JP2016106192A - Shovel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a shovel which allows an operator to intuitively understand a state of an attachment of a construction machine.SOLUTION: A shovel 50 according to an embodiment includes a lower structure 1, a revolving super structure 3, and an excavation attachment. The shovel 50 includes: an attachment state detection device 33 for detecting angles of a boom 4, an arm 5 and a bucket 6 as a state of the excavation attachment including the boom 4, the arm 5 and the bucket 6; and a control device 30 for grasping a reference surface of the bucket 6 formed on a back surface of the bucket 6 on the basis of the state of the excavation attachment detected by the attachment state detection device 33.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an excavator.

  Conventionally, an excavation status display panel mounted on a hydraulic excavator is known (see, for example, Patent Document 1).

  This excavation status display panel is a camera attached to the upper part of the cabin of the excavator, and includes a display monitor that displays an image captured by the camera that captures the state in the vicinity of the excavation work target point. The captured image of the camera is subjected to image processing for superimposing and displaying XY coordinates, and further, the main part plane shape (graphic image) of the excavator is superimposed and displayed. Also, the excavation status display panel displays the distance between the excavator body and the excavation work target point, and the excavation distance display that numerically displays the distance between the excavation boundary line that defines the excavation work area and the excavation work target point A part. The display monitor and the excavation distance display unit are disposed adjacent to each other.

  With the above-described configuration, the excavation status display panel allows the operator to read the current bucket position and the required excavable range so that excavation work can be performed efficiently.

JP 2008-121280 A

  However, the excavation status display panel described in Patent Document 1 superimposes and displays the main part plane shape (CG image in top view) of the hydraulic excavator on the camera image. Therefore, the display on the excavation status display panel is a display that is far from the status outside the shovel that the operator actually sees through the front window of the cabin, and the operator may not be able to intuitively understand the display contents.

  In view of the above, an object of the present invention is to provide an excavator that allows an operator to more intuitively understand the state of the excavator attachment.

  In order to achieve the above-described object, an excavator according to an embodiment of the present invention is an excavator including a lower traveling body, an upper swing body, and an attachment, and the state of the attachment including a boom, an arm, and a bucket is described above. An attachment state detection device that detects the angles of the boom, the arm, and the bucket, and a reference surface of the bucket that is formed on the back surface of the bucket based on the attachment state detected by the attachment state detection device A control device.

  By the means described above, the present invention can provide a shovel that allows the operator to more intuitively understand the state of the shovel attachment.

It is a schematic side view which shows the structural example of the shovel to which this invention is applied. It is the schematic which shows the inside of the cabin in the shovel of FIG. It is the schematic which shows the structural example of the monitor system mounted in the shovel of FIG. It is the schematic which shows the example of a digging angle. It is FIG. (1) which shows the example of the attachment related information superimposed and displayed on the screen of a display apparatus. It is FIG. (2) which shows the example of the attachment related information superimposed and displayed on the screen of a display apparatus. It is a flowchart which shows the flow of a display image generation process.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic side view showing a configuration example of an excavator 50 as a construction machine to which the present invention is applied. The upper swing body 3 is mounted on the lower traveling body 1 of the excavator 50 via the swing mechanism 2. A boom 4 is attached to the upper swing body 3, an arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5. The boom 4, the arm 5, and the bucket 6 constitute a digging attachment, and are hydraulically driven by the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, respectively. Further, the upper swing body 3 is provided with a cabin 10 and is mounted with a power source such as an engine. Further, the upper swing body 3 is equipped with an inclination detection device 32 that detects the inclination of the excavator 50 with respect to the horizontal plane. An attachment state detection device 33 that detects the state of the excavation attachment is mounted on the excavation attachment.

  FIG. 2 is a schematic view showing the inside of the cabin 10 in the excavator 50. Inside the cabin 10, a control device 30, an input device 34, and a display device 35 are installed. An imaging device 31 that images the front of the excavator 50 is mounted on the ceiling of the cabin 10. The display device 35 is attached to, for example, a right front pillar of the cabin 10 and displays a scene that is almost the same as an external scene that the operator visually recognizes through the front window 11 of the cabin 10. With this attachment position, the operator can compare the external scene visually recognized through the front window 11 with the scene displayed on the display device 35 without greatly moving the line of sight, and the scene displayed on the display device 35 can be compared. Can be intuitively understood.

  FIG. 3 is a schematic diagram illustrating a configuration example of the monitor system 100 mounted on the excavator 50. The monitor system 100 mainly includes a control device 30, an imaging device 31, an inclination detection device 32, an attachment state detection device 33, an input device 34, and a display device 35.

  The control device 30 is a device that controls the operation of the monitor system 100, and is, for example, a computer including a CPU, a RAM, a ROM, and the like. Specifically, the control device 30 reads a program corresponding to each functional element of the attachment related information generation unit 300, the work amount estimation unit 301, and the display control unit 302 from the ROM, loads the program into the RAM, and loads each functional element. Causes the CPU to execute corresponding processing.

  The imaging device 31 is a device that images the front of the construction machine. In the present embodiment, the imaging device 31 is a camera including an imaging element such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). Specifically, the imaging device 31 captures the front of the excavator 50 to acquire a front image including an image of the excavation attachment (hereinafter referred to as “attachment image”), and the acquired front image is transmitted to the control device 30. Output.

  The tilt detection device 32 is a device that detects the tilt of the construction machine. In the present embodiment, the tilt detection device 32 is a tilt sensor that detects tilt angles in the biaxial directions (front-rear direction and left-right direction) with respect to the horizontal plane of the excavator 50, and outputs the detected tilt angle to the control device 30. .

  The attachment state detection device 33 is a device that detects the state of the attachment of the construction machine. The attachment state detection device 33 is a sensor for acquiring information related to the state of the excavation attachment of the excavator 50, for example. In the present embodiment, the attachment state detection device 33 includes a boom angle sensor 33 a that detects the tilt of the boom 4 with respect to the upper swing body 3, an arm angle sensor 33 b that detects the tilt of the arm 5 with respect to the boom 4, and a bucket with respect to the arm 5. 6 includes a bucket angle sensor 33c for detecting the inclination of 6. Further, the attachment state detection device 33 outputs the acquired information to the control device 30. Based on the output of these attachment state detection devices 33, the control device 30 performs excavation formed by the tip position of the bucket 6, the plane on which the shovel 50 is located (hereinafter referred to as “installation surface”) and the reference surface of the bucket 6. Angles etc. can be derived. The reference surface of the bucket 6 is any surface formed by the components of the bucket 6, for example, the back surface of the bucket 6.

  FIG. 4 is a schematic diagram illustrating an example of the excavation angle, and FIG. 4A illustrates an excavation angle when forming a slope with a 45-degree angle that increases in the direction of approaching the excavator 50, and FIG. (B) shows the excavation angle when forming a 30-degree slope that increases in the direction away from the shovel 50. Here, the excavation angle when forming a slope that increases in the direction approaching the shovel 50 is indicated by a positive value, and the excavation angle when forming a slope that increases in the direction away from the shovel 50 is indicated by a negative value.

  Further, the attachment state detection device 33 may include a pressure sensor that detects the pressure of hydraulic oil in each of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9.

  Further, the attachment state detection device 33 may include a lever operation amount sensor that detects an operation amount of an operation lever (not shown) corresponding to each of the boom 4, the arm 5, and the bucket 6.

  Further, the attachment state detection device 33 includes a discharge pressure sensor that detects the discharge pressure of a hydraulic pump (not shown) that supplies hydraulic oil to each of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. A flow rate sensor for detecting the discharge flow rate may be included.

  The input device 34 is a device that inputs various information to the control device 30. Specifically, a button, a switch, a dial, a touch panel, and the like are arranged in the cabin 10.

  The display device 35 is a device that displays various types of information. In the present embodiment, the display device 35 is, for example, a liquid crystal display.

  Next, various functional elements in the control device 30 will be described.

  The attachment related information generation unit 300 is a functional element for generating attachment related information.

  The “attachment related information” is information related to the attachment of the construction machine, and may be in any form as long as it can be superimposed and displayed on the front image, such as text, graphics, and photographs. In the present embodiment, the attachment-related information includes information on the horizontal distance between the tip of the excavation attachment and the reference position of the excavator 50, information on the vertical distance from the installation surface to the tip of the excavation attachment, and the reference of the installation surface and the bucket 6 Information on the excavation angle formed by the surface, information on the difference between the tip of the excavation attachment and a preset target excavation depth, information on the contour of the excavation attachment, and the like. The reference position of the excavator 50 is, for example, one point on the turning center of the excavator 50, one point on the front end surface of the cabin 10, or the like.

  In the present embodiment, the attachment related information generation unit 300 generates attachment related information based on the output of the attachment state detection device 33, for example.

  The work amount estimation unit 301 is a functional element for estimating the work amount of the construction machine. In the present embodiment, the work amount estimation unit 301 estimates the work amount by the excavation attachment of the excavator 50 based on the output of the attachment state detection device 33.

  The amount of work by the excavation attachment is, for example, the volume and weight of earth and sand lifted by the bucket 6. Specifically, the work amount estimation unit 301 derives the attitude of the excavation attachment based on the detected values of the boom angle sensor 33a, the arm angle sensor 33b, and the bucket angle sensor 33c. Then, the work amount estimation unit 301 estimates the weight of the earth and sand lifted by the bucket 6 as the work amount of the excavation attachment based on the detection value of the pressure sensor that detects the pressure of the hydraulic oil in the boom cylinder 7. Even when the bucket 6 lifts the same weight of sand and sand, the pressure of the hydraulic oil in the boom cylinder 7 increases as the horizontal distance between the excavator 50 and the bucket 6 increases. This is because it increases.

  The display control unit 302 is a functional element for controlling the contents of the screen displayed on the display device 35. In the present embodiment, the display control unit 302 causes the attachment related information generated by the attachment related information generation unit 300 to be superimposed and displayed on the front image captured by the imaging device 31. The display control unit 302 links the display position of the attachment image in the front image and the display position of the attachment related information. Specifically, the display control unit 302 derives the display position of the attachment image based on the output of the attachment state detection device 33, and determines the display position of the attachment related information based on the derived display position of the attachment image. Then, the display control unit 302 causes the attachment related information to be superimposed and displayed at the determined display position on the front screen. The display control unit 302 can uniquely determine the display position of the attachment image when the posture of the excavation attachment is determined. This is because the imaging device 31 is fixedly attached to the cabin 10.

  5 and 6 show examples of attachment-related information displayed in a superimposed manner on the screen G of the display device 35. FIG. In each of FIGS. 5 and 6, a solid line indicates a real image included in the front image, and a broken line indicates information superimposed on the front image.

  In FIG. 5, information (line segment) G1 is a line segment representing a plane (installation surface) on which the excavator 50 is located, and is composed of a line segment G1a and a line segment G1b. The line segment G1a indicates, for example, an extension line ahead of the left crawler of the lower traveling body 1, and the line segment G1b indicates, for example, a projection line of the excavation attachment projected onto the installation surface and its extension line.

  The information (line segment) G2 is a line segment representing the installation surface, similar to the information G1, for example, a line segment perpendicular to the line segment G1a and the line segment G1b. Further, the line segment G2 passes through a point vertically below the tip of the bucket 6.

  The information G3 is information representing the tip position of the bucket 6, and includes a tip center point G3a, a vertical auxiliary line G3b, and a horizontal auxiliary line G3c. The tip center point G3a corresponds to, for example, the midpoint of the claw portion at the tip of the bucket 6 in the width direction. Moreover, the vertical auxiliary line G3b is a vertical line extending vertically downward from the screen center G from the tip center point G3a. Therefore, the vertical auxiliary line G3b is orthogonal to both the line segment G1b and the line segment G2. The horizontal auxiliary line G3c is a horizontal line extending from the tip center point G3a to the left and right of the screen G. Therefore, the horizontal auxiliary line G3c extends in parallel to the line segment G2.

  The information G4 is information representing the target excavation depth, and includes a horizontal auxiliary line G4a and an arrow G4b. The target excavation depth is a value set through the input device 34. The horizontal auxiliary line G4a is a horizontal line extending to the left and right of the screen G from the intersection with the vertical auxiliary line G3b at the target excavation depth. Accordingly, the horizontal auxiliary line G4a extends in parallel with each of the line segment G2 and the horizontal auxiliary line G3c. The arrow G4b is an image for emphasizing and presenting the target excavation depth level, and the tip of the arrow coincides with the horizontal auxiliary line G4a.

  The information G5 is information representing a vertical distance from the tip of the bucket 6 to the target excavation depth, and includes a bidirectional arrow G5a and a numerical value display G5b. The bidirectional arrow G5a is disposed between the horizontal auxiliary line G3c and the horizontal auxiliary line G4a in parallel with the vertical auxiliary line G3b. The numerical display G5b is a numerical display that represents the vertical distance from the tip of the bucket 6 to the target excavation depth, and is arranged adjacent to the bidirectional arrow G5a. FIG. 5 shows that the vertical distance from the tip of the bucket 6 to the target excavation depth is 1.3 meters.

  The information G6 is information representing the vertical distance from the tip of the bucket 6 to the installation surface, and includes a bidirectional arrow G6a and a numerical value display G6b. The bidirectional arrow G6a is disposed between the line segment G2 and the horizontal auxiliary line G3c and parallel to the vertical auxiliary line G3b. The numerical display G6b is a numerical display that represents the vertical distance from the tip of the bucket 6 to the installation surface, and is disposed adjacent to the bidirectional arrow G6a. FIG. 5 shows that the vertical distance from the tip of the bucket 6 to the installation surface is 0.5 meters.

  The information G7 is information representing the horizontal distance between the tip of the bucket 6 and the reference position of the excavator 50, and includes a one-way arrow G7a and a numerical value display G7b. The unidirectional arrow G7a is arranged in parallel to the line segment G1b. The numerical display G7b is a numerical display that represents the horizontal distance between the tip of the bucket 6 and the reference position of the shovel 50, and is disposed adjacent to the one-way arrow G7a. FIG. 5 shows that the horizontal distance between the tip of the bucket 6 and the reference position of the shovel 50 is 2.3 meters.

  The information G8 is information representing the weight of the earth and sand excavated by the bucket 6, and includes a one-way arrow G8a and a numerical value display G8b. The one-way arrow G8a is a horizontal line drawn sideways from the actual image of the bucket 6 in order to emphasize and present that the information is about the earth and sand excavated by the bucket 6. The numerical display G8b is a numerical display that represents the weight of the earth and sand excavated by the bucket 6, and is arranged adjacent to the one-way arrow G8a. FIG. 5 shows that the weight of the earth and sand excavated by the bucket 6 is 0 kg.

  The information G9 is information representing the excavation angle formed by the installation surface and the reference surface of the bucket 6, and includes an auxiliary line G9a, an auxiliary line G9b, and a numerical value display G9c. The auxiliary line G9a is a line segment that extends along the back surface, which is the reference surface of the bucket 6. The auxiliary line G9b is a curve arranged between the installation surface and the auxiliary line G9a in order to emphasize and show that the angle is an angle formed between the installation surface and the auxiliary line G9a. The numerical display G9c is a numerical display that represents the excavation angle, and is disposed adjacent to the auxiliary line G9b. FIG. 5 shows that the excavation angle is −18 degrees.

  The information G10 is information representing the inclination of the excavator 50 in the front-rear direction and the left-right direction. Composed. The center point G10a is a point representing the center of the excavator 50. The left-right inclination scale G10b is a scale corresponding to the left-right inclination (roll angle) of the excavator 50, and the scale located below 0 ° in FIG. 5 corresponds to the right-direction inclination and is above 0 °. The scale located at corresponds to the inclination to the left. The left / right inclination instruction arrow G10c is an arrow that indicates the value of the roll angle in the right / left inclination scale G10b based on the output of the inclination detection device 32. FIG. 5 shows a state in which the excavator 50 is inclined about 5 ° in the right direction. The forward / backward inclination scale G10d is a scale corresponding to the forward / backward inclination (pitch angle) of the excavator 50, and the scale located below 0 ° in FIG. 5 corresponds to the backward inclination, and is above 0 °. The scale that is located corresponds to the forward tilt. The forward / backward inclination instruction arrow G10e is an arrow that indicates the value of the pitch angle in the forward / backward inclination scale G10d based on the output of the inclination detection device 32. FIG. 5 shows a state in which the excavator 50 is inclined about 10 ° rearward.

  Further, information G11 in FIG. 6 is information representing the position where the bucket 6 is present, and is an outline image of the bucket 6. The contour image G11 is superimposed and displayed at the same position as the actual bucket 6 on the screen G in the same posture as the actual bucket 6 regardless of whether the image of the actual bucket 6 in the front image is visible or invisible. The FIG. 6 shows a state where the actual bucket 6 is buried in the earth and sand and becomes invisible, but the position and posture of the bucket 6 in the earth and sand can be recognized from the outline image of the bucket 6.

  Each of the above-mentioned information G1 to information G11 is displayed in a superimposed manner on the front image in an easily visible color such as red, green, and yellow, and display / non-display is set in an arbitrary combination.

  Each of the information G3 to the information G9 and the information G11 is changed in display position by the display control unit 302 in conjunction with a change in the display position of the actual excavation attachment image (attachment image) in the front image. .

  Next, a process of generating a display image to be displayed on the display device 35 by the monitor system 100 (hereinafter referred to as “display image generation process”) will be described with reference to FIG. FIG. 7 is a flowchart showing the flow of the display image generation process, and the monitor system 100 repeatedly executes this display image generation process at a predetermined cycle.

  First, the monitor system 100 captures the front of the excavator 50 using the imaging device 31 and obtains a front image (step S1).

  Thereafter, the monitor system 100 detects the state of the excavation attachment of the excavator 50 using the attachment state detection device 33 (step S2). Specifically, the monitor system 100 outputs the boom angle sensor 33a, the arm angle sensor 33b, the bucket angle sensor 33c, and the output of the pressure sensor that detects the pressure in each of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. To get.

  Thereafter, the monitor system 100 generates attachment related information based on the detected state of the excavation attachment by the attachment related information generation unit 300 in the control device 30 (step S3). Specifically, the monitor system 100 includes information on the horizontal distance between the tip of the excavation attachment and the reference position of the excavator 50, information on the distance from the installation surface to the tip of the excavation attachment, the installation surface and the reference surface of the bucket 6 Information on the excavation angle formed by the two, information on the difference between the tip of the excavation attachment and a preset target excavation depth, information on the outline of the bucket 6, and the like are created.

  Moreover, the monitoring system 100 estimates the weight of the earth and sand excavated by the bucket 6 as the attachment related information based on the detected excavation attachment state by the work amount estimation unit 301 in the control device 30.

  Thereafter, the monitor system 100 derives the display position of the actual tip of the bucket 6 in the front image based on the detected state of the excavation attachment by the display control unit 302 in the control device 30, and displays each display position of the attachment-related information. Is determined (step S4). In addition, each display position of attachment related information is previously linked | related with the display position of the front-end | tip of the actual bucket 6 in a front image. However, each display position of the attachment related information may be associated with a position other than the display position of the actual tip of the bucket 6 in the front image. Further, step S3 and step S4 are out of order, and the content of the attachment related information (for example, the value of the excavation angle) may be generated after the display position of the attachment related information is determined.

  Thereafter, the monitor system 100 causes the display control unit 302 to superimpose and display the attachment related information at the determined display position on the front image (step S5).

  Further, the monitor system 100 causes the display control unit 302 to superimpose and display line segments G1a, G1b, and G2 (see FIG. 5) representing the installation surface on the front image (step S6).

  Further, the monitor system 100 causes the display control unit 302 to superimpose and display the tilt information indicating the tilt of the excavator 50 in the front-rear direction and the left-right direction on the front image (step S7).

  Note that step S5, step S6, and step S7 are in no particular order. Further, the line segment representing the installation surface, the attachment related information, and the inclination information may be displayed in the same color or may be displayed in different colors. Similarly, each of the plurality of attachment related information may be displayed in the same color or in different colors.

  With the above configuration, the monitor system 100 displays the position of the attachment image in the front image and the display position of the attachment-related information in conjunction with each other, thereby allowing the operator to intuitively understand the state of the excavation attachment of the excavator 50. be able to.

  In addition, the monitor system 100 displays the vertical distance between the tip of the bucket 6 and the installation surface and the horizontal distance between the tip of the bucket 6 and the excavator 50 at the same time, so that the state of the excavation attachment can be indicated to the operator. Intuitive understanding.

  Further, since the monitor system 100 displays the excavation angle of the bucket 6 at a predetermined position around the photographed image of the bucket 6, the operator can intuitively understand the state of the excavation attachment, thereby improving workability. be able to.

  Further, since the monitor system 100 displays the weight of the earth and sand excavated by the bucket 6 at a predetermined position around the photographed image of the bucket 6, the operator can intuitively understand the state of the excavation attachment. Can be improved.

  Moreover, since the monitor system 100 superimposes and displays the outline image of the bucket 6 on the actual image of the bucket 6, the bucket 6 is invisible because it is buried in earth and sand, submerged in water, or hidden behind objects. Even in this case, the position and posture of the bucket 6 can be presented to the operator. As a result, the monitor system 100 can make the operator intuitively understand the state of the excavation attachment, and can improve workability.

  Further, the monitor system 100 superimposes and displays the distance between the tip of the bucket 6 and the target excavation depth at a predetermined position around the photographed image of the bucket 6 so that the operator can intuitively understand the state of the excavation attachment. be able to.

  In addition, the monitor system 100 can also superimpose and display information that is not directly related to the state of the excavation attachment, such as information about the inclination of the excavator 50 in the front-rear direction and the left-right direction, on the front image. As a result, the monitor system 100 can make the operator intuitively understand the state of the excavation attachment, and at the same time can present the situation around the excavator 50 in an easy-to-understand manner, thereby improving workability.

  In addition, the monitor system 100 has the display device 35 attached to the side of the front window so that the operator can visually recognize the actual situation outside the shovel through the front window and the image displayed on the display device 35 almost simultaneously. it can. As a result, the operator can intuitively understand the state of the excavation attachment.

  Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, a case where the present invention is applied to the excavator 50 will be described. However, the present invention is not limited to this. The present invention is also applicable to other construction machines including, for example, a lifting magnet, a grapple, a crusher, and the like.

  Specifically, when applied to a construction machine including a lifting magnet, the attachment-related information includes information related to the lifting weight of the lifting magnet.

  Moreover, when applied to a construction machine provided with a grapple, a crusher, etc., attachment related information includes contour images, such as a grapple and a crusher. Thereby, even if an actual grapple, a crusher, etc. are hidden behind a thing and become invisible, the operator can recognize the position and the opening-and-closing condition.

  In the above-described embodiment, the bucket 6 employs a configuration that can be rotated (opened and closed) in the front-rear direction, but a configuration that can also be rotated in the left-right direction, such as a tilt bucket, may be employed. In this case, the attachment related information includes the installation surface and the left and right side surfaces of the bucket 6 in addition to the information on the front and rear direction excavation angle formed by the installation surface and the back surface of the bucket 6. Includes information on the horizontal excavation angle formed by the.

  DESCRIPTION OF SYMBOLS 1 ... Lower traveling body 2 ... Turning mechanism 3 ... Upper turning body 4 ... Boom 5 ... Arm 6 ... Bucket 7 ... Boom cylinder 8 ... Arm cylinder 9 ... Bucket cylinder 10 ... cabin 11 ... front window 30 ... control device 31 ... imaging device 32 ... tilt detection device 33 ... attachment state detection device 33a ... boom angle sensor 33b .. Arm angle sensor 33c ... Bucket angle sensor 34 ... Input device 35 ... Display device 50 ... Excavator 100 ... Monitor system 300 ... Attachment related information generating unit 301 ... Work amount Estimator 302 ... Display controller

Claims (8)

An excavator comprising a lower traveling body, an upper turning body, and an attachment,
An attachment state detection device for detecting respective angles of the boom, the arm, and the bucket as a state of the attachment including a boom, an arm, and a bucket;
A control device for grasping a reference surface of the bucket formed on the back surface of the bucket based on the state of the attachment detected by the attachment state detection device;
Excavator. The control device calculates an excavation angle formed by a plane on which the excavator is located and the reference plane;
The excavator according to claim 1. The control device calculates the correspondence between the slope of the construction target and the reference surface,
The shovel according to claim 1 or 2. A display device,
The control device displays the correspondence between the slope and the reference surface on the display device, and displays the bucket in an enlarged state.
The excavator according to claim 3. The control device displays a line segment passing through a point below the tip of the bucket on the installation surface of the excavator,
The excavator according to any one of claims 1 to 4. The control device displays a vertical auxiliary line between the tip of the bucket and a preset target position;
The excavator according to any one of claims 1 to 5. The control device displays a distance between a tip of the bucket and a preset target position;
The excavator according to any one of claims 1 to 6. The control device displays a line segment passing through a point vertically below the tip of the bucket at a preset target position;
The excavator according to any one of claims 1 to 7.

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