JP7650183B2 - Work Machine - Google Patents

Description

The present invention relates to a work machine.

In response to recent issues such as the decline in the working population, technology has been developed to automatically operate work machines such as hydraulic excavators using controllers. With such machines, users do not need to operate the machine after issuing a command to start work, which allows for more efficient use of time and is effective in reducing manpower.

However, the operation of a hydraulic excavator requires sufficient remaining amounts of consumables such as fuel and urea solution, and sufficient remaining life for consumable parts such as teeth and filters, and if these run short during automatic operation, problems such as interruptions to operation can occur.

In response to this issue, Patent Document 1 (JP 2003-112799 A) discloses a system for managing fuel for machines in operation, which estimates the time when fuel will be insufficient from the machine's operation information and plans a route so that fuel can be delivered according to the estimated results. Furthermore, Patent Document 2 (JP 2019-37168 A) discloses a work machine that predicts fuel consumption for a set driving route.

JP 2003-112799 A JP 2019-37168 A

However, with conventional technology, it was difficult to accurately grasp the predicted degree of wear of energy sources, etc. before work began.

Using the technology of Patent Document 1, it is possible to refuel before fuel runs out. However, while the automated operation is being performed, the user must respond one by one to unexpected occurrences of fuel shortages, which reduces the labor-saving effect of the automated operation.

In addition, with the technology in Patent Document 2, it is difficult to predict fuel consumption for hydraulic excavators, whose load and fuel consumption vary greatly depending on the work content and work target, even if the operations are the same.

For this reason, rather than detecting fuel shortages during automated work, it is desirable to be able to determine whether the work can be completed before the work begins by taking into account information about the work content and the work target. In this way, if there is a shortage of fuel, it is possible to refuel or arrange for a substitute machine before the work begins.

The present invention has been made to solve these problems, and aims to provide a work machine that can more appropriately grasp the predicted degree of wear of energy sources, etc. before starting work.

An example of a work machine according to the present invention is a work machine including a work machine, a drive source that drives the work machine by consuming an energy source, consumables that are consumed as the work machine is operated by the drive source, consumable parts whose life span decreases as the work machine is operated by the drive source, and a controller that controls the operation of the work machine, and is characterized in that the work machine is equipped with a notification device that notifies information, and a status acquisition means that acquires the status of the wear-level management target including one or more of the energy source, the consumables, and the consumable parts, and the controller calculates a predicted wear level of the wear-level management target after a work plan including information on an operation plan, a work content, and a work target is executed based on the work plan and the status of the wear-level management target, and the notification device notifies the notification device of the predicted wear level before the work plan is executed.

The work machine according to the present invention makes it possible to more appropriately grasp the predicted degree of wear of energy sources, etc. before starting work.

Hydraulic excavator configuration diagram Functional block diagram of a controller in the first embodiment of the present invention. Operation flowchart of wear level management in the first embodiment Operation flowchart of wear level management in the first embodiment Example of work plan in the first embodiment Example of quantification of work content and work target in the first embodiment Equation for predicting wear level in the first embodiment A specific example of the definition of w _ji in FIG. A specific example of the definition of k _oji in FIG.

Below, an embodiment of the present invention will be described with reference to the drawings. Note that, in the following, a hydraulic excavator equipped with a bucket as a working tool (attachment) at the tip of the working device will be exemplified, but the present invention may be applied to a work machine equipped with an attachment other than a bucket. Furthermore, the present invention may be applied to work machines other than hydraulic excavators. In addition, each embodiment has been exemplified as a format in which the entire work plan including the work object is input from outside, but this is not limited to this. For example, the work location and information specifying the work plan may be provided from outside, and the controller may generate an operation plan based on the work plan and automatically determine the work object.

In this specification, the degree of consumption is managed as a value that approaches an inoperable state as the degree increases. For example, the state of fuel is indicated by a voltage corresponding to the remaining amount obtained from a fuel remaining amount sensor, and in converting it to the degree of consumption, the remaining amount of fuel is first calculated from this voltage, and then the calculated remaining amount is subtracted from the full amount to obtain the amount consumed, i.e., the degree of consumption. Alternatively, the ratio of the calculated remaining amount to the full amount may be used. When displayed to the user, it may be converted again into an easy-to-understand form such as the remaining amount. As a variant, the degree of consumption can also be managed as a value that approaches an inoperable state as the degree of consumption decreases.

First Embodiment
<Basic configuration>
Fig. 1 is a configuration diagram of a hydraulic excavator according to a first embodiment of the present invention. In Fig. 1, the hydraulic excavator 1 comprises an articulated front working mechanism 1A and a vehicle body 1B. The vehicle body 1B comprises a lower traveling body 11 that travels by a traveling hydraulic motor 3 (only the left side is shown), and an upper rotating body 12 that is attached on the lower traveling body 11 and rotates by a swing hydraulic motor 4.

The front working mechanism 1A is configured by connecting multiple driven members (boom 8, arm 9, and bucket 10) that each rotate vertically. The boom 8, arm 9, and bucket 10 are examples of working machines in this embodiment.

The base end of the boom 8 is rotatably supported via a boom pin at the front of the upper rotating body 12. An arm 9 is rotatably connected to the tip of the boom 8 via an arm pin, and a bucket 10 is rotatably connected to the tip of the arm 9 via a bucket pin. Teeth 13 are fixed to the bucket 10. The boom 8 is driven by a boom cylinder 5, the arm 9 is driven by an arm cylinder 6, and the bucket 10 is driven by a bucket cylinder 7.

The cab 20, which is the operator's seat mounted on the upper rotating body 12, is equipped with a monitor 21 that can present information to the operator, a select switch 22 that allows the operator to select and input options, and a numeric keypad 23 that allows the operator to input numerical values.

The engine 18, which is also a prime mover mounted on the upper rotating body 12, burns diesel (not shown) in a fuel tank 28 to drive the hydraulic pump 2. A fuel level sensor (not shown) is attached to the fuel tank 28. Note that an engine that uses diesel as an energy source is used here as an example, but any other energy source and device that consumes the energy to output power may be used, such as a combination of a storage battery and an electric motor, a combination of an electric motor driven by a fuel cell using hydrogen gas, or a combination of two or more of these. The exhaust gas from the engine 18 is reduced by urea water (not shown) supplied from a urea water tank 29 in the aftertreatment device 25, and then discharged outside the vehicle. A urea water level sensor (not shown) is attached to the urea water tank 29.

The work machine is equipped with one or more wear management objects. The wear management objects include one or more of the following: energy sources consumed during operation, consumables, and consumable parts whose life span decreases during operation.

The energy source may include, for example, diesel or other fuel. The energy source may also include hydrogen for use in a fuel cell. The energy source may also include electricity stored in a battery.

Consumables include, for example, urea water.

Consumable parts include, for example, teeth 13 that wear out during operation.

In this way, the work machine includes a work machine, a drive source that drives the work machine by consuming an energy source, consumables that wear out as the work machine operates when driven by the drive source, consumable parts whose life span decreases as the work machine operates when driven by the drive source, and a controller that controls the operation of the work machine.

In the example of FIG. 1, the pressure oil discharged from the hydraulic pump 2 is supplied to the traveling hydraulic motor 3, the swing hydraulic motor 4, the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 via a flow control valve. The supplied pressure oil causes the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 to extend and retract, thereby rotating the boom 8, the arm 9, and the bucket 10, respectively, changing the position and attitude of the bucket 10. In addition, the supplied pressure oil causes the swing hydraulic motor 4 to rotate, causing the upper swing body 12 to swing relative to the lower running body 11. The supplied pressure oil causes the traveling hydraulic motor 3 to rotate, causing the lower running body 11 to run.

The work machine is equipped with a control controller 40 (controller; Figure 2). Figure 2 is a functional block diagram of the control controller 40. The controller is, for example, configured by a computer having a known configuration.

In automatic operation control, the flow control valve is driven by a pilot hydraulic signal from the electromagnetic proportional valve 54, and operates the traveling hydraulic motor 3, the swing hydraulic motor 4, the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7. The electromagnetic proportional valve 54 is controlled by a control command from the control controller 40. Although only a single electromagnetic proportional valve 54 is shown in FIG. 2, multiple electromagnetic proportional valves 54 may be used.

The rotation angles of the boom 8, arm 9, and bucket 10 can be measured. For measurement purposes, as shown in FIG. 1, for example, a boom angle sensor 30 is attached to the boom 8, an arm angle sensor 31 is attached to the arm 9, and a bucket angle sensor 32 is attached to the bucket link 14. In addition, a vehicle body inclination angle sensor 33 is attached to the upper rotating body 12 to detect the inclination angle of the upper rotating body 12 (or vehicle body 1B) relative to a reference plane (e.g., a horizontal plane). In addition, a vehicle body position detection device 36 is attached to the upper rotating body 12 to detect the position of the vehicle body 1B.

As shown in FIG. 2, the work machine is equipped with a status acquisition device 50 (status acquisition means). The status acquisition device 50 acquires the status of the wear level management subject. The status acquisition device 50 includes, for example, a fuel level sensor and a urea water level sensor. The status of the wear level management subject is used to calculate the wear level of the wear level management subject. The status of the wear level management subject is, for example, the remaining amount of fuel and the remaining amount of urea water. In addition, for consumable parts such as the tooth 13, the status may be acquired directly, or the status may be estimated based on the work plan or operating time. For example, the wear level management unit 71 may calculate a predicted wear level based on the work plan since the replacement of the tooth 13, and acquire the status based on the predicted wear level.

The status acquisition device 50 may include any device that detects the status of an energy source, consumables, or consumable parts. For example, if a battery is used for driving, a current/voltage sensor may be used, and if the status of a consumable part such as a hydraulic oil filter with a clogging sensor is detected, the detected value may be used.

The work machine is equipped with an input device 51. The input device 51 includes a select switch 22 and a numeric keypad 23. Note that, although the select switch 22 and numeric keypad 23 in the cab 20 are used as an example here, other configurations may be used as long as the user can input information. In particular, it is not necessary for a user to be on board the hydraulic excavator during automatic operation control, and in such a case, the input device may receive input from a management system installed outside the work machine.

The work machine is equipped with a notification device that notifies the operator of information. An example of a notification device is the monitor 21 in the cab 20, but any device that can output information can be used. It may also be a device that presents information to a management system installed outside the work machine. Notification may also be by image, sound, or a combination of image and sound.

In this way, the work machine is equipped with a notification device that notifies information, and a status acquisition means that acquires the status of items subject to wear level management, including one or more of an energy source, a consumable item, and a consumable part.

<Controller 40>
As shown in FIG. 2, the control controller 40 includes an electromagnetic proportional valve control unit 44, an actuator control unit 81, an automatic operation control unit 91, a wear level management unit 71, a first input unit 100, a second input unit 101, a third input unit 102, and a first output unit 110.

The work plan is input to the first input unit 100 from the external system 200.

The second input unit 101 receives the status or work plan of the wear level management object from the status acquisition device 50. In this embodiment, the wear level management object is diesel, urea water, and teeth 13.

The third input unit 102 receives responses to inquiries or threshold setting information from the input device 51.

The first output unit 110 outputs the information input from the wear level management unit 71 to the monitor 21.

The wear level management unit 71 manages wear levels using the work plan input from the first input unit 100 and the state of the wear level management subject input from the second input unit 101, and outputs information to the first output unit 110. It also outputs an operation permission signal or an operation suspension signal to the automatic operation control unit 91 in response to the input from the third input unit 102.

When the signal from the wear level management unit 71 is an operation permission signal, the automatic operation control unit 91 calculates speed commands for each hydraulic actuator (e.g., the traveling hydraulic motor 3, the swing hydraulic motor 4, the boom cylinder 5, the arm cylinder 6, the bucket cylinder 7, etc.) based on the operation plan and outputs the speed commands to the actuator control unit 81. When the signal from the wear level management unit 71 is not an operation permission signal (for example, an operation suspension signal), no output is made to the actuator control unit 81.

The actuator control unit 81 controls the solenoid proportional valve control unit 44. For example, based on the speed command for each hydraulic actuator output from the automatic operation control unit 91, it calculates the target pilot pressure for the flow control valve of each hydraulic actuator, and outputs the calculated target pilot pressure to the solenoid proportional valve control unit 44.

The solenoid proportional valve control unit 44 controls the solenoid proportional valve 54. For example, it calculates a command to the solenoid proportional valve 54 based on the target pilot pressure to the flow control valve output from the actuator control unit 81.

The first output unit 110 outputs information output from the wear level management unit 71 (e.g., information related to wear level, additional information, inquiry information, etc.).

<Consumables Management Flow>
3 and 4 show a flow of the wear level management process executed by the controller 40. In FIG.

In S110, the first input unit 100 acquires a work plan input from the external system 200. A specific example of the work plan will be described later with reference to FIG. 5 etc. The work plan is a plan to be executed by the controller 40.

In S120, the wear management unit 71 calculates the wear change amount of each wear management object at each time from the start of the work to the end of the work based on the work plan acquired in S110.

In S130, the second input unit acquires information representing the current state of each wear level management subject from the status acquisition device 50.

In S131, the consumption level management unit 71 obtains the consumption level (current consumption level) of each consumption level management target at that time by calculating it from the information obtained in S130. For example, a value representing the remaining amount of fuel is converted into a value representing the consumption level (amount of fuel consumed).

In S140, the wear management unit 71 calculates the wear (predicted wear) of each wear management subject after a work plan including information on the operation plan, work content, and work target is executed, based on the work plan and the state of the wear management subject. In this embodiment, the predicted wear is calculated by adding the wear change amount calculated in S120 based on the work plan and the current wear calculated in S131 based on the state of the wear management subject. A specific example of the calculation process will be described later using FIG. 7 etc. The first output unit 110 outputs the predicted wear to the monitor 21.

In this way, the monitor 21 notifies the monitor 21 of the predicted wear level before the work plan is executed. This allows the user to more appropriately understand the predicted wear level before starting work.

In S150, it is determined whether the predicted wear levels calculated in S140 exceed a predetermined threshold. If it is determined in S150 that none of the predicted wear levels exceed the threshold, the process proceeds to S160, and if it is determined in S150 that any of the predicted wear levels exceed the threshold, the process proceeds to S220.

The threshold value used in S150 may be arbitrarily set. For example, the threshold value may be input via the input device 51. In this way, the judgment criteria can be flexibly managed.

In S160, the wear level management unit 71 outputs an operation permission signal to the automatic operation control unit 91, and operation by the automatic operation control unit 91 is started. The automatic operation control unit 91 continues to control the actuator control unit 81, thereby executing the work plan. The processes of S170 to S190 described below can be executed in parallel with the execution of the work plan.

In S170, the second input unit 101 acquires the current status of each wear level management target from the status acquisition device 50.

In S171, the wear level management unit 71 calculates the current wear level of each wear level management object based on the information acquired in S170. In this way, the wear level management unit 71 acquires the current wear level of each wear level management object while the work plan is being executed.

In S180, the predicted wear level calculated in S140 is compared with the current wear level calculated in S171, and if it is determined that the current wear level is equal to or lower than the predicted wear level for all wear level management objects, the process proceeds to S190, and if it is determined that the current wear level is greater than the predicted wear level for any of the wear level management objects, the process proceeds to S270.

In S190, it is determined whether the work plan has been completed based on the output of the automatic operation control unit 91, etc., and if it is determined that the work has been completed, the process proceeds to S200, and if it is determined that the work has not been completed, the process proceeds to S170.

In S200, the second input unit 101 acquires the current status of each wear level management target from the status acquisition device 50.

In S201, the wear level management unit 71 calculates the wear level (post-termination wear level) of each wear level management target based on the information acquired in S200. In this manner, after the execution of the work plan is completed, the post-termination wear level of each wear level management target is calculated.

In S210, the first output unit 110 outputs the degree of wear after completion calculated in S201 to the monitor 21. In this way, the monitor 21 notifies the degree of wear after completion. This allows the user to know the degree of wear after the work plan is completed, and to replenish or replace as necessary.

In S220 (i.e., in S150, when the predicted wear level of any of the wear level management objects exceeds the threshold), the first output unit 110 outputs to the monitor 21 additional information corresponding to the wear level management object whose predicted wear level is determined to exceed the threshold.

For example, if the consumption management subject includes an energy source or a consumable item, the first output unit 110 may obtain the current consumption of the consumption management subject, and the monitor 21 may notify information regarding the difference between the predicted consumption and the current consumption. This allows the user to know, for example, the amount of fuel shortage.

In addition, if the wear management subject includes a consumable part, the monitor 21 may notify information according to the wear management subject. For example, if the consumable part is a tooth 13, a message may be displayed indicating that the finished shape may change. This allows the user to know, for example, the impact on the work.

In S230, the first output unit 110 outputs a message to the monitor 21 inquiring whether or not to execute the work plan. This causes the monitor 21 to inquire about permission to execute the work plan. The user inputs a response to this message to the third input unit 102 (answer input means) via the input device 51. The response includes information regarding permission to execute the work plan. In this way, in S240, the third input unit 102 obtains a response regarding permission to execute the work plan.

If the response in S250 allows the execution of the work plan, the process proceeds to S160, where the controller 40 controls the operation of the work machine to execute the work plan. If the response does not allow the execution of the work plan, the process proceeds to S260.

In S260, the wear level management unit 71 outputs an operation suspension signal to the automatic operation control unit 91. This suspends the operation of the work machine. In this way, if the predicted wear level exceeds the threshold value, the work machine suspends the execution of the work plan, thereby avoiding the work machine becoming unable to operate while the work plan is being executed. However, even if the predicted wear level exceeds the threshold value, the work plan is executed from S160 onwards if the user allows the execution, allowing for a more flexible response.

In S270 (i.e., in S180, when there is a wear-out management object whose current wear-out level is greater than the predicted wear-out level), the first output unit 110 outputs to the monitor 21, for those of the wear-out management objects whose current wear-out level is greater than the predicted wear-out level, information identifying the wear-out management object (e.g., item name) and information indicating that the current wear-out level is greater than the predicted wear-out level. In this way, the monitor 21 notifies the user that the current wear-out level of the wear-out management object is greater than the predicted wear-out level. This makes it possible to warn the user if wear-out that exceeds the prediction before the start of execution occurs during the execution of the work plan.

<Actions and Effects>
In the work machine configured as above, the operation of wear level management when a work plan is input will be described.

Figure 5 shows an example of a work plan. The work plan includes information about the operation plan, work content, and work target, and in the example of Figure 5, is configured for each time.

The motion plan represents the change in the state of the actuators over time, and in the example of Figure 5, represents the state of each actuator at each time. For example, the angular positions of the boom 8, arm 9, and bucket 10 at each time are specified. The work content represents the type of work to be performed at each time, and for example, excavation work, vertical lifting work, turning work, etc. are specified. The work target represents the object of work at each time, and for example, low-density soil, high-density soil, pumice, scrap iron, etc. are specified.

Figure 6 shows an example of indexing the work content and work target. This example corresponds to the content of Figure 5. j is a variable indicating the work content. For excavation, particularly low-speed excavation, j = 2. Similarly, for low-speed vertical lifting, j = 5, and for low-speed turning, j = 8. Note that Figure 5 does not specify whether the work content is low-speed or high-speed, but this may be configured to be explicitly defined in the work content, or the movement speed may be calculated from the movement plan and a determination of low or high speed may be made based on the movement speed.

o is a variable that indicates the work object, and in the case of low density soil, o = 3.

Such a work plan is input to the controller 40, and the wear management unit 71 calculates the amount of change in wear from the start to the end of execution of the work plan for each of the wear management objects based on the input work plan information (S120 in Figure 3).

7 shows an example of a function for calculating the amount of change in wear level. For a wear level management target i, the amount of wear level change W _i is the sum of the products of w _ji and k _oji . W _ji is a standard amount of wear level change defined for each combination of a wear level management target and a task, and k _oji is a correction coefficient defined for each combination of a wear level management target, a task target, and a task.

A specific example of the definition of _wji is shown in Fig. 8. Although Fig. 8 shows only diesel as a consumption level management target corresponding to i=1, other consumption level management targets (i=2, 3, ...) can be similarly defined.

A specific example of the definition of k _oji is shown in Fig. 9. Although Fig. 9 shows only diesel as a consumption level management subject corresponding to i=1, other consumption level management subjects (i=2, 3, ...) can be similarly defined.

By using this definition method, the amount of change in wear can be calculated differently for the same excavation operation (for example, column j=2 in Figure 9) when working on pumice (row o=2) and when working on low-density soil (row o=3). For example, the correction coefficients for diesel, urea water, tooth 13, etc. can be made larger for the latter, which has a higher density and hardness.

On the other hand, in the swing boom raising operation during loading (not shown in FIG. 9), the correction coefficients for diesel and urea water change depending on the weight of the work object, but since there is almost no contact between the teeth 13 and the work object, the correction coefficient for the teeth 13 can be kept constant regardless of the work object. Also, when comparing vertical lifting operation and swing operation for iron scrap (not shown in FIG. 9), weight is more likely to affect fuel consumption in the case of vertical lifting operation, so the correction coefficient for diesel for vertical lifting operation can be made larger than the correction coefficient for diesel for swing operation.

In this way, by using the calculation method shown in Figure 7, the change in wear level can be calculated appropriately in various cases.

The calculation method in FIG. 7 is one example, and other calculation methods may be used as long as they can take into account differences in wear levels due to work plans. For example, a method may be used in which the load on each actuator and the wear level of consumable parts are physically predicted based on the work plan, and the wear level is calculated. Alternatively, a predicted load may be directly set as information about the work target, and this may be used. Furthermore, a method may be used in which the amount of wear level change is set as a fixed value for each work plan, and this value is used.

Furthermore, the values of w _ji and k _oji can be appropriately determined by those skilled in the art. For example, experiments or simulations may be performed for each combination of o, j, and i, and w _ji and k _oji may be determined based on the results.

After calculating the amount of change in wear in this way (S130 in FIG. 3), the current wear is calculated based on the information obtained from the status acquisition device 50 (S131 in FIG. 3). In this calculation, for example, for diesel and urea water, the acquired voltages from the fuel level sensor and urea water level sensor are converted to remaining amounts, and the respective remaining amounts are subtracted from the full amounts and divided by the respective full amounts to obtain the current wear. In addition, for example, for the tooth 13, the predicted wear based on the work plan executed since replacement is stored, and this is added up to obtain the current wear.

If the calculated change in each level of wear and the current levels of wear do not cause any of the levels of wear after operation to exceed the threshold, then a YES determination is made in S150. This threshold may be changeable, and may be set according to a purpose such as leaving an amount of travel possible for the user to travel from the work site to the nearest refueling point. The set threshold may also be erased so that no notification is made.

If any wear level within the wear level management targets exceeds the threshold, the start of operation is put on hold and the user is asked whether or not to proceed. At the same time, if the item exceeding the threshold is diesel or urea water, additional information is provided, such as the amount that is short of the work plan, or if it is teeth 13, the possibility that the finished shape may change (S220-250 in Figure 3).

If the item that receives this notification is diesel or urea water, the user can replenish it using a portable container or the like while the operation is pending. If the shortage is resolved in this way, or if the notification content is acceptable, the user responds by saying that they would like to start the operation, and the hydraulic excavator will begin automatic operation (S160 in Figure 3).

In this operation, the automatic operation control unit 91 calculates the speed command for each hydraulic actuator based on the operation plan, the actuator control unit 81 calculates the target pilot pressure for the flow control valve of each hydraulic actuator, and the solenoid proportional valve 54 is driven by a control signal from the solenoid proportional valve control unit 44, thereby executing the work plan.

In addition, if the information used to calculate the predicted wear level differs significantly from the actual environment, it may become clear after the work plan has begun that the work plan cannot be completed. To handle such cases, the wear level management unit 71 calculates the current wear level at regular intervals even after operation has started, and notifies the user if the value appears to be greater than that predicted at the start of the work (S170 to S190 and S270 in FIG. 4). The user who receives this notification can, for example, immediately stop the work, or continue the work if it is acceptable, thereby preventing the work from stopping in an undesirable state.

The above-mentioned judgments during operation are repeated, and when the work plan is completed, the wear level (wear level after completion) is calculated and notified again, and the wear level management operation ends. The notification at the end of work allows the user to select or modify the next work plan to be given to the hydraulic excavator.

In this way, by predicting the consumption or depletion of fuel and other items according to the operation plan, work content, and work target before work begins and notifying the user, the user can more appropriately understand the predicted depletion level of energy sources, etc. before starting work. As a result, the frequency of user calls during the operation of an automatically operating work machine can be reduced, and the labor-saving effect can be improved.

In the first embodiment, the following modifications can be made.
3 may be omitted. In that case, the process may proceed to S260 when it is determined in S150 that any of the predicted wear levels exceeds a threshold value. In this way, execution of the work plan is always put on hold when the predicted wear level exceeds a predetermined threshold value.

Steps S170 to S190 and S270 in FIG. 4 may be omitted. Even in this case, it is possible to notify the predicted wear level by the process in FIG. 3.

Steps S190 to S210 in FIG. 4 may be omitted. Even in this case, it is possible to notify the predicted wear level by the process in FIG. 3.

1... Hydraulic excavator (work machine)
8...Boom (working machine)
9...Arm (working machine)
10...Bucket (working machine)
21...Monitor (notification device)
40...Controller (controller)
50...Status acquisition device (status acquisition means)
102...Third input unit (answer input means)
i... wear-out management target j... work content o... work target W _i ... wear-out change amount w _ji ... standard wear-out change amount k _{o ji} ... correction coefficient

Claims (7)

A work machine including a work implement, a drive source that drives the work implement by consuming an energy source, consumables that are consumed as the work implement is driven and operated by the drive source, consumable parts whose life spans are shortened as the work implement is driven and operated by the drive source, and a controller that controls the operation of the work implement,
a notification device that notifies information; and status acquisition means that acquires the status of objects subject to wear level management, including one or more of the energy source, the consumables, and the consumable parts;
Equipped with
the controller calculates a predicted wear level of the wear level managed object after a work plan including information on an operation plan, a work content, and a work target is executed based on the work plan and the state of the wear level managed object;
The notification device notifies the notification device of the predicted wear level before the work plan is executed,
The controller calculates the predicted wear rate as follows:
- a standard wear level change amount defined for each combination of the wear level management target and the work content;
- a correction coefficient defined for each combination of the wear level management target, the work object, and the work content;
Calculate based on
A working machine characterized by: 2. A work machine according to claim 1,
A work machine characterized in that, when the predicted wear degree exceeds a predetermined threshold, execution of the work plan is suspended. A work machine according to claim 2,
The work machine is equipped with a response input means,
the notification device inquires about permission to execute the work plan when the predicted wear level exceeds the threshold value;
The answer input means acquires an answer regarding the permission to execute the work plan,
If the response permits execution of the work plan, the controller controls the operation of the work machine to execute the work plan.
A working machine characterized by: 2. A work machine according to claim 1,
When the predicted wear-out level of the wear-out managed object exceeds a predetermined threshold value,
When the consumption level management target includes the energy source or the consumable, the controller acquires a current consumption level of the consumption level management target, and the notification device notifies information regarding a difference between the predicted consumption level and the current consumption level;
When the wear level management target includes the consumable part, the notification device notifies information corresponding to the wear level management target.
A working machine characterized by: A work machine according to claim 2,
A work machine characterized in that the threshold value can be set arbitrarily. 2. A work machine according to claim 1,
The controller acquires a current wear level of the wear level management object while the work plan is being executed,
the notification device notifies, when the current degree of wear is greater than the predicted degree of wear, that the current degree of wear is greater than the predicted degree of wear.
A working machine characterized by: 2. A work machine according to claim 1,
the controller calculates a wear level after the execution of the work plan is completed,
The notification device notifies the degree of consumption after the end of the process.
A working machine characterized by:

Images