JP2017110472A - Shovel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a shovel which makes an operator grasp a function allocated to a switch button which is arranged at an operation lever.SOLUTION: This shovel according to the present invention has a left switch button 27L which is arranged in a cabin 10, and to which a function related to a machine guidance is allocated, and a display device 40 arranged in the cabin 10. The display device 40 displays a screen including an operation switch function display part 440 which associatively displays a position display figure L1 indicating an installation position of the left switch button 27L, and a function display figure L2 indicating a function which is allocated to the left switch button 27L.SELECTED DRAWING: Figure 6

Description

  The present invention relates to an excavator.

  There is known an operation switch control device that switches a function assigned to an operation switch installed on an operation lever of a shovel (see, for example, Patent Document 1).

JP 2012-96732 A

  The operation switch control device displays an image of an operation switch installed on the operation lever, an image of a button representing an assignable function, and an image of a determination button on a monitor screen. The operator selects one of the images of the plurality of operation switches, selects the button image representing the function to be assigned to the operation switch, and then operates the enter button to select the desired operation switch. Assign functions.

  However, the operation switch control device does not display what function is currently assigned to each operation switch. Therefore, the operator cannot grasp what function is currently assigned to each operation switch.

  Therefore, it is desirable to provide an excavator that enables the operator to grasp the functions assigned to the operation switches installed on the operation lever.

  An excavator according to an embodiment of the present invention includes a lower traveling body, an upper revolving body that is pivotably mounted on the lower traveling body, a cab mounted on the upper revolving body, and a work part that performs work. An attachment, an operation switch provided in the cab and assigned a function related to machine guidance, and a display device provided in the cab, wherein the display device represents an installation position of the operation switch. A screen including an operation switch function display unit for displaying the position display graphic and the function display graphic representing the function assigned to the operation switch in association with each other is displayed.

  The above-described means provides a shovel that allows the operator to grasp the functions assigned to the operation switches installed on the operation lever.

It is a side view of the shovel which concerns on the Example of this invention. It is a figure which illustrates the connection structure containing the controller of the shovel of FIG. It is a figure which illustrates the composition of a controller and a machine guidance device. It is a figure which illustrates the slope excavation operation | work by the shovel of FIG. It is a figure which illustrates a mode that the front was seen from the driver's seat of the shovel of FIG. It is a figure which illustrates the screen of a display apparatus. It is a flowchart which shows the flow of a reference | standard level taking over process. It is a figure which shows another example of the screen of a display apparatus. It is a figure which shows another example of the screen of a display apparatus. It is a figure which shows another example of the screen of a display apparatus. It is a figure which shows another example of the connection structure containing the controller of the shovel of FIG.

  Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings. In the drawings, the same components are denoted by the same reference numerals, and redundant description may be omitted.

  FIG. 1 is a side view illustrating a shovel according to an embodiment of the present invention. The shovel in FIG. 1 has a function for guiding the operation of the shovel (hereinafter referred to as “machine guidance function”).

  An upper swing body 3 is mounted on the lower traveling body 1 of the excavator via a swing mechanism 2 so as to be rotatable. 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 as an end attachment (working part). As an end attachment, a slope bucket, a bucket, a breaker, or the like may be attached.

  The boom 4, the arm 5, and the bucket 6 constitute a drilling attachment as an example of the attachment, and are hydraulically driven by the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, respectively. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6. The excavation attachment may be provided with a bucket tilt mechanism. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be referred to as “attitude sensors”.

  The boom angle sensor S1 detects the rotation angle of the boom 4. The boom angle sensor S <b> 1 is an acceleration sensor that detects, for example, an inclination with respect to a horizontal plane and detects a rotation angle of the boom 4 with respect to the upper swing body 3.

  The arm angle sensor S2 detects the rotation angle of the arm 5. The arm angle sensor S2 is an acceleration sensor that detects the rotation angle of the arm 5 with respect to the boom 4 by detecting an inclination with respect to the horizontal plane, for example.

  The bucket angle sensor S3 detects the rotation angle of the bucket 6. The bucket angle sensor S3 is an acceleration sensor that detects the rotation angle of the bucket 6 with respect to the arm 5 by detecting an inclination with respect to the horizontal plane, for example.

  When the excavation attachment includes a bucket tilt mechanism, the bucket angle sensor S3 additionally detects the rotation angle of the bucket 6 around the tilt axis. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are a potentiometer using a variable resistor, a stroke sensor that detects a stroke amount of a corresponding hydraulic cylinder, and a rotary encoder that detects a rotation angle around a connecting pin. Etc.

  The upper swing body 3 is mounted with a power source such as the engine 11 and a vehicle body tilt sensor S4, and is covered with a cover 3a. The vehicle body tilt sensor S4 detects the tilt angle of the upper swing body 3. The vehicle body inclination sensor S4 is, for example, an acceleration sensor that detects an inclination angle of the upper swing body 3 by detecting an inclination with respect to a horizontal plane.

  An imaging device 80 is provided above the cover 3a of the upper swing body 3. The imaging device 80 includes a left camera 80L that images the left side of the shovel, a right camera 80R that images the right side of the shovel, and a rear camera 80B that images the rear side of the shovel. The left camera 80L, the right camera 80R, and the rear camera 80B are digital cameras having an image sensor such as a CCD or a CMOS, for example, and send captured images to the display device 40 provided in the cabin 10.

  The upper swing body 3 is provided with a cabin 10 as a cab. A positioning device (GNSS receiver) G <b> 1 is provided on the top of the cabin 10. The positioning device G1 detects the position of the excavator using the satellite information, and supplies the position data to the machine guidance device 50 in the controller 30. In the cabin 10, a controller 30, a display device 40, an audio output device 43, an input device 45, a storage device 47, and a gate lock lever 49 are provided.

  The controller 30 is a control device that functions as a main control unit that performs drive control of the shovel. The controller 30 includes an arithmetic processing unit that includes a CPU and an internal memory. Various functions of the controller 30 are realized by the CPU executing programs stored in the internal memory.

  The controller 30 also functions as a machine guidance device 50 that guides the operation of the shovel. The machine guidance device 50 notifies the operator of work information such as the distance between the target surface that is the surface of the target terrain set by the operator and the work site of the attachment. The distance between the target surface and the work site is, for example, the distance between the tip of the bucket 6 as an end attachment, the back of the bucket 6, the tip of a breaker as an end attachment, and the target surface. The machine guidance device 50 notifies the operator of work information via the display device 40, the audio output device 43, etc., and guides the operation of the excavator.

  In the present embodiment, the machine guidance device 50 is incorporated in the controller 30, but the machine guidance device 50 and the controller 30 may be provided separately. In this case, like the controller 30, the machine guidance device 50 is configured by an arithmetic processing device including a CPU and an internal memory. Various functions of the machine guidance device 50 are realized by the CPU executing a program stored in the internal memory.

  The display device 40 displays a screen including various work information in response to a command from the machine guidance device 50 included in the controller 30. The display device 40 is an in-vehicle liquid crystal display connected to the machine guidance device 50, for example.

  The audio output device 43 outputs various audio information in response to an audio output command from the machine guidance device 50 included in the controller 30. The audio output device 43 is an in-vehicle speaker connected to the machine guidance device 50, for example. The audio output device 43 may be an alarm device such as a buzzer.

  The input device 45 is a device for an excavator operator to input various information to the controller 30 including the machine guidance device 50. The input device 45 includes, for example, a membrane switch provided on the surface of the display device 40. The input device 45 may be configured to include a touch panel or the like.

  The storage device 47 is a device for storing various information. The storage device 47 is a non-volatile storage medium such as a semiconductor memory, for example. The storage device 47 stores various information output by the controller 30 including the machine guidance device 50.

  The gate lock lever 49 is provided between the door of the cabin 10 and the driver's seat, and is a mechanism that prevents the shovel from being operated accidentally. When the operator gets into the driver's seat and pulls up the gate lock lever 49, the operator cannot exit the cabin 10 and can operate various operation devices. When the operator depresses the gate lock lever 49, the operator can exit the cabin 10 and cannot operate various operation devices.

  FIG. 2 is a diagram illustrating a connection configuration including the controller 30 of FIG. The display device 40 is provided in the cabin 10 and displays a screen including work information supplied from the machine guidance device 50. The display device 40 is connected to the controller 30 including the machine guidance device 50 via, for example, a communication network such as CAN, a dedicated line, or the like.

  The display device 40 includes a conversion processing unit 40 a that generates a screen to be displayed on the image display unit 41. The conversion processing unit 40 a generates a screen including a captured image to be displayed on the image display unit 41 based on image data obtained from the imaging device 80. Image data is input to the display device 40 from each of the left camera 80L, the right camera 80R, and the rear camera 80B.

  The conversion processing unit 40a converts data to be displayed on the image display unit 41 among various data input from the controller 30 to the display device 40 into an image signal. Data input from the controller 30 to the display device 40 includes, for example, data indicating the temperature of engine cooling water, data indicating the temperature of hydraulic oil, data indicating the remaining amount of urea water, data indicating the remaining amount of fuel, and the like. Including.

  The conversion processing unit 40a outputs the converted image signal to the image display unit 41, and causes the image display unit 41 to display a screen generated based on the captured image and various data.

  The conversion processing unit 40a may be provided in the controller 30. In this case, the imaging device 80 is connected to the controller 30.

  The display device 40 has a switch panel 42 as an input unit. The switch panel 42 is a panel including various hardware switches. The switch panel 42 includes a light switch 42a, a wiper switch 42b, and a window washer switch 42c.

  The light switch 42 a is a switch for switching on / off of a light attached to the outside of the cabin 10. The wiper switch 42b is a switch for switching operation / stop of the wiper. The window washer switch 42c is a switch for injecting window washer fluid.

  The display device 40 operates by receiving power from the storage battery 70. The storage battery 70 is charged with electric power generated by the alternator 11a (generator) of the engine 11. The electric power of the storage battery 70 is also supplied to the electrical components 72 of the excavator other than the controller 30 and the display device 40. The starter 11b of the engine 11 is driven by electric power from the storage battery 70 to start the engine 11.

  The engine 11 is connected to the main pump 14 and the pilot pump 15 and is controlled by an engine control unit (ECU) 74. The ECU 74 transmits various data indicating the state of the engine 11 (for example, data indicating the coolant temperature detected by the water temperature sensor 11c) to the controller 30. The controller 30 can accumulate this data in an internal temporary storage (memory) 30a and transmit it to the display device 40 at an appropriate timing.

  The main pump 14 supplies hydraulic oil to the control valve 17 through a high pressure hydraulic line. The main pump 14 is, for example, a swash plate type variable displacement hydraulic pump.

  The pilot pump 15 supplies hydraulic oil to various hydraulic control devices via a pilot line. The pilot pump 15 is, for example, a fixed displacement hydraulic pump.

  The control valve 17 is a hydraulic control device that controls a hydraulic system in the excavator. The control valve 17 selectively supplies hydraulic oil discharged from the main pump 14 to, for example, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the traveling hydraulic motor, and the turning hydraulic motor. Hereinafter, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the traveling hydraulic motor, and the turning hydraulic motor may be referred to as “hydraulic actuator”.

  The operating device 26 is provided in the cabin 10 and is used by the operator to operate the hydraulic actuator. In the present embodiment, the operation device 26 includes a left operation lever 26L, a right operation lever 26R, and a travel lever 26C. When the operating device 26 is operated, the hydraulic oil is supplied from the pilot pump 15 to the pilot port of the flow control valve corresponding to each of the hydraulic actuators. Each pilot port is supplied with hydraulic oil having a pressure corresponding to the operation direction and operation amount of the corresponding operation device 26.

  In the present embodiment, the left operation lever 26L is a hand lever for operating the turning mechanism 2 and the arm 5. The hand lever means a lever operated by hand. The operator can open and close the arm 5 by operating the left operation lever 26L in the left-right direction and hydraulically driving the arm cylinder 8. The operator can turn the upper swing body 3 by operating the left operation lever 26L in the front-rear direction to hydraulically drive the swing mechanism 2. The right operation lever 26 </ b> R is a hand lever for operating the boom 4 and the bucket 6. The operator can open and close the bucket 6 by operating the right operation lever 26R in the left-right direction and hydraulically driving the bucket cylinder 9. The operator can move the boom 4 up and down by operating the right operation lever 26R in the front-rear direction to hydraulically drive the boom cylinder 7. The traveling lever 26 </ b> C is a pair of hand levers for operating the lower traveling body 1. A pair of travel pedals are attached to the pair of hand levers. When the operator operates the traveling lever 26C in the front-rear direction, the lower traveling body 1 can be hydraulically driven to move the shovel.

  For example, the controller 30 acquires various data described below. The data acquired by the controller 30 is stored in the temporary storage unit 30a.

  The regulator 14 a sends data indicating the swash plate angle to the controller 30. Further, the discharge pressure sensor 14 b sends data indicating the discharge pressure of the main pump 14 to the controller 30. These data are stored in the temporary storage unit 30a. The oil temperature sensor 14c provided in the pipe line between the main pump 14 and the tank storing the hydraulic oil sucked by the main pump 14 sends data representing the temperature of the hydraulic oil flowing through the pipe line to the controller 30. .

  The pressure sensors 15 a and 15 b detect the pilot pressure sent to the control valve 17 when the operating device 26 is operated, and send data indicating the detected pilot pressure to the controller 30.

  The operation device 26 is provided with a switch button 27. In the present embodiment, a left switch button 27L as a finger switch is provided at the end of the left operation lever 26L, and a right switch button 27R as a finger switch is provided at the end of the right operation lever 26R. The finger switch means a switch operated by a finger. The operator can send a command signal to the controller 30 by operating the switch button 27 with a finger while operating the operating device 26 by hand. Specifically, the left switch button 27L is provided at a position where it can be operated with the index finger of the left hand of the operator holding the left operation lever 26L, and the right switch button 27R is operated with the index finger of the right hand of the operator holding the right control lever 26R. It is provided at a possible position.

  The gate lock valve 49 a is a switching valve provided in the oil passage between the control valve 17 and the operation device 26. In the present embodiment, the gate lock valve 49 a is configured to open and close in response to a command from the controller 30, but is configured to be mechanically connected to the gate lock lever 49 and open and close according to the operation of the gate lock lever 49. There may be.

  In the closed state, the gate lock valve 49a blocks the flow of hydraulic oil between the control valve 17 and the operation device 26, thereby invalidating the operation of the operation device 26. Further, the gate lock valve 49a enables the operation of the operation device 26 by allowing the hydraulic oil to communicate between the control valve 17 and the operation device 26 in the opened state.

  The engine speed adjustment dial 75 is a dial for adjusting the engine speed, and is provided in the shovel cabin 10. For example, the engine speed adjustment dial 75 can switch the engine speed in stages. In the present embodiment, the engine speed adjustment dial 75 is provided so that the engine speed can be switched in four stages: SP mode, H mode, A mode, and idling mode. The engine speed adjustment dial 75 sends data indicating the setting state of the engine speed to the controller 30. FIG. 2 shows a state in which the H mode is selected by the engine speed adjustment dial 75.

  The SP mode is a rotation speed mode that is selected when priority is given to the amount of work, and uses the highest engine speed. The H mode is a rotation speed mode that is selected when both the work amount and the fuel consumption are desired, and uses the second highest engine speed. The A mode is a rotation speed mode that is selected when it is desired to operate the shovel with low noise while giving priority to fuel consumption, and uses the third highest engine speed. The idling mode is a rotation speed mode that is selected when the engine is desired to be in an idling state, and uses the lowest engine speed. The engine 11 is isochronously controlled so that the engine speed in the speed mode set by the engine speed adjustment dial 75 is maintained.

  Next, various functions provided in the controller 30 and the machine guidance device 50 will be described. FIG. 3 is a diagram illustrating the configuration of the controller 30 and the machine guidance device 50.

  The controller 30 controls the operation of the entire excavator including the ECU 74. The controller 30 closes the gate lock valve 49a when the gate lock lever 49 is pushed down, and opens the gate lock valve 49a when the gate lock lever 49 is pulled up.

  The controller 30 detects the operation amount of the operating device 26 from the pilot pressure detected by the pressure sensors 15a and 15b in a state where the gate lock valve 49a is opened and the operation of the operating device 26 is enabled.

  The controller 30 controls guidance by the machine guidance device 50 in addition to controlling the operation of the entire shovel. Specifically, when the controller 30 determines that the excavator is at rest, it sends a guidance stop command to the machine guidance device 50 so as to stop the guidance by the machine guidance device 50.

  Further, the controller 30 may output a guidance stop command to the machine guidance device 50 when outputting the auto idle stop command to the ECU 74. Alternatively, the controller 30 may output a guidance stop command to the machine guidance device 50 when it is determined that the gate lock lever 49 is in a depressed state.

  Next, the machine guidance device 50 will be described. The machine guidance device 50 receives various signals and data supplied to the controller 30 from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the vehicle body tilt sensor S4, the positioning device G1, the input device 45, and the like.

  The machine guidance device 50 calculates the actual operation position of the attachment (for example, the height of the tip of the bucket 6) based on the received signal and data. Then, for example, the machine guidance device 50 compares the actual movement position of the attachment with the height of the target surface, and calculates the distance between the tip of the bucket 6 and the target surface. The machine guidance device 50 also calculates the distance from the pivot center axis of the shovel to the tip of the bucket 6, the inclination angle of the target surface, and the like, and transmits these to the display device 40 as work information.

  In addition, when the machine guidance apparatus 50 and the controller 30 are provided separately, the machine guidance apparatus 50 and the controller 30 are connected to each other via CAN.

  The machine guidance device 50 includes a height calculation unit 503, a comparison unit 504, a display control unit 505, and a guidance data output unit 506.

  The height calculation unit 503 calculates the height of the tip (toe) of the bucket 6 from the angles of the boom 4, the arm 5, and the bucket 6 obtained from detection signals of the boom angle sensor S 1, the arm angle sensor S 2, and the bucket angle sensor S 3. calculate.

  The comparison unit 504 compares the height of the tip (toe) of the bucket 6 calculated by the height calculation unit 503 with the height of the target surface in the guidance data output from the guidance data output unit 506. Moreover, the comparison part 504 calculates | requires the inclination angle of the target surface with respect to the installation surface (horizontal surface) of an excavator. Various data obtained by the height calculation unit 503 and the comparison unit 504 are stored in the storage device 47.

  The display control unit 505 transmits the height of the tip (toe) of the bucket 6 and the inclination angle of the target surface obtained by the comparison unit 504 to the display device 40 as work information. The display device 40 displays work information sent from the display control unit 505 on the screen together with the captured image sent from the imaging device 80. The display screen configuration of the display device 40 will be described later. The display control unit 505 can issue an alarm to the operator via the audio output device 43 when the bucket 6 is at a position lower than the target surface.

  FIG. 4 is a diagram illustrating a state in which the excavator of FIG. 1 is performing an operation of forming a slope (inclined surface) by the bucket 6. FIG. 5 is a diagram illustrating a state of looking forward from the driver's seat in the cabin 10.

  As shown in FIG. 5, the operator can see the bucket 6 through the window on the front surface of the cabin 10. A driver's seat 10a is provided in the center of the cabin 10, and a left operation lever 26L and a right operation lever 26R are provided on both sides thereof. The operator sits in the driver's seat 10a, operates the left operation lever 26L with the left hand, and operates the right operation lever 26R with the right hand, thereby moving the bucket 6 to a desired position and performing excavation work.

  An image display unit 41 and a switch panel 42 of the display device 40 are installed on the right front side of the driver's seat 10a. The operator of the excavator looks at the image display unit 41 and grasps the work information. Then, the left operation lever 26L and the right operation lever 26R are operated with both hands while looking at the bucket 6 outside the window.

  Next, the screen configuration displayed on the display device 40 will be described. FIG. 6 is a diagram illustrating a screen 41 </ b> V displayed on the image display unit 41 of the display device 40.

  As shown in FIG. 6, the screen 41V includes a time display unit 411, a rotation speed mode display unit 412, a travel mode display unit 413, an attachment display unit 414, an engine control state display unit 415, a urea water remaining amount display unit 416, a fuel. It has a remaining amount display unit 417, a cooling water temperature display unit 418, an engine operating time display unit 419, a captured image display unit 420, a work guidance display unit 430, and an operation switch function display unit 440. An image displayed on each unit is generated from various data transmitted from the controller 30 and a captured image transmitted from the imaging device 80 by the conversion processing unit 40a of the display device 40.

  The work guidance display unit 430 is always displayed during execution of machine guidance, for example. However, it may not be displayed when the machine guidance is not executed.

  For example, when a function related to machine guidance is assigned to an operation switch, the operation switch function display unit 440 is always displayed during execution of the machine guidance. In this case, it may not be displayed when the machine guidance is not executed. When a function related to a system other than the machine guidance is assigned to the operation switch, it may be always displayed regardless of whether or not the machine guidance is being executed.

  The time display unit 411 displays the current time. In the example shown in FIG. 6, a digital display is adopted and the current time (10: 5) is shown.

  The rotation speed mode display unit 412 displays an image of the rotation speed mode set by the engine rotation speed adjustment dial 75. The rotation speed mode includes, for example, the above-described four modes: SP mode, H mode, A mode, and idling mode. In the example shown in FIG. 6, the symbol “SP” representing the SP mode is displayed.

  The travel mode display unit 413 displays the travel mode. The traveling mode represents a set state of the traveling hydraulic motor using the variable displacement pump. For example, the running mode has a low speed mode and a high speed mode, and a mark that represents “turtle” is displayed in the low speed mode, and a mark that represents “兎” is displayed in the high speed mode. In the example illustrated in FIG. 6, a mark representing “turtle” is displayed, and the operator can recognize that the low speed mode is set.

  The attachment display unit 414 displays an image representing the attached attachment. Various end attachments such as a bucket 6, a rock drill, a grapple, and a lifting magnet are mounted on the excavator. The attachment display unit 414 displays, for example, marks representing these end attachments and numbers corresponding to the attachments. In this embodiment, the bucket 6 is mounted as an end attachment, and the attachment display section 414 is blank as shown in FIG. When a rock drill is attached as an end attachment, for example, a mark representing the rock drill is displayed on the attachment display unit 414 together with a number indicating the magnitude of the output of the rock drill.

  The engine control state display unit 415 displays the control state of the engine 11. In the example shown in FIG. 6, “automatic deceleration / automatic stop mode” is selected as the control state of the engine 11. The “automatic deceleration / automatic stop mode” means a control state in which the engine speed is automatically reduced and the engine 11 is automatically stopped according to the duration of the state where the engine load is low. In addition, the control state of the engine 11 includes “automatic deceleration mode”, “automatic stop mode”, “manual deceleration mode”, and the like.

  The urea water remaining amount display unit 416 displays an image of the remaining amount of urea water stored in the urea water tank. In the example shown in FIG. 6, a bar graph representing the current remaining amount of urea water is displayed. The remaining amount of urea water is displayed based on the data output from the urea water remaining amount sensor provided in the urea water tank.

  The remaining fuel amount display unit 417 displays the remaining amount of fuel stored in the fuel tank. In the example shown in FIG. 6, a bar graph representing the current remaining fuel state is displayed. The remaining amount of fuel is displayed based on the data output from the remaining fuel sensor provided in the fuel tank.

  A coolant temperature display unit 418 displays the temperature state of the engine coolant. In the example shown in FIG. 6, a bar graph representing the temperature state of the engine coolant is displayed. The temperature of the engine coolant is displayed based on data output from a water temperature sensor 11c provided in the engine 11.

  The engine operating time display unit 419 displays the accumulated operating time of the engine 11. In the example shown in FIG. 6, the cumulative operation time since the start of counting by the driver is displayed together with the unit “hr (hour)”. The engine operating time display unit 419 displays the lifetime operating time of the entire period after the excavator is manufactured or the section operating time after the start of counting by the operator.

  The captured image display unit 420 displays an image captured by the imaging device 80. In the example illustrated in FIG. 6, an image captured by the rear camera 80 </ b> B is displayed on the captured image display unit 420. The captured image display unit 420 may display a captured image captured by the left camera 80L or the right camera 80R. The captured image display unit 420 may display images captured by a plurality of cameras among the left camera 80L, the right camera 80R, and the rear camera 80B. Furthermore, the captured image display unit 420 may display a bird's-eye view image obtained by combining the captured images captured by the left camera 80L, the right camera 80R, and the rear camera 80B.

  Each camera is installed so that a part of the cover 3a of the upper swing body 3 is included in the captured image. By including a part of the cover 3a in the displayed image, the operator can easily grasp the sense of distance between the object displayed on the captured image display unit 420 and the shovel.

  The captured image display unit 420 displays an imaging device icon 421 that indicates the orientation of the imaging device 80 that captured the displayed captured image. The imaging device icon 421 includes a shovel icon 421a that represents the shape of the top view of the shovel, and a strip-shaped direction display icon 421b that represents the orientation of the imaging device 80 that captured the displayed captured image.

  In the example shown in FIG. 6, the direction display icon 421b is displayed below the excavator icon 421a (the opposite side of the attachment), and the captured image display unit 420 displays an image behind the excavator captured by the rear camera 80B. Is displayed. For example, when an image captured by the right camera 80R is displayed on the captured image display unit 420, a direction display icon 421b is displayed on the right side of the excavator icon 421a. For example, when an image photographed by the left camera 80L is displayed on the photographed image display unit 420, a direction display icon 421b is displayed on the left side of the excavator icon 421a.

  For example, the operator can switch an image displayed on the captured image display unit 420 to an image captured by another camera or the like by pressing an image switching switch provided in the cabin 10.

  If the excavator is not provided with the imaging device 80, different information may be displayed instead of the captured image display unit 420.

  The work guidance display unit 430 includes a position display image 431, a first target surface display image 432, a second target surface display image 433, and a numerical information image 434, and displays various work information.

  The position display image 431 is a bar graph in which a plurality of segments 431a are vertically arranged, and displays the size of the distance from the work site of the attachment (for example, the tip of the bucket 6) to the target surface. In this embodiment, depending on the distance from the tip of the bucket 6 to the target surface, one of the seven segments is displayed in a different color from the other segments (three from the top in FIG. 6). Eye segment). The position display image 431 may be configured with more segments so that the magnitude of the distance from the tip of the bucket 6 to the target surface can be displayed with higher accuracy.

  For example, as the distance from the tip of the bucket 6 to the target surface below it increases, the segment closer to the top is displayed as a bucket position display segment in a different color from the other segments. Further, as the distance from the tip of the bucket 6 to the target surface is smaller, the segment closer to the lowest level is displayed as a bucket position display segment in a different color from the other segments. In this way, the bucket position display segment is displayed so as to move up and down according to the distance from the tip of the bucket 6 to the target surface below it. The operator can grasp the magnitude of the distance from the tip of the bucket 6 to the target surface by looking at the position display image 431.

  The first target surface display image 432 schematically displays the relationship between the bucket 6 and the target surface. In the first target plane display image 432, the relationship between the bucket 6 and the target plane when the operator sits in the cabin 10 and looks at the front of the excavator is schematically displayed as a bucket icon 451 and a target plane graphic 452. Is done. The bucket icon 451 is represented in the form of the bucket 6 when the bucket 6 is viewed from the cabin 10. The target surface graphic 452 is displayed together with the inclination angle of the end line 6a of the bucket 6 with respect to the actual target surface (10.0 ° in the example shown in FIG. 6). The end line of the bucket 6 is a line segment extending in the width direction of the bucket 6 drawn by the tip of the bucket 6. The interval between the bucket icon 451 and the target surface graphic 452 is displayed so as to change according to the distance from the actual tip of the bucket 6 to the target surface. Similarly, the inclination angle of the bucket 6 is displayed so as to change according to the positional relationship between the actual bucket 6 and the target surface.

  The operator can grasp the positional relationship between the bucket 6 and the target surface and the inclination angle of the target surface by looking at the first target surface display image 432. It should be noted that the target surface graphic 452 may be displayed on the first target surface display image 432 so as to be larger than the actual inclination angle in order to improve the visibility of the operator. The operator can recognize an approximate inclination angle from the target surface graphic 452 displayed in the first target surface display image 432. In addition, when the operator wants to know an accurate inclination angle, the operator can know the actual inclination angle by looking at the inclination angle displayed numerically below the target surface graphic 452.

  The second target plane display image 433 schematically displays the relationship between the bucket 6 and the target plane when viewed from the side. In the second target plane display image 433, a bucket icon 451 and a target plane graphic 452 are displayed. The bucket icon 451 is represented in the form of the bucket 6 when the bucket 6 is viewed from the side. The target plane graphic 452 is displayed together with the inclination angle of the target plane with respect to the horizontal plane (20.0 ° in the example shown in FIG. 6). The interval between the bucket icon 451 and the target surface graphic 452 is displayed so as to change according to the distance from the actual tip of the bucket 6 to the target surface. The inclination angle is displayed so as to change according to the positional relationship between the actual bucket 6 and the target surface.

  The operator can grasp the positional relationship between the bucket 6 and the target surface and the inclination angle of the target surface by looking at the second target surface display image 433. In the second target plane display image 433, the target plane graphic 452 may be displayed so as to be larger than the actual inclination angle in order to improve the visibility of the operator. The operator can recognize the approximate inclination angle from the target surface graphic 452 displayed in the second target surface display image 433. In addition, when the operator wants to know an accurate inclination angle, the operator can know the actual inclination angle by looking at the inclination angle displayed numerically below the target surface graphic 452.

  The numerical information image 434 displays various numerical values indicating the positional relationship between the tip of the bucket 6 and the target surface. In the numerical information image 434, a turning angle (120.0 ° in the example shown in FIG. 6) with respect to the reference orientation of the upper turning body 3 is displayed together with an icon indicating a shovel. The reference orientation is, for example, the orientation of the attachment when facing the slope as the work target. In the numerical information image 434, the height from the target surface to the tip of the bucket 6 (the distance in the vertical direction between the tip of the bucket 6 and the target surface, which is 0.23 m in the example shown in FIG. 6), It is displayed with an icon indicating the positional relationship with the surface.

  The operator can specifically confirm the relative positional relationship between the bucket 6 and the target surface as numerical information from various numerical values displayed on the numerical information image 434. The numerical information image 434 may display numerical information other than the above.

  The operation switch function display unit 440 displays a position display graphic representing the installation position of the operation switch to which various functions are assigned and a function display graphic representing the function assigned to the operation switch in association with each other. The operation switch is a device that receives an input from the operator, and includes, for example, a knob switch, a rocker switch, a jog dial, a membrane switch, and a push button. In the example shown in FIG. 6, the position display graphic L1 of the left operation lever 26L on which the left switch button 27L as the operation switch is installed and the function display graphic L2 representing the function assigned to the left switch button 27L are displayed in association with each other. Has been. Further, the position display graphic R1 of the right operation lever 26R on which the right switch button 27R as the operation switch is installed and the function display graphic R2 representing the function assigned to the right switch button 27R are displayed in association with each other. In the example shown in FIG. 6, a function related to machine guidance is assigned to the operation switch. Specifically, the function display is closer to the position display graphic R1 than the position display graphic L1 so that the operator can recognize that the function display graphic R2 is associated with the position display graphic R1 instead of the position display graphic L1. A graphic R2 is displayed. The same applies to the function display graphic L2. In addition, a line connecting the position display graphic R1 and the function display graphic R2 is displayed. However, instead of connecting with lines, a frame surrounding the combination of the position display graphic R1 and the function display graphic R2 may be displayed. The same applies to the combination of the position display graphic L1 and the function display graphic L2.

  The function display graphic R2 indicates that a function for setting the position of the work part of the attachment to the reference level (hereinafter referred to as “reference level setting function”) is assigned to the right switch button 27R. The “reference level” is a reference height that is referred to when the machine guidance device 50 executes machine guidance. For example, the operator operates the attachment to bring the tip of the bucket 6 into contact with an arbitrary feature A1 whose height is known, and then presses the right switch button 27R to thereby change the tip of the bucket 6 at that time. The height can be set as a reference level. The feature A1 is, for example, one of the reference points of the world geodetic system. When the reference level is set, the machine guidance device 50 can derive the height of the ground contact surface of the excavator based on, for example, the reference level and the posture of the attachment when the reference level is set. The posture of the attachment is derived based on the output of the posture sensor, for example. Further, the height of the tip of the bucket 6 can be derived from the current posture of the attachment.

  The function display graphic L2 indicates that a function for taking over the reference level after the excavator is moved (hereinafter referred to as “takeover function”) is assigned to the left switch button 27L. The reference level is normally valid until the excavator is moved, but needs to be reset when the excavator is moved. This is because the posture of the attachment when the tip of the bucket 6 is brought into contact with the feature A1 cannot be reproduced. However, even if the excavator is moved, the reference level before the movement may be succeeded without resetting the reference level. For example, when there is a feature A2 that can be brought into contact with the tip of the bucket 6 from the excavator before or after the movement, the reference level before the movement can be taken over after the movement. By taking over the reference level, the machine guidance device 50 can derive, for example, the position of the tip of the shovel bucket 6 after movement based on the reference level before movement.

  Here, with reference to FIG. 7, a process of taking over the set reference level (hereinafter referred to as “reference level takeover process”) will be described. FIG. 7 is a flowchart showing the flow of the reference level takeover process.

  First, the operator operates the attachment to bring the tip of the bucket 6 into contact with the desired feature A2 (step ST1). The feature A2 is, for example, the bottom surface of the excavated hole.

  Thereafter, the operator presses the left switch button 27L while the tip of the bucket 6 is in contact with the feature A2, and starts taking over the current reference level (step ST2). The machine guidance device 50 stores the depth of the feature A2 based on the current reference level. When the current reference level is the same height as the excavator ground plane, the depth of the feature A2 is, for example, -70 cm with respect to the reference level or ground plane. When the target surface is set to a depth of −90 cm with respect to the reference level, the remaining excavation depth is −20 cm.

  Thereafter, the operator operates the traveling lever 26C to move the shovel (step ST3). For example, the operator moves the shovel to a lower position along the edge of the hole being excavated. This is so that a deeper hole can be drilled.

  After moving the shovel to a desired position, the operator operates the attachment again to bring the tip of the bucket 6 into contact with the feature A2 (bottom surface of the same hole) again (step ST4). The grounding surface of the excavator after movement is, for example, 50 cm lower than the grounding surface before movement. Therefore, when the reference level is not handed over, the machine guidance device 50 derives from the current attachment posture that the depth of the feature A2 is −20 cm with respect to the ground contact surface of the excavator after movement. .

  Therefore, the operator presses the left switch button 27L in a state where the tip of the bucket 6 is brought into contact with the feature A2 again, and completes the takeover of the reference level before the movement (step ST5). The machine guidance apparatus 50 associates the depth of the feature A2 associated with the attachment posture in step ST1, that is, the depth of the feature A2 stored in step ST2, with the current attachment posture. Even when the tip of the shovel bucket 6 after movement is brought into contact with the feature A2, as in the case where the tip of the shovel bucket 6 before movement is brought into contact with the feature A2, the reference level is not affected. The depth of the feature A2 is recognized as -70 cm instead of -20 cm. As a result, the machine guidance device 50 can derive the height of the ground contact surface of the current excavator (after the movement) based on the reference level before the movement, and further, from the posture of the current (after the movement) attachment, The height of the tip of the bucket 6 can be derived. And the machine guidance apparatus 50 can recognize that the remaining excavation depth is -20 cm.

  In the above-described embodiment, the reference level setting function is assigned to the right switch button 27R, and the takeover function is assigned to the left switch button 27L. However, the reference level setting function may be assigned to the left switch button 27L and the takeover function may be assigned to the right switch button 27R. Further, the function assigned to each operation switch may be fixed or dynamically switched. When the function assigned to the left switch button 27L is switched, the content of the function display graphic L2 is switched to the function display graphic representing the newly assigned function. The same applies to the function display graphic R2 representing the function assigned to the right switch button 27R.

  In the above-described embodiment, one operation switch (finger switch) is provided at the end of one operation lever (hand lever), but two or more finger switches are provided at the end of one hand lever. It may be provided. For example, a switch button that can be operated with the thumb and a switch button that can be operated with the index finger may be provided at the end of the left operation lever 26L. In this case, the operation switch function display unit 440 displays two function display figures in association with the position display figure L1.

  Next, another example of the screen 41V displayed on the image display unit 41 of the display device 40 will be described with reference to FIG. The screen 41V in FIG. 8 has a position display figure R1A indicating that an upper right switch button that can be operated with the thumb and a lower right switch button that can be operated with the index finger are provided at the end of the right operation lever 26R. A point having a function display figure R2A indicating that the function is assigned to the upper right switch button, and a function for setting the reference orientation (hereinafter referred to as “reference orientation setting function”) are assigned to the lower right switch button. A function display figure R2B representing the above, and a function of setting a laser level described later as a reference level (hereinafter referred to as “laser reference level setting function”) are assigned to the left switch button 27L. 6 is different from the screen 41V of FIG. 6 in that it has a function display graphic L2A to be expressed, but is common in other points. Therefore, description of common parts is omitted, and differences will be described in detail.

  The function display graphic R2B indicates that the reference orientation setting function is assigned to the lower right switch button. The “reference azimuth” is, for example, the direction of the upper swing body 3 when facing the slope as the work target. For example, the operator turns the upper swing body 3 so that the attachment faces the slope as a work target, and then presses the right switch button 27R so that the orientation of the upper swing body 3 at that time is the reference orientation. Can be set as For example, the machine guidance device 50 derives a turning angle with respect to the reference orientation of the upper swing body 3 from the angle difference between the reference orientation and the current orientation of the upper swing body 3, and displays the turning angle as a part of the numerical information image 434. it can. The direction of the upper swing body 3 is derived based on, for example, the output of an orientation sensor attached to the upper swing body 3.

  The function display graphic L2A represents that the laser reference level setting function is assigned to the left switch button 27L. The “laser level” is a height determined by the rotating laser device. The machine guidance device 50 sets the laser level as a reference level when, for example, the left switch button 27L is pressed while the laser receiving device attached to the arm 5 is detecting laser light from the rotating laser device. To do.

  The machine guidance device 50 switches the function assigned to the operation switch to another function when a predetermined condition is satisfied. In the present embodiment, the machine guidance device 50 performs the function assigned to the left switch button 27L provided on the left operation lever 26L when the laser receiving device detects the laser beam from the rotating laser device. Switch to the setting function. As a result, the content of the function display graphic associated with the position display graphic L1 is assigned by the laser reference level setting function from, for example, the function display graphic L2 (see FIG. 6) indicating that the takeover function is assigned. It is switched to the function display graphic L2A indicating that it is being performed.

  In the present embodiment, the machine guidance device 50 is assigned to a lower right switch button provided on the right operation lever 26R when the left operation lever 26L is operated in the front-rear direction for a turning operation. To the reference orientation setting function. This is because the reference orientation setting function is often executed after the turning operation is performed. Whether or not the left operation lever 26L has been operated in the front-rear direction is determined based on, for example, the pilot pressure output from the pressure sensors 15a and 15b. As a result, the content of the function display graphic of the lower right switch button associated with the position display graphic R1A is, for example, from the function display graphic R2 (see FIG. 6) indicating that the reference level setting function is assigned. The display is switched to the function display graphic R2B indicating that the reference orientation setting function is assigned. The period in which the reference azimuth setting function is assigned to the lower right switch button may be a limited period from when the left operation lever 26L is operated in the front-rear direction until a predetermined time elapses. In this case, the machine guidance device 50 may reassign the original function to the lower right switch button when a predetermined time has elapsed.

  Thus, the machine guidance device 50 can selectively assign one of a plurality of functions to one operation switch. In addition, the assignment can be switched automatically. Therefore, the operator can execute a desired function without having to manually switch the function assigned to the operation switch.

  Specifically, the machine guidance device 50 assigns two functions of a takeover function and a reference direction setting function used after the reference level is set to the two switch buttons of the right operation lever 26R. Then, a function display graphic R2A indicating that the handover function is assigned to the upper right switch button and a function display graphic R2B indicating that the reference orientation setting function is assigned to the lower right switch button are displayed simultaneously. Therefore, the machine guidance device 50 can always execute functions that are used relatively frequently, and allows the operator to easily recognize which switch button the functions are assigned to.

  The machine guidance device 50 assigns two functions of a reference level setting function and a laser reference level setting function used for setting the reference level to the left switch button of the left operation lever 26L so as to be switchable. Then, a function display graphic representing the currently assigned function is alternatively displayed. For this reason, the machine guidance device 50 makes it possible to execute two functions that are used relatively infrequently, and any of these two functions is assigned to the left switch button 27L. Can be easily recognized by the operator.

  However, the machine guidance device 50 may assign the two functions of the takeover function and the reference orientation setting function to be switchable to one operation switch. Further, two function display figures may be displayed simultaneously after the two functions of the reference level setting function and the laser reference level setting function are separately assigned to the two operation switches. Further, the takeover function and the reference azimuth setting function may be assigned to the operation switch of the left operation lever 26L, and the reference level setting function and the laser reference level setting function may be assigned to the operation switch of the right operation lever 26R.

  Next, still another example of the screen 41V will be described with reference to FIG. The screen 41V in FIG. 9 is different from the screen 41V in FIG. 8 in that the operation switch function display unit 440 is superimposed on the lower part of the captured image display unit 420, but is common in other points. Therefore, description of common parts is omitted, and differences will be described in detail.

  On the screen 41V in FIG. 9, the operation switch function display unit 440 is superimposed and displayed on the portion where the image of the cover 3a of the upper swing body 3 in the captured image displayed on the captured image display unit 420 is displayed.

  With this screen configuration, the machine guidance device 50 can display the operation switch function display unit 440 in an easy-to-understand manner without reducing the display area of the work guidance display unit 430.

  Next, still another example of the screen 41V will be described with reference to FIG. The screen 41V of FIG. 10 is that the overhead image generated by combining the images captured by the left camera 80L, the right camera 80R, and the rear camera 80B is displayed on the captured image display unit 420 as shown in FIG. The screen 41V is the same as the screen 41V. Therefore, description of common parts is omitted, and differences will be described in detail.

  On the screen 41V in FIG. 10, an overhead image is displayed on the captured image display unit 420 instead of the combination of the image captured by the rear camera 80B and the imaging device icon 421 as in the screen 41V in FIG. The bird's-eye view image includes, for example, an excavator icon 421aM disposed in the center and a partial circle region 421c having a central angle of approximately 270 degrees disposed around the excavator icon 421aM. In the partial circle area 421c, a viewpoint conversion image generated by combining three captured images is displayed. In the viewpoint conversion image, an image when the vicinity of the shovel is viewed from the virtual viewpoint immediately above the shovel is arranged in a portion near the center of the partial circle area 421c, and the virtual viewpoint near the shovel is approximately displayed in a portion far from the center. Arrange the image when looking around the excavator in the horizontal direction. Further, the viewpoint conversion image is rotated around the excavator icon 421aM according to the turning operation of the excavator.

  With this screen configuration, the machine guidance device 50 can guide the operation of the attachment while informing the operator of the situation around the excavator in an easy-to-understand manner.

  In this embodiment, the operation switch function display unit 440 is displayed below the work guidance display unit 430 as in the case of FIGS. 6 and 8, but the operation switch function display unit 440 is the same as in FIG. Alternatively, it may be displayed superimposed on the lower part of the captured image display unit 420.

  Next, another example of the connection configuration including the controller 30 will be described with reference to FIG. The connection configuration of FIG. 11 is different from the connection configuration of FIG. 2 in that an additional display device 40A is provided separately from the display device 40, but is common in other points. Therefore, description of common parts is omitted, and differences will be described in detail.

  Similar to the display device 40, the display device 40A is an in-vehicle liquid crystal display having an image display unit 41A and a switch panel 42A, and displays a screen including various information in response to a command from the machine guidance device 50 included in the controller 30. . The switch panel 42A may be omitted.

  In the present embodiment, the machine guidance device 50 displays information related to the machine guidance on the image display unit 41A of the display device 40A, and displays other information on the image display unit 41 of the display device 40. Specifically, the work guidance display unit 430 and the operation switch function display unit 440 in the screen 41V of FIG. 6 are displayed on the image display unit 41A, and the other parts are displayed on the image display unit 41. With this configuration, the machine guidance device 50 can display information related to machine guidance in a larger size. Further, more detailed information can be displayed without impairing the visibility.

  As described above, the machine guidance device 50 assigns a plurality of functions to one operation switch in a switchable manner, and displays which function is assigned to which operation switch in an easy-to-understand manner. Therefore, even when the number of operation switches is small with respect to the number of functions, the operator can easily recognize which function is assigned to which operation switch. As a result, the machine guidance device 50 can improve workability.

  As mentioned above, although the shovel which concerns on the Example of this invention was demonstrated, this invention is not limited to the said Example, A various deformation | transformation and improvement are possible within the scope of the present invention.

  For example, in the above-described embodiment, the operation switch is provided at the end of the hand lever, but may be provided at a position other than the end of the hand lever. For example, the operation switch may be a rocker switch provided around the armrest of the driver's seat.

  DESCRIPTION OF SYMBOLS 1 ... Lower traveling body 2 ... Turning mechanism 3 ... Upper turning body 3a ... Cover 4 ... Boom 5 ... Arm 6 ... Bucket 7 ... Boom cylinder 8 ... Arm cylinder 9 ... Bucket cylinder 10 ... Cabin (cab) 11 ... Engine 11a ... Alternator 11b ... Starter 11c ... Water temperature sensor 14 ... Main pump 14a ... Regulator 14b ... Discharge pressure sensor 14c ... Oil temperature sensor 15 ... Pilot pump 15a, 15b ... Pressure sensor 17 ... Control valve 26 ... Operating device 26C ... Driving lever 26L ... Left Operation lever 26R ... Right operation lever 27 ... Switch button 27L ... Left switch button 27R ... Right switch H button 30 ... Controller 30a ... Temporary storage unit 40, 40A ... Display device 40a ... Conversion processing unit 41, 41A ... Image display unit 41V ... Screen 42, 42A ... Switch panel 42a ... light switch 42b ... wiper switch 42c ... window washer switch 43 ... audio output device 45 ... input device 47 ... storage device 49 ... gate lock lever 49a ... gate Lock valve 50 ... Machine guidance device 70 ... Storage battery 72 ... Electrical equipment 74 ... Engine control device 75 ... Engine speed adjustment dial 80 ... Imaging device 80B ... Rear camera 80L ..Left camera 80R ... Right camera 411 ... Time display unit 412 ... Rotation speed mode 413 ... Running mode display 414 ... Attachment display 415 ... Engine control state display 416 ... Urea water remaining amount display 417 ... Fuel remaining amount display 418 ... Cooling water temperature display unit 419 ... Engine operating time display unit 420 ... Captured image display unit 421 ... Imaging device icon 421a, 421aM ... Excavator icon 421b ... Direction display icon 421c ... Partial circle area 430 ... Work guidance display unit 431 ... Position display image 431a ... Segment 432 ... First target surface display image 433 ... Second target surface display image 434 ... Numerical information image 440 ... Operation switch function display unit 451 ... Bucket icon 452 ... Target surface figure 503 ... Height calculation unit Reference numeral 504: Comparison unit 505: Display control unit 506: Guidance data output unit G1: Positioning device L1, R1: Position display graphic L2, R2: Function display graphic S1: Boom Angle sensor S2 ... Arm angle sensor S3 ... Bucket angle sensor S4 ... Vehicle body tilt sensor

Claims (9)

A lower traveling body,
An upper swing body that is rotatably mounted on the lower traveling body;
A cab mounted on the upper swing body;
An attachment containing the work site where the work is performed;
An operation switch provided in the driver's cab and assigned a function relating to machine guidance;
A display device provided in the cab,
The display device displays a screen including an operation switch function display unit that displays a position display graphic representing an installation position of the operation switch and a function display graphic representing a function assigned to the operation switch.
Excavator. The display device displays a screen including a work guidance display unit that displays a graphic of the work site and a target surface, and the operation switch function display unit.
The excavator according to claim 1. One of a plurality of functions is selectively assigned to the operation switch.
The shovel according to claim 1 or 2. The display device always displays the operation switch function display unit during execution of the machine guidance.
The excavator according to any one of claims 1 to 3. A control device that switches a function assigned to the operation switch;
The control device switches a function assigned to the operation switch to another function when a predetermined condition is satisfied,
The display device switches the content of the function display graphic when the function assigned to the operation switch is switched to another function.
The excavator according to any one of claims 1 to 4. The control device switches a function assigned to the operation switch when an operation lever is operated.
The excavator according to claim 5. The function assigned to the operation switch is a function that takes over a reference level that is referred to in the machine guidance after the excavator is moved, a function that sets a position of the work site to the reference level, a function that sets a reference direction, And at least one of functions of setting a laser level as the reference level,
The excavator according to any one of claims 1 to 6. The operation switch is a finger switch provided at an end of the hand lever.
The excavator according to any one of claims 1 to 7. Having an imaging device for imaging the surroundings,
The display device displays a screen including a captured image display unit that displays an image captured by the imaging device.
The excavator according to any one of claims 1 to 8.

Images