data acquired by the controller 130 is stored in the storage section 130 a.
The regulator 14a of the main pump 14, which is a variable displacement hydraulic pump, transmits data indicating the swash plate angle to the controller 130. The discharge pressure sensor 14b transmits data indicating the discharge pressure of the main pump 14 to the controller 130. These data (data representing physical quantities) are stored in the storage unit 130 a. An oil temperature sensor 14c provided in a line between the tank storing the hydraulic oil sucked by the main pump 14 and the main pump 14 transmits data indicating the temperature of the hydraulic oil flowing through the line to the controller 130.
When the operation levers 26A to 26C are operated, the pressure sensors 15a and 15b detect the pilot pressure sent to the control valve 17, and send data indicating the detected pilot pressure to the controller 130. The operation levers 26A to 26C are provided with switch buttons 27. The operator can send an instruction signal to the controller 130 by operating the switch buttons 27 while operating the operation levers 26A to 26C.
An engine speed adjustment dial 75 is provided in the cab 10 of the shovel 50. The engine speed adjustment dial 75 is a dial for adjusting the engine speed, and can switch the engine speed in stages, for example. In the present embodiment, the engine speed adjustment dial 75 is provided so as to be able to switch the engine speed in 4 stages of the SP mode, the H mode, the a mode, and the IDLE (IDLE) mode. The engine speed adjustment dial 75 transmits data indicating the setting state of the engine speed to the controller 130. Fig. 10 shows a state in which the H mode is selected by the engine speed adjustment dial 75.
The SP mode is a rotational speed mode selected when the workload is to be prioritized, and uses the highest engine rotational speed. The H-mode is a rotational speed mode selected when both the workload and the fuel efficiency are to be taken into account, and utilizes the second highest engine rotational speed. The a mode is a rotational speed mode selected when the fuel efficiency is to be prioritized and the shovel 50 is operated with low noise, and the third highest engine rotational speed is used. The idle mode is a rotation speed mode selected when the engine is to be set to an idle state, and the lowest engine rotation speed is used. The engine 11 is controlled to a constant rotation speed at the engine rotation speed in the rotation speed mode set by the engine rotation speed adjustment dial 75.
The shovel 50 is connected to the shovel support device 20 via wireless communication or wired communication. In the present embodiment, the communication device 51 receives data of the cutting edge wear amount measured using the processing device 24 from the shovel support device 20 that can communicate via the communication network 40, and transmits the received data of the cutting edge wear amount to the controller 130.
Next, various functions of the controller 130 and the equipment guide 150 provided in the shovel 50 will be described with reference to fig. 11. Fig. 11 is a block diagram showing a configuration example of the device boot apparatus 150.
The controller 130 controls the overall operation of the shovel 50 including the ECU 74. The controller 130 performs control in the following manner: the door lock valve 49a is closed in a state where the door lock lever 49 is depressed, and the door lock valve 49a is opened in a state where the door lock lever 49 is pulled up. The latch valve 49a is a switching valve provided in an oil passage between the control valve 17 and the operation levers 26A to 26C and the like. The door lock valve 49a is configured to be opened and closed by an instruction from the controller 130, but may be mechanically connected to the door lock lever 49 and opened and closed in accordance with the operation of the door lock lever 49.
The gate lock valve 49a cuts off the flow of the hydraulic oil between the control valve 17 and the operation levers 26A to 26C and the like in the closed state, and invalidates the operations of the operation levers 26A to 26C and the like. In the open state, the door lock valve 49a communicates the hydraulic oil between the control valve 17 and the operation lever or the like to effect the operation of the operation levers 26A to 26C or the like.
The controller 130 detects the operation amount of each operation lever based on the pilot pressure detected by the pressure sensors 15a and 15b in a state where the door lock valve 49a is in the open state and the operations of the operation levers 26A to 26C are enabled.
The controller 130 controls the operation of the entire shovel 50, and also controls whether or not to perform guidance by the equipment guidance device 150. Specifically, when it is determined that the shovel 50 is stopped, the controller 130 transmits a guidance stop instruction to the equipment guide device 150 to stop guidance by the equipment guide device 150.
When the automatic idle stop instruction is output to the ECU74, the controller 130 may output a guidance stop instruction to the device guidance apparatus 150. Alternatively, when it is determined that the door lock lever 49 is in the depressed state, the controller 130 may output a guidance suspension instruction to the device guidance apparatus 150.
Next, the device guide apparatus 150 will be explained. The equipment guide 150 receives various signals and data supplied to the controller 130 from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the vehicle body inclination sensor S4, the communication device 51, the GPS terminal 52, the input device 45, and the like.
The equipment guide 150 calculates an actual operating position of the attachment such as the bucket 6 based on the received signal and data. Then, the equipment guide 150 compares the actual operating position of the attachment with the target construction surface, and calculates, for example, the distance between the bucket 6 and the target construction surface. The equipment guide 150 also calculates the distance from the center axis of rotation of the shovel 50 to the cutting edge of the bucket 6, the inclination angle of the target construction surface, and the like, and transmits them to the display device 140 as operation information.
In addition, in the case where the equipment guide 150 and the controller 130 are separately provided, the equipment guide 150 and the controller 130 are connected to be able to communicate with each other through the CAN.
The device guide apparatus 150 includes a height calculation unit 503, a comparison unit 504, a display control unit 505, and a guide data output unit 506.
The height calculation unit 503 calculates the height of the tip (cutting edge) of the bucket 6 from the angles of the boom 4, the arm 5, and the bucket 6 obtained from the detection signals of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3. At this time, the height calculating unit 503 calculates the height of the tip (cutting edge) of the bucket 6 in consideration of the cutting edge wear amount measured by the processing device 24, which is input from the shovel support device 20 via the communication device 51. Thereby, even if the cutting edge of the bucket 6 is worn, the cutting edge wear amount can be easily measured, and therefore, the machine guide function or the machine control function in consideration of the wear amount of the cutting edge can be executed. Therefore, the target construction surface can be accurately constructed. The height of the cutting edge of the bucket 6 may be calculated by considering the cutting edge wear amounts of the center jaw and the left and right jaws, or may be calculated by considering the cutting edge wear amounts of all the jaws. In this way, the height of the cutting edge of the bucket 6 can be set by inputting the cutting edge wear amount from the shovel support device 20.
The comparison unit 504 compares the height of the tip (cutting edge) of the bucket 6 calculated by the height calculation unit 503 with the position of the target construction surface indicated in the guidance data output from the guidance data output unit 506. The comparison unit 504 then obtains the inclination angle of the target construction surface with respect to the excavator 50. The various data obtained by the height calculation unit 503 and the comparison unit 504 are stored in the storage device 47.
The display control unit 505 transmits the height of the bucket 6, the inclination angle of the target construction surface, and the like obtained by the comparison unit 504 to the display device 140 as the operation information. The display device 140 displays the operation information transmitted from the display control unit 505 on the screen together with the captured image transmitted from the imaging device 80. The display screen structure of the display device 140 will be described later. Further, the display control unit 505 can issue a warning to the operator via the sound output device 43 when the bucket 6 is at a position lower than the target construction surface.
In the above example, the description has been given of the case where the machine guide device 150 executes the machine guide function or the machine control function in consideration of the amount of blade wear measured by the processing device 24, but the present invention is not limited to this. For example, when the processing device 24 photographs the entire excavator 50 from the cab side, the distance from the bucket pin position P1, which is the position of the bucket pin of the excavator 50, to the cutting edge position P2 of the bucket 6 is measured in step ST3 based on the image data of the excavator 50 input through the image input device 23, and the machine guide device 150 may execute the machine guide function or the machine control function in consideration of the distance L from the bucket pin position P1 to the cutting edge position P2 measured by the processing device 24.
In the above embodiment, the display screen 21 is an example of a display unit, the image input device 23 is an example of an image input unit, the processing device 24 is an example of a processing unit, and the storage device 25 is an example of a storage unit. The shovel 50 is an example of a construction machine.
The present invention is not limited to the embodiments described above, and various modifications and improvements can be made within the scope of the present invention.
The international application claims priority from japanese patent application No. 2018-057169, applied on 23/3/2018, and the entire contents of the application are incorporated herein by reference.
Description of the symbols
20-shovel support device, 21-display screen, 22-character information input device, 23-image input device, 24-processing device, 25-storage device, 26-communication device, 30-management device, 50-shovel.
The claims (modification according to treaty clause 19)
1. An assistance device for a construction machine, comprising:
an image input unit for inputting image data of a construction machine;
a processing unit that compares the image data input by the image input unit with image data of the construction machine acquired in the past, and specifies a site related to inspection of the construction machine; and
and a display unit that displays the image input by the image input unit and displays the portion related to the inspection determined by the processing unit in a superimposed manner on the image.
2. The support device for a construction machine according to claim 1, wherein,
the display unit highlights the portion related to the inspection.
3. The support device for a construction machine according to claim 1, wherein,
the image data includes data of a plurality of images obtained by imaging different portions of the construction machine,
the display unit displays an expanded view in which the plurality of images are connected.
4. The support device for a construction machine according to claim 3, wherein,
the display unit highlights the portion related to the inspection on the development view.
5. The support device for a construction machine according to claim 1, wherein,
the display unit displays a figure showing the portion related to the inspection so as to be superimposed on the image.
6. The support device for a construction machine according to claim 1, wherein,
the display unit displays the name of the location related to the inspection.
7. The support device for a construction machine according to claim 1, wherein,
the support device for a construction machine includes a storage unit that stores image data of the construction machine acquired in the past.
8. The support device for a construction machine according to claim 1, wherein,
the repair-related part includes a damaged part of the construction machine, a consumed part of a consumable part, or a part for periodic repair.
9. The support device for a construction machine according to claim 1, wherein,
the display unit displays the installation position of the probe.
An assistance device for a construction machine, comprising:
an image input unit for inputting image data including a cutting edge of a bucket of a construction machine;
a processing unit that determines the length of the cutting edge from the image data input by the image input unit; and
and a communication unit that transmits a result of determination of the length of the cutting edge to a construction machine that performs excavation work while aligning the cutting edge of the construction machine with a target construction surface.
(additional) the support device for a construction machine according to claim 10, wherein,
the processing unit determines the length of the cutting edge at least at both left and right ends of a bucket of the construction machine.
Claims (9)
1. An assistance device for a construction machine, comprising:
an image input unit for inputting image data of a construction machine;
a processing unit that compares the image data input by the image input unit with image data of the construction machine acquired in the past, and specifies a site related to inspection of the construction machine; and
and a display unit that displays the image input by the image input unit and displays the portion related to the inspection determined by the processing unit in a superimposed manner on the image.
2. The support device for a construction machine according to claim 1, wherein,
the display unit highlights the portion related to the inspection.
3. The support device for a construction machine according to claim 1, wherein,
the image data includes data of a plurality of images obtained by imaging different portions of the construction machine,
the display unit displays an expanded view in which the plurality of images are connected.
4. The support device for a construction machine according to claim 3, wherein,
the display unit highlights the portion related to the inspection on the development view.
5. The support device for a construction machine according to claim 1, wherein,
the display unit displays a figure showing the portion related to the inspection so as to be superimposed on the image.
6. The support device for a construction machine according to claim 1, wherein,
the display unit displays the name of the location related to the inspection.
7. The support device for a construction machine according to claim 1, wherein,
the support device for a construction machine includes a storage unit that stores image data of the construction machine acquired in the past.
8. The support device for a construction machine according to claim 1, wherein,
the repair-related part includes a damaged part of the construction machine, a consumed part of a consumable part, or a part for periodic repair.
9. The support device for a construction machine according to claim 1, wherein,
the display unit displays the installation position of the probe.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018057169 | 2018-03-23 | ||
| JP2018-057169 | 2018-03-23 | ||
| PCT/JP2019/011406 WO2019181923A1 (en) | 2018-03-23 | 2019-03-19 | Assistance device for construction machines |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111902830A true CN111902830A (en) | 2020-11-06 |
Family
ID=67987186
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980020159.0A Pending CN111902830A (en) | 2018-03-23 | 2019-03-19 | Support device for construction machine |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP7387583B2 (en) |
| CN (1) | CN111902830A (en) |
| WO (1) | WO2019181923A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7108591B2 (en) * | 2019-12-04 | 2022-07-28 | エクシオグループ株式会社 | Construction environment safety judgment system |
| JP7494470B2 (en) | 2020-01-10 | 2024-06-04 | コベルコ建機株式会社 | Construction machinery inspection system |
| JP7370273B2 (en) * | 2020-02-13 | 2023-10-27 | 株式会社小松製作所 | Method and system for inspecting tooth wear for work machine buckets |
| CN116096970A (en) * | 2020-12-22 | 2023-05-09 | 日立建机株式会社 | State management device for work machine |
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| JP7387583B2 (en) | 2023-11-28 |
| JPWO2019181923A1 (en) | 2021-03-11 |
| WO2019181923A1 (en) | 2019-09-26 |
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