JP2017210729A - Shovel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a shovel having a display device which can easily and accurately detect a relative distance between a bucket and a target surface.SOLUTION: A shovel includes: an undercarriage performing traveling operation; a revolving super structure revolvably mounted on the undercarriage; an attachment having a boom, an arm, and an end attachment, and attached to the revolving super structure; and a guidance device for guiding operation of the attachment. The guidance device displays a relative distance between a target surface and a work portion of the end attachment on the arm.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an excavator.

  An excavator having a machine guidance function displays, for example, a two-dimensional display of a relative distance to a target surface of an end attachment on a screen of a display device installed obliquely in front of a driver's seat (see, for example, Patent Document 1).

JP 2014-74319 A

  The above-mentioned excavator displays the relative distance to the target surface of the end attachment on the display device disposed in the excavator's cab in multiple forms, such as when the end attachment is viewed from the side or from the front. Has been.

  However, since the operator of the excavator usually works while looking at the tip of the end attachment located at the front of the driver's seat and the excavation site, the display device in the driver's cab cannot be seen for a long time during the work. Therefore, the time when the operator of the excavator can see the display device during the work is extremely short, and the image displayed on the display device in the driver's room by moving the viewpoint from the bucket and changing the focus within that time. It is difficult to recognize desired information from

  Accordingly, it is an object of the present invention to provide an excavator having a display device that can easily and accurately grasp the relative distance between the end attachment and the target surface without the operator concentrating on the display screen.

In order to achieve the above object, according to one embodiment of the present invention,
A lower traveling body that performs traveling operation;
An upper swing body that is rotatably mounted on the lower traveling body;
An attachment including a boom, an arm, and an end attachment attached to the upper swing body;
A guidance device for guiding the operation of the attachment;
An excavator having
The guidance device is provided with an excavator that displays a relative distance between a target surface and a work site of the end attachment on the arm.

  According to the disclosed embodiment, the relative distance between the end attachment and the target surface can be easily and accurately grasped without the operator concentrating on the display screen.

It is a side view which illustrates the shovel in an embodiment. It is a figure which illustrates the connection structure containing the controller of an shovel. 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 a shovel. It is a figure which shows an example which attached the distance display apparatus to the arm. It is a figure which shows the different example which attached the distance display apparatus to the arm. It is a figure which shows an example which attached the projection apparatus to the arm.

  FIG. 1 is a side view illustrating a shovel in the embodiment.

  An upper swing body 3 is mounted on the lower traveling body 1 of the excavator via a 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 as an end attachment. As the 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 detects the rotation angle of the boom 4. The boom angle sensor S1 is, for example, an acceleration sensor that detects the rotation angle of the boom 4 with respect to the upper swing body 3 by detecting an inclination with respect to the horizontal surface.

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

  The bucket angle sensor S3 detects the rotation angle of the bucket 6. The bucket angle sensor S3 is an acceleration sensor that detects a rotation angle of the bucket 6 with respect to the arm 5 by detecting an inclination with respect to the lateral surface, 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 all acceleration sensors. However, each sensor may be a combination of an acceleration sensor and a gyro sensor. In this case, desired angles such as a vehicle body tilt angle, a boom angle, an arm angle, and a bucket angle are calculated from outputs of the acceleration sensor and the gyro sensor. In addition, the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 detect a potentiometer that uses a variable resistor, a stroke sensor that detects a stroke amount of a corresponding hydraulic cylinder, and a rotation angle around a connecting pin. A rotary encoder or the like may be used.

  The arm 5 of the present embodiment is provided with a distance display device D1 that displays work information to the operator. The work information includes distance information between the target surface and the work part of the end attachment, posture information indicating a relative angle of the work part of the end attachment with respect to the target surface, and the like. The working site refers to, for example, the tip of the bucket 6, the back surface of the bucket 6, or the tip of the breaker. The distance display device D1 may be a configuration in which a plurality of light bars are arranged, a liquid crystal panel, an LED display unit including a plurality of LED elements, or the like.

  The upper swing body 3 is mounted with a power source such as the engine 11, a counterweight 32, and a vehicle body tilt sensor S4, and is covered with a cover 3a. The counterweight 32 has a function of balancing the weight with the attachment. The vehicle body tilt sensor S4 detects the tilt angle of the upper swing body 3. The vehicle body tilt sensor S4 is, for example, an acceleration sensor that detects the tilt angle of the upper swing body 3 by detecting the tilt with respect to the lateral surface. The vehicle body tilt sensor S4, the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are collectively referred to as “attitude sensors”.

  An imaging device 80 is provided on the upper portion of the cover 3 a of the upper swing body 3. The imaging device 80 includes a left camera 80 </ b> L that images the left side, a right camera 80 </ b> R that images the right side, and a rear camera 80 </ b> B that images the rear side from the upper swing body 3 toward the cabin 10. 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 GPS device (GNSS receiver) G <b> 1 is provided at the top of the cabin 10. The GPS device G1 detects the position of the excavator by the GPS function, 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, and a storage device 47 are provided.

  The controller 30 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 end attachment, the relative angle of the end attachment to the target surface, and the like. The distance between the target surface and the end attachment is, for example, the distance between the tip (toe) of the bucket 6 as the end attachment and the back surface of the bucket 6 and the target surface. The machine guidance device 50 may notify the operator of work information via the display device 40, the audio output device 43, etc., and guide the operation of the excavator. The machine guidance device 50 according to the present embodiment notifies the operator of work information via a distance display device D1 provided on the arm 5 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 an image 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 includes, for example, an in-vehicle speaker connected to the machine guidance device 50. The audio output device 43 may include 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 leave the cabin 10 and the various operation devices cannot be operated.

  FIG. 2 is a diagram illustrating a connection configuration including the shovel controller 30 in the embodiment.

  The display device 40 is provided in the cabin 10 and displays an image including work information supplied from the machine guidance device 50. The distance display device D1 provided on the arm 5 displays work information and the like supplied from the machine guidance device 50. The display device 40 and the distance display device D1 are connected to the controller 30 including the machine guidance device 50 via a communication network such as a controller area network (CAN) or a local interconnect network (LIN), a dedicated line, or the like.

  The display device 40 includes a conversion processing unit 40 a that generates an image to be displayed on the image display unit 41. The conversion processing unit 40 a generates an image 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 40 a 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 an image generated based on the captured image and various data.

  Note that the conversion processing unit 40a may be provided in the controller 30 instead of the display device 40, for example. In this case, the imaging device 80 is connected to the controller 30.

  The display device 40 includes 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 11 b of the engine 11 is driven by the power from the storage battery 70 to start the engine 11.

  The distance display device D1 displays the work information acquired from the machine guidance device 50. In the present embodiment, the distance display device D1 displays the relative distance between the toe center position of the bucket 6 and the target surface. The display form will be described later. The distance display device D <b> 1 operates upon receiving power supply from the storage battery 70.

  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. Various data indicating the state of the engine 11 (for example, data indicating the cooling water temperature (physical quantity) detected by the water temperature sensor 11c) is constantly transmitted from the ECU 74 to the controller 30. The controller 30 accumulates this data in an internal temporary storage unit (memory) 30a and can transmit it to the display device 40 as appropriate.

  The main pump 14 is a hydraulic pump for supplying 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 is a hydraulic pump for supplying 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 operation levers 26A to 26C are provided in the cabin 10 and are used by the operator to operate the hydraulic actuator. When the operation levers 26A to 26C are operated, hydraulic oil is supplied from the pilot pump to the pilot ports of the flow rate control valves corresponding to 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 lever 26A to 26C.

  In the present embodiment, the operation lever 26A is a boom operation lever. When the operator operates the operation lever 26A, the boom cylinder 7 can be hydraulically driven to operate the boom 4. The operation lever 26B is an arm operation lever. When the operator operates the operation lever 26B, the arm cylinder 8 can be hydraulically driven to operate the arm 5. The operation lever 26C is a bucket operation lever. When the operator operates the operation lever 26C, the bucket cylinder 9 can be hydraulically driven to operate the bucket 6. In addition to the operation levers 26A to 26C, the excavator may be provided with an operation lever, an operation pedal, and the like that drive a traveling hydraulic motor, a turning hydraulic motor, and the like.

  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 of the main pump 14, which is a variable displacement hydraulic pump, 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 (data representing physical quantities) 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 stores data representing the temperature of the hydraulic oil flowing through the pipe line. Send to.

  The pressure sensors 15a and 15b detect the pilot pressure sent to the control valve 17 when the operation levers 26A to 26C are operated, and send data indicating the detected pilot pressure to the controller 30. A switch button 27 is provided on the operation levers 26A to 26C. The operator can send a command signal to the controller 30 by operating the switch button 27 while operating the operation levers 26A to 26C.

  An engine speed adjusting dial 75 is provided in the excavator cabin 10. The engine speed adjustment dial 75 is a dial for adjusting the engine speed, and can switch the engine speed in stages, for example. 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 where 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 controlled to a constant rotational speed at the engine rotational speed in the rotational speed mode set by the engine rotational speed adjustment dial 75.

  Next, various functions provided in the excavator 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 in the embodiment.

  The controller 30 controls the operation of the entire excavator including the engine controller 74. The controller 30 controls the gate lock valve 49a to be closed when the gate lock lever 49 is depressed, and to open the gate lock valve 49a when the gate lock lever 49 is pulled up. . The gate lock valve 49a is a switching valve provided in an oil passage between the control valve 17 and the operation levers 26A to 26C. Here, the gate lock valve 49a is configured to open and close in response to a command from the controller 30, but is mechanically connected to the gate lock lever 49 and opens and closes according to the operation of the gate lock lever 49. Also good.

  In the closed state, the gate lock valve 49a blocks the flow of hydraulic oil between the control valve 17 and the operation levers 26A to 26C and invalidates the operation of the operation levers 26A to 26C and the like. Further, in the open state, the gate lock valve 49a allows hydraulic oil to communicate between the control valve 17 and the operation lever or the like, thereby enabling the operation of the operation levers 26A to 26C and the like.

  The controller 30 detects the operation amount of each lever 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 operation levers 26A to 26C is enabled.

  The controller 30 controls whether or not to perform guidance by the machine guidance device 50 in addition to controlling the operation of the entire shovel. Specifically, when it is determined that the excavator is at rest, the controller 30 sends a guidance stop command to the machine guidance device 50 so as to stop the guidance by the machine guidance device 50. Further, when a guidance stop command is issued, a message indicating that the guidance is stopped may be displayed on the distance display device D1. Further, even when the guidance is functioning, a message indicating that the guidance is being executed may be displayed on the distance display device D1.

  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 engine controller 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 GPS device G1, the input device 45, and the like.

  Information relating to the shape of the bucket 6 is input to the input device 45 and output to the controller 30. The information regarding the shape of the bucket 6 includes information such as the opening height and width of the bucket 6, the distance from the toe to the back, and the length of the nail.

  The machine guidance device 50 calculates the actual operation position of the attachment such as the bucket 6 based on the received signal and data. Then, the machine guidance device 50 compares the actual operation position of the attachment with the target surface, and calculates, for example, the distance between the bucket 6 and the target surface, the relative angle of the bucket 6 with the target surface, and the like. 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 the distance display device D1 installed on the display device 40 and the arm 5 as work information. Send to.

  When the machine guidance device 50 and the controller 30 are provided separately, the machine guidance device 50 and the controller 30 are connected to each other through a CAN (Controller Area Network) so as to communicate with each other.

  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 the 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 position of the target surface indicated in the guidance data output from the guidance data output unit 506. The comparison unit 504 of the present embodiment compares the height of the toe center position of the bucket 6 as the “representative position” with the position of the target surface. The comparison unit 504 also determines the heights of the left and right positions of the toe of the bucket 6 as “positions other than the representative position”, the position of the bucket 6 relative to the left and right positions, the height of the back of the bucket 6 and the target plane. Compare the positions.

  The comparison unit 504 calculates a relative distance between the bucket 6 and the target surface. As the relative distance to be calculated, a relative distance from the target surface at the representative position of the bucket 6 or a relative distance from the target surface at the “position other than the representative position” of the bucket 6 is calculated. The comparison unit 504 calculates a relative angle between the bucket 6 and the target surface. Various data obtained by the comparison unit 504 is stored in the storage device 47.

  The display control unit 505 transmits the height of the bucket 6 obtained by the comparison unit 504, the relative distance from the target surface, and the like as work information to the display device 40 and the distance display device D1 installed on the arm 5. The display device 40 and the distance display device D1 display work information sent from the display control unit 505. The display device 40 may display the captured image sent from the imaging device 80 as appropriate. The display form of the distance display device D1 will be described later. Further, the display control unit 505 displays an alarm on the display device 40 and the distance display device D1 when the bucket 6 is at a position lower than the target surface, or notifies the operator via the audio output device 43. An alarm can be issued.

  FIG. 4 is a diagram illustrating a state in which the excavator in the embodiment is performing an operation of excavating a slope (inclined surface) with the bucket 6. FIG. 5 is a diagram illustrating a state in which the front is viewed from the driver's seat in the excavator cabin 10 in the state of FIG. 4.

  As shown in FIG. 4, when operating the slope (inclined surface), when the work surface SL (bucket toe) and the target surface TL are located below the lower limit KL of the operator's field of view, The work surface SL (bucket toe) and the target surface TL cannot be visually recognized from the position IP (eye point) of the operator's eyes. When the attachment is in the state shown in FIG. 4, the lower limit of the attachment that the operator can visually recognize from the front window of the cabin 10 is up to the upper portion of the bucket 6 as shown in FIG. 5.

  Therefore, in the present embodiment, as shown in FIGS. 4 and 5, even when the work surface SL (bucket toe) and the target surface TL cannot be visually recognized by the operator, the distance display device D1 provided in the arm 5 is used. The distance from the bucket toe to the target surface TL can be visually recognized. Such display control will be described below. Note that the display form displayed on the arm 5 will be mainly described below, but a similar display may be displayed on the image display unit 41 of the display device 40.

  Next, a display configuration of work information displayed on the arm 5 when the slope excavation work is performed will be described with reference to FIG.

The work information of the present embodiment is displayed by the distance display device D1 installed on the arm 5.
As shown in FIG. 5, the cabin 10 is provided with a driver's seat 10a at the center, and operation levers 26A and 26B are arranged on both sides thereof. The operator sits in the driver's seat 10a, operates the operation lever 26A with the left hand, and operates the operation lever 26B 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 disposed on the right front side of the driver's seat 10a (lower right of the front window).

  Usually, the operator watches the bucket 6 during work. Here, even if the work information related to the bucket toe and the target surface is displayed on the image display unit 41, the information displayed on the image display unit 41 by the operator since the image display unit 41 is disposed in the cabin 10. In order to confirm this, the viewpoint and focus must be changed greatly from the bucket 6.

  In the present invention, work information related to the bucket toe and the target surface is displayed on the distance display device D <b> 1 installed on the arm 5. For this reason, even if the operator is gazing at the bucket 6 during work, the work information can be acquired by checking the distance display device D1 without greatly changing the viewpoint or focus.

  Therefore, the operator of the shovel operates the operation levers 26A, 26B and the like with both hands while reading the work information from the distance display device D1 while looking at the bucket 6 outside the window.

  The distance display device D1 of the present embodiment displays the distance between the bucket tip and the target surface on an actual scale without changing the scale. For this reason, the operator can perform construction work easily and accurately without changing the viewpoint or focus by confirming the relative distance between the bucket tip and the target surface indicated by the distance display device D1. Can do.

  The distance display device D1 displays the distance from the center position of the tip of the bucket 6 as the representative position to the target surface, for example.

  The distance display device D1 is installed on the side surface 5a of the arm 5. In the illustrated example, it is provided on the side surface 5a on the left side (arrow X1 side) with respect to the extending direction of the attachment, but may be the side surface 5a on the right side (arrow X2 side).

  The distance display device D1 includes a distance display unit 600 that indicates a relative distance between the bucket 6 and the target surface.

  The distance display unit 600 of the present embodiment is a bar graph in which a plurality of light bars 600a are arranged in parallel in the vertical direction at regular intervals.

  In the distance display unit 600, one of the six light bars 600a is displayed in a different color (for example, black) from the other bars according to the distance from the center position of the toe of the bucket 6 to the target surface. The light bar 600a displayed in a different color is the bucket position display part BP (the fifth display part from the bottom in FIG. 5). The bucket position display part BP is displayed so as to move up and down according to the distance from the center position of the toe of the bucket 6 to the target surface.

  In the present embodiment, the second light bar 600a from the bottom serves as the target plane display portion TLP. The target surface display portion TLP is displayed in a color different from that of the bucket position display portion BP and does not move up and down.

  By viewing the distance display unit 600 of the distance display device D1, the operator can easily and accurately grasp the distance from the center position of the toe of the bucket 6 to the target surface without changing the viewpoint or focus.

  The distance display device D1 is provided on the arm 5 that is coaxial with the bucket 6 that is being watched by the operator during work. Therefore, the position of the bucket 6 can be visually recognized without moving the line of sight to the left and right, and workability can be improved. Moreover, when visually recognizing the distance display device D1, since the arm 5 also serves as a light shielding member, the visibility is good.

  The distance display device D1 of the present embodiment may be provided at the position shown in FIG. The distance display device D1 shown in FIG. 6 is provided at a position below the abdominal surface 5b of the arm 5 on the cabin 10 side. The distance display device D1 shown in FIG. 6 displays the same display as the distance display device D1 shown in FIG.

  The distance display device D1 shown in FIGS. 5 and 6 has a configuration having a plurality of light bars 600a, but this is not restrictive. For example, the distance display device D1 may be configured by a liquid crystal panel. On the liquid crystal panel, a distance display unit 600 having the same form as in FIG. 6 is displayed. Further, the distance display device D1 may be an LED display unit having a plurality of LED elements. The LED display unit also displays a distance display unit 600 having the same form as in FIG. When the distance display device D1 is configured by a liquid crystal panel or an LED display unit, for example, when the bucket 6 comes into contact with the target surface, a message such as “danger” or a warning color such as red may be displayed.

  Next, another embodiment in which the relative distance between the bucket 6 and the target surface is displayed on the arm 5 will be described with reference to FIG. The display form displayed on the arm 5 is the same as that shown in FIGS.

  In the shovel of another embodiment, a projection device D2 is installed on the arm 5 as shown in FIG. The projection device D2 is a projector, and preferably has a short focus. The projection device D2 is installed on the side of the boom 5 on the side surface 5a of the arm 5.

  The projection device D2 is connected to the machine guidance device 50 as shown in FIGS. The projection device D2 displays the work information acquired from the machine guidance device 50. In the present embodiment, the projection device D2 displays the relative distance between the toe center position of the bucket 6 and the target surface. The projection device D2 may operate by receiving power from the storage battery 70.

  The projection device D2 projects the work information acquired from the machine guidance device 50 onto the abdominal surface 5b of the arm 5. Information projected on the abdominal surface 5b of the arm 5 by the projection device D2 may include not only the above-described work information but also a message for guiding the work.

  The installation position of the projection device D2 is not limited to the illustration, and may be installed on the abdominal surface 4a of the boom 4 or the upper surface of the cabin 10. When the projection device D <b> 2 is installed on the abdominal surface 4 a of the boom 4, it is preferably arranged at an upper position near the arm 5.

  The operator can easily and accurately grasp the distance from the center position of the toe of the bucket 6 to the target surface by looking at the work information projected onto the abdominal surface 5b of the arm 5 by the projection device D2.

  The work information projected by the projection device D2 is displayed on the abdominal surface 5b of the arm 5 coaxially with the bucket 6 being watched by the operator during the work. Visible and workability can be improved. Further, when visually confirming the work information displayed on the abdominal surface 5b of the arm 5, the arm 5 also serves as a light shielding member, so that the visibility is good.

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

DESCRIPTION OF SYMBOLS 1 Lower traveling body 3 Upper revolving body 4 Boom 5 Arm 6 Bucket 10 Cabin 40 Display apparatus 41 Image display part 80 Imaging apparatus 600 Distance display part 600a Light bar D1 Distance display apparatus D2 Projection apparatus

Claims (3)

A lower traveling body that performs traveling operation;
An upper swing body that is rotatably mounted on the lower traveling body;
An attachment including a boom, an arm, and an end attachment attached to the upper swing body;
A guidance device for guiding the operation of the attachment;
An excavator having
The guidance device displays a relative distance between a target surface and a work site of the end attachment on the arm. The guidance device
The excavator according to claim 1, wherein a relative distance between the target surface and a work site of the end attachment is displayed on a distance display device installed on the arm. The guidance device
The shovel according to claim 1, wherein a relative distance between the target surface and a work site of the end attachment is displayed on the arm by a projection device installed in the attachment or cabin.

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