JP2019157600A - Work machine - Google Patents

Abstract

To provide a work machine that can easily construct a design surface subject to work without making work tools contact other design surfaces adjacent to the design surface subject to work when a complex three-dimensional design surface is constructed.SOLUTION: A controller 15 includes a calculation unit 15a, an information generating unit 15b and an information output unit 15c. The calculation unit 15a calculates positional coordinates of a vehicle body and the longitudinal direction of a work machine 3 based on measurement results from position measurement devices 11e, 11f and direction measurement devices 11e, 11f. The information generating unit 15b sets another design surface Sadjacent to a first target surface S, out of a plurality of design surfaces constituting three-dimensional data, as a second target surface S. The information generating unit 15b generates first operation assist information including the revolving amount of a revolving superstructure 2 for making the longitudinal direction of the work machine when the vehicle body is viewed from above parallel with the boundary between the first target surface and the second target surface. The information output unit 15c outputs the first operation assist information generated by the information generating unit to a display device 13.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a work machine such as a hydraulic excavator.

  For example, Patent Document 1 discloses a display system for an excavating machine that can present information (operation support information) that supports an operation for making the blade edge of the bucket parallel to the target surface to the operator. is there. Patent Document 1 is used in an excavation machine that can rotate an upper swing body including a working machine having a bucket around a predetermined rotation center axis, and information on the current position and posture of the excavation machine A state of the cutting edge of the bucket determined based on information on the current position and posture of the excavating machine, a vehicle state detection unit for detecting the position, a storage unit for storing at least position information of a target surface indicating the target shape of the work target The work implement necessary for the cutting edge of the bucket to face the target surface based on the information including the information including the direction orthogonal to the target surface, and the information including the direction of the turning central axis. First target turning information and second target turning information indicating a turning amount of the upper turning body including the first target turning information and the second target turning information obtained, and the turning center axis A first angle that is a minimum value among angles formed by an axis that is orthogonal and parallel to the operation plane of the work implement, and each imaginary line that passes through each end of the turning center axis and the target surface; A processing unit that selects the first target turning information or the second target turning information based on the second angle that is the maximum value, and displays an image corresponding to the selected one on the screen of the display device; A display system for a drilling machine (claim 1) is described.

Japanese Patent No. 5826397

  In the display system for an excavating machine described in Patent Document 1, since operation support information for making the blade edge of the bucket parallel to the target surface is displayed, it becomes easy to accurately shape the target surface.

  However, in the construction of a complicated three-dimensional design surface where grooves, steps, or inclined surfaces with different slopes are adjacent, buckets (work tools) are placed on other design surfaces adjacent to the target surface during construction of the target surface. Can come into contact with other design surfaces.

  The present invention has been made in view of the above problems, and its purpose is to bring a work tool into contact with another design surface adjacent to the design surface of the work target in the work of constructing a complicated three-dimensional design surface. An object of the present invention is to provide a working machine that makes it easy to construct a design surface to be worked.

  In order to achieve the above object, the present invention provides a lower traveling body, an upper revolving body that is mounted on the lower traveling body in a turnable manner, and that constitutes a vehicle body together with the lower traveling body, and a front side of the upper revolving body. A work machine provided so as to be rotatable in the vertical direction and having a work tool, a position measuring device for measuring the three-dimensional position of the vehicle body, an orientation measuring device for measuring the orientation of the upper swing body, and three-dimensional design data In a work machine including a selection device for selecting a first target surface that is a design surface of a work target from a plurality of design surfaces constituting a display device, a display device, and a controller that controls the display device, the controller includes: A calculation unit that calculates the position coordinates of the vehicle body and the longitudinal direction of the work implement from the position measurement device and the measurement result of the measurement device, and another design adjacent to the first target surface among the plurality of design surfaces Is set as a second target plane, and the upper turn is performed so that the longitudinal direction of the work implement when viewed from above is parallel to the boundary line between the first target plane and the second target plane An information generation unit that generates first operation support information including a turning amount of the body and an information output unit that outputs the first operation support information generated by the information generation unit to the display device are provided.

  According to the present invention configured as described above, when constructing the design surface (first target surface) to be worked, the longitudinal direction of the work machine when the vehicle body is viewed from above is set to the first target surface and the second target surface. First operation support information including the turning amount of the upper turning body to be parallel to the boundary line of the target surface is displayed on the display device. The operator operates the machine body according to the first operation support information, so that the longitudinal direction of the work machine when the vehicle body is viewed from above can be parallel to the boundary line between the first target surface and the second target surface. Thereby, when constructing a complicated three-dimensional design surface with a work machine, the work tool is not brought into contact with another design surface (second target surface) adjacent to the design surface (first target surface) to be worked. It becomes easy to construct the design surface (first target surface) to be worked.

  According to the present invention, in the work of constructing a complicated three-dimensional design surface, it is easy to construct the design surface of the work target without bringing the work tool into contact with another design surface adjacent to the design surface of the work target. Become.

It is a figure showing the whole hydraulic excavator composition concerning an embodiment of the invention. It is a figure which shows the structure of a tilt bucket. It is a perspective view which shows the structure in a cab. It is a block diagram of an operation assistance system. It is a flowchart (first half) which shows the process of a controller. It is a flowchart (latter half) which shows the process of a controller. It is a figure which shows the positional relationship of the hydraulic shovel 1, a 1st target surface, and a 2nd target surface. It is a figure which shows an example of the 1st operation assistance information displayed on the display part of a display apparatus. It is a figure which shows an example of the 2nd operation assistance information displayed on the display part of a display apparatus.

  Hereinafter, a hydraulic excavator will be described as an example of a working machine according to an embodiment of the present invention and will be described with reference to the drawings. In addition, in each figure, the same code | symbol is attached | subjected to an equivalent member and the overlapping description is abbreviate | omitted suitably.

  FIG. 1 shows an overall configuration of a hydraulic excavator according to the present embodiment. In FIG. 1, a hydraulic excavator 100 includes a crawler-type lower traveling body 1, an upper revolving body 2 that is mounted on the lower traveling body 1, and that forms a vehicle body together with the lower traveling body 1. A front 3 is provided as a working machine provided on the front side so as to be rotatable in the vertical direction. The lower traveling body 1 is driven by left and right traveling motors (not shown) that are hydraulic motors. The upper swing body 2 is driven by a swing motor (not shown) that is a hydraulic motor. Various devices such as an engine and a hydraulic pump are arranged inside the building 6 provided at the rear part of the upper swing body 2. A vehicle body inclination sensor 11 d that detects the inclination of the excavator 100 is attached to the upper swing body 2. Left and right GNSS receivers 11e and 11f for detecting the position coordinates of the excavator 100 in the absolute coordinate system are attached to the counterweight 5 and the building 6 of the upper swing body 2.

  The front 3 includes a boom 3a that is connected to the front side of the upper swing body 2 so as to be rotatable in the vertical direction, an arm 3b that is connected to the tip of the boom 3a so as to be rotatable in the vertical and longitudinal directions, and an arm 3b The bucket 3c is connected to the tip portion so as to be rotatable in the vertical and front-rear directions. The boom 3a is driven by a boom cylinder 3d made of a hydraulic cylinder. The arm 3b is driven by an arm cylinder 3e made of a hydraulic cylinder. The bucket 3c is driven by a bucket cylinder 3f made of a hydraulic cylinder.

  A boom posture sensor 11a that detects the posture of the boom 3a is attached to the boom 3a. An arm posture sensor 11b that detects the posture of the arm 3b is attached to the arm 3b. A bucket posture sensor 11c that detects the posture of the bucket 3c is attached to the bucket 3c.

  The bucket 3c is a tilt type bucket and includes a bucket body 3c1, a tilt cylinder 3c2, and a bracket 3c3 as shown in FIG. One end of the bracket 3c3 is connected to the distal end portion of the arm 3b so as to be rotatable in the vertical direction and the front-rear direction. The bucket body 3c1 is connected to the other end of the bracket 3c3 so as to be rotatable in the left-right direction (around the rotation axis A1). The rotation axis A1 of the bucket body 3c1 is an axis orthogonal to the rotation axes of the boom 3a, the arm 3b, and the bucket 3c. The tilt cylinder 3c2 is composed of a hydraulic cylinder, and one end side is rotatably attached to the bracket 3c3, and the other end side is rotatably attached to the bucket body 3c1. The bucket body 3c1 is driven around the rotation axis A1 by the tilt cylinder 3c2. A tilt sensor 11g that measures the tilt angle (tilt rotation angle) of the bucket body 3c1 is attached to the bucket body 3c1.

  A cab 4 on which an operator gets on the left front portion of the upper swing body 2 is provided. Inside the cab 4, as shown in FIG. 3, the left and right traveling levers 8L and 8R for instructing the traveling operation of the lower traveling body 1, the swinging operation of the upper swinging body 2, the boom 3a, the arm 3b and the bucket 3c. Left and right operation levers 9L, 9R and the like are provided for instructing the operation.

  In the cab 4, a display device 13 including a liquid crystal display is installed. On the display unit 13a of the display device 13, information (operation support information) for assisting the operation of the operator and various other information are displayed. The display device 13 starts a screen display when the excavator 100 is activated by an input with a starter key, and can display various information while the operator operates the left and right operation levers 9R and 9L. However, it is necessary to avoid obstructing the front vision as much as possible during work. Therefore, the display device 13 is disposed obliquely in front of the driver's seat 12 and is attached to the pillar 7, for example.

  FIG. 4 is a configuration diagram of an operation support system mounted on the hydraulic excavator 100.

  4, the operation support system 200 includes a boom posture sensor 11a that detects the posture of the boom 3a, an arm posture sensor 11b that detects the posture of the arm 3b, and a bucket posture sensor 11c that detects the posture of the bucket 3c. Left and right GNSS receivers 11e serving both as a vehicle body inclination sensor 11d for detecting the inclination of the hydraulic excavator 100, a position measurement device for measuring the three-dimensional position of the vehicle body, and a direction measurement device for measuring the orientation of the upper swing body 2 11f, a tilt sensor 11g as a tilt measuring device that measures the tilt angle (tilt rotation angle) of the bucket body 3c1, a storage device 14 that stores three-dimensional design data and dimensional information of the excavator 100, and various types A controller 15 that performs computation, a display device 13 that displays information output from the controller 15, and a storage device 14 A plurality of design surfaces constituting the three-dimensional design data stored through the display device 13 design surface of the work object and a selector 16 for selecting.

  The controller 15 calculates a posture information and a vehicle body direction of the excavator 100 in the absolute coordinate system from detection values detected by the sensors 11a to 11g and the left and right GNSS receivers 11e and 11f and dimensional information stored in the storage device 14. 15a, an information generation unit 15b that generates information (operation support information) that supports the operation of the operator based on the calculation result of the calculation unit 15a, and the operation support information generated by the information generation unit 15b is output to the display device 13. And an information output unit 15c.

  The display device 13 includes a display unit 13a and a display processing unit 13b that processes information input from the controller 15 or the selection device 16 and displays the information on the display unit 13a.

  5 and 6 are flowcharts showing the processing of the controller 15. Hereinafter, each step will be described in order.

First, in step F1, a design surface (first target surface) to be worked is acquired from among a plurality of design surfaces constituting the three-dimensional design data stored in the storage device 14. Here, as an example, the three-dimensional design data is composed of a plurality of points having position coordinates, and the design surface is a triangle composed of three points as vertices. The operator selects a design surface to be constructed from a plurality of design surfaces displayed on the display unit 13 a of the display device 13 via the selection device 16. The controller 15 stores the design surface that is selected as the first target surface S _1. Furthermore, the coordinates A ₁ (x _a1 , y _a1 , z _a1 ), B ₁ (x _b1 , y _b1 , z _b1 ), C ₁ (x _c1 , y _c1 ) of the three points constituting the first target surface S ₁ , Z _c1 ).

Following step F1, at least one of the three vertices A ₁ , B ₁ , C ₁ of the first target surface S ₁ is within the maximum turning radius R _m centered on the vehicle body position coordinate P _m (x _m , y _m ). It is determined whether or not there is (step F2). Specifically, it is determined whether at least one of the following formulas (1) to (3) is satisfied.

If it is determined in step F2 that none of the three vertices A ₁ , B ₁ , C ₁ of the first target surface S ₁ is within the maximum turning radius R _m (NO), the flow ends.

Three vertices _A 1 in step F2 in the first target surface _{S 1,} B 1, _{C 1} of at least one in the maximum turning within a radius _{R m} (YES) and if it is determined is adjacent to the first target surface _{S 1} It determines whether there is a surface _{S n} (step F3). Here, with the adjacent surface S _n , at least one of the three vertices A _n , B _n , and C _n is within the maximum turning radius R _m , and any two vertices are shared with the first target surface S _1. It is the design surface to do.

The first target surface _{S 1} in step F3 is adjacent surface _{S n} when it is determined that (YES), calculates the angle (abutment surface angle) theta _S adjacent surface _{S n} to the first target surface _{S 1} (step F4). Hereinafter, a case _where the three vertices of the adjacent surface Sn are A _n (= A ₁ ), B _n (= B ₁ ), and C _n (≠ C ₁ ) will be described as an example. The adjacent surface angle θ _S is obtained by the following equation (4).

Following step F4, it is determined whether or not the adjacent surface angle θ _S is larger than a predetermined threshold (step F5). Here, the threshold value is set based on the tolerance (working accuracy) of the actual construction surface with respect to the design surface.

If the adjacent surface angle theta _S is equal to or less than a predetermined threshold value (NO) in step F5, setting the adjacent surface S _n to the first part of the target surface S ₁ (step F6), the flow returns to step F3 . This is because the adjacent surface whose adjacent surface angle θ _S is equal to or smaller than the predetermined threshold need not be distinguished from the first target surface.

If the adjacent surface angle theta _S is determined to be greater than the predetermined threshold (YES) in step F5, the adjacent surface _{S n} Z-axis of the vertex _{C n} of (vertical axis) coordinate _{(Z cn)} is the first target surface S _It is determined whether or not it is larger than the Z-axis coordinate (Z _c1 ) of _one vertex C ₁ (step F7).

In step F7 when it is determined that the Z-axis coordinate of the vertex _{C n} adjacent surface _{S n (Z cn)} is not greater than the first apex _{C 1} target surface _{S 1} Z-axis coordinate _{(Z c1) (NO)} is Return to Step F3. Thus, the boundary portion between the first target surface S ₁ is a convex shape (there is no fear that the bucket 3c during construction of the first target surface S ₁ is in contact) the adjacent surfaces S _n of the second target surface S ₂ Can be excluded from candidates.

Thus, the information generating unit 15b of the other design surface _{S n} adjacent to the first target surface _{S 1} by sharing the first target surface _{S 1} and the first and second vertices _A 1, the _{B 1} , so that the vertical axis coordinate _{Z cn} the third vertex _{C n} does not set the design surface _{S n} not greater than the third vertical axis coordinates of the vertex _{C 1 Z c1} of the first target surface _{S 1} as the second target surface _{S 2} It is configured.

If it is determined to be greater than the adjacent surface _{S n} vertices _{C n} of Z-axis coordinate _{(Z cn)} of vertex _{C 1} of the first target surface _{S 1} Z axis coordinate of the _{(Z c1) (YES)} in step F7, The outer product Q ₁ , Q ₂ (the vector connecting the vertex C _{1 of} the first target surface S _{1 to} the two vertexes A _n , B _n of the adjacent surface S ₂ and the vector connecting the vertex C ₁ to the vehicle body position coordinate P _m ( the following equation (5) and shown in equation (6)) is calculated, determined the product of the Z-axis component Q _z2 of Z-axis component Q _z1 and cross product Q ₂ of the outer product Q ₁ is to or greater than zero (Step F8).

If the product of the Z-axis component _{Q z1} and cross product _{Q 2} in the Z-axis component _{Q z2} outer product _{Q 1} is determined to be smaller than zero (NO) in step F8, the flow returns to step F3. This makes it possible to exclude located on the vehicle body near the (first there is no risk of the bucket 3c is in contact with in the construction target surface S ₁₎ adjacent plane S _n from the second target surface S ₂ of the candidates.

Thus, the information generating unit 15b of the other design surface _{S n} adjacent to the first target surface _{S 1} by sharing the first target surface _{S 1} and the first and second vertices _A 1, the _{B 1} the first vector _C 1 _{B n} going from the third vertex _{C 1} of the first target surface _{S 1} to the second vertex _B n of other design surface _{S n} (= second vertex _{B 1} of the first design surface _{S 1)} When the first target surface _S third vertical-axis component of the cross product to _{Q 1} from the apex _{C 1} and the second vector _C 1 _{P m} toward the vehicle body position coordinate _{P m Q z1 1,} first third target surface _{S 1} the second vertex _B n vertices _{C 1} from other design surface _{S n} of the third vector _C 1 _{B n} and the first target surface _{S 1} connecting towards (= second vertex _{B 1} of the first design surface _{S 1)} the the product of the vertical axis component _{Q z2} cross product _{Q 2} from three vertices _{C 1} and the fourth vector _C 1 _{P m} toward the vehicle body position coordinate _{P m} is I less than zero It is configured so as not to set the other design surface S _n as a second target surface S _2.

The product of the Z-axis component _{Q z1} and cross product _{Q 2} in the Z-axis component _{Q z2} cross product _{Q 1} at step F8 is greater than or equal to zero (YES) and if it is determined the adjacent surface _{S n} the second target surface _{S 2} (Step F9), the process returns to step F3.

In step F3 if other adjacent surface _{S n} to the first target surface _{S 1} is determined to not (NO), determines whether the second there is a target surface _{S 2} (step F10).

Step F10 is the second target surface _{S 2} is the case where it is determined that (YES), calculates the unit vector M 'in the front direction vector M (step F11). Here, as shown in FIG. 7, the front direction vector M is a boom foot pin position P _b (x _b , y _b , z _b ) to a bucket tip position P _t (x _t , y _t , z _t ). It is a vector that heads and is expressed by the following equation (7).

The unit vector M ′ of the front direction vector M is calculated using the GNSS receiver vector G, the swivel axis vector C, and the angle θ _m between the front direction vector M and the GNSS receiver vector G.

As shown in FIG. 7, the GNSS receiver vector G is moved from the right GNSS receiver position P _r (x _r , y _r , z _r ) to the left GNSS receiver position P _l (x _l , y _l , z _l ). This is a vector that heads and is expressed by the following equation (8).

  The turning axis vector C is a unit vector parallel to the turning center axis of the upper turning body 2, and is represented by the following equation (9), where α is the vehicle body pitch angle and β is the vehicle body roll angle.

Angle theta _m the front direction vector M and GNSS receiver vector G is calculated by previously following equation (10).

Current left and right GNSS receiver 11e, 'is calculated, the unit vector G' GNSS vector G unit vector G from the position information 11f by the angle theta _m rotating the pivot axis vector C around the front direction vector M The unit vector M ′ can be obtained. That is, the unit vector M ′ of the front direction vector M is obtained by the following equation (11).

Following step F11, a second target surface direction vector is calculated (step F12). Here, the second target surface direction vectors, as shown in FIG. 7, the apex _{A 1,} B 1, the first target surface with a _{C 1 S 1} and the vertex _{A 2,} B 2, second with _{C 2} target surface _{S 2} and share two vertices _{a 1 (= a 2),} B 1 (= B 2) vertices _a 1 one close to the body of the (= _{a 2)} from the other vertices _B 1 (= B It is a vector toward ₂ ).

Following step F12, it is determined whether or not the bucket 3c may come into contact with the second target surface (step F13). Specifically, as shown in FIG. 7, the straight line (indicated by a broken line in the figure) and the distance D between the vehicle body position coordinates Pm mainly comprise the first target surface S ₁ and the second target surface S ₂ of the boundary line It determines that the case of less than the threshold value which is set according to the width W of the bucket 3c, there is a possibility that the bucket 3c is in contact with the second target surface S _2.

Bucket 3c in step F13 there is a risk of contact with the second target surface S ₂ (YES) and the determined time, the second target surface direction vector on a predetermined plane (turning plane) perpendicular to the pivot axis and the vehicle body calculates an angle (second target surface direction angle) theta _d formed by the unit vector M 'direction vector M (step F14). The second target surface direction angle θ _d is obtained by the following equation (12).

Following step F14, determines the second target surface direction angle theta _d is whether greater than a predetermined threshold value (step F15).

If the second target surface angle theta _d in step F15 is determined to be greater than the predetermined threshold (YES), it outputs a first operation support information on the display device 13 in step F16, the flow ends. Here, the first operation support information includes a turning amount (second target surface angle θ _d ) for making the second target surface direction coincide with the front direction on the turning plane. Accordingly, the display unit 13a of the display device 13 has a turning direction (indicated by an arrow in the figure) and a turn for making the second target surface direction and the front direction coincide on the turning plane as shown in FIG. The quantity (indicated by the angle in the figure) is displayed. The operator turns the upper swing body 2 according to the first operation support information so that the angle between the second target surface direction and the front direction is within a threshold value. At that time, traveling operation is also performed as necessary. In the case where the second target surface S ₂ there are two or more, to display the first operation support information for the second target surface S ₂ of the closer to the vehicle body on the display unit 13a.

Step F10 second no target surface _{S 2} in (NO) and if it is determined, if the bucket 3c determines fear and without (NO) in contact with the second target surface _{S 2} in step F13, or, at step F15 If the second target surface angle theta _d is equal to or less than a predetermined threshold value (NO), it calculates the angle (bucket edge angle) theta _t of the bucket edge vector with respect to the first target surface S ₁ (step F17). The method of calculating the bucket edge angle theta _t is described below.

The position coordinates T ₁ (x ₁ , y ₁ ) and T ₂ (x ₂ , y ₂ ) at both ends of the bucket are acquired, and the first target surface coordinates U ₁ (x ₁ , y ₁ , z ₁ ) in the toe vertical direction are obtained. U ₂ (x ₂ , y ₂ , z ₁ ) is obtained.

The bucket edge angle θ _t is an angle between a line segment connecting the first target plane coordinates U ₁ and U ₂ and the turning plane, and is obtained by the following equation (13).

Following step F17, the second operation support information is output to the display device 13 (step F18), and the flow ends. Here, the second operation support information includes a tilt amount (bucket blade edge angle θ _t ) for making the blade edge of the bucket 3 c parallel to the first target surface S ₁ .

Thus, the information generation unit 15b, the angle between the working machine 3 in the longitudinal direction (front direction) and the first target surface S ₁ and the second target surface S ₂ boundary line when viewed vehicle body from above θ _{when d} is equal to or less than a predetermined threshold value, to generate a second operation support information including a tilt amount of the tilt bucket 3c for collimating the cutting edge of the tilt bucket 3c with respect to the first target surface S ₁ It is configured.

Thus, the display portion 13a of the display device 13, for example, as shown in FIG. 9, (indicated by the arrow) the tilt direction to collimate the blade edge of the bucket 3c with respect to the first target surface S ₁ and A tilt amount (indicated by an angle in the figure) is displayed. As a tilt amount, a relative angle (bucket edge angle θ _t ) with respect to the first target surface S ₁ may be displayed, but an absolute angle from the horizontal position (a value obtained by adding the bucket edge angle θ _t to the current tilt angle). ) Is preferable for operation. The operator, in accordance with the second operation support information displayed on the display unit 13a, the cutting edge of the bucket 3c is tilted operating in parallel to the first target surface S _1. Note that only when the bucket both ends above the first target surface S _1, is displayed on the display unit 13a of the second operation support information. In addition, when the angle θ _t of the first target surface S ₁ with respect to the bucket edge vector is outside the tilt range of the bucket 3c, the fact may be displayed on the display unit 13a instead of the second operation support information.

As described above, the working machine 100 according to the present embodiment is mounted on the lower traveling body 1, the upper traveling body 2 that is turnably mounted on the lower traveling body 1, and constitutes the vehicle body together with the lower traveling body 1, and the upper rotating body. 2, a work machine 3 having a work tool 3 c, position measuring devices 11 e and 11 f for measuring the three-dimensional position of the vehicle body, and a direction for measuring the direction of the upper swing body 2. measuring device 11e, and 11f, a selector 16 for selecting a first target surface S ₁ is a design surface of the work object from a plurality of design surfaces constituting the three-dimensional design data, a display device 13, display device 13 and a controller 15 for controlling the controller 15, the position measuring device 11e, 11f and orientation measuring device 11e, the position of the vehicle body from 11f measurement results coordinate _{P m} and the working machine 3 in the longitudinal direction (front direction) A calculation unit 15a for calculation for working machine 3 when setting the other designed surface S _n adjacent to the first target surface S ₁ of the plurality of design surfaces as the second target surface S _2, viewed vehicle body from above longitudinal first target surface S ₁ and the information generation unit 15b for generating a first operation support information comprising turning amount of the upper rotating body 2 to be parallel to the second target surface S ₂ of the border And an information output unit 15 c that outputs the first operation support information generated by the information generation unit 15 b to the display device 13.

According to the hydraulic excavator 100 according to the present embodiment configured as described above, when the work surface is designed (first target surface S ₁ ), the length of the working machine 3 when the vehicle body is viewed from above. displayed on the display unit 13a of the first operation support information display device 13 including the turning amount of the upper rotating body 2 for collimating the direction to the first target surface S ₁ and the second target surface S ₂ of the boundary line Is done. By operating the aircraft in accordance with the first operation support information for the working machine 3 in the longitudinal direction of the first target surface S ₁ and the second target surface S ₂ of the boundary line when viewed vehicle body from above Can be parallel. Thus, when applying a complex three-dimensional design surface by the hydraulic shovel 100, other designs surface adjacent to the design surface of the work object (first target surface S ₁₎ (second target surface S ₂₎ to the bucket 3c It becomes easy to construct the design surface (the first target surface S ₁ ) to be worked without bringing the two into contact.

Further, when the second target surface direction and the front direction is matched with the turning plane, the second operation support information including a tilt amount for collimating the blade edge of the bucket 3c with respect to the first target surface S ₁ is It is displayed on the display unit 13 a of the display device 13. The operator, by operating the bucket 3c in accordance with the second operation support information can be parallel to the blade edge of the bucket 3c with respect to the first target surface S _1. Thereby, when constructing the design surface (first target surface S ₁ ) to be worked, it becomes easy to make the blade edge of the bucket 3 c parallel to the first target surface S ₁ .

  As mentioned above, although the Example of this invention was explained in full detail, this invention is not limited to above-described embodiment, Various modifications are included. For example, in the above-described embodiment, a front having a tilt bucket as a work tool has been described as an example. However, the application target of the present invention is not limited to this, and can be applied to a front having a normal bucket. The above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to the one having all the configurations described.

  DESCRIPTION OF SYMBOLS 1 ... Lower traveling body, 2 ... Upper turning body, 3 ... Front (work machine), 3a ... Boom, 3b ... Arm, 3c ... Bucket (work tool), 3c1 ... Bucket body, 3c2 ... Tilt cylinder, 3c3 ... Bracket, 3d ... Boom cylinder, 3e ... Arm cylinder, 3f ... Bucket cylinder, A1 ... Tilt rotation shaft, 4 ... Cab, 5 ... Counterweight, 6 ... Building, 7 ... Pillar, 8R ... Right travel lever, 8L ... Left travel lever , 9R ... right operation lever, 9L ... left operation lever, 11a ... boom posture sensor, 11b ... arm posture sensor, 11c ... bucket posture sensor, 11d ... vehicle body tilt sensor, 11e ... left GNSS receiver (position measuring device, bearing measurement) Device), 11f ... right GNSS receiver (position measuring device, bearing measuring device), 11g ... tilt sensor, 12 ... driver's seat, 13 ... display device DESCRIPTION OF SYMBOLS 13a ... Display part, 13b ... Display processing part, 14 ... Memory | storage device, 15 ... Controller, 15a ... Calculation part, 15b ... Information generation part, 15c ... Information output part, 16 ... Selection apparatus, 100 ... Hydraulic excavator (work machine) , 200 ... Operation support system.

Claims (4)

A lower traveling body,
An upper revolving body that is mounted on the lower traveling body so as to be capable of turning, and constitutes a vehicle body together with the lower traveling body;
A working machine provided on the front side of the upper swing body so as to be rotatable in the vertical direction, and having a working tool;
A position measuring device for measuring a three-dimensional position of the vehicle body;
An orientation measuring device for measuring the orientation of the upper swing body,
A selection device for selecting a first target surface which is a design surface of a work target from a plurality of design surfaces constituting three-dimensional design data;
A display device;
In a work machine comprising a controller for controlling the display device,
The controller is
A calculation unit for calculating the position coordinates of the vehicle body and the longitudinal direction of the work implement from the measurement results of the position measurement device and the bearing measurement device;
Of the plurality of design surfaces, another design surface adjacent to the first target surface is set as a second target surface, and the longitudinal direction of the work implement when the vehicle body is viewed from above is defined as the first target surface. An information generating unit that generates first operation support information including a turning amount of the upper turning body to be parallel to a boundary line of the second target surface;
An information output unit that outputs the first operation support information generated by the information generation unit to the display device. The work machine according to claim 1,
The work implement is a tilt bucket;
A tilt measuring device for measuring the tilt angle of the tilt bucket;
The information generation unit is configured such that an angle formed between a longitudinal direction of the work implement when the vehicle body is viewed from above and a boundary line between the first target surface and the second target surface is a predetermined threshold value or less. And generating second operation support information including a tilt amount of the tilt bucket for making the blade edge of the tilt bucket parallel to the first target surface,
The information output unit outputs the second operation support information generated by the information generation unit to the display device. The work machine according to claim 1,
The plurality of design surfaces are each composed of a triangle having a first vertex, a second vertex, and a third vertex;
The information generation unit is configured to share the first target surface and the first and second vertices to share the second design surface adjacent to the first target surface from the third vertex of the first target surface. The vertical axis component of the outer product of the first vector going to the apex and the second vector going from the third apex of the first target plane to the position coordinates of the vehicle body, and from the third apex of the first target plane to the second apex The other design surface in which the product of the vertical vector component of the outer product of the third vector to be connected and the fourth vector from the third vertex of the first target surface to the position coordinate of the vehicle body is smaller than zero is the second design surface. A work machine that is not set as a target plane. The work machine according to claim 1,
The plurality of design surfaces are each composed of a triangle having a first vertex, a second vertex, and a third vertex;
The information generation unit shares the first target surface with the first and second vertices, and among other design surfaces adjacent to the first target surface, a vertical axis coordinate of a third vertex is the first target surface. A work machine that does not set a design surface that is not larger than the vertical axis coordinate of the third vertex of the surface as the second target surface.

Images