# US 2021/0340736 A1 · Construction machine and evaluation device

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- Number: US 2021/0340736 A1
- Document ID: US20210340736A1
- Status: Published application
- Kind: A1
- Application number: 17/270,686
- Filed: 2019-08-29
- Published: 2021-11-04
- Earliest claimed: 2018-08-31
- Assignees: Hiroshima University
- Applicants: Kobelco Construction Machinery Co., Ltd.
- Inventors: Masatoshi KOZUI; Toru YAMAMOTO; Kazushige KOIWAI
- Web page: https://patentgrep.com/patent/US20210340736A1

## CPC

- E02F 9/264: {Sensors and their calibration for indicating the position of the work tool}
- E02F 9/267: {Diagnosing or detecting failure of vehicles}
- E02F 3/32: working downwardly and towards the machine, e.g. with backhoes
- E02F 3/435: {for dipper-arms, backhoes or the like}
- E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00)

## Abstract

A construction machine includes: a lower travelling body; an upper slewing body attached to the lower travelling body with a structure allowing the upper slewing body to slew with respect to the lower travelling body; a work device attached to the upper slewing body with a structure allowing the work device to swing in a vertical direction with respect to the upper slewing body; a motion state acquisition unit acquiring a motion state amount; an equivalent system forming unit which forms a transfer function which uses a driving force for moving the work device as an input and uses the motion state amount as an output as an equivalent system which equivalently expresses an operation of the work device; and a parameter estimation unit which estimates a system attenuation coefficient and a natural angular frequency of the transfer function as an operation skill evaluation value.

## Claims

### Claim 1

A construction machine comprising:
a lower travelling body;
an upper slewing body attached to the lower travelling body with a structure which allows the upper slewing body to slew with respect to the lower travelling body;
a work device which is attached to the upper slewing body with a structure which allows the work device to swing in a vertical direction with respect to the upper slewing body, and includes a plurality of members;
an acquisition unit which acquires a motion state amount of a combined center of gravity of the plurality of members;
a forming unit which forms a transfer function which uses a driving force for moving the work device as an input and uses the motion state amount acquired by the acquisition unit as an output as an equivalent system which equivalently expresses an operation of the work device; and
an estimation unit which estimates a system attenuation coefficient and a natural angular frequency of the transfer function formed by the forming unit as an operation skill evaluation value of an operator.

### Claim 2 (depends on 1)

The construction machine according to claim 1, further comprising an adjusting unit for adjusting a dynamic characteristic of the work device based on a difference between the operation skill evaluation value estimated by the estimation unit and a preset index value.

### Claim 3 (depends on 2)

The construction machine according to claim 2, wherein the index value is changeable according to an operation method or a work content.

### Claim 4 (depends on 1)

The construction machine according to claim 1, wherein the acquisition unit measures or calculates the motion state amount.

### Claim 5

An evaluation device comprising:
an acquisition unit which acquires a motion state amount of a combined center of gravity of a plurality of members included in a work device of a construction machine;
a forming unit which forms a transfer function which uses a driving force for moving the work device as an input and the motion state amount acquired by the acquisition unit as an output as an equivalent system which equivalently expresses an operation of the work device; and
an estimation unit which estimates a system attenuation coefficient and a natural angular frequency of the transfer function formed by the forming unit as an operation skill evaluation value of an operator.