JP2019060122A - Operation supporting device of revolving superstructure - Google Patents

Abstract

To provide an operation supporting device of a revolving superstructure which can perform an operation at low cost and with simple control and in which an operator can easily utilize an operation supporting function.SOLUTION: When a transport vehicle 31 is recognized around a hydraulic shovel 1 based on images captured by a camera 28, a bird's-eye image showing positional relation of the transport vehicle 31 with own vehicle 1 as a reference is generated and displayed on a display 29, and an upper part of a vessel 31a of the transport vehicle 31 is set as a target stop position of revolving. According to revolving of a revolving superstructure 5 by operation of a revolving operation lever 18, the positional relation between the hydraulic shovel 1 and the transport vehicle 31 in the bird's-eye image is changed. When the revolving operation lever 18 is operated toward the target stop position of revolving, a braking angle θ from stoppage of the lever operation to stop of the revolving superstructure 5 is calculated, a marker 32 of an estimated stop position of revolving is displayed at the target stop position of revolving side by the braking angle θ with a work device 10 as a reference, and an operator determines stoppage timing of the lever operation based on the display.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an operation support device for a rotating body, and more particularly, to an operation support device for supporting a turning operation in order to cause a working device for a rotating body to reach a target rotation stop position accurately.

As this kind of revolving unit, for example, an upper revolving unit provided in a hydraulic shovel can be mentioned. The upper slewing body is pivotally provided on a lower traveling body equipped with a crawler, and at its front portion, a working device including, for example, a boom, an arm and a bucket is provided.
A hydraulic shovel excavates excavated material such as earth and sand, gravel, ore (hereinafter referred to as earth and sand as a representative) with a bucket, and excavates and releases earth from a bucket on a vessel of a transporter such as a dump truck. I do. For example, the soil on the ground is excavated by the bucket of the working device at the excavation site, the bucket is allowed to reach onto the vessel vessel of the transport vehicle by turning of the upper turning body, and released. Return to the drilling site. Repeat the above operation and load the soil in the vessel of the transport vehicle sequentially.

  The upper swing structure is turned by the driving of a turning hydraulic motor corresponding to the operation of a turning operation lever, and a turning relief valve is connected in parallel to the hydraulic motor on the hydraulic circuit. Even if the drive of the hydraulic motor is stopped due to the stop of the lever operation, the upper swing body continues the swing without stopping immediately due to its moment of inertia including the working device. At this time, a circuit for circulating the hydraulic fluid from the downstream side to the upstream side of the hydraulic motor via the swing relief valve is formed, so that the pressure increase in the downstream oil path is suppressed and the movement of the upper swing body Energy is consumed to act as a swing brake.

  However, a large braking angle is required as a turning angle from the stop of lever operation to the stop of the upper turning body, and the braking angle is the posture of the working device, the weight of soil in the bucket, the turning speed of the top turning body , And always change according to various requirements such as the inclination angle of the hydraulic shovel. For this reason, the operator who gets on the hydraulic shovel predicts the position (hereinafter referred to as "predicted turning stop position") where the upper swing body being turned stops (hereinafter referred to as "predicted turning stop position") in consideration of these requirements. The lever operation is stopped at a timing coincident with the target turning stop position (on the excavation site or on the vessel of the transport vehicle).

  If the stop timing of the lever operation is not appropriate, it is necessary to re-adjust the bucket position after stopping, and if the pivoting speed of the upper swing body is reduced to avoid re-adjustment, the target pivot stop position is reached. Arrival is delayed. Since the excavation and release work is a repetition of the same operation, any of them causes a large reduction in work efficiency, and the operator is required to have high skill.

  As a countermeasure, a hydraulic shovel described in Patent Document 1 is proposed, and a swing relief valve connected in parallel to the hydraulic motor is variable. Then, during the turning of the upper turning body in the excavation and earth release work, the moment of inertia of the top turning body including the working device is calculated and the turning speed is detected, and the turning relief valve is operated when the lever operation is stopped. By controlling the set pressure, the turning of the upper structure is automatically stopped at the set target turning stop position.

Japanese Patent Publication No. 04-18165

  However, the hydraulic shovel of Patent Document 1 is disadvantageous in terms of manufacturing cost due to the adoption of a variable swing relief valve, and requires complicated control as a whole for automatic stop including control of the set pressure. There is.

  In addition, the target turning and stopping position to which the bucket should be reached in the excavation and earth release work frequently changes, for example, according to the progress of the excavation and the earth release state in the vessel of the transport vehicle. For this reason, in patent document 1, although it will be necessary to set a target turning stop position again each time, since it is substantially difficult to implement such setting operation during excavation and earth release work, it is useful for operation support. It was hard to say.

  The present invention has been made to solve such problems, and the object of the present invention can be implemented with low cost and simple control, and the operator can easily utilize the operation support function. An object of the present invention is to provide an operation support device for a rotating body.

  In order to achieve the above object, the operation support device for a rotating body according to the present invention should have a working angle detection unit for detecting a turning angle of a rotating body having a working device, and allow the working device to reach by the turning of the rotating body. A target turning stop position recognition unit that recognizes a target turning stop position, and a period from when the operation on the turning operation member is canceled to when the turning body stops while the turning body is turning according to the operation of the turning operation member A braking angle calculation unit that calculates a braking angle as a turning angle, and a target turning stop position recognized by the target turning stop position recognition unit are displayed as a bird's-eye view on the display unit together with the turning body, and detected by the turning angle detection unit The positional relationship between the work device in the bird's-eye view image and the target turning stop position is changed based on the determined turning angle, and predicted from the braking angle calculated by the braking angle calculation unit Characterized in that the slewing stop predicted position of the working device and a bird's eye image display control unit for displaying in the overhead image.

  According to the operation support device for a rotating body of the present invention, the operation can be performed with low cost and simple control, and the operator can easily use the function of the operation support.

It is a side view showing a hydraulic shovel of an embodiment. FIG. 5 is a diagram showing a hydraulic circuit for driving a swing hydraulic motor. It is a block diagram showing composition of a controller. It is explanatory drawing which shows the bird's-eye view image when the bucket in 1st Embodiment is located in an excavation location. It is explanatory drawing which shows a bird's-eye view image when the marker of the turning stop estimated position in 1st Embodiment corresponds on the vessel which is a target turning stop position. It is explanatory drawing which shows a bird's-eye view image when the marker of the turning stop prediction position in 2nd Embodiment corresponds with the excavation location which is a target turning stop position.

Hereinafter, an embodiment in which the present invention is embodied in an operation support device for a super large hydraulic excavator operating in a mine or the like will be described.
FIG. 1 is a side view showing a hydraulic shovel of the present embodiment.

  The lower traveling body 2 of the hydraulic shovel 1 is provided with a crawler 3, and the crawler 3 is driven by a traveling hydraulic motor (not shown) to cause the hydraulic shovel 1 to travel. An upper swing body 5 is provided on the lower traveling body 2 via a swing device 4, and the upper swing body 5 is swung by the swing device 4 using a swing hydraulic motor 15 (shown in FIG. 2) described later as a drive source. . The operator's cab 7 is provided at the front of the revolving frame 5 on the revolving frame 6 of the upper revolving superstructure 5, the building 8 is provided at the rear of the operator's cab 7, and the counterweight 9 is fixed at the rear of the building 8. It is done.

  On the right side of the cab 7 of the upper revolving superstructure 5, a working device 10 for excavating is attached forwardly, and the working device 10 is composed of a boom 11, an arm 12 and a bucket 13. The boom 11 is angularly changed by the boom cylinder 11a, the arm 12 is angularly changed by the arm cylinder 12a, and the bucket 13 is angularly changed by the bucket cylinder 13a.

  Although not shown, an engine is mounted in the building 8 and receives the supply of hydraulic oil discharged from the hydraulic pump by driving the engine, and the traveling and turning hydraulic motors 15 and the work device 10 described above are received. The cylinders 11a to 13a and the like operate. When the operator operates the various operating devices provided in the cab 7, the flow direction of the hydraulic oil is switched by a hydraulic circuit (not shown), and in response, each actuator operates to operate the hydraulic shovel 1.

FIG. 2 is a view showing a hydraulic circuit for driving the swing hydraulic motor 15. As shown in FIG.
The swing hydraulic motor 15 is connected to the control valve 17 via a pair of oil passages 16a and 16b, and the control valve 17 is connected to the above-described hydraulic pump. The control valve 17 is switched by the operation of a turning operation lever 18 (corresponding to the turning operation member of the present invention) which is one of the operating devices, and accordingly, the supply direction of the hydraulic oil from the hydraulic pump to the turning hydraulic motor 15 is The upper structure 5 is turned by driving the turning hydraulic motor 15 corresponding to the supply direction. A pair of swing relief valves 19a and 19b are interposed between the pair of oil passages 16a and 16b of the swing hydraulic motor 15 in parallel connection with the swing hydraulic motor 15, and both relief valves are provided. The valves 19a and 19b are opened by the pressure increase of the oil passages 16a and 16b on the opposite side.

  When the operation of the turning operation lever 18 for turning the upper turning body 5 is stopped and returned to the neutral position, the hydraulic oil from the hydraulic pump is shut off and the driving of the turning hydraulic motor 15 is stopped. The body 5 continues to turn without stopping immediately due to its moment of inertia including the working device 10. Therefore, for example, a circuit is formed to allow the hydraulic fluid to flow from the oil passage 16a corresponding to the downstream side of the turning hydraulic motor 15 to the oil passage 16b corresponding to the upstream side via one swing relief valve 19a. . As a result, the pressure increase in the downstream oil passage 16a is suppressed, and the kinetic energy of the upper swing body 5 is consumed to function as a swing brake.

Next, the configuration of the controller that controls the display of the turning operation of the hydraulic shovel 1 will be described based on the block diagram of FIG.
The controller 21 includes an input / output device (not shown), a storage device (ROM, RAM, etc.) provided to store control programs, control maps, etc., a central processing unit (CPU), a timer counter, etc.

A frame / boom angle sensor 22 for detecting an angle between the swing frame 6 of the working device 10 and the boom 11 of the working device 10 is connected to the input side of the controller 21 as well as the above-mentioned swing operation lever 18 Boom / arm angle sensor 23 for detecting the angle between the arm 11 and the arm 12, arm / bucket angle sensor 24 for detecting the angle between the arm 12 and the bucket 13, boom cylinder pressure for detecting the pressure of the boom cylinder 11a The sensor 25, a vehicle body inclination angle sensor 26 for detecting the inclination angle of the hydraulic shovel 1, a gyro sensor 27 (corresponding to the turning angle detection unit of the present invention) for detecting the turning angle of the upper turning body 5, and the periphery of the hydraulic shovel 1 A total of four cameras 28 installed on the upper swing body 5 for imaging (image capturing unit of the present invention, target swing stop position recognition unit Various sensors equivalent) and the like are connected.
Further, on the output side of the controller 21, devices such as a display 29 (corresponding to a display unit of the present invention) provided in the driver's cab 7 for displaying an overhead image described later are connected.

  By the way, the hydraulic shovel 1 excavates earth and sand etc. (corresponding to the excavated object of the present invention) with the bucket 13 and performs excavating and earth releasing work from the bucket 13 on the vessel of a transporter vehicle such as a dump truck. Then, even if the operation of the turning operation lever 18 is stopped to stop the upper turning body 5 during turning, the upper turning body 5 is not immediately stopped by the moment of inertia as described above, and a large turning angle (below In addition to requiring a braking angle, the braking angle always changes in accordance with various requirements such as the attitude of the working device 10. For this reason, a high skill is required of the operator in order to cause the bucket 13 to accurately reach the target turning stop position (on the excavation site or on the vessel of the transport vehicle).

  In the technique of Patent Document 1, the swing of the upper swing body 5 is automatically stopped at the set target swing stop position by controlling the set pressure of the variable swing relief valve. However, the cost increases due to the variable swing relief valve and the control becomes complicated, and there is also a problem that it is practically difficult to reset the frequently changing target swing stop position each time.

In view of such problems, the inventor focused on the determination process of the operator when determining the stop timing of the lever operation. That is, the operator at this time predicts a predicted turning stop position at which the upper swing body 5 is turning, and stops the lever operation at a timing when the predicted turning stop position matches the target turning stop position of the bucket 13. There is. In order to predict the predicted turning stop position, it is necessary to take into consideration various factors such as the attitude of the working device 10 that affect the moment of inertia of the upper swing body 5 without omission. This is a factor that requires the operator to have high skill It is.
Therefore, it is not so difficult to determine the stop timing of the lever operation based on the relative positional relationship with the target turning and stopping position if the operator can recognize only the predicted turning stopping position in advance.

Based on the above viewpoints, the controller 21 performs arithmetic processing on prediction of the predicted turning stop position based on various conditions such as the attitude of the working device 10, and the relative position between the obtained predicted turning stop position and the target turning stop position. The operation support apparatus of the present invention is configured to cause the operator to determine the stop timing of the lever operation by displaying the relationship on the display 29.
Hereinafter, the process of the operation support performed by the controller 21 will be described as the first and second embodiments.

First Embodiment
In the present embodiment, the vessel 13 of a transport vehicle such as a dump truck is set as a target turning stop position for the bucket 13 to reach, and in the digging and releasing operation, the upper portion when the bucket 13 reaches the target turning stop position. An operation support is performed to predict and display the predicted rotation stop position of the rotating body 5.

  Prior to the excavation and release work, the target turning and stopping position recognition unit 21a of the controller 21 determines whether or not a transporter exists in the image captured by each camera 28 in a predetermined cycle, and the determination result is an overhead image Input to the display control unit 21b. In parallel with this, the overhead image display control unit 21b of the controller 21 is an overhead image of the surrounding area around the hydraulic shovel 1 (hereinafter sometimes referred to as the own vehicle) based on the images captured by the respective cameras 28. And update the overhead view image at a predetermined cycle.

  When the transport vehicle approaches the vehicle 1 for transportation of soil and stops in the area where the bucket 13 of the working device 10 can reach, the target turning stop position recognition unit 21a recognizes the presence of the transport vehicle and the vehicle 1 as a reference. The position and attitude of the transport vehicle are recognized, and the vessel top of the transport vehicle is determined as the target turning stop position. Based on the determination result, the overhead image display control unit 21b displays the transport vehicle with the vehicle 1 in the overhead image.

  FIG. 4 is an explanatory view showing a bird's-eye view image when the bucket 13 is positioned at the excavation site, and FIG. In the state shown in FIG. 4, the transport vehicle 31 is stopped to the right of the hydraulic shovel 1.

  The hydraulic shovel 1 at the time of excavation and earth release work first excavates the earth and sand on the ground with the bucket 13 of the working device 10 at the excavation site shown in FIG. 4 and then turns the upper swing body 5 clockwise. When the bucket 13 reaches on the vessel 31a of the transport vehicle 31 which is the target turning stop position, earth is released, and then the upper swing body 5 is again turned in the reverse direction to return the bucket 13 to the digging site. The above operation is repeated, and earth and sand are excavated successively and loaded into the vessel 31a of the transport vehicle 31.

In the process of moving the bucket 13 from the excavation site to the target turning stop position, the braking angle θ (shown in FIGS. 4 and 5) from stopping the operation of the turning operation lever 18 to stopping of the upper swing body 5 constantly changes The predicted stop position predicted from the braking angle θ also changes constantly with reference to the current pivot position of the upper swing body 5.
Various factors affecting the braking angle θ include the moment of inertia of the entire upper structure 5 including the working device 10, the swing speed of the upper structure 5, the inclination angle of the hydraulic shovel 1, and the swing relief valve functioning as a swing brake. The characteristics of 19a and 19b can be mentioned. The characteristics of the swing relief valves 19a and 19b can be specified in advance, but other factors constantly change during the swing.

  For example, referring to the moment of inertia, the bucket 13 at the start of turning is at the ground level which is the digging site, while the target position is on the vessel 31a of the higher transport vehicle 31 and therefore parallel to the clockwise turning. The working device 10 changes its posture so as to displace the bucket 13 upward. In addition, when the distance in the radial direction between the excavating site based on the turning center C of the upper swing body 5 and the target turning stop position is different, the working device for adjusting the position of the bucket 13 in the radial direction accordingly The posture of 10 changes.

  When the posture of the work device 10 changes, the positions of the center of gravity of the soil in the boom 11, the arm 12, the bucket 13 and the bucket 13 with respect to the turning center C also change. Since the moment of inertia of the working device 10 during turning changes with the change of each barycentric position, the braking angle θ required to stop the turning also increases or decreases.

Further, as the swing speed of the upper swing body 5 gradually increases from the start of the swing, the braking angle θ required to stop the swing also increases accordingly.
Further, with regard to the inclination angle of the hydraulic shovel 1, the inclination angle itself does not change during turning, but the direction of gravity acting on the working device 10 changes with the turning angle of the upper structure 5 due to the inclination angle. Under the influence, the braking angle θ required to stop the turning increases or decreases.

  The braking angle calculation unit 21c of the controller 21 calculates the braking angle θ while reflecting the above-described various factors affecting the braking angle θ, and inputs the calculation result to the overhead image display control unit 21b. Since the processing content of the braking angle calculation unit 21c is disclosed in various patent publications, only an outline will be described here.

  First, the postures of the boom 11, the arm 12, and the bucket 13 are estimated based on the detection information from each of the angle sensors 22 to 24, and the boom 11, the arm 12 based on the turning center C of the upper swing body 5 from these postures. The center of gravity of the bucket 13 is calculated. The storage device of the controller 21 stores in advance the relationship between the pressure of the boom cylinder 11 a and the weight of the soil in the bucket 13 for each barycentric position of the bucket 13 based on the turning center C. The relationship between the cylinder pressure and soil weight corresponding to the current center of gravity position of the bucket 13 is selected from the memory information, and based on the relationship, the soil pressure corresponding to the current cylinder pressure detected by the boom cylinder pressure sensor 25 Ask for

  Based on the calculated gravity position of the boom 11, the arm 12, and the bucket 13 and the earth and sand weight in the bucket 13 and the weight of the boom 11, the arm 12, and the bucket 13 stored in advance in the storage device of the controller 21 Calculate the total moment of inertia. The moment of inertia of the upper structure 5 stored in advance in the controller 21 is added to the obtained moment of inertia of the working device 10 to calculate the moment of inertia of the entire upper structure 5 including the working device 10.

Then, based on the calculated moment of inertia, the swing speed of the upper swing body 5 detected by the gyro sensor 27, and the characteristics of the swing relief valves 19a and 19b functioning as a swing brake, the swing stop on the flat ground (tilt angle = 0) The braking angle θ up to is calculated. When the hydraulic shovel 1 is located on a slope, the action direction of gravity on the working device 10 can be specified from the tilt angle detected by the vehicle tilt angle sensor 26 and the current turning position of the upper turning body 5 There is a correction to the braking angle θ that reflects the tilt angle based on the information.
The above calculation process is repeatedly performed in a predetermined cycle during operation of the swing operation lever 18 for moving the bucket 13 from the digging location to the target swing stop position, and is sequentially updated to a new braking angle θ.

  On the other hand, when the working device 10 starts turning in any direction together with the upper swing body 5 by the operation of the turning operation lever 18, the overhead image display control unit 21b of the controller 21 responds to the turning position to generate hydraulic pressure in the overhead image. The positional relationship between the shovel 1 and the transport vehicle 31 is changed in real time. As shown in FIGS. 4 and 5, in the present embodiment, the hydraulic shovel 1 is fixed, and the conveyance vehicle 31 is moved so as to move along an arc-shaped locus centering on the turning center C of the upper swing body 5 There is. However, the display mode is not limited to this. For example, the transport vehicle 31 may be fixed according to the actual operation, and the hydraulic shovel 1 may be turned.

  In addition, when the turning operation lever 18 is operated in the turning direction to the target turning stop position, the overhead image display control unit 21b of the controller 21 references the work device 10 in the overhead image as shown in FIG. The target turning stop position side (the turning direction side) is predicted as the predicted turning stop position by the braking angle θ input from the braking angle calculation unit 21c, and the marker 32 indicating the predicted turning stop position is displayed in the bird's-eye view image . In the present embodiment, in order to make it easy for the operator to image the working device 10 from the markers 32, the bar-shaped markers 32 extending in the radial direction from the turning center C of the upper turning body 5 are displayed. However, the display of the marker 32 is not limited to this, and can be arbitrarily changed.

  Similar to the positional relationship between the hydraulic shovel 1 and the transport vehicle 31 in the overhead image, the marker 32 indicating the predicted turning stop position is also displayed so as to change in real time according to the update of the braking angle θ. Therefore, the operator operating the turning operation lever 18 can not only recognize the turning state of the working device 10 from the positional relationship between the hydraulic shovel 1 and the transport car 31 in the bird's-eye view image, but also to the turning direction side of the working device 10 The relative positional relationship between the predicted turning stop position and the target turning stop position (on the vessel 31a) can be intuitively recognized based on the displayed marker 32.

  Then, as shown in FIG. 5, when the marker 32 at the predicted turning stop position matches the target turning stop position, a turning distance corresponding to the braking angle θ remains between the work device 10 and the target turning stop position. Therefore, when the lever operation is stopped at that time, the working device 10 stops at the target turning stop position, and the bucket 13 accurately reaches the vessel 31a.

  As described above, according to the operation support device of the hydraulic shovel 1 of the present embodiment, the predicted turning stop position based on various conditions such as the attitude of the working device 10 is predicted by the arithmetic processing of the controller 21, and the obtained turning stop prediction is obtained. By displaying the positional relationship between the marker 32 indicating the position and the target turning stop position (vessel 31a) on the display 29, the operator is made to determine the stop timing of the lever operation.

  Therefore, the operator can intuitively recognize the relative positional relationship between the predicted turning stop position and the target turning stop position on the basis of the marker 32 in real time, and cancels the lever operation at an appropriate timing to be the target turning stop position. The bucket 13 can be accurately reached on the vessel 31 a of the transport vehicle 31.

  Therefore, it is not necessary to re-adjust the bucket position after the stop when the lever operation stop timing is inappropriate. Further, since it is not necessary to lower the swing speed of the upper swing body 5 in order to avoid readjustment, the upper swing body 5 can be swung at the maximum speed so that the bucket 13 can rapidly reach the target swing stop position. As a result, these factors can significantly improve the efficiency of the drilling and releasing work.

  Further, the operator only determines the stop timing of the lever operation based on the display on the display 29, and does not require the setting of the target turning stop position as in Patent Document 1, for example. Inevitably, even if the target turning stop position frequently changes, the operator can easily use the operation support function because it is not necessary to reset the target turning stop position each time.

  Expressing the operation support apparatus according to the present embodiment from another viewpoint, in the series of determination processes of the operator when determining the stop timing of the lever operation, the controller with regard to the prediction of the predicted turning stop position difficult for the operator with low skill The timing at which the lever operation is canceled is determined by the operator.

  For this reason, the calculation processing of the controller 21 can realize prediction accuracy equal to or higher than that of the operator having high skill, and can always display the marker 32 of the predicted turning stop position accurately. In addition, for example, when it is desired to finely adjust the release position on the vessel 31a, the operator does not set the target turning stop position again as in Patent Document 1, and the marker 32 of the turning stop predicted position and the target turning Fine adjustment can be made simply by slightly shifting the stop timing of the lever operation while confirming the positional relationship with the stop position.

  As a result, according to the present embodiment, by combining the advantages of the controller 21 and the operator with each other, accurate arrival of the bucket 13 to the target turning stop position and simple fine adjustment of the release position on the vessel 31a can be achieved. Both can be achieved.

  On the other hand, in the present embodiment, general swing relief valves 19a and 19b of fixed set pressure are used without adopting a variable swing relief valve as in Patent Document 1, and the controller 21 is inevitably used. The control function of the setting pressure of the swing relief valve, the automatic stop function of the upper structure 5, etc. are not required. As a result, the hydraulic shovel 1 of the present embodiment adds the display 29 to the conventional hydraulic shovel 1 not having the operation support function (it is unnecessary in the case of the existing one). The simple specification change only by adding the creation and display function of the overhead image can be implemented at extremely low cost.

  By the way, in this embodiment, while recognizing the position and posture of the transporter 31 based on the host vehicle 1 based on the captured image of the camera 28, a bird's-eye image is created based on the captured image and the transporter 31 is Although displayed, the present invention is not limited to this.

  For example, in the case of a super large hydraulic excavator 1 operating in a mine or the like according to the present embodiment, an excavation site is set by a wireless command from the control station that manages the operation of a work vehicle in the mine and A pair of GPS receivers are mounted to identify the drilling site to be used. Then, based on the set position information on the excavated place and the position and attitude of the vehicle 1 recognized from the GPS information, the intended excavated place is identified and the excavating and unearthing work is performed.

  Similarly, in the super-large transport vehicle 31 operating in a mine or the like, route information regarding the travel route of the work site is stored in advance in the storage device of the controller 21, and a pair of GPS receivers for autonomous travel following the travel route. Is mounted. For this reason, the controller 21 of the hydraulic shovel 1 can recognize the position and attitude of the vehicle 1 based on the information of the GPS receiver mounted on the vehicle 1, and the GPS information provided from the transport vehicle 31 Based on this, the position and attitude of the transporter 31 can be recognized.

  Then, the bird's-eye view image which displayed the own vehicle 1 and the delivery vehicle 31 is created beforehand, and the target turning stop position recognition part of the controller 21 the position and attitude of the delivery vehicle 31 based on the own vehicle 1 based on GPS information The bird's-eye image display control unit 21b may be made to change the positional relationship between the vehicle 1 and the transporter 31 in the bird's-eye view image based on the recognition result. In this case, the four cameras 28 can be omitted, and the controller 21 is not required to have the function of creating and displaying a bird's-eye view from the captured image, thereby achieving further cost reduction.

Second Embodiment
In the first embodiment, the vessel 31a of the transport vehicle 31 is set as the target turning stop position, but in the present embodiment, it is characterized in that the digging place is set as the target turning stop position. It is the same as the first embodiment. Therefore, the explanation of the overlapping parts is omitted, and the differences are mainly described.

FIG. 6 is an explanatory view showing a bird's-eye view image when the marker 32 at the predicted turning stop position coincides with the digging place which is the target turning stop position.
As described in the first embodiment, the excavation site is set by the wireless command from the control station, and since the position and attitude of the vehicle 1 can be recognized from the GPS information, the vehicle 1 is determined based on these information. The positional relationship of the drilling site 41 can be identified.

  Therefore, the target turning stop position recognition unit 21a of the controller 21 determines the digging place 41 as another target turning stop position similarly to the target turning stop position on the vessel 31a, and the overhead image display control unit 21b is shown in FIG. Thus, the excavation site 41 is displayed together with the vehicle 1 and the transporter 31 in the overhead image on the display 29. Then, during operation of the turning operation lever 18 in any turning direction, the braking angle calculation unit 21c calculates the braking angle θ by the calculation processing described in the first embodiment, and the turning stop predicted from the braking angle θ The overhead image display control unit 21b displays the marker 32 at the predicted position in the overhead image.

  Therefore, although not described redundantly, the same operation and effect as those of the first embodiment can be achieved, and the operator can not only move the bucket 13 to the vessel 31 a but also move the bucket 13 to the digging site 41. Also, the relative positional relationship between the predicted turning stop position and the target turning stop position can be intuitively recognized in real time based on the marker 32. For this reason, as shown in FIG. 6, the lever operation can be stopped at an accurate timing when the marker 32 at the predicted turning stop position coincides with the target turning stop position (the digging place 41), whereby the bucket 13 is correctly placed at the digging place 41. It can be reached. Therefore, the efficiency of the excavation and earth release work can be further improved than in the first embodiment.

  Although the description of the embodiment is finished above, the aspect of the present invention is not limited to this embodiment. For example, in each said embodiment, although embodied in the super-large-sized hydraulic shovel 1 which operate | moves at a mine etc., it does not restrict to this. For example, the present invention may be applied to a hydraulic shovel used for ordinary road construction or the like, or may be applied to a crane apparatus having a function of turning a boom. In the case of a crane apparatus, a pivoting body that pivotally supports the boom corresponds to the pivoting body of the present invention, and the boom corresponds to the working device of the present invention.

  In the first embodiment, the vessel 31a of the transport vehicle 31 is set as the target turning stop position, and in the second embodiment, the vessel 31a and the digging place 41 are set as the target turning stop position. For example, only the excavation site 41 may be set as the target turning stop position.

1 hydraulic shovel 5 upper swing body (swivel body)
10 working device 13 bucket 18 turn control lever (turn control member)
21 Controller (Braking angle calculation unit, target turning stop position recognition unit, bird's eye image display control unit)
27 Gyro sensor (turning angle detector)
28 Camera (imaging unit, target turning stop position recognition unit)
29 Display
31 Carrier 31a Vessel

Claims (4)

A swing angle detection unit that detects a swing angle of a swing body having a work device;
A target turning stop position recognition unit that recognizes a target turning stop position to which the working device should be reached by turning the turning body;
A braking angle calculation unit that calculates a braking angle as a turning angle from when the operation on the turning operation member is stopped to when the turning body stops while the turning body is turning according to the operation of the turning operation member;
The target turning stop position recognized by the target turning stop position recognition unit is displayed as a bird's eye image on the display unit together with the swing body, and the work device in the bird's-eye view image based on the turning angle detected by the turning angle detection unit A bird's-eye view image display control unit that changes the positional relationship with the target turning stop position and displays, in the bird's-eye view, a predicted turning stop position of the work device predicted from the braking angle calculated by the braking angle calculation unit; An operation support device for a revolving unit characterized by comprising. The swing body is an upper swing body of a hydraulic shovel,
The target turning stop position is at least one of a digging site excavated by a bucket of a working device of the upper revolving superstructure, or at least one of a vessel of a transport vehicle from which a bucket is discharged from the bucket. The operation support device for a swing body according to claim 1. The target turning stop position recognition unit includes an imaging unit for imaging the periphery of the swing body,
The operation support device for a revolving unit according to claim 1 or 2, wherein the target turning stop position is recognized based on an image captured by the imaging unit. The operation support apparatus for a revolving unit according to claim 3, wherein the bird's-eye view image display control unit creates the bird's-eye view image based on the image captured by the imaging unit.

Images