JP2011001775A - Display device for construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a simply-structured display device for a construction machine for performing accurate positioning in the environment, wherein no automatic positioning apparatus such as a GPS can be used, to further improve work efficiency.SOLUTION: The display device for a construction machine includes: an initial position input means 1 for manually inputting an initial position of the construction machine; a relative displacement calculation means 2 calculating a relative displacement from the initial position of the construction machine; and an estimated position calculation means 5 calculating an estimated position based on the initial position and the relative displacement. The display device also includes: an attitude calculation means 3 calculating the attitude of the construction machine; a view point calculation means 4 calculating the visual observation position of an operator boarding a cab of the construction machine; a perspective drawing computing means 6 computing perspective drawing data of construction plan drawing onto cab glass based on the estimated position, attitude and visual observation position; and a display means 29 displaying the perspective drawing data computed by the perspective drawing computing means on the cab glass.

Description

  The present invention relates to a display device for a construction machine represented by a hydraulic excavator.

2. Description of the Related Art Conventionally, in construction machines such as a hydraulic excavator and a hydraulic crane, a display device has been developed that displays a construction guide map superimposed on an actual construction image on a front surface of a cab on which an operator is boarded.
For example, Patent Document 1 describes a construction guide device (display device) that projects a construction guide figure pattern onto a semi-transparent spherical reflector disposed in front of a cab. In this technology, the position and orientation of a hydraulic excavator are detected using a GPS device and a gyro, and the viewpoint position of the operator is detected using a head position detection sensor and a pupil detection sensor, and overlapped with an actual construction part image. The construction guide map pattern is calculated and displayed on the spherical reflector. By such control, it is said that an operator can visually superimpose construction data on a construction part so that the operator can visually recognize the work data and improve workability.

JP 2002-146846 A

  However, in the technique described in Patent Document 1, it is necessary to always operate the GPS device in order to accurately calculate the construction guide map pattern. That is, the position of the excavator cannot be specified unless it is a place where a signal transmitted from a GPS satellite can be received. Therefore, for example, when excavating in a tunnel or working inside a building with a roof, there is a problem that construction data cannot be accurately grasped.

  Even if a signal from a GPS satellite can be received, the intensity of the radio wave is not sufficient, and the actual construction part image may not match the construction guide map pattern due to measurement errors of the GPS device. In this case, the operator must correct such a deviation in the head or by changing the sitting posture, the angle of the head, etc., and the workability is significantly reduced.

  The present invention has been made in view of such problems, and can perform accurate positioning even in an environment where an automatic positioning device such as a GPS cannot be used with a simple configuration, thereby further improving workability. An object of the present invention is to provide a display device for a construction machine that can be used.

  In order to achieve the above object, a display device for a construction machine according to claim 1 of the present invention is a display device for a construction machine that displays a construction plan on a cab glass so as to be superimposed on surrounding terrain. An initial position input means for manually inputting an initial position of the machine, a relative displacement calculation means for calculating a relative displacement of the construction machine from the initial position, and the construction machine based on the initial position and the relative displacement An estimated position calculating means for calculating the estimated position of the construction machine, an attitude calculating means for calculating the attitude of the construction machine, a viewpoint calculating means for calculating a visual position of an operator boarding the cab of the construction machine, the estimated position, Projection map calculation means for calculating the projection map data of the construction plan map on the cab glass based on the posture and the visual position, and the projection map data calculated by the projection map calculation means. Display means for displaying on Bugarasu, it is characterized by comprising a.

The initial position here is a reference position in a coordinate system (for example, the earth coordinate system) based on the reference ellipsoid, and as a specific example, means a position defined by latitude, longitude, and altitude. is doing. In addition, the posture here means the magnitude of the inclination and the inclination direction (azimuth) with respect to the horizontal plane (the tangential plane of the reference ellipsoid or a plane parallel thereto).
According to a second aspect of the present invention, there is provided a display device for a construction machine according to the present invention, in addition to the structure of the first aspect, an absolute position measuring means for measuring an absolute position of the construction machine in the earth coordinate system, and the estimated position calculation. Switching means for selecting one of the estimated position calculated by the means and the absolute position measured by the absolute position measuring means as a vehicle position, and the projection map calculating means includes the vehicle position, The projection map data is calculated based on the posture and the visual position.

The absolute position in the earth coordinate system here means a position obtained by an automatic positioning device using a so-called GPS (global positioning system) or the like, and the reference ellipsoid is used as a reference in the same manner as the initial position. It is a position (vehicle position) in the coordinate system (that is, the earth coordinate system).
According to a third aspect of the present invention, there is provided a display device for a construction machine according to the present invention, in addition to the configuration according to the first or second aspect, the correction for adjusting the position of the projection data displayed on the display means by the operation of the operator. Means for correcting the estimated position calculated by the estimated position calculation unit.

According to a fourth aspect of the present invention, in addition to the configuration of the third aspect, the display device of the construction machine includes a posture correcting unit that corrects the posture calculated by the posture calculating unit. It is characterized by.
According to a fifth aspect of the present invention, there is provided a display device for a construction machine according to the present invention. In this case, the adjustment of the position of the projection map data is stopped.

  In addition to the configuration of any one of claims 1 to 5, the display device for a construction machine according to the present invention described in claim 6 further includes viewpoint position detection means for detecting the operator's viewpoint in the cab. A first visual position calculating means for calculating a first visual position in a coordinate system fixed to the cab based on the viewpoint of the operator detected by the viewpoint position detecting means; Second visual position calculation means for detecting a second visual position in a coordinate system fixed to the ground near the construction machine based on the first visual position; and a third visual position in the earth coordinate system based on the second visual position. A third visual position calculation means for detecting a visual position, wherein the projection map calculation means calculates the projection map data based on the estimated position, the posture, and the third visual position. .

  According to the construction machine display device of the present invention (Claim 1), an automatic positioning device such as a GPS device is used by providing the initial position input means for manually inputting the initial position of the construction machine. Positioning is possible even in environments where it is not possible (in tunnels, tunnels, inside buildings with roofs), and projections of surrounding construction plans can be accurately superimposed and displayed on the target terrain.

  According to the construction machine display device of the present invention (Claim 2), in an environment where an automatic positioning device (for example, a GPS device) as an absolute position measuring means can be used, it is based on accurate positioning using this device. Image display is possible. Further, positioning is possible even in an environment where the automatic positioning device cannot be used, and image display is possible. Thus, when grasping the position information of the construction machine, it is possible to switch between automatic setting and manual setting.

Further, according to the display device for a construction machine of the present invention (Claim 3), the error of the vehicle position (that is, the coordinates of the construction machine) can be absorbed by providing the position correcting means. Thereby, the construction plan can be accurately superimposed on the target terrain.
According to the display device for a construction machine of the present invention (Claim 4), by providing the posture correcting means, it is possible to absorb the error of the posture (that is, the inclination and direction of the construction machine). Thereby, the construction plan can be accurately superimposed on the target terrain.

In addition, according to the display device for a construction machine of the present invention (Claim 5), it is possible to prevent a phenomenon in which the position of the corrected projection drawing data is largely shifted due to the movement of the construction machine.
In addition, according to the display device for a construction machine of the present invention (Claim 6), it is possible to convert the visual position of the operator in a stepwise manner based on the viewpoint detected by the viewpoint position detecting means, thereby extremely accurately projecting the projection center. The construction plan diagram displayed on the display means and the surrounding terrain can be made to coincide with each other and displayed in a superimposed manner.

It is a side view for demonstrating the whole structure of the hydraulic shovel provided with the display apparatus which concerns on one Embodiment of this invention. It is a schematic diagram for demonstrating the coordinate system which concerns on the calculation in this display apparatus, (a) shows an earth coordinate system, (b) shows a local coordinate system, (c) is based on a vehicle body. It shows the coordinate system. It is a sectional side view in the cab of the hydraulic excavator of FIG. It is a block block diagram which shows typically the input / output device connected to this display apparatus, and the internal structure of this display apparatus. It is a flowchart which shows the control content in this display apparatus. It is the perspective view which looked at the projection figure data displayed by this display apparatus from the operator viewpoint in a cab.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[1. Hydraulic excavator configuration]
This display device is applied to a hydraulic excavator 20 shown in FIG. The hydraulic excavator 20 includes a lower traveling body 21 equipped with a crawler type hydraulic traveling device, and an upper revolving body 22 that is rotatably mounted on the lower traveling body 21. The lower traveling body 21 is provided with a hydraulic traveling motor 26, and the upper revolving body 22 is provided with a hydraulic turning motor 27.

The upper swing body 22 is provided with a hydraulically driven working device 24 extending toward the front of the machine body and a cab 23 on which an operator (driver) rides. A GPS device 7 is installed at the rear end of the upper swing body 22.
The GPS device 7 receives a signal transmitted from a GPS satellite and measures the coordinates (x _A , y _A , z _A ) of the absolute position of the excavator 20. The absolute position here is a position in a coordinate system (earth coordinate system) based on the reference ellipsoid A (ellipsoid approximated to the average sea level of the earth) as shown in FIG. For example, a position defined by latitude, longitude and altitude.

In the present embodiment, the following three types of coordinate systems are used.
1. Earth coordinate system (coordinate system based on a reference ellipsoid)
2. Local coordinate system (coordinate system based on the ground)
3. Coordinate system with reference to vehicle body The above coordinate system 1 is a coordinate system of the position of the excavator 20 measured by the GPS device 7.

  The second coordinate system is a coordinate system fixed to the ground in the vicinity of the excavator 20. For example, as shown in FIG. 2B, the X axis is set in the front-rear direction of the airframe (upper turning body) with reference to a horizontal plane passing through the center of gravity of the excavator 20 (or a horizontal plane B parallel to the horizontal plane). A coordinate system in which the Y axis is set in the vertical vertical direction and the Z axis is set in the left and right direction of the airframe (upper turning body) can be considered.

  The coordinate system 3 is a coordinate system fixed to the cab 23 of the excavator 20. For example, as shown in FIG. 2C, with the floor surface of the cab 23 (or a plane C parallel to the floor surface) as a reference, the X axis is set in the front-rear direction of the cab 23, and the Y axis is set in the vertical vertical direction. And a coordinate system in which the Z axis is set in the left-right direction of the cab 23 can be considered. Since the cab 23 is fixed to the upper swing body 22, the above three coordinate systems can be regarded as a coordinate system fixed to the upper swing body 22 of the excavator 20.

  The upper turning body 22 is equipped with an inclination sensor 11, an orientation sensor 12, and a turning angle sensor 13. The inclination sensor 11 measures the magnitude of the inclination of the upper swing body 22 with respect to the local coordinate system. Here, for example, the tilt angles in the front-rear direction and the left-right direction of the upper swing body 22 are measured. The direction sensor 12 detects the direction of the upper swing body 22 (the direction in which the front of the upper swing body is facing) using, for example, geomagnetism.

  The turning angle sensor 13 detects the turning angle of the upper turning body 22 with respect to the lower traveling body 21 and is attached to the turning motor 27. A rotation speed sensor 14 is attached to the traveling motor 26 of the lower traveling body 21. The rotation speed sensor 14 detects the rotation speed of the traveling motor 26. The inclination sensor 11, the azimuth sensor 12, the turning angle sensor 13, and the rotation speed sensor 14 are electrically connected to a controller 10 described later, and detection information from these sensors is input to the controller 10. Yes.

[2. Cab configuration]
FIG. 3 shows the inside of the cab 23 in a state where an operator (driver) is seated. Almost the entire front and side surfaces of the cab 23 are made of transparent glass, and a wide field of view is secured. A translucent top plate made of polycarbonate is attached to an opening (not shown) formed on the ceiling surface of the cab 23. Hereinafter, the transparent glass on the front surface of the cab 23 is referred to as a cab glass 25.

  On the indoor side of the cab glass 25, a display film 29 (display means) is attached. The display film 29 is a translucent image display device formed using a flexible organic EL (Electro Luminescence) device or the like, and transmits an arbitrary image while transmitting light incident from the surface of the cab glass 25 into the cab 23. It is configured to be displayable. Therefore, the operator visually recognizes the image displayed on the display film 29 in a state where the image is superimposed on the scenery outside the cab glass 25 (superimposed state).

  This display device calculates and controls an image displayed on the display film 29. Here, as shown in FIG. 1, the construction plan diagram corresponding to the actual construction surface (the terrain at the time when the construction is completed) with the position of the operator's pupil as the projection center and the surface of the display film 29 as the projection surface. Is a completed drawing showing the shape of the three-dimensional drawing information), and the projected image is displayed on the display film 29. A controller 10 that performs such calculation and displays an image on the display film 29 is disposed in a console 19 provided on the side of the operator's seat.

  The controller 10 is an electronic control unit constituted by a microcomputer, and is provided as, for example, a well-known microprocessor, an LSI device in which ROM and RAM are integrated, or the like. A storage medium 18 is connected to the controller 10. The storage medium 18 is an external storage device composed of, for example, an HDD, a CD-ROM, a DVD-ROM, or the like. Here, the construction plan diagram relating to the work of the hydraulic excavator 20 and the indoor shape data of the cab 23 are included. The three-dimensional shape data of the cab glass 25 is stored.

  As shown in FIG. 3, a helmet position detection device 15 (viewpoint position detection means) for detecting the position (viewing position, so-called viewpoint) of the operator's pupil in the cab 23 is provided at the upper rear part of the operator's seat. Is provided. The helmet position detection device 15 includes a detector 15a fixed to the cab 23 and a transmitter 15b fixed to the helmet 30 worn by the operator.

The detector 15a is a sensor that detects the relative position of the transmitter 15b (the position of the helmet 30) with respect to the detector 15a, and includes a radar sensor, an ultrasonic sensor, or the like, for example.
A monitor console 1 is installed in front of the operator's seat. The monitor console 1 is a device for inputting the work mode and various set values of the excavator 20, and is a device for displaying information related to them. In the present embodiment, the position of the excavator 20 can be manually input from the monitor console 1 instead of the GPS device 7.

Hereinafter, the position of the hydraulic excavator 20 manually input from the monitor console 1 is referred to as an initial position, and its coordinates are defined as (x ₀ , y ₀ , z ₀ ). The initial position here is a position in the earth coordinate system, like the absolute position, and is defined by, for example, latitude, longitude, and altitude. This initial position is a reference point for positioning in an environment where the GPS device 7 cannot be used.
On the upper surface of the console 19, an automatic / manual switch 16 and an offset device 17 are installed. The automatic / manual changeover switch 16 is used to select whether the current position of the excavator 20 is automatically measured (whether the GPS device 7 is used) or manually (the GPS device 7 is not used). A two-position switch.

When the automatic / manual switch 16 is operated to the “automatic” position, the GPS device 7 is used, and an image based on the coordinates (x _A , y _A , z _A ) of the absolute position of the excavator 20 is displayed on the controller 10. Generated. On the other hand, when operated to the “manual” position, the GPS device 7 is not used, and an image based on the coordinates (x ₀ , y ₀ , z ₀ ) of the initial position input from the monitor console 1 is generated. A specific image generation procedure will be described later.

  The offset device 17 is an input device for an operator to finely adjust the position of the image displayed on the display film 29 on the screen. The offset device 17 includes vehicle position adjustment volume switches 17 a to 17 c for setting the adjustment amount of the position of the hydraulic excavator 20 grasped by the controller 10, and the posture of the hydraulic excavator 20 grasped by the controller 10. Posture adjustment volume switches 17d and 17e for setting the adjustment amount, and an adjustment switch 17f for specifying execution / non-execution of these fine adjustments are provided.

  Here, the position and orientation of the excavator 20 to which the adjustment amount is set are virtual positions and orientations calculated inside the controller 10. Since these calculated values include errors according to the measurement accuracy of the GPS device 7, the tilt sensor 11, the azimuth sensor 12, etc., the offset of the image displayed on the display film 29 is calibrated by the offset device 17. I can do it.

The vehicle position adjustment volume switches 17a to 17c and the posture adjustment volume switches 17d and 17e are all volume type switches. Each of the vehicle position adjustment volume switches 17a to 17c has an adjustment amount in the X-axis direction, an adjustment amount in the Y-axis direction, and an adjustment amount in the Z-axis direction in the local coordinate system shown in FIG. Set according to the operation amount. Further, the posture adjustment volume switches 17d and 17e set the rotation adjustment amount around the X axis and the rotation adjustment amount around the Z axis in the local coordinate system of FIG. 2B according to the operation amount to each switch. Here, each operation amount of the volume switch 17 a - 17 e, and _{C 1, C 2, C 3} , C 4, C 5.

The adjustment switch 17f sets validity / invalidity of the input operation to each of the switches 17a to 17e. These adjustments are valid when the “ON” position is selected by the adjustment switch 17f, and “OFF” is selected. It is not adjusted when the position is selected. The initial values of the operation amounts C _{1 to} C ₅ are all 0, and are reset when the “off” position is selected.
The rotation adjustment amount around the Y axis shown in FIG. 2B is set by turning the upper swing body 22 with respect to the lower travel body 21 with the adjustment switch 17f being “ON”. To do.

  The monitor console 1, the helmet position detection device 15, the automatic / manual switch 16 and the storage medium 18 are electrically connected to the controller 10. As a result, information about the initial position of the excavator 20 and the visual position of the operator is input to the controller 10.

[3. Controller configuration]
The function of the program stored in the controller 10 as software will be conceptually described with reference to FIG. The controller 10 has functions as a relative displacement calculation unit 2, a posture calculation unit 3, a viewpoint calculation unit 4, an estimated position calculation unit 5, a projection drawing data calculation unit 6, a switching unit 8, and a correction unit 9.

  The posture calculation unit 3 calculates the posture (three-dimensional posture) of the excavator 20 based on detection information from the tilt sensor 11 and the azimuth sensor 12. Information detected by the tilt sensor 11 and the orientation sensor 12 is input here. Here, the attitude is the magnitude and direction (direction) of the inclination of the upper swing body 22 in the local coordinate system, and this is regarded as the attitude of the cab 23.

  The posture of the excavator 20 is determined by using the rotation amount θx around the X axis, the rotation amount θy around the Y axis, and the rotation amount θz around the Z axis (θx, θy) as shown in FIG. , θz). The calculated postures (θx, θy, θz) are input to the relative displacement calculation unit 2 and the correction unit 9. When the adjustment switch 17f of the offset device 17 is “ON”, the posture calculation unit 3 holds information on the postures (θx, θy, θz) calculated so far.

The relative displacement calculation unit 2 calculates the relative displacement from the initial position of the excavator 20. Here, the posture (θx, θy, θz) of the upper-part turning body 22 calculated by the posture calculation unit 3 and detection information detected by the turning angle sensor 13 and the rotation speed sensor 14 are input.
First, the relative displacement calculation unit 2 calculates the inclination and orientation of the lower traveling body 21 based on the posture of the upper turning body 22 and the detection information of the turning angle sensor 13. Since the turning angle detected by the turning angle sensor 13 is a relative rotation angle between the lower traveling body 21 and the upper turning body 22, the posture of the lower traveling body 21 is changed by coordinate conversion of the posture of the upper turning body 21. Calculated.

Further, the relative displacement calculation unit 2 calculates the movement amount and movement direction of the excavator 20 based on the detection information of the rotation speed sensor 14 and the posture of the lower traveling body 21 described above. The movement direction is grasped from the posture of the lower traveling body 21, and the operation amount (that is, the movement amount) of the hydraulic traveling device is grasped from the rotation speed of the traveling motor 26. The movement amount and movement direction of the excavator 20 calculated here are input to the estimated position calculation unit 5 as relative displacements (Δx, Δy, Δz). This relative displacement (Δx, Δy, Δz) is reset when the coordinates (x ₀ , y ₀ , z ₀ ) of the initial position are input to the monitor console 1.

The estimated position calculation unit 5 calculates coordinates (x _B , y _B , z _B ) of the estimated position of the excavator 20 in the earth coordinate system. The estimated position here means not a measured position but a calculated position estimated based on information obtained from the various sensors 11 to 14. In this embodiment, as long as the automatic / manual switch 16 is set to “manual”, the coordinates (x _B , y) of the estimated position based on the movement amount from the initial position (x ₀ , y ₀ , z ₀ ) are set. _B , z _B ) is known from time to time. That is, in the present invention, it can be said that the estimated position is used instead of the absolute position.

The estimated position calculation unit 5 includes initial position coordinates (x ₀ , y ₀ , z ₀ ) input from the monitor console 1, and relative displacement (Δx, Δy, Δz) calculated by the relative displacement calculation unit 2. Is entered. As shown in the following formula 1, the estimated position calculation unit 5 adds or subtracts the relative displacement (Δx, Δy, Δz) to the coordinates (x ₀ , y ₀ , z ₀ ) of the initial position as a hydraulic pressure. The coordinates (x _B , y _B , z _B ) of the estimated position of the shovel 20 are output to the switching unit 8. The estimated position calculated here is a position in the earth coordinate system.

The switching unit 8 selectively switches whether to use the absolute position measured by the GPS device 7 or the estimated position obtained by the calculation based on the manual setting when creating the projection map data.
An operation state of the automatic / manual switch 16 is input to the switching unit 8, and the absolute position coordinates (x _A , y _A , z _A ) measured by the GPS device 7 and the estimated position calculation unit 5 are used. The coordinates (x _B , y _B , z _B ) of the estimated position are input. Here, when the automatic / manual changeover switch 16 is operated to the “automatic” position, the coordinates (x _A , y _A , z _A ) of the absolute position are selected, and when operated to the “manual” position. The coordinates (x _B , y _B , z _B ) of the estimated position are selected. The information on the coordinates selected here is output to the correction unit 9 as the coordinates (x, y, z) of the vehicle position.

The correction unit 9 performs a correction calculation of the position of the image on the display film 29. As shown in FIG. 4, the correction unit 9 includes two types of configurations for correction, that is, a position correction unit 9 a and a posture correction unit 9 b. Further, information on the operation amounts C _{1 to} C _{5 in} the offset device 17 and information on the operation position of the adjustment switch 17 f are input to the correction unit 9.
The position correction unit 9a corrects the coordinates (x, y, z) of the vehicle position input from the switching unit 8 when the “ON” position is selected with the adjustment switch 17f. Here, as shown in Equation 2 below, the operation amounts C ₁ , C ₂ , and C ₃ of the vehicle position adjustment volume switches 17a to 17c are added (or subtracted) to the respective coordinates. Note that (x ′, y ′, z ′) represents the coordinates of the corrected vehicle position.

The posture correction unit 9b corrects the posture (θx, θy, θz) calculated by the posture calculation unit 3 when the “ON” position is selected by the adjustment switch 17f. Here, as shown in Expression 3 below, the operation amounts C ₄ and C ₅ of the attitude adjustment volume switches 17d and 17e are added (or subtracted) to the attitude (θx, θy, θz). Note that (θx ′, θy ′, θz ′) are values representing corrected postures. Further, θy ′ is adjusted not by the offset unit 17 but by a turning operation (that is, by manipulating the direction of the aircraft so as to match the actual terrain with the image).

Information on the position (x ′, y ′, z ′) and attitude (θx ′, θy ′, θz ′) corrected by the position correction unit 9 a and the attitude correction unit 9 b is input to the viewpoint calculation unit 4. .
The visual calculation unit 4 calculates the coordinates of the projection center related to drawing. Here, a first visual position calculation unit 4a, a second visual position calculation unit 4b, and a third visual position calculation unit 4c are provided corresponding to the above-described three types of coordinate systems.

The first visual position calculation unit 4a calculates the visual position (the position of the operator's pupil) in a coordinate system based on the vehicle body. Here, detection information by the helmet position detection device 15, indoor shape data of the cab 23 stored in advance in the storage medium 18, position data on the hydraulic excavator 20, and the like are input. The first visual position calculation unit 4a calculates the coordinates (x ₁ , y ₁ , z ₁ ) of the visual position (first visual position), assuming that the positional relationship between the helmet 30 and the operator's pupil is constant. The coordinates (x ₁ , y ₁ , z ₁ ) of the visual position calculated here are input to the second visual position calculation unit 4b.

The second visual position calculation unit 4b calculates a visual position (second visual position) in the local coordinate system. Here, the coordinates (x ₁ , y ₁ , z ₁ ) of the visual position calculated by the first visual position calculation unit 4a and the posture values (θx ′, θy ′, θz) calculated by the posture correction unit 9b are shown. ′) Is input. The second visual position calculation unit 4b assumes that the cab 23 is inclined by the posture value (θx ′, θy ′, θz ′) with respect to the local coordinate system, and the coordinates (x ₂ , y of the second visual position). ₂ , z ₂ ) is calculated. The coordinates are input to the third visual position calculation unit 4c.

The 3rd visual position calculation part 4c calculates the visual position (3rd visual position) in an earth coordinate system. Here, the coordinates (x ₂ , y ₂ , z ₂ ) of the second visual position calculated by the second visual position calculation unit 4b and the position (x ′, y ′, z) calculated by the position correction unit 9a are included. ′) Is input. The third visual position calculation unit 4c assumes that the excavator 20 is located at the coordinates (x ′, y ′, z ′) in the earth coordinate system, and coordinates (x ₃ , y ₃ , z ₃ ) is calculated. The coordinates are input to the projection map data calculation unit 6.

In the present embodiment, it is possible to grasp the projection center very accurately by converting the visual position of the operator stepwise as described above, thereby making it possible to determine the construction plan and the surrounding terrain. It can be displayed in a superimposed manner with an exact match.
The projection map data calculation unit 6 calculates an image when the construction plan map is projected onto the cab glass 25 as projection map data, and displays this on the display film 29. Here, the coordinates (x ₃ , y ₃ , z ₃ ) of the third visual position calculated by the third visual position calculation unit 4c, the three-dimensional information of the construction plan stored in the storage medium 18, and the cab Three-dimensional shape data of the glass 25 is input. Further, posture values (θx ′, θy ′, θz ′) calculated by the posture correction unit 9b are also input.

  Thereby, the operator's pupil position, the direction and shape of the display film 29, and the three-dimensional information of the construction plan are all grasped in a state unified in the earth coordinate system. The projection map data calculation unit 6 calculates a projection figure of a construction plan diagram that overlaps the actual construction surface outside the cab glass 25 and displays the image on the display film 29.

[4. flowchart]
The contents of control repeatedly performed inside the controller 10 will be described using the flowchart shown in FIG.
First, in step S1, in the first visual position calculation unit 4a, the coordinates based on the vehicle body are based on the position of the helmet 30 input from the helmet position detection device 15 and the vehicle body shape data stored in the storage medium 18 in advance. The coordinates (x ₁ , y ₁ , z ₁ ) of the visual position in the system are calculated.
Subsequently, in step S <b> 2, in the posture calculation unit 3, based on the tilt angle in the front-rear direction and the left-right direction of the upper swing body 22 input from the tilt sensor 11, and the orientation of the upper swing body 22 input from the direction sensor 12. Then, posture values (θx, θy, θz) of the upper swing body 22 and the cab 23 in the local coordinate system are calculated.

In a succeeding step S3, it is determined whether or not the operation state of the adjustment switch 17f of the offset device 17 is “ON”. When the adjustment switch 17f is “ON”, the process proceeds to step S4, and when it is “OFF”, the process skips step S4 and proceeds to step S5.
Step S4 is a step of correcting the vehicle body posture of the excavator 20. Here, the posture correction unit 9b calculates the corrected posture values (θx ′, θy ′, θz ′) based on the operation amounts C ₄ and C ₅ of the posture adjustment volume switches 17d and 17e.

In step S5, in the second visual position calculation unit 4b, the corrected posture value (θx ′, θy ′, θz ′) and the coordinates (x ₁ , y ₁ , z ₁ ) of the visual position calculated in step S1 are displayed. Based on the above, the coordinates (x ₂ , y ₂ , z ₂ ) of the second viewing position in the local coordinate system are calculated.
In the subsequent step S6, the switching unit 8 determines whether or not the automatic / manual switch 16 has been operated to the “manual” position. Here, when the operation position is not “manual” (that is, when the operation position is “automatic”), the process proceeds to step S 10, where the GPS device 7 uses the coordinates of the absolute position of the excavator 20 in the earth coordinate system (x _A, y _A, z _A) is measured. The absolute position coordinates (x _A , y _A , z _A ) measured here are directly used as the coordinates (x, y, z) of the vehicle position of the excavator 20. On the other hand, if the operation position is “manual” in step S6, the process proceeds to step S7.

In step S <b> 7, the coordinates (x ₀ , y ₀ , z ₀ ) of the initial position of the hydraulic excavator 20 are set on the monitor console 1. In addition, it is good also as a structure which an operator inputs into the monitor console 1 in advance, or it is good also as a structure which prompts an operator to input an initial position after determination of step S6.
In subsequent step S8, the relative displacement calculation unit 2 uses the posture information (θx, θy, θz) calculated by the posture calculation unit 3 and the detection information detected by the rotation angle sensor 13 and the rotation speed sensor 14. Based on this, the relative displacement (Δx, Δy, Δz) from the initial position of the excavator 20 is calculated.

Further, in step S9, the estimated position calculation unit 5 uses the coordinates (x _B ) of the estimated position of the excavator 20 based on the coordinates (x ₀ , y ₀ , z ₀ ) of the initial position and the relative displacement (Δx, Δy, Δz). , y _B , z _B ) are calculated. Note that the process proceeds to step S9 only when the automatic / manual changeover switch 16 is operated to “manual”, and thus the coordinates (x _B , y _B , z _B ) of the estimated position calculated in this step are determined. It will be used as the coordinates (x, y, z) of the vehicle position.

In step S11, it is determined again whether or not the operation state of the adjustment switch 17f of the offset device 17 is “ON”. When the adjustment switch 17f is “ON”, the process proceeds to step S12, and when it is “OFF”, the process skips step S12 and proceeds to step S13.
Step S12 is a step of correcting the vehicle position of the excavator 20. Here, the position correction unit 9a calculates the corrected coordinates (x ′, y ′, z ′) of the vehicle position based on the operation amounts C ₁ , C ₂ , C ₃ of the vehicle position adjustment volume switches 17a to 17c. The

In step S13, the third viewing position calculating section 4c, the second visual position coordinates calculated in step _{S5 (x 2, y 2,} z 2) and the coordinates of the vehicle position calculated in the previous step (x ', Based on y ′, z ′), the coordinates (x ₃ , y ₃ , z ₃ ) of the third viewing position in the earth coordinate system are calculated.
In step S14, the projection drawing data calculation unit 6 uses the coordinates (x ₃ , y ₃ , z ₃ ) of the third viewing position, the construction plan stored in the storage medium 18, and the three-dimensional information of the cab glass 25. Based on the above, projection map data is calculated. The projection map data calculated here takes into account not only the vehicle position and vehicle body posture of the excavator 20, but also the manual adjustment amount input from the offset device 17. Further, when the automatic / manual changeover switch 16 is operated to the “manual” position, the hydraulic excavator uses the coordinates (x ₀ , y ₀ , z ₀ ) of the initial position input by the operator as a reference point for positioning. After considering the amount of movement of 20, the amount of manual adjustment is further considered. In the subsequent step S15, the projection map data of the construction plan calculated in the previous step is displayed on the display 29.

[5. Action, effect]
[5-1. For automatic positioning]
First, when the automatic / manual changeover switch 16 is operated to the “automatic” position, the GPS device 7 measures the coordinates (x _A , y _A , z _A ) of the absolute position of the excavator 20, and the switching unit 8. Is input to the correction unit 9 as coordinates (x, y, z) of the vehicle position.

  Here, when the adjustment switch 17f of the offset device 17 is “off”, the same operation as that of a conventional general display device is realized. That is, the construction plan is drawn on the display film 29 based on the positioning information detected by the GPS device 7. Thereby, the operator can visually recognize the construction plan map and the topography around the excavator 20 in a superimposed state.

Further, when the construction plan on the display film 29 and the actual landform do not match due to the measurement error of the GPS device 7, these deviations can be finely adjusted using the offset device 17.
As shown in FIG. 6, it is assumed that the construction plan on the display film 29 does not match the actual topography. Here, the solid line in FIG. 6 indicates the actual landform, and the broken line is a construction plan diagram drawn on the display film 29.

In order to eliminate such a shift, first, the adjustment switch 17f of the offset device 17 is operated to the “on” position, and then the vehicle position adjustment volume switches 17a to 17c and the posture adjustment volume switches 17d and 17e are used. Or it is moved by the turning operation so that the broken construction plan is superimposed on the solid terrain.
For example, when the vehicle position adjusting volume switch 17b is rotated, the broken construction plan diagram moves up and down in FIG. Further, when the posture adjustment volume switch 17d is rotated, the construction plan drawing indicated by the broken line moves so as to rotate around the X axis shown in FIG. Thus, the virtual position and posture of the hydraulic excavator 20 calculated inside the controller 10 can be arbitrarily adjusted, and errors can be absorbed. Thereby, a construction plan figure can be correctly piled up on object topography, and workability can be improved.

In addition, since the result of such fine adjustment is reflected in real time on the construction plan on the display film 29, the adjustment work is easy for the operator and extremely convenient.
The errors that can be absorbed here are not only the measurement errors of the GPS device 7, but also the measurement errors of the inclination sensor 11, the azimuth sensor 12, the turning angle sensor 13, the rotation speed sensor 14, the helmet position detection device 15, and the like. Is also included.

[5-2. For manual positioning]
On the other hand, when working in a tunnel, a tunnel, or a building with a roof, the automatic / manual switch 16 may be operated to the “manual” position. In this case, for example, a display prompting the monitor console 1 to input the initial position of the excavator 20 is displayed. When the operator inputs the coordinates of the initial position (x ₀ , y ₀ , z ₀ ), the coordinates of the estimated position (x _B , y based on the amount of movement of the excavator 20 with the input initial position as the reference point for positioning. _B , z _B ) is calculated from time to time and used instead of absolute position.

  Therefore, even in an environment in which an automatic positioning device such as the GPS device 7 cannot be used, accurate positioning is possible as with the GPS device 7, and the projection map of the surrounding construction plan map is accurately superimposed and displayed on the target terrain. be able to. Further, such switching of functions can be performed only by operating the automatic / manual switching switch 16, and excellent convenience can be provided.

Further, as in the case of automatic positioning, adjustment using the offset device 17 can be performed, detection errors of various sensors can be absorbed, and workability can be improved.
Note that errors that can be absorbed here include errors in the coordinates (x ₀ , y ₀ , z ₀ ) of the initial position. That is, if an adjustment operation by the offset device 17 is assumed in advance, the coordinates of the initial position do not require so high accuracy. Conversely, even if the coordinates of the initial position are uncertain, the construction plan can be correctly superimposed on the target terrain by an accurate adjustment operation, and workability can be improved.

[6. Others]
Although one embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention. At least a configuration for manually inputting the initial position of the hydraulic excavator 20 may be provided, and a configuration for calculating a relative displacement from the initial position and calculating an estimated position may be provided. Therefore, for example, the GPS device 7, the switching unit 8, the correction unit 9 and the like are not essential components.

Further, in the above-described embodiment, the attitude of the hydraulic excavator 20 is calculated using the tilt sensor 11 and the azimuth sensor 12, but the specific types of sensors are arbitrary. For example, instead of these sensors, a gyroscope is used. A configuration using a sensor or the like may be used. The same applies to the configuration for calculating the relative displacement.
Further, in the above-described embodiment, when the magnitude of the relative displacement calculated by the relative displacement calculation unit 2 is equal to or greater than a predetermined value (that is, when the excavator 20 moves greatly from the initial position). ) May be configured to forcibly reset the correction in the correction unit 9 or may be configured to reset the initial position information stored in the estimated position calculation unit 5. When resetting the information of the initial position, it is preferable to display a message for prompting the setting of a new initial position on the monitor console 1. With such a configuration, it is possible to prevent misalignment of projection drawing data that may increase as the excavator 20 moves.

Moreover, in the above-mentioned embodiment, although it is set as the structure which displays a construction plan figure on the display film 29 affixed on the room inner side of the cab glass 25, the display means of projection figure data is not limited to this. Alternatively, for example, a construction plan diagram may be displayed using a projector device as described in Patent Document 1.
Moreover, although what applied this invention to the hydraulic shovel 20 was illustrated in the above-mentioned embodiment, the application object of this invention is not limited to this, The display apparatus of various construction machines, such as a wheel loader and a hydraulic crane apparatus It can be used as

  The present invention is applicable to the entire manufacturing industry of construction machines such as hydraulic excavators and hydraulic cranes.

1 Monitor console (initial position input means)
2 Relative displacement calculation unit (relative displacement calculation means)
3. Posture calculation unit (posture calculation means)
4 viewpoint calculation unit (viewpoint calculation means)
4a 1st visual position calculation part (1st visual position calculation means)
4b 2nd visual position calculation part (2nd visual position calculation means)
4c 3rd visual position calculation part (3rd visual position calculation means)
5 Estimated position calculation unit (estimated position calculation means)
6 Projection Map Data Calculation Unit (Projection Map Calculation Unit)
7 GPS device (absolute position measuring means)
8 Switching unit (switching means)
9 Correction part (correction means)
9a Position correction unit (position correction means)
9b Posture correction unit (posture correction means)
DESCRIPTION OF SYMBOLS 10 Controller 11 Inclination sensor 12 Direction sensor 13 Turning angle sensor 14 Rotation speed sensor 15 Helmet position detection apparatus (viewpoint position detection means)
15a detector 15b transmitter 16 automatic / manual changeover switch 17 offset device 17a to 17c vehicle position adjustment volume switch 17d, 17e attitude adjustment volume switch 17f adjustment switch 18 storage medium 19 console 20 hydraulic excavator 21 lower traveling body 22 upper turning body 23 Cab 24 Front working device 25 Cab glass 26 Traveling motor 27 Turning motor 29 Display film (display means)
30 helmet
(x _A , y _A , z _A ) Absolute position coordinates
(x _B , y _B , z _B ) Estimated position coordinates
(x ₀ , y ₀ , z ₀ ) Initial position coordinates
(Δx, Δy, Δz) Relative displacement
(x, y, z) Vehicle position coordinates
(θx, θy, θz) Posture
(x ′, y ′, z ′) Coordinates of corrected vehicle position
(θx ′, θy ′, θz ′) Corrected posture
(x ₁ , y ₁ , z ₁ ) The coordinates of the viewing position in the coordinate system with reference to the vehicle body (first viewing position)
(x ₂ , y ₂ , z ₂ ) Visual position in the local coordinate system (second visual position)
(x ₃ , y ₃ , z ₃ ) Visual position in the Earth coordinate system (third visual position)

Claims (6)

A display device for a construction machine that overlays the surrounding terrain and displays a construction plan on the cab glass.
Initial position input means for manually inputting the initial position of the construction machine;
A relative displacement calculating means for calculating a relative displacement from the initial position of the construction machine;
Estimated position calculating means for calculating an estimated position of the construction machine based on the initial position and the relative displacement;
Attitude calculating means for calculating the attitude of the construction machine;
Viewpoint calculating means for calculating a visual position of an operator who gets in the cab of the construction machine;
A projection map calculation means for calculating projection map data on the cab glass of the construction plan based on the estimated position, the posture, and the visual position;
A display device for a construction machine, comprising: display means for displaying the projection map data calculated by the projection map calculation means on the cab glass. Absolute position measuring means for measuring the absolute position of the construction machine in the earth coordinate system;
Switching means for selecting one of the estimated position calculated by the estimated position calculating means and the absolute position measured by the absolute position measuring means as a vehicle position;
2. The display device for a construction machine according to claim 1, wherein the projection map calculation means calculates the projection map data based on the vehicle position, the attitude, and the visual position. A correction means for adjusting the position of the projection map data displayed on the display means by the operation of the operator;
The display device for a construction machine according to claim 1 or 2, wherein the correction means includes position correction means for correcting the estimated position calculated by the estimated position calculation unit. 4. The display device for a construction machine according to claim 3, wherein the correcting means includes posture correcting means for correcting the posture calculated by the posture calculating means. 5. The correction unit stops adjustment of the position of the projection drawing data when the relative displacement calculated by the relative displacement calculation unit exceeds a predetermined displacement amount. 6. The display device of the construction machine described. With viewpoint position detecting means for detecting the viewpoint of the operator in the cab,
A first visual position calculating means for calculating a first visual position in a coordinate system fixed to the cab based on the viewpoint of the operator detected by the viewpoint position detecting means;
Second visual position calculation means for detecting a second visual position in a coordinate system fixed to the ground near the construction machine based on the first visual position;
A third visual position calculating means for detecting a third visual position in the earth coordinate system based on the second visual position, and the projection map calculating means is provided with the estimated position, the posture, and the third visual position. 6. The display device for a construction machine according to claim 1, wherein the projection map data is calculated based on the projection map data.

Images