JP2004107926A - Digging work teaching device for construction machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a digging work teaching device for a construction machine improving work efficiency with easy grasping of a proper target digging face even in face of slope forming work in a complicated three-dimensional landform and easy positioning for a body during digging. <P>SOLUTION: In a panel computer 45, a projecting line of a normal of a target digging face in a plurality of composing faces composing a three-dimensional target landform, a present moving direction of a work machine of the construction machine, and a relative relationship between the body of the construction machine, a position of the work machine, and the target landform are displayed in a display device 46. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an excavation work teaching device for a construction machine such as a hydraulic excavator, and in particular, teaches a target excavation work position when performing an excavation work on a three-dimensional target terrain by operating an excavation work machine such as a bucket. The present invention relates to an excavation work teaching device for a construction machine suitable for performing
[0002]
[Prior art]
When constructing a road on a slope such as a mountain, first use a construction machine such as a hydraulic shovel or bulldozer to perform cutting or embankment work to form the necessary ground, and the surrounding ground collapses The slope is formed by using a hydraulic shovel or the like to prevent the occurrence of the slope. This slope forming operation is a highly accurate excavation forming operation, and requires skill. In particular, if excavation is carried out excessively below the target excavation surface, mere backfilling is not sufficient, and compaction must be carried out using a compactor or other machine to achieve the same strength as the ground, greatly increasing work efficiency. To decline. Therefore, the operator carefully performs a slope forming operation so as not to dug the target excavation surface too much.
[0003]
On the other hand, as a means for teaching the target excavation surface to the operator, numerical values that are targets for excavation, such as numerical values relating to the slope slope and its depth, are recorded at a number of representative positions based on the results of surveying the current topography. Install piles and boards that have been set up (towing work). The operator looks at the tent and operates the work machine of the excavator to form a target slope. However, when forming a slope on a complex terrain such as a slope such as a mountainous area, it is necessary to install a large number of target piles and boards along the complex three-dimensional terrain, which requires a great deal of surveying and installation work. Time was needed.
[0004]
Therefore, for example, as described in JP-A-2001-98585, the three-dimensional position and the direction of the work machine of a construction machine such as a hydraulic shovel are compared with the three-dimensional target terrain, and the work machine is turned. Calculates the three-dimensional intersection between the plane of the vertical section passing through the direction and the three-dimensional target terrain, and displays the intersection with the illustration of the vehicle body and the work equipment on the display device installed in the cab on the same screen 2. Description of the Related Art There is known an apparatus that displays a guidance for a target excavation surface.
[0005]
Further, for example, in the 3D-MC GPS excavator of Topcon Corporation, a triangular polygon constituting a three-dimensional terrain is displayed on a touch panel type display device installed in a driver's cab, and a target excavation among the displayed triangular polygons is performed. 2. Description of the Related Art There is known a device that changes the color of a target excavation surface and displays it by directly touching and teaching a polygon corresponding to a surface on a display device.
[0006]
[Patent Document 1]
JP 2001-98585 A
[0007]
[Problems to be solved by the invention]
However, in the apparatus described in Japanese Patent Application Laid-Open No. 2001-98585, a three-dimensional intersection line between a three-dimensional target terrain and a three-dimensional target terrain passing through the direction in which the work machine is directed is calculated. By displaying the lines on the same screen with illustrations of the vehicle body and the work machine on the display device installed in the cab, it is possible to know the surface to be excavated at the current position of the excavator, but the direction in which the work machine operates If they are not oriented in the direction perpendicular to the target slope, the width of the bucket will cut into the target surface. Therefore, when actually performing the slope forming work, it is necessary to consider the width of the working machine and to align the operating direction of the working machine in a direction perpendicular to a target slope, and the work becomes complicated. There was a problem.
[0008]
In the 3D-MC GPS excavator of Topcon Co., Ltd., the angle between the direction in which the working machine operates and the direction perpendicular to the target slope is displayed in a separate frame on the same screen as the vehicle body and the three-dimensional target terrain. However, the operator turns or runs the vehicle body so that the angle becomes 0, but there is no specific guidance in which direction the vehicle body should be actually operated. There is a problem in that it is necessary to determine and operate by itself, and an inexperienced operator cannot easily position the vehicle body.
[0009]
An object of the present invention is to improve the working efficiency by easily grasping an appropriate target excavation surface and easily positioning a vehicle body during excavation even in a slope forming operation on complicated three-dimensional terrain. An object of the present invention is to provide a machine excavation work teaching device.
[0010]
In the specification of the present application, the “absolute position in the three-dimensional space” is a position expressed by a coordinate system set outside the traveling construction machine. For example, a GPS is used as a three-dimensional position measuring device. The case is a position represented by a coordinate system fixed to a reference ellipsoid used as a height reference in GPS. In the present specification, the coordinate system set to the reference ellipsoid is called a global coordinate system.
[0011]
Also, the local plane rectangular coordinate system is defined by the surveying method, is a rectangular coordinate system that divides the whole of Japan into 20 regions, and regards each region as a plane, and specifies each divided region. Is a three-dimensional rectangular coordinate system having the origin at the location of. The image data of the three-dimensional target terrain in this specification is created as values in a local plane rectangular coordinate system.
[0012]
[Means for Solving the Problems]
(1) In order to achieve the above object, the present invention relates to an excavation work teaching device for a construction machine that performs an excavation operation by operating a work machine for excavation to convert a three-dimensional terrain into a three-dimensional target terrain. Position measuring means for measuring a three-dimensional position of the working machine of the construction machine, and display means for displaying a positional relationship between the three-dimensional target terrain and the working machine according to a measurement result of the position measuring means, The means displays, as a first screen, an illustration of a whole or a part of the construction machine including at least the tip of the work machine, and a plurality of small planes constituting the three-dimensional target terrain, and on the first screen, A projection line on a horizontal plane of a normal of a target excavation surface among a plurality of small planes constituting the three-dimensional target terrain, and a direction in which a working machine of the construction machine is currently facing are displayed. It is.
Thus, even in the case of a complicated three-dimensional terrain in which the shape of the terrain to be excavated changes as the construction machine moves, the working machine of the construction machine that is currently facing the projection line of the normal of the target excavation surface Is displayed on the same screen, the installation position of the construction machine suitable for excavating the target excavation surface can be easily and intuitively grasped, and the work efficiency during excavation can be improved.
[0013]
(2) In the above (1), preferably, the display means simultaneously displays the center position of the vehicle body of the construction machine on the first screen.
[0014]
(3) In the above (1), preferably, the display means displays an intersection line between the operation surface of the work machine and the plurality of small planes and an illustration of the whole or a part of the construction machine on the operation surface of the work machine. Are displayed simultaneously with the first screen as a second screen which is a sectional view in FIG.
[0015]
(4) In the above (1), preferably, the display means simultaneously displays a direction line on which the traveling body of the construction machine moves on the first screen.
[0016]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an example in which the excavation work teaching device for a construction machine according to an embodiment of the present invention is applied to a hydraulic shovel will be described with reference to FIGS. 1 to 11.
[0017]
FIG. 1 is a block diagram showing a configuration of a work position measuring system using an excavation work teaching device for a construction machine according to an embodiment of the present invention.
[0018]
The work position measurement system receives radio data 41 and 42 that receive correction data (described later) from the reference station via the antennas 33 and 34, and receives the correction data received by the radio devices 41 and 42 and the GPS antennas 31 and 32. GPS receivers 43 and 44 for measuring the three-dimensional positions of the GPS antennas 31 and 32 in real time based on signals from GPS satellites to be received, position data from the GPS receivers 43 and 44, and angle sensors 21 and 22. , 23, the inclination sensor 24, the turning angle sensor 25, and other angle data, the position of the tip (monitor point) of the bucket 7 of the excavator 1 is calculated, and further indicates a three-dimensional target terrain described later. A panel computer 45 in which data is stored in a predetermined memory, and a position calculated by the panel computer 45 And a radio device 47 for transmitting position data calculated by the panel computer 45 via the antenna 35, and a target for excavation work in advance. And a setting device 48 for setting and instructing the excavated surface to be set. The GPS antenna 31 and the GPS receiver 43, and the GPS antenna 32 and the GPS receiver 44 respectively constitute one set of GPS (Groba Positioning System).
[0019]
FIG. 2 is a diagram showing an external appearance of a hydraulic shovel using the excavating work teaching device for construction equipment according to the embodiment of the present invention.
[0020]
The hydraulic excavator 1 includes a lower traveling body 2, an upper revolving body 3 that is provided rotatably on the lower traveling body 2 and forms a vehicle body together with the lower traveling body 2, and a front work machine 4 provided on the upper revolving body 3. Consists of The front work machine 4 includes a boom 5 provided on the upper swing body 3 so as to be rotatable in the vertical direction, an arm 6 provided on the tip of the boom 5 so as to be rotatable in the vertical direction, and a vertically rotated tip of the arm 6. It is constituted by a bucket 7 which is a tip excavation part provided so as to be able to be provided, and is driven by expanding and contracting a boom cylinder 8, an arm cylinder 9, and a bucket cylinder 10, respectively. An operator cab 11 is provided in the upper swing body 3.
[0021]
The hydraulic excavator 1 has an angle sensor 21 for detecting a rotation angle (boom angle) between the upper swing body 3 and the boom 5 and an angle sensor 22 for detecting a rotation angle (arm angle) between the boom 5 and the arm 6. An angle sensor 23 for detecting a rotation angle (bucket angle) between the arm 6 and the bucket 7; an inclination sensor 24 for detecting an inclination angle (pitch angle) of the upper revolving unit 3 in the front-rear direction; A turning angle sensor 25 that detects a rotation angle (turning angle) with the turning body 3 is provided.
[0022]
Further, the hydraulic excavator 1 transmits two GPS antennas 31 and 32 for receiving signals from GPS satellites, wireless antennas 33 and 34 for receiving correction data (described later) from a reference station, and transmits position data. A wireless antenna 35 is provided. The two GPS antennas 31 and 32 are installed on the left and right of the rear part of the revolving superstructure, which deviates from the revolving center of the upper revolving superstructure 3.
[0023]
FIG. 3 is a block diagram showing a configuration of an office system having a role as a GPS reference station.
[0024]
An office 51 that manages the position and work of the excavator 1 and the bucket 7 and the like includes a GPS antenna 52 that receives a signal from a GPS satellite, a radio antenna 53 that transmits correction data to the excavator 1, and an excavator 1. A radio antenna 54 for receiving the above-mentioned position data of the excavator 1 and the bucket 7 and the like, and the above-mentioned hydraulic excavator based on three-dimensional position data measured in advance and a signal from a GPS satellite received by the GPS antenna 52. A GPS receiver 55 as a GPS reference station for generating correction data for performing RTK (real-time kinematics) measurement by the first GPS receivers 43 and 44, and correction data generated by the GPS receiver 55 via the antenna 53. A radio 56 for transmitting, and a radio 57 for receiving position data via the antenna 54 A computer 58 for displaying and managing the positions of the excavator 1 and the bucket 7 based on the position data received by the wireless device 57 and for displaying data indicating the three-dimensional target terrain, and a position calculated by the computer 58 A display device 59 for displaying data, management data, and three-dimensional target terrain with illustrations and the like is provided. The GPS antenna 52 and the GPS receiver 55 constitute one set of GPS.
[0025]
Next, an outline of the operation of the work position measuring system according to the present embodiment will be described. In the present embodiment, in order to perform position measurement with high accuracy, RTK measurement is performed by each of the GPS receivers 43 and 44 shown in FIG. For this purpose, first, a GPS reference station 55 for generating the correction data shown in FIG. 3 is required. The GPS reference station 55 generates correction data for RTK measurement based on the position data of the antenna 52 measured three-dimensionally in advance as described above and the signal from the GPS satellite received by the antenna 52, and is generated. The corrected data is transmitted by the wireless device 56 via the antenna 53 at regular intervals.
[0026]
On the other hand, the on-vehicle GPS receivers 43 and 44 shown in FIG. 1 receive the correction data received by the radios 41 and 42 via the antennas 33 and 34 and the correction data from the GPS satellites received by the antennas 31 and 32, respectively. The three-dimensional positions of the antennas 31 and 32 are RTK-measured based on the signal. The RTK measurement measures the three-dimensional positions of the antennas 31 and 32 with an accuracy of about ± 1-2 cm. Then, the measured three-dimensional position data is input to the panel computer 45.
[0027]
Further, the pitch angle of the excavator 1 is measured by the inclination sensor 24, and the angles of the boom 5, the arm 6, and the bucket 7 are measured by the angle sensors 21 to 23, respectively, and are similarly input to the panel computer 45.
[0028]
The panel computer 25 performs a general vector operation and coordinate conversion based on the position data from the GPS receivers 43 and 44 and the angle data from the various sensors 21 to 24 to determine the three-dimensional position of the tip of the bucket 7. Calculate.
[0029]
Next, a three-dimensional position calculation process in the panel computer 45 will be described with reference to FIGS. FIG. 4 is a diagram showing a coordinate system used to calculate the absolute position of the tip of the bucket 7 in a three-dimensional space. In FIG. 4, # 0 is a global coordinate system having an origin O0 at the center of a GPS-compliant ellipsoid, and # 3 is fixed to the upper revolving superstructure 3 of the excavator 1 and has an origin O0 at an intersection between the revolving base frame and the revolving center. The shovel base coordinate system, # 0, is a bucket tip coordinate system fixed to the bucket 7 and having a center O7 at the tip of the bucket 7.
[0030]
Since the positional relationships L1, L2, L3 of the GPS antennas 31, 32 with respect to the origin O3 of the shovel base coordinate system # 3 (the intersection between the turning base frame and the turning center) are known, the GPS antennas 31, 32 in the global coordinate system # 0 are known. If the three-dimensional position and the pitch angle θ2 of the excavator 1 are known, the position and orientation of the excavator base coordinate system # 3 in the global coordinate system # 0 (direction of the upper swing body 3) can be obtained. Further, the positional relationship α3, α4 between the origin (intersection point between the turning base frame and the turning center) O3 of the shovel base coordinate system # 3 and the base end of the boom 5, and the dimensions α5, α6, α7 of the arm 5, the arm 6, and the bucket 7 If the boom angle θ5, the arm threat θ6, and the bucket angle θ7 are known, the position and orientation of the bucket tip coordinate system # 7 in the shovel base coordinate system # 3 can be obtained. Therefore, the three-dimensional positions of the GPS antennas 31, 32 obtained by the GPS receivers 43, 44 on the vehicle side are obtained as values in the global coordinate system Σ0, the pitch sensor θ2 of the hydraulic excavator 1 is obtained by the angle sensor 24, and the angle sensor By calculating the boom angle θ5, the arm angle θ6, and the bucket evenness θ7 at 21 to 23 and performing a coordinate conversion operation, the tip position of the bucket 7 can be obtained by the value of the global coordinate system Σ0.
[0031]
FIG. 5 is a diagram for explaining the concept of the global coordinate system. In FIG. 5, G is a reference ellipsoid used in GPS, and the origin O0 of the global coordinate system # 0 is set at the center of the reference ellipsoid G. The x0 axis direction of the global coordinate system Σ0 is located on a line passing through the intersection C of the equator A and the meridian B and the center of the reference ellipsoid G, and the z0 axis direction is on a line extending from the center of the reference ellipsoid G to the north and south. , And the y0 axis direction is located on a line orthogonal to the x0 axis and the z0 axis. In the GPS, the position on the earth is expressed by latitude and longitude and the height (depth) with respect to the reference ellipsoid G. By setting the global coordinate system $ 0 in this manner, the GPS position information is converted into the global coordinate system. It can be easily converted to a value of $ 0.
[0032]
FIG. 6 is a flowchart showing the three-dimensional position calculation processing procedure. In FIG. 6, first, the three-dimensional position (latitude, longitude, height) of the GPS antenna 31 obtained by the on-vehicle GPS receiver 43 is converted into a value GP1 of the global coordinate system # 0 based on the above idea (step S10). ), Since the arithmetic expression for this is generally well known, the description is omitted here. Similarly, the three-dimensional position of the GPS antenna 32 obtained by the on-board GPS receiver 44 is converted into a value GP2 of the global coordinate system # 0 (step S20). Next, the bitch angle θ2 measured by the inclination sensor 24 is input (step S30), and the three-dimensional positions GP1 and GP2 of the GPS antennas 31 and 32 in the global coordinate system Σ0 obtained in steps S10 and S20, and the pitch angle θ2 And the positional relationship L1, L2, L3 of the GPS antennas 31, 32 with respect to the origin O3 (intersection between the turning base frame and the turning center) of the shovel base coordinate system # 3 stored in the storage device. The posture (the direction of the upper revolving unit 3) is obtained by the value GPB of the global coordinate system # 0 (step S40). This calculation is coordinate transformation, and can be performed by a general mathematical method. Next, the boom angle θ5, the arm angle θ6, and the bucket angle θ7 detected by the angle sensors 21 to 23 are input, and these values and the origin of the shovel base coordinate system Σ3 stored in the storage device (the position between the turning base frame and the turning center). (Intersection) Obtain the bucket tip position BPBK in the shovel base coordinate system Σ3 from the positional relationship α3, α4 between O3 and the base end of the boom 5 and the dimensions α5, α6, α7 of the arms 5, arms 6, and the bucket 7 (step S50). . This calculation is also a coordinate transformation, and can be performed by a general mathematical method. Next, the bucket tip position GPBK in the global coordinate system # 0 is obtained from the value GPB of the shovel base coordinate system # 3 in the global coordinate system # 0 obtained in step S40 and the bucket tip position BPBK in the shovel base coordinate system # 3 obtained in step S50. Is obtained (step S60). Then, the bucket tip position GPBK in the global coordinate system # 0 is converted into a local rectangular coordinate system. The calculation formula for this is generally well-known, and will not be described here.
[0033]
By performing the above calculations, the absolute position of the tip end position of the bucket 7 in the three-dimensional space can be obtained.
[0034]
The obtained three-dimensional position of the bucket tip is transmitted by the wireless device 47 via the antenna 35. The transmitted position data of the tip of the bucket 7 is received by the wireless device 57 via the antenna 54 and is input to the computer 58. The computer 58 saves the input position data of the tip of the bucket 7 and, similarly to the panel computer 25, displays on the monitor of the display device 59 an illustration of the body of the excavator and the bucket in a predetermined memory in advance. It is displayed at the three-dimensional position on the target terrain. Thus, the work state of the excavator 1 can be managed in the office 51.
[0035]
7 and 8 show display examples of screens displayed on the display unit of the display device 46. FIG.
[0036]
FIG. 7 shows a first position display example displayed on the display unit of the display device 46. The display device 46 displays a first screen 46a and a second screen 46b. On the first screen 46a, illustrations of the vehicle body S and the bucket B of the excavator are previously stored in a predetermined memory as shown in FIG. 7 using the three-dimensional position calculated by the three-dimensional position calculation processing in the panel computer 45. Is displayed at the three-dimensional position on the three-dimensional target terrain G thus set. Further, the target excavation surface TG taught by the excavation work teaching device of the present embodiment (the hatched surface in the figure) is displayed in a different color from the other excavation surfaces. The display screen displayed on the display device 48 can be operated to change the viewpoint arbitrarily by operating the setting device 48.
[0037]
Further, the panel computer 45 has a three-dimensional plane with a plane of a vertical cross section passing through the direction in which the bucket is facing (a bucket working surface, that is, a plane fixed to an upper revolving body on which the bucket operates with the operation of the front work machine). A three-dimensional intersection with the target excavation plane is calculated, and the intersection, the vehicle body S, and the bucket B are displayed on the second screen 46b to inform the operator of the work situation.
[0038]
By simultaneously displaying the three-dimensional position display and the cross-sectional display, the positional relationship of the vehicle body S and the bucket B with respect to the target excavation surface TG can be displayed intuitively.
[0039]
FIG. 8 shows a second position display example displayed on the display unit of the display device 46. On the first screen 46a, a two-dimensional image when the viewpoint is at the top is displayed. When the operator uses the setting device 48 to set one surface of the target among the small planes constituting the three-dimensional terrain, the panel computer 25 sets the direction PL (bucket operation surface) of the bucket of the hydraulic shovel that is currently facing. (A straight line viewed from directly above), a projection line GL of the normal line of the set target small plane onto the horizontal plane, and the turning center O of the vehicle body S of the excavator are also displayed.
[0040]
FIG. 9 is an external perspective view of the setting device 48 used in the present embodiment. The setting device 48 includes a switch 48a for turning ON / OFF the start of display on the display device 46, a manual setting switch 48d for manually setting a target excavation surface, and a joystick 48e for moving a viewpoint of three-dimensional display. A two-dimensional display switch 48f for switching the screen of the display device to the two-dimensional display viewed from above shown in FIG. 8, and a three-dimensional display switch for switching the screen of the display device to the three-dimensional display shown in FIG. 48 g.
[0041]
Next, the processing function of the panel computer 45 as the excavation surface teaching device according to the present embodiment will be described using the flowchart shown in FIG.
[0042]
The panel computer 45 provides guidance for excavation work when displaying the illustration of the body and bucket of the excavator shown in FIG. 8 at a three-dimensional position on a three-dimensional target terrain stored in a predetermined memory in advance. The projected line on which the bucket operates, the vehicle body center position, and the perpendicular of the target excavation surface to the horizontal plane are displayed on the same screen.
[0043]
When digging the set target digging surface by operating the bucket, the bucket's lateral width causes the bucket's operating direction line and the projection line of the perpendicular to the target digging surface to the horizontal plane to be almost parallel, unless the bucket The edge cuts into the target excavation surface or floats from the target excavation surface. Therefore, the operator can move the vehicle body in any direction and how much by viewing the direction line on which the bucket operates, the vehicle body center position, and the projection line of the perpendicular line to the target excavation plane displayed on the horizontal plane displayed on the screen of the display device. For example, it is possible to judge whether or not the vehicle is most suitable for excavation work, or to turn the vehicle body, or to operate the lower traveling body so that the direction in which the bucket operates and the perpendicular to the target excavation surface are substantially parallel. When the direction line in which the bucket operates and the perpendicular to the target excavation plane are substantially parallel, the plane of the vertical section passing through the direction of the bucket shown in the sub-screen 46b of FIG. 7 or 8 and the three-dimensional target excavation plane By excavating the target excavation surface while checking the screen displaying the three-dimensional intersection of the vehicle and the body and the bucket, excavation can be accurately performed even on complicated three-dimensional terrain.
[0044]
If the direction line in which the bucket operates and the perpendicular to the target excavation plane are not parallel to the projection line on the horizontal plane, the two can be made substantially parallel by the following procedure. First, while watching the image on the display device 46 shown in FIG. 8, the operator travels on the lower traveling body so that the center O of the vehicle body S approaches the projection line GL on the horizontal plane perpendicular to the target excavation plane, Next, it can be achieved by turning the upper turning body so that the direction line PL in which the bucket operates and the projection line GL of the perpendicular of the target excavation plane onto the horizontal plane substantially coincide with each other. Secondly, this can be achieved by turning the upper turning body so that the direction line PL in which the bucket operates and the projection line GL of the perpendicular of the target excavation surface to the horizontal plane are parallel.
[0045]
When digging a target excavation surface by operating a bucket, the edge of the bucket cuts into the target excavation surface unless the perpendicular of the surface on which the bucket operates and the target excavation surface is substantially parallel because of the width of the bucket, It will float from the target excavation surface. On the other hand, in the present embodiment, the direction in which the bucket of the hydraulic shovel operates, and the projection line of the vertical line of the vehicle body center position and the target excavation plane onto the horizontal plane are displayed on the same screen, so that the turning direction of the upper revolving unit is displayed. It is possible to intuitively grasp the moving direction of the vehicle and the undercarriage, facilitate the movement of the vehicle body, and improve the working efficiency.
[0046]
In FIG. 10, the panel computer 45 sets a viewpoint in three-dimensional display to an initial value (step S105). Next, it is determined whether or not the three-dimensional display start switch 48a of the setting device 48 is on (step S110). If it is on, the process proceeds to step S115. The panel computer 45 acquires the position data of the antennas 31 and 32 from the GPS receivers 43 and 44, and calculates the three-dimensional coordinates of the tip position of the bucket 7 by the method described with reference to FIGS. 4 to 6 (step S115). . Details of steps S105 and S100 are as described in steps S10 to S70 of FIG.
[0047]
Next, it is determined whether or not the joystick 48e of the setting device 48 has been operated to change the viewpoint (step S120). If the viewpoint has been changed, the viewpoint is calculated in the three-dimensional display with respect to the changed viewpoint position. (Step S125). Then, as shown in FIG. 7, the three-dimensional target terrain G, the vehicle body S, and the bucket B are ternarily displayed on the display unit of the display device 48 (step S130). Next, the operation direction of the bucket is calculated (step S135).
[0048]
Next, it is determined whether or not a configuration surface has been selected by the setting device (step S140), and if it has been selected, the process proceeds to step S145. When the operator uses the target surface setting switch 48d of the setting device 48 shown in FIG. 12 to set one of the target surfaces among the small planes constituting the three-dimensional terrain, the process proceeds to step S145.
[0049]
When the constituent surface is selected, it is determined whether or not the two-dimensional display mode is selected as the screen display mode (step S145). When the two-dimensional display switch 48f of the operation device 48 shown in FIG. 12 is pressed, the process proceeds to step S150, and otherwise, the process proceeds to step S165.
[0050]
When the two-dimensional display switch 48f is pressed, as shown in FIG. 8, the first screen 46a of the display device 46 displays a two-dimensional image when the viewpoint is facing upward. That is, when the operator sets one surface of a target among the small planes constituting the three-dimensional terrain using the setting device 48, the panel computer 25 sets the direction PL (bucket operation) in which the bucket of the hydraulic shovel currently facing is operated. (A straight line when the surface is viewed from directly above) and a projection line GL of a perpendicular line of each of the small planes constituting the three-dimensional target terrain to the horizontal plane. The turning center O of the vehicle body S of the excavator is also displayed.
[0051]
Next, the display color of the component surface selected in step S140 is changed (step S155). That is, in the case of the three-dimensional display, as shown in FIG. 7, the display color of the target excavation surface TG is displayed in a manner different from the display colors of the other constituent surfaces. In the case of two-dimensional display viewed from directly above, as shown in FIG. 8, the display color of the target excavation surface TG is displayed in a manner different from the display colors of the other constituent surfaces.
[0052]
Then, a three-dimensional intersection line between the bucket operation direction and the selected constituent surface is calculated (step S160), and as shown in FIG. The intersection, the vehicle body S, and the bucket B are displayed (step S165).
[0053]
After setting the target excavation surface, the operator displayed the three-dimensional intersection line between the plane of the longitudinal section passing through the direction of the bucket shown in FIG. 7 and the three-dimensional target excavation surface, the vehicle body, and the bucket. By excavating the target excavation surface while checking the screen, it is possible to excavate with high accuracy even on complicated three-dimensional terrain.
[0054]
In addition, in the case of forming a long slope G in the lateral direction in substantially the same direction as shown in FIG. 11, the slope is formed while the traveling body S is sequentially moved in the direction in which the slope runs. In this case, by displaying the direction line TL in which the traveling body S moves on the same screen, the operator can confirm whether the direction of the slope G and the traveling direction of the traveling body S are substantially parallel, The work of correcting the position of the hydraulic excavator one by one due to a slight shift in the traveling direction can be reduced, and the working efficiency is improved.
[0055]
The above embodiment is not limited in its details to the above example, and various modifications are possible. As an example, in the above embodiment, the bucket and the vehicle body are displayed, but if at least the excavated portion at the tip of the bucket is displayed, the entire hydraulic excavator or a part thereof may be displayed. In addition, the direction lines perpendicular to the target excavation surface, the direction line for operating the working machine of the construction machine such as the hydraulic shovel, the center line position of the vehicle body, and the direction line of the traveling body, which are displayed on the display devices 46 and 59, are respectively changed in display color. It may be displayed. Alternatively, the perpendicular direction lines of a plurality of triangular polygons near the target excavation surface may be displayed simultaneously. In addition, the target excavation surface may be displayed or blinked in a display color different from other triangular polygons. As an example, a touch panel may be adopted as a teaching method of the target excavation surface, and a triangular polygon displayed on the screen directly by a finger may be designated. Further, although a goniometer for detecting a rotation angle is used as a means for detecting a relative angle between members of the front device, a stroke of a cylinder may be detected. Although the detected three-dimensional position of the tip of the bucket is transmitted to the office's computer 58, the three-dimensional position data need not be transmitted unless management on the office side is particularly necessary.
[0056]
As described above, according to the present embodiment, in a complicated three-dimensional terrain in which the terrain shape to be excavated below the bucket changes as the excavator moves and as the bucket moves. Even if there is, the target excavation surface is taught according to the current position of the construction machine, and the three-dimensional intersection line between the plane of the longitudinal section passing through the direction of the work machine and this target excavation surface is calculated. Then, since the intersection line is displayed on the display device, the vehicle body and the work machine are displayed on the same screen, the operator can grasp the target excavation surface corresponding to the current position of the construction machine, and the target excavation surface displayed on the display is displayed. By operating the work machine along the target excavation surface while looking at the surface and the work machine, three-dimensional target terrain can be excavated. In addition, since a vertical line of the target excavation surface, a direction line of the working machine of the construction machine and a center position of the construction machine are displayed on the same screen, the construction suitable for excavating the target excavation surface is displayed. The installation position of the machine can be intuitively and easily grasped. Further, since the display means for displaying the direction line indicating the direction of the traveling body of the construction machine on the same screen, it is possible to intuitively know in which direction the vehicle body will be operated by the traveling operation, and the traveling operation can be performed without waste. The work efficiency is improved.
[0057]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to this invention, it is easy to grasp | ascertain the target appropriate excavation surface, and also to easily position the vehicle body at the time of excavation, and to improve the work efficiency even in the slope formation work on complicated three-dimensional terrain. Can be.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a work position measurement system using an excavation work teaching device for a construction machine according to an embodiment of the present invention.
FIG. 2 is a diagram showing an external appearance of a hydraulic shovel equipped with a work position measuring system according to one embodiment of the present invention.
FIG. 3 is a block diagram showing a configuration of an office system having a role as a GPS reference station.
FIG. 4 is a diagram illustrating a coordinate system used to calculate an absolute position of a tip of a bucket in a three-dimensional space.
FIG. 5 is a diagram illustrating an outline of a global coordinate system.
FIG. 6 is a flowchart illustrating a three-dimensional position calculation processing procedure;
FIG. 7 shows a first display example displayed on the display unit of the display device.
FIG. 8 shows a second display example displayed on the display unit of the display device.
FIG. 9 is an external perspective view of a setting device used in the present embodiment.
FIG. 10 is a flowchart showing processing functions of a panel computer as an excavation surface teaching device according to the present embodiment.
FIG. 11 shows a third display example displayed on the display unit of the display device.
[Explanation of symbols]
1 Hydraulic excavator
2 Undercarriage
3 Upper revolving superstructure
4 Front work machine
5 Boom
6 arm
7 buckets
21-23 Angle sensor
24 Tilt sensor
25 Rotation angle sensor
31, 32 GPS antenna
33,34 Wireless antenna
35 wireless antenna
41, 42 Radio
43,44 GPS receiver
45 Panel Computer
46 Display device
47 Radio
48 Setting device
51 offices
52 GPS antenna
53 wireless antenna
54 wireless antenna
55 GPS receiver
56 radio
57 Radio
58 Computer
59 Display device

Claims (4)

In an excavation work teaching device of a construction machine for performing an excavation operation to make a three-dimensional terrain a three-dimensional target terrain by operating a digging work machine,
Position measuring means for measuring a three-dimensional position of the working machine of the construction machine;
Display means for displaying the positional relationship between the three-dimensional target terrain and the work implement according to the measurement result of the position measurement means,
The display means displays, as a first screen, an illustration of a whole or a part of the construction machine including at least a tip of the work machine, and a plurality of small planes constituting the three-dimensional target terrain, and the first screen thereof And displaying a projection line of a normal line of a target excavation surface on a horizontal plane among a plurality of small planes constituting the three-dimensional target terrain and a direction in which a working machine of the construction machine that is currently facing is operated. An excavation work teaching device for construction machinery. The excavation work instruction device for a construction machine according to claim 1,
The excavating work teaching device for a construction machine, wherein the display unit simultaneously displays a center position of a body of the construction machine on the first screen. The excavation work instruction device for a construction machine according to claim 1,
The display means may include an intersection line between the operation surface of the work machine and the plurality of small planes, and an illustration of the whole or a part of the construction machine as a second screen that is a cross-sectional view of the operation surface of the work machine, An excavation work instruction device for a construction machine, which is simultaneously displayed on one screen. The excavation work instruction device for a construction machine according to claim 1,
The excavating work teaching device for a construction machine, wherein the display unit simultaneously displays a direction line on which the traveling body of the construction machine moves on the first screen.

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