JP5555190B2 - Hydraulic excavator display system and control method thereof - Google Patents

Description

  The present invention relates to a display system for a hydraulic excavator and a control method thereof.

  Generally, in a hydraulic excavator, a work machine including a bucket is driven by an operator operating an operation lever. At this time, when excavating a groove with a predetermined depth or a slope with a predetermined gradient, the operator must determine whether the excavation has been accurately performed according to the target shape by simply observing the operation of the work implement. It is difficult. Therefore, in the display system of the hydraulic excavator disclosed in Patent Document 1, the mutual positional relationship between the target surface and the blade edge of the bucket is displayed as an image on the monitor. Specifically, the target surface is selected from the design surface indicating the target shape of the work target by the input of the operator. A line indicating the cross section of the target surface (hereinafter referred to as “target surface line”), a line indicating a cross section of the design surface other than the target surface (hereinafter referred to as “design surface line”), and the cutting edge of the bucket A guidance screen including an image indicating the position is displayed on the monitor. The operator can easily operate the work implement so that the blade edge of the bucket moves along the target plane line by operating the work implement while looking at the guide screen as described above.

JP 2004-68433 A

  When excavating near the end of the target surface, if excavation is started after placing the blade edge of the bucket at the end of the target surface, the soil around the end of the target surface collapses, or when the work implement starts This makes it difficult to accurately mold the end of the target surface. Therefore, usually, the operator operates the work implement so that the blade edge of the bucket moves in parallel to the target surface from a position deviated from the target surface (for example, above the target surface). Thereby, a target surface can be shape | molded accurately. However, as shown in FIG. 15, in the conventional guidance screen, it is easy to grasp the positions of the target surface 200 and the bucket 210, but it is parallel to the target surface 200 on which nothing is displayed on the guidance screen. It is not easy to accurately grasp the positional relationship between the correct position and the bucket 210. Therefore, it is difficult for the operator to know where to move the blade edge of the bucket. For this reason, it is difficult to accurately mold the target surface.

  An object of the present invention is to provide a display system for a hydraulic excavator and a method for controlling the same that facilitates an operator to accurately mold a target surface.

A hydraulic excavator display system according to a first aspect of the present invention is a hydraulic excavator display system having a working machine including a bucket and a main body to which the working machine is attached. The display system for a hydraulic excavator includes a position detection unit, a storage unit, a calculation unit, and a display unit. The position detection unit detects information related to the current position of the hydraulic excavator. The storage unit stores position information of the design surface indicating the target shape of the work target. The calculation unit calculates the position of the blade edge of the bucket based on information on the current position of the excavator. The calculation unit calculates the position of the target surface line based on the position information of the design surface. The target plane line is a line segment indicating a cross section of the target plane selected from the design plane . Table radical 113 displays a guide screen. Guidance screen includes an image showing the position of the cutting edge of the extension and buckets extending the goals section line and the target section line. In the guidance screen, the target plane line and the extension line are displayed in different display modes.

  The display system for a hydraulic excavator according to the second aspect of the present invention is the display system for the hydraulic excavator according to the first aspect, and the extension line of the target plane line includes an extension line upward of the target plane line.

  The display system for a hydraulic excavator according to a third aspect of the present invention is the display system for a hydraulic excavator according to the first or second aspect, wherein the extension line of the target plane line is an extension line below the target plane line. including.

  A display system for a hydraulic excavator according to a fourth aspect of the present invention is the display system for a hydraulic excavator according to any one of the first to third aspects, wherein the blade edge of the bucket is perpendicular to the extension of the target surface line. When it is located in the area opposite to, information indicating the distance between the blade edge of the bucket and the extension line of the target surface line is displayed on the guidance screen.

A display system for a hydraulic excavator according to a fifth aspect of the present invention is the display system for a hydraulic excavator according to any one of the first to fourth aspects, and the target plane line and the extension line are different on the guidance screen. They are displayed in different display modes depending on the line type .

A control method for a display system for a hydraulic excavator according to a sixth aspect of the present invention is a control method for a display system for a hydraulic excavator having a working machine including a bucket and a main body to which the working machine is attached. The control method for the display system of the hydraulic excavator includes the following steps. Information about the current position of the excavator is detected. The position of the blade edge of the bucket is calculated based on information related to the current position of the excavator. The position of the target surface line is calculated based on the position information of the design surface indicating the target shape of the work target. The target surface line, Ru segment der showing a cross section of the target surface which is selected from the design surface. Its to, guide screen is displayed. Guidance screen includes an image showing the position of the cutting edge of the extension and buckets extending the goals section line and the target section line.

In the hydraulic excavator display system according to the first aspect of the present invention, an extension line of the target surface line is displayed on the guidance screen. For this reason, when excavating the target surface, the operator can easily operate the blade edge of the bucket to move parallel to the target surface by moving the blade edge along the extension line. . Thereby, the operator can shape | mold a target surface easily with sufficient precision. Further, the target plane line and the extension line are displayed in different display modes. Therefore, the operator can easily grasp the position of the target surface on the guidance screen.

  In the hydraulic excavator display system according to the second aspect of the present invention, an extension line above the target plane line is displayed on the guidance screen. For this reason, it becomes easy to shape | mold a target surface from an upper end part.

  In the hydraulic excavator display system according to the third aspect of the present invention, an extension line below the target plane line is displayed on the guide screen. For this reason, it becomes easy to shape | mold a target surface from a lower end part.

  In the hydraulic excavator display system according to the fourth aspect of the present invention, information indicating the distance between the blade edge of the bucket and the extension of the target surface line is displayed on the guidance screen. For this reason, the operator can grasp | ascertain the positional relationship of the blade edge | tip of a bucket and a target surface still more easily.

In the display system for a hydraulic excavator according to the fifth aspect of the present invention, the target plane line and the extension line are displayed in different display modes according to different line types on the guidance screen. Therefore, the operator can easily grasp the position of the target surface on the guidance screen.

In the control method of the display system for a hydraulic excavator according to the sixth aspect of the present invention, an extension line of the target plane line is displayed on the guidance screen. For this reason, when excavating the target surface, the operator can easily operate the blade edge of the bucket to move parallel to the target surface by moving the blade edge along the extension line. . Thereby, the operator can shape | mold a target surface easily with sufficient precision. Further, the target plane line and the extension line are displayed in different display modes. Therefore, the operator can easily grasp the position of the target surface on the guidance screen.

The perspective view of a hydraulic excavator. The figure which shows the structure of a hydraulic excavator typically. The block diagram which shows the structure of the control system with which a hydraulic excavator is provided. The figure which shows the design topography shown by design topography data. The figure which shows the guidance screen of rough excavation mode. The figure which shows the guidance screen of delicate excavation mode. The flowchart which shows the calculation method of the information displayed on a guidance screen. The figure which shows the method of calculating | requiring the present position of the blade edge | tip of a bucket. The flowchart which shows the calculation method of distance information. The figure which shows the calculation method of distance information. The figure which shows the calculation method of distance information. The figure which shows the calculation method of distance information. The figure which shows the guidance screen which concerns on other embodiment. The figure which shows the guidance screen which concerns on other embodiment. The figure which shows the guidance screen which concerns on a prior art.

1. Configuration 1-1. Hereinafter, a display system for a hydraulic excavator according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view of a hydraulic excavator 100 on which a display system is mounted. The excavator 100 includes a vehicle main body 1 and a work implement 2. The vehicle main body 1 corresponds to the main body of the present invention. The vehicle main body 1 includes an upper swing body 3, a cab 4, and a traveling device 5. The upper swing body 3 accommodates devices such as an engine and a hydraulic pump (not shown). The cab 4 is placed at the front of the upper swing body 3. A display input device 38 and an operation device 25 described later are arranged in the cab 4 (see FIG. 3). The traveling device 5 has crawler belts 5a and 5b, and the excavator 100 travels as the crawler belts 5a and 5b rotate.

  The work machine 2 is attached to the front portion of the vehicle body 1 and includes a boom 6, an arm 7, a bucket 8, a boom cylinder 10, an arm cylinder 11, and a bucket cylinder 12. A base end portion of the boom 6 is swingably attached to a front portion of the vehicle main body 1 via a boom pin 13. A base end portion of the arm 7 is swingably attached to a tip end portion of the boom 6 via an arm pin 14. A bucket 8 is swingably attached to the tip of the arm 7 via a bucket pin 15.

  FIG. 2 is a diagram schematically illustrating the configuration of the excavator 100. FIG. 2A is a side view of the excavator 100, and FIG. 2B is a rear view of the excavator 100. As shown in FIG. 2A, the length of the boom 6, that is, the length from the boom pin 13 to the arm pin 14 is L1. The length of the arm 7, that is, the length from the arm pin 14 to the bucket pin 15 is L2. The length of the bucket 8, that is, the length from the bucket pin 15 to the blade edge of the bucket 8 is L3.

  The boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 shown in FIG. 1 are hydraulic cylinders that are driven by hydraulic pressure. The boom cylinder 10 drives the boom 6. The arm cylinder 11 drives the arm 7. The bucket cylinder 12 drives the bucket 8. A proportional control valve 37 is disposed between a hydraulic cylinder such as the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 and a hydraulic pump (not shown) (see FIG. 3). The proportional control valve 37 is controlled by the work machine controller 26 described later, whereby the flow rate of the hydraulic oil supplied to the hydraulic cylinder 10-12 is controlled. Thereby, the operation of the hydraulic cylinder 10-12 is controlled.

  As shown to Fig.2 (a), the boom 6, the arm 7, and the bucket 8 are provided with the 1st-3rd stroke sensors 16-18, respectively. The first stroke sensor 16 detects the stroke length of the boom cylinder 10. The display controller 39 (see FIG. 3), which will be described later, determines the tilt angle θ1 of the boom 6 with respect to the Za axis (see FIG. 8) of the vehicle body coordinate system, which will be described later, from the stroke length of the boom cylinder 10 detected by the first stroke sensor 16. Is calculated. The second stroke sensor 17 detects the stroke length of the arm cylinder 11. The display controller 39 calculates the inclination angle θ2 of the arm 7 with respect to the boom 6 from the stroke length of the arm cylinder 11 detected by the second stroke sensor 17. The third stroke sensor 18 detects the stroke length of the bucket cylinder 12. The display controller 39 calculates the inclination angle θ3 of the bucket 8 with respect to the arm 7 from the stroke length of the bucket cylinder 12 detected by the third stroke sensor 18.

  The vehicle main body 1 is provided with a position detection unit 19. The position detector 19 detects the current position of the excavator 100. The position detection unit 19 is called two antennas 21 and 22 (hereinafter referred to as “GNSS antennas 21 and 22”) for RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems, GNSS means a global navigation satellite system). ), A three-dimensional position sensor 23, and an inclination angle sensor 24. The GNSS antennas 21 and 22 are arranged apart from each other by a certain distance along the Ya axis (see FIG. 8) of a vehicle body coordinate system Xa-Ya-Za described later. A signal corresponding to the GNSS radio wave received by the GNSS antennas 21 and 22 is input to the three-dimensional position sensor 23. The three-dimensional position sensor 23 detects the positions of the installation positions P1, P2 of the GNSS antennas 21, 22. As shown in FIG. 2B, the inclination angle sensor 24 detects an inclination angle θ4 (hereinafter referred to as “roll angle θ4”) in the width direction of the vehicle body 1 with respect to the gravitational direction (vertical line). In the present embodiment, the width direction means the width direction of the bucket 8 and coincides with the vehicle width direction. However, when the work implement 2 includes a tilt bucket described later, the width direction of the bucket may not match the vehicle width direction.

  FIG. 3 is a block diagram illustrating a configuration of a control system provided in the excavator 100. The excavator 100 includes an operation device 25, a work machine controller 26, a work machine control device 27, and a display system 28. The operating device 25 includes a work implement operation member 31, a work implement operation detection unit 32, a travel operation member 33, and a travel operation detection unit 34. The work machine operation member 31 is a member for the operator to operate the work machine 2 and is, for example, an operation lever. The work machine operation detection unit 32 detects the operation content of the work machine operation member 31 and sends it to the work machine controller 26 as a detection signal. The traveling operation member 33 is a member for the operator to operate traveling of the excavator 100, and is, for example, an operation lever. The traveling operation detection unit 34 detects the operation content of the traveling operation member 33 and sends it to the work machine controller 26 as a detection signal.

  The work machine controller 26 includes a storage unit 35 such as a RAM and a ROM, and a calculation unit 36 such as a CPU. The work machine controller 26 mainly controls the work machine 2. The work machine controller 26 generates a control signal for operating the work machine 2 in accordance with the operation of the work machine operation member 31, and outputs the control signal to the work machine control device 27. The work machine control device 27 has a proportional control valve 37, and the proportional control valve 37 is controlled based on a control signal from the work machine controller 26. The hydraulic oil having a flow rate corresponding to the control signal from the work machine controller 26 flows out of the proportional control valve 37 and is supplied to the hydraulic cylinder 10-12. The hydraulic cylinder 10-12 is driven according to the hydraulic oil supplied from the proportional control valve 37. Thereby, the work machine 2 operates.

1-2. Configuration of Display System 28 The display system 28 is a system for providing an operator with information for excavating the ground in the work area to form a shape like a design surface described later. The display system 28 includes a display input device 38 and a display controller 39 in addition to the first to third stroke sensors 16-18, the three-dimensional position sensor 23, and the tilt angle sensor 24 described above.

  The display input device 38 includes a touch panel type input unit 41 and a display unit 42 such as an LCD. The display input device 38 displays a guidance screen for providing information for excavation. Various keys are displayed on the guidance screen. The operator can execute various functions of the display system 28 by touching various keys on the guidance screen. The guidance screen will be described in detail later.

  The display controller 39 executes various functions of the display system 28. The display controller 39 includes a storage unit 43 such as a RAM and a ROM, and a calculation unit 44 such as a CPU. The storage unit 43 stores work implement data. The work machine data includes the above-described length L1 of the boom 6, the length L2 of the arm 7, and the length L3 of the bucket 8. The work implement data includes the minimum value and the maximum value of the inclination angle θ1 of the boom 6, the inclination angle θ2 of the arm 7, and the inclination angle θ3 of the bucket 8. The display controller 39 and the work machine controller 26 can communicate with each other by wireless or wired communication means. Design terrain data is created and stored in the storage unit 43 of the display controller 39 in advance. The design terrain data is information regarding the shape and position of the three-dimensional design terrain. The design terrain indicates the target shape of the ground to be worked. The display controller 39 displays a guidance screen on the display input device 38 based on data such as the design terrain data and detection results from the various sensors described above. Specifically, as shown in FIG. 4, the design landform is composed of a plurality of design surfaces 45 each represented by a triangular polygon. In FIG. 4, reference numeral 45 is given to only one of the plurality of design surfaces, and reference numerals of the other design surfaces are omitted. The target work object is one of these design surfaces 45 or a plurality of design surfaces. The operator selects one or more of these design surfaces 45 as the target surface 70. The display controller 39 causes the display input device 38 to display a guidance screen for informing the operator of the position of the target surface 70.

2. Guide screen Hereinafter, the guide screen will be described in detail. The guidance screen is a screen for guiding the work implement 2 of the excavator 100 such that the positional relationship between the target surface 70 and the cutting edge of the bucket 8 is shown, and the ground as the work target has the same shape as the target surface 70. . As shown in FIGS. 5 and 6, the guide screen includes a rough excavation mode guide screen (hereinafter referred to as “rough excavation screen 53”) and a fine excavation mode guide screen (hereinafter referred to as “fine excavation screen 54”). Call).

2-1. Rough excavation screen 53
FIG. 5 shows a rough excavation screen 53. The rough excavation screen 53 includes a top view 53 a showing the design topography of the work area and the current position of the excavator 100, and a side view 53 b showing the positional relationship between the target surface 70 and the excavator 100.

  A top view 53a of the rough excavation screen 53 expresses the design topography in a top view by a plurality of triangular polygons. More specifically, the top view 53a represents the design terrain with the turning plane of the excavator 100 as a projection plane. Therefore, the top view 53a is a view as seen from directly above the excavator 100. When the excavator 100 is inclined, the design surface 45 is inclined. Further, the target surface 70 selected as the target work target from the plurality of design surfaces 45 is displayed in a color different from that of the other design surfaces 45. In FIG. 5, the current position of the excavator 100 is indicated by the icon 61 of the excavator as viewed from above, but may be indicated by other symbols. Further, the top view 53a includes information for causing the excavator 100 to face the target surface 70. Information for causing the excavator 100 to face the target surface 70 is displayed as a facing compass 73. The facing compass 73 is an icon indicating a facing direction with respect to the target surface 70 and a direction in which the excavator 100 should be turned. The operator can confirm the degree of confrontation with respect to the target surface 70 with the confrontation compass 73.

  The side view 53 b of the rough excavation screen 53 includes an image indicating the positional relationship between the target surface 70 and the blade edge of the bucket 8, and distance information 88 indicating the distance between the target surface 70 and the blade edge of the bucket 8. Specifically, the side view 53b includes a design surface line 81, a target surface line 82, an extension line 83 of the target surface line 82, and an icon 75 of the excavator 100 in a side view. A design surface line 81 indicates a cross section of the design surface 45 other than the target surface 70. A target plane line 82 indicates a cross section of the target plane 70. As shown in FIG. 4, the design surface line 81 and the target surface line 82 are obtained by calculating an intersection line 80 between the plane 77 passing the current position of the blade tip P3 of the bucket 8 and the design surface 45. A method for calculating the current position of the blade tip P3 of the bucket 8 will be described later. An extension line 83 of the target surface line 82 is an upward extension line of the target surface line 82. In the side view 53b, the design surface line 81, the target surface line 82, and the extension line 83 are displayed in different display modes. Specifically, the target surface line 82 and the design surface line 81 are displayed in different colors. In FIG. 5, the design plane line 81 is hatched to express the color difference. The extension line 83 is displayed with a line type different from the target plane line 82 and the design plane line 81. For example, the design surface line 81 and the target surface line 82 are displayed as solid lines, and the extension line 83 is displayed as a broken line. Further, in the side view 53b, the region on the ground side with respect to the design surface line 81 and the target surface line 82 and the region on the air side with respect to these line segments are shown in different colors. In FIG. 5, the difference in color is expressed by hatching a region closer to the ground than the design surface line 81 and the target surface line 82. A line 91 indicating the locus of the cutting edge of the bucket 8 is displayed on the side view 53 b of the rough excavation screen 53. The distance information 88 indicating the distance between the target surface 70 and the cutting edge of the bucket 8 is a numerical value indicating the distance between the cutting edge of the bucket 8 and the target surface 70. The distance information 88 will be described in detail later.

  As described above, on the rough excavation screen 53, the relative positional relationship among the design plane line 81, the target plane line 82, the extension line 83 of the target plane line 82, and the hydraulic excavator 100 including the bucket 8 is displayed as an image. Is done. The operator can easily excavate so that the current terrain becomes the designed terrain by moving the cutting edge of the bucket 8 along the target plane line 82.

  An operator whose screen switching key 65 for switching the guidance screen is displayed on the rough excavation screen 53 can switch from the rough excavation screen 53 to the fine excavation screen 54 by operating the screen switching key 65.

2-2. Delicate drilling screen 54
FIG. 6 shows a delicate excavation screen 54. The fine excavation screen 54 shows the positional relationship between the target surface 70 and the excavator 100 in more detail than the rough excavation screen 53. That is, the fine excavation screen 54 shows the positional relationship between the target surface 70 and the cutting edge of the bucket 8 in more detail than the rough excavation screen 53. The delicate excavation screen 54 includes a front view 54 a showing the positional relationship between the target surface 70 and the bucket 8 and a side view 54 b showing the positional relationship between the target surface 70 and the bucket 8. The front view 54 a of the delicate excavation screen 54 includes an icon 89 of the bucket 8 in a front view and a line 84 indicating a cross section of the target surface 70. The side view 54 b of the delicate excavation screen 54 includes an icon 90 of the bucket 8 in a side view, a design surface line 81, a target surface line 82, and an extension line 83 of the target surface line 82.

  The front view 54a includes distance information 86a and angle information 86b. The distance information 86a indicates the distance in the Za direction between the cutting edge of the bucket 8 and the target surface line 82. The angle information 86 b is information indicating the angle between the target surface 70 and the bucket 8. Specifically, the angle information 86 b is an angle between a virtual line segment passing through the blade edge of the bucket 8 and a line 84 indicating a cross section of the target surface 70.

  The side view 54b includes distance information 87a and angle information 87b. The distance information 87a is information indicating the distance between the cutting edge of the bucket 8 and the target surface 70. The distance information 87a will be described in detail later. The angle information 87b is information indicating the angle between the target surface line 82 and the bucket 8. Specifically, the angle information 87 b displayed in the side view 54 b is an angle between the bottom surface of the bucket 8 and the target surface line 82.

  As described above, on the delicate excavation screen 54, the relative positional relationship among the design surface line 81, the target surface line 82, the extension line 83 of the target surface line 82, and the blade edge of the bucket 8 is displayed in detail. By moving the cutting edge of the bucket 8 along the target plane line 82, the operator can further easily excavate the current topography so as to have the same shape as the three-dimensional design topography. Note that a screen switching key 65 is displayed on the fine excavation screen 54 in the same manner as the rough excavation screen 53 described above. The operator can switch from the fine excavation screen 54 to the rough excavation screen 53 by operating the screen switching key 65.

2-3. Calculation Method of Information Displayed on Guidance Screen Next, a calculation method of information displayed on the above-described guidance screen will be described in detail based on the flowchart shown in FIG.

  First, in step S1, the current position of the vehicle is detected. Here, the current position of the vehicle main body 1 is detected by a detection signal from the position detection unit 19.

  In step S2, the position of the blade edge of the bucket 8 is calculated. Here, the display controller 39 determines the global coordinate system {X, X based on the current position of the vehicle body 1 detected in step S1 and the detection results from the first to third stroke sensors 16-18 and the tilt angle sensor 24. The current position of the cutting edge of the bucket 8 at Y, Z} is calculated. Specifically, the current position of the blade edge of the bucket 8 is obtained as follows.

  First, as shown in FIG. 8, a vehicle body coordinate system {Xa, Ya, Za} having the origin at the installation position P1 of the GNSS antenna 21 is obtained. FIG. 8A is a side view of the excavator 100. FIG. 8B is a rear view of the excavator 100. Here, it is assumed that the front-rear direction of the excavator 100, that is, the Ya-axis direction of the vehicle body coordinate system is inclined with respect to the Y-axis direction of the global coordinate system. The coordinates of the boom pin 13 in the vehicle main body coordinate system are (0, Lb1, -Lb2), and are stored in advance in the storage unit 43 of the display controller 39.

The three-dimensional position sensor 23 detects the installation positions P1 and P2 of the GNSS antennas 21 and 22. A unit vector in the Ya-axis direction is calculated from the detected coordinate positions P1 and P2 by the following equation (1).
Ya = (P1-P2) / | P1-P2 | (1)
As shown in FIG. 8A, when a vector Z ′ that passes through a plane represented by two vectors Ya and Z and is perpendicular to Ya is introduced, the following relationship is established.
(Z ′, Ya) = 0 (2)
Z ′ = (1−c) Z + cYa (3)
c is a constant.
From the expressions (2) and (3), Z ′ is expressed as the following expression (4).
Z ′ = Z + {(Z, Ya) / ((Z, Ya) −1)} (Ya−Z) (4)
Further, if a vector perpendicular to Ya and Z ′ is X ′, X ′ is expressed as in the following equation (5).
X ′ = Ya⊥Z ′ (5)
As shown in FIG. 8B, the vehicle body coordinate system is obtained by rotating the vehicle body coordinate system around the Ya axis by the roll angle θ4 described above, and is expressed by the following equation (6).
... (6)

Further, the current inclination angles θ1, θ2, and θ3 of the boom 6, the arm 7, and the bucket 8 are calculated from the detection results of the first to third stroke sensors 16-18. The coordinates (xat, yat, zat) of the cutting edge P3 of the bucket 8 in the vehicle main body coordinate system are based on the inclination angles θ1, θ2, θ3 and the lengths L1, L2, L3 of the boom 6, arm 7, and bucket 8. These are calculated by the following equations (7) to (9).
xat = 0 (7)
yat = Lb1 + L1sin θ1 + L2sin (θ1 + θ2) + L3sin (θ1 + θ2 + θ3) (8)
zat = −Lb2 + L1 cos θ1 + L2 cos (θ1 + θ2) + L3 cos (θ1 + θ2 + θ3) (9)
In addition, the blade edge | tip P3 of the bucket 8 shall move on the Ya-Za plane of a vehicle main body coordinate system.
And the coordinate of the blade edge | tip P3 of the bucket 8 in a global coordinate system is calculated | required from the following (10) Formula.
P3 = xat · Xa + yat · Ya + zat · Za + P1 (10)
Returning to FIG. 7, next, in step S3, the positions of the design surface line 81, the target surface line 82, and the extension line 83 of the target surface line 82 are calculated. Here, as shown in FIG. 4, the display controller 39 calculates the three-dimensional design landform based on the current position of the cutting edge of the bucket 8 calculated as described above and the design landform data stored in the storage unit 43. An intersection line 80 with the Ya-Za plane 77 passing through the blade edge P3 of the bucket 8 is calculated. Then, the display controller 39 calculates a portion passing through the target plane 70 in the intersection line 80 as the target plane line 82 described above. A portion other than the target plane line 82 in the intersection line 80 is calculated as a design plane line 81. Further, based on the calculated position of the target surface line 82, the position of the extension line 83 of the target surface line 82 is calculated.

  In step S4, distance information is calculated. The distance information indicates the distance between the target surface 70 and the blade edge of the bucket 8 as described above. However, when the cutting edge of the bucket 8 is far from the target surface line 82 and is near the extension line 83 of the target surface line 82, the distance between the extension line 83 and the cutting edge of the bucket 8 is calculated as distance information. Is done. Hereinafter, the calculation method of distance information is demonstrated based on the flowchart shown in FIG.

  First, in step S11, it is determined whether or not the cutting edge of the bucket 8 is located in the extended surface area. As shown in FIG. 10, the extension surface region A <b> 1 is a region in which the cutting edge P <b> 3 of the bucket 8 faces perpendicularly to the extension line 83 of the target surface line 82. When the cutting edge P3 of the bucket 8 is located in the extension surface area A1, the shortest distance D1 between the extension line 83 of the target surface line 82 and the cutting edge P3 of the bucket 8 is calculated as distance information in step S12. .

  On the other hand, when the blade edge P3 of the bucket 8 is not located within the extended surface area A1, the distance between the target surface line 82 and the blade edge P3 of the bucket 8 is calculated as distance information in step S13. For example, as shown in FIG. 11, when the cutting edge P3 of the bucket 8 is located in a region A2 that is perpendicularly opposed to the target plane line 82, the gap between the cutting edge P3 of the bucket 8 and the target plane line 82 is set. The shortest distance D2 is calculated as distance information. In addition, as shown in FIG. 12, when the cutting edge P3 of the bucket 8 is located outside the region A2 that is perpendicularly opposed to the target surface line 82, the end point P4 of the target surface line 82 and the cutting edge P3 of the bucket 8 Is calculated as distance information. In this case, the shortest distance between the design surface line 81 to which the cutting edge P3 of the bucket 8 is close and the cutting edge P3 of the bucket 8 may be calculated.

  Returning to FIG. 7, a guidance screen is displayed in step S5. Here, the rough excavation screen 53 and the fine excavation screen 54 described above are displayed on the display unit 42. The top view and the side view of the rough excavation screen 53 and the fine excavation screen 54 are the current position of the vehicle, the position of the blade edge of the bucket 8, the design plane line 81, the target plane line 82, and the target plane calculated in steps S1 to S3. It is created based on the position of the extension line 83 of the line 82. The distance information calculated in step S4 is displayed as distance information 88 and 87a included in the side view of the rough excavation screen 53 and the fine excavation screen 54.

3. Features The display system 28 of the excavator 100 according to the present embodiment has the following features.

  Since the extension line 83 of the target surface line 82 is displayed on the guidance screen, the operator moves the blade edge of the bucket 8 along the extension line 83 when excavating the target surface 70, so that the blade edge of the bucket 8 becomes the target. It can be easily operated to move parallel to the surface 70. Thereby, the operator can shape | mold the target surface 70 accurately and easily. In particular, since the extension line 83 upward of the target surface line 82 is displayed on the guide screen, it is easy to form the target surface 70 from the upper end.

  The distance between the cutting edge of the bucket 8 and the extension line 83 of the target surface line 82 is displayed on the guidance screen. For this reason, the operator can easily grasp the positional relationship between the cutting edge of the bucket 8 and the target surface 70.

  The target plane line 82, the extension line 83, and the design plane line 81 are displayed in different display modes. Specifically, the target plane line 82 and the design plane line 81 are displayed as solid lines, and the extension line 83 is displayed with different line types (broken lines). The target plane line 82 and the design plane line 81 are displayed in different colors. Therefore, the operator can easily identify the target plane line 82 and other lines on the guidance screen. Therefore, the operator can easily grasp the position of the target surface 70 on the guidance screen.

4). Other embodiments
As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the summary of invention as follows.

  The contents of each guidance screen are not limited to those described above, and may be changed as appropriate. In addition, some or all of the functions of the display controller 39 may be executed by a computer arranged outside the excavator 100. Further, the target work target is not limited to the plane as described above, but may be a point, a line, or a three-dimensional shape. The input unit 41 of the display input device 38 is not limited to a touch panel type, and may be configured by operation members such as hard keys and switches.

  In the above embodiment, the work machine 2 includes the boom 6, the arm 7, and the bucket 8, but the configuration of the work machine 2 is not limited thereto, and any structure that has at least the bucket 8 may be used. In the above embodiment, the tilt angles of the boom 6, the arm 7, and the bucket 8 are detected by the first to third stroke sensors 16-18, but the tilt angle detection means is not limited to these. For example, an angle sensor that detects the inclination angles of the boom 6, the arm 7, and the bucket 8 may be provided.

  In the above embodiment, the bucket 8 is provided, but the bucket 8 is not limited to this and may be a tilt bucket. A tilt bucket is equipped with a bucket tilt cylinder. By tilting the bucket to the left and right, even if the excavator is on a sloping ground, it is possible to form the slope and flat ground freely and level the ground. The bucket can also be rolled.

  The distance information is not limited to numerical values as described above, and may be expressed by other display modes such as graphics. The display mode of the target plane line 82, the extension line 83, and the design plane line 81 is not limited to that of the above embodiment. For example, the target surface line 82 and the extension line 83 may be indicated by different colors. Further, the target plane line 82 and the design plane line 81 may be indicated by different line types.

  The extension line 83 of the target surface line 82 may be a downward extension line 83 as shown in FIG. 13 instead of the upward extension line 83 as in the above embodiment. Further, as shown in FIG. 14, the extension line 83 of the target surface line 82 may be an extension line 83 extending upward and downward.

  The present invention has an effect of enabling excavation work to be performed with high accuracy, and is useful as a display system for a hydraulic excavator and a control method thereof.

1 Vehicle body (body part)
2 Work implement 8 Bucket 19 Position detection unit 28 Display system 42 Display unit 43 Storage unit 44 Calculation unit 45 Design surface 53 Rough excavation screen (guide screen)
54 Delicate drilling screen (guidance screen)
70 Target surface 82 Target surface line 81 Design surface line 83 Extension line 100 Hydraulic excavator

Claims (6)

A display system for a hydraulic excavator having a working machine including a bucket and a main body to which the working machine is attached,
A position detector for detecting information related to the current position of the hydraulic excavator;
A storage unit for storing position information of a design surface indicating a target shape of a work target;
A target surface that is a line segment indicating a cross section of the target surface selected from the design surface based on the position information of the design surface, based on the position information of the design surface, calculating the position of the blade edge of the bucket based on information on the current position of the hydraulic excavator An arithmetic unit for calculating the position of the line ;
A display unit for displaying a guidance screen including an image showing the front Symbol target surface line an extension which extends the target section line and the cutting edge position of the bucket,
Equipped with a,
In the guidance screen, the target surface line and the extension line are displayed in different display modes.
Hydraulic excavator display system. The extension line of the target plane line includes an extension line upward of the target plane line.
The display system of the hydraulic excavator according to claim 1. The extension line of the target surface line includes a downward extension line of the target surface line.
The display system of the hydraulic excavator according to claim 1 or 2. When the blade edge of the bucket is located in a region that is perpendicular to the extension line of the target surface line, information indicating the distance between the blade edge of the bucket and the extension line of the target surface line is displayed on the guide screen. Is displayed,
A display system for a hydraulic excavator according to any one of claims 1 to 3. In the guidance screen, the target plane line and the extension line are displayed in different display modes by different line types .
The display system of the hydraulic excavator according to any one of claims 1 to 4. A control method for a display system of a hydraulic excavator having a working machine including a bucket and a main body to which the working machine is attached,
Detecting information relating to a current position of the excavator;
Calculating the position of the cutting edge of the bucket based on information on the current position of the excavator;
Calculating a position of a target surface line, which is a line segment indicating a cross section of the target surface selected from the design surface, based on position information of the design surface indicating a target shape of a work target;
Displaying a guidance screen including an image showing the front Symbol target surface line an extension which extends the target section line and the cutting edge position of the bucket,
Equipped with a,
In the guidance screen, the target surface line and the extension line are displayed in different display modes.
Control method for display system of hydraulic excavator.