JP3406883B2 - Work progress display device and work machine equipped therewith - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for displaying the progress of work in a place where it is difficult for an operator to directly visually observe it, such as underwater, and a work machine equipped with the display device.

[0002]

2. Description of the Related Art Footing removal work is an example of underwater work. This footing removal work is necessary when a bridge erected in a river or the like is demolished and a new bridge is erected. In this case, in order to properly perform the footing removal work, visually check the footing. Therefore, it is desirable that the operator actually works while grasping the shape of the footing. However, since it is difficult to perform work while visually observing the footing installed in the water, conventionally, a partition was provided around the footing to dam the water around the footing, drain it, and leave the footing exposed. Construction methods such as work were taken.

[0003]

However, the above-mentioned construction method requires a large amount of work, which increases both the work cost and the construction period. As a method for performing work without damaging water around the footing, for example, an all-casing method using a rotary casing driver can be considered.
However, in the all-casing method, a casing driver or a crane for excavating the middle moat is placed on a temporary stand provided at the top of the footing, so a very high-strength stand is required, and the position of the casing is changed to the footing position. Since it needs to be changed over the entire area, work efficiency deteriorates.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a work progress status display device for assisting a work such as a footing removal work in a place where it is difficult to see visually, and a work machine equipped with the work progress display device.

[0005]

An embodiment will be described with reference to FIGS. (1) In the invention of claim 1, the work object 13 is attached to the tips of the arms 4 to 6 rotatably attached to the work machine body 2.
Is a device for displaying the progress of the work used in a working machine equipped with the crushing attachment 7 mounted in accordance with the position detecting means 21-25, 29-32 for detecting the position of the crushing attachment 7 and The size of the work object 13 is stored for each block of a predetermined area or volume, and the size of one block is determined by previously verifying the volume affected by the crushing work of the crushing attachment 7. The shape of the work object 13 is stored based on the storage device 46 that stores the data, the shape data of the work object 13 stored in the storage device 46, and the position data detected by the position detection means 21 to 25 and 29 to 32. An image control device 40 that generates an image signal displayed in block units and an image signal that displays the position of the crushing attachment 7, and a work target based on the image signal. 13 and the crushing attachment 7
And a display device 42 that displays, a determination unit 40 that determines that a predetermined block of the work target 13 is given a predetermined influence by the crushing work of the crushing attachment 7, and the determination unit 40 determines the work target 13 of the work target 13. When it is determined that the predetermined block has a predetermined influence, the image control device 40
The above-mentioned object is achieved by generating an image signal so as to change the display of a predetermined block according to its influence. (2) The invention of claim 2 is the position detecting means 21 to 25,
29 to 32 detect the relative positions of the arms 4 to 6 and the crushing attachment 7 provided at the arm tip, and also detect the relative movement amount with respect to the place where the working machine body 2 is installed. It is a thing. (3) In the invention of claim 3, the image control device 40 generates the attitude data of the crushing attachment 7 based on the position data detected by the position detecting means 21 to 25 and 29 to 32, and crushes the attitude data from the attitude data. The image signal for displaying the attitude of the attachment 7 is generated. (4) In the invention of claim 4, the image control device 40 has a function of moving the position of the crushing attachment 7 with respect to the work target 13 on the display device 42 to adjust the image. (5) In the invention of claim 5, the position detecting means includes the tilt sensor 21 for detecting the tilt angle of the working machine body YS, and the working machine body YS is moved by the reaction force received by the crushing attachment 7 from the work target 13. When tilted, tilt sensor 21
The correction unit 40 corrects the position of the crushing attachment 7 based on the tilt angle detected from the. (6) According to the invention of claim 6, the image control device 40 generates the image signal such that the display of the predetermined block differs depending on the height of the work target 13. (7) In the invention of claim 7, when the determination means 40 determines the influence on the work target 13, a work output management signal is output to output a signal corresponding to the display of the work target 13 in block units. The device 35 is provided. (8) The invention of claim 8 is the position detecting means 21 to 25,
When it is detected by 29 to 32 that the position of the crushing attachment 7 is equal to or larger than the predetermined working radius, the arms 4 to 4
An alarm device for prohibiting the operation of the crushing attachment 6 and the crushing attachment 7 in the direction of increasing the working radius is provided. (9) The invention of claim 9 is applied to a working machine. The above-described object is achieved by including the work progress status display device according to any one of (1) to (8) above.

In the section of the means for solving the above-mentioned problems for explaining the structure of the present invention, the drawings of the embodiments of the invention are used for the sake of easy understanding of the present invention. It is not limited to this form.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side view of a shovel work vehicle YS to which the present invention is applied. The work vehicle YS executes a footing removal work in the present embodiment. As shown in FIG. 1, the work vehicle YS includes a traveling body 1, a revolving body 2 rotatably mounted on the traveling body 1,
The working device 3 is attached to the vehicle front portion of the swing body 2. The working device 3 is attached to a long boom 4 rotatably supported by the revolving structure 2, an arm 5 rotatably supported at the tip of the boom 4, and a slide along the arm 5. The slide arm 6 and a breaker 7 rotatably supported at the tip of the slide arm 6 are provided. The chisel 7a at the tip of the breaker is struck by the pedal operation from the driver's seat, whereby the footing is crushed.
The boom 4 is rotated by expansion and contraction of the boom cylinder 8, and the arm 5 is rotated by expansion and contraction of the arm cylinder 9. The slide arm 6 slides as the slide cylinder 10 expands and contracts, and the breaker 7 rotates as the bucket cylinder 11 expands and contracts. These cylinders 8 to 11 are driven by lever operation from the driver's seat. Cylinder 8-11
The working range of the working device 3 due to expansion and contraction is as illustrated.

FIG. 2 is a side view showing a state when the footing is removed, and FIG. 3 is a plan view thereof. 2, 3
As shown in, a footing 13 having a substantially trapezoidal cross section is provided above the foundation pile 12 cast at the bottom of the river. The old bridge pier 15 was erected on the upper part of the footing 13, but it will be demolished by some method before the footing removal work. When the footing removal work is performed, the pedestal 14 is temporarily installed around the footing 13, and the steel plate 16 is laid on the pedestal 14. The work vehicle YS is movably mounted on the steel plate 16, and the work device 3 is driven in this state to mainly remove the footing 13 on the front side of the steel plate 16. The work vehicle YS is lighter in weight than that used in the all-casing construction method, and the gantry 14 may have a relatively simple structure.

FIG. 4 is a block diagram of the progress status display device according to the present embodiment. Although not shown in FIGS. 1 to 3, the revolving structure 2 is provided with a tilt sensor 21 for detecting the tilt angle of the vehicle body, and the base end of the boom 4 detects the angle of the boom 4 with respect to the revolving structure 2. A boom angle sensor 22 is provided. The arm cylinder 9, the slide cylinder 10, and the cylinder 11 are provided with an arm stroke sensor 23, a slide stroke sensor 24, and a bucket stroke sensor 25 that detect the stroke amounts of the cylinders 9, 10, and 11, respectively, and are pressed against the boom cylinder lower side. A pressure sensor 26 that detects force is provided. Further, the revolving structure 2 is equipped with a computing device 40, a relay box 41, a monitor 42, a power supply 43, and the like.

The position of the boom base end that moves together with the work vehicle YS is measured by an automatic tracking type total station. Hereinafter, the automatic tracking type total station will be described with reference to FIG. As shown in FIG. 3, light projecting devices 29A and 29B for emitting infrared rays having different frequencies are mounted on the right rear portion and the left central portion of the revolving structure 2. The infrared rays emitted from the light projecting devices 29A and 29B are surveying instruments 30A and 30B arranged at predetermined positions X1 and X2.
Are respectively received, and the distances to the light projecting devices 29A and 29B, horizontal angles, and vertical angles are measured by the surveying instruments 30A and 30B. These distance data are transmitted from the transmitters 31A and 31B to the receiver 32 provided on the revolving structure 2, and the arithmetic unit 40 connected to the receiver 32 detects the boom base end portion from the reference point (for example, the position X1). The position is calculated. The position (shape) of the footing 13 from the reference point X1 is calculated in advance as design data, and the position of the boom base end portion with respect to the footing 13 is grasped by this.

As shown in FIG. 4, the arithmetic unit 40 includes a body tilt sensor 21, a boom angle sensor 22, an arm stroke sensor 23, a slide stroke sensor 24, and a bucket stroke sensor 25 via a relay box 41. The pressure sensor 26 and the power source 43 are connected to each other, and the monitor 42 and the keyboard 47 are provided in addition to the receiver 32 described above without the relay box 41.
And the transmitter 33 are connected to each other. Receiver 32
Is also connected to the power supply terminal of the relay box 41. The transmitter 33 transmits information regarding work to the receiver 34 of the base station.
Send to. A data processing device 35 is connected to the receiver 34, and information on work, for example, data on work output, is stored in the memory of the data processing device 35 as a output file.

The arithmetic unit 40 includes an arithmetic unit 44 such as a CPU.
A RAM 45 for temporarily storing data, and an interface 46A for reading data from a disk-type flash memory 46. The nonvolatile flash memory 46 stores the footing data, which is the shape data of the footing 13, as it is even when the power of the arithmetic unit 40 is turned off. The computing unit 44 uses these sensors and the keyboard 4
Predetermined processing is executed based on the input signal from 7 and an image signal is output to the monitor 42.

The footing data stored in the flash memory 46 will be described. As shown in FIG. 5, the footing shape is represented by a stack (dotted line) of a three-dimensional block (for example, a cube having a length of 20 cm) having a predetermined volume. The footing data is stored in CSV format, and a spreadsheet S corresponding to a projection view of the footing 13 on the XY plane is created by the footing data. In the spreadsheet S, cells are provided corresponding to each block on the XY plane of the footing 13, and the cell arrangement matches the block arrangement. The flash memory 46 stores the position (x coordinate, y coordinate) of the cell a11 corresponding to a predetermined block (for example, B11) from the reference point X1. The interval between the cells corresponds to the length (20 cm) of one side of the block. Therefore, the plane shape of the footing 13 from the reference point X1 can be grasped by the spreadsheet by giving the coordinates of the cell a11 as described above. It The numerical value of each cell represents the height (z coordinate) of the stacked blocks. When a part of the upper surface of the footing is crushed by the footing removal work, the numerical value on the sheet is updated, and the updated data is stored in the flash memory 46. Remembered. The size of one block is determined by previously verifying the volume destroyed by one pressing operation of the breaker 7.

From the keyboard 47, a signal relating to image display is input to the calculation unit 44 by the following key operation, for example. 1: Site name is operated by ten key operation 2: Footing identification number is operated by ten key operation 3: Stroke sensor 23 is operated by "reset" key operation
-25 initial value reset command 4: Start of footing removal work by "Start" key operation 5: Temporary interruption of work by "Suspension" key operation 6: Work restart command 7 by "Resume" key operation: "Plane" Change command of monitor screen by each operation of key, “side” key, “enlarge” key, “reduce” key 8: By each operation of “→” key, “←” key, “↑” key, “↓” key Positioning command 9 of the breaker 7 to the footing 13: Work end command by operating the "end" key

When a command to start or restart the footing removing work is input by operating the "start" key or the "restart" key, the arithmetic unit 44 executes the following processing.
FIG. 6 is a flowchart for explaining the processing in the arithmetic unit 44. As shown in FIG. 6, first, in step S1, as described above, the footing data representing the footing shape on the spreadsheet is stored in the flash memory 46.
Read from. Next, in step S2, the detection data from the position measurement sensors 21 to 25 and the receiver 32 are read. The data read in step S1 and step S2 is temporarily stored in the RAM 45 and updated at any time. In the next step S3, the sensors 21 to 25 and the receiver 3
Fleas at the tip of the breaker based on the detection data from 2
The position (x, y, z) of a is calculated. That is, the receiver 3
The calculation unit 44 calculates the position of the boom base end portion from the reference point X1 based on the position data received in 2, and corrects the value by the signal from the tilt sensor 21. Further, the position of the chisel 7a is calculated from signals from the boom angle sensor 22, the arm stroke sensor 23, the slide stroke sensor 24, and the bucket stroke sensor 25.

Then, in step S4, a "plane" key,
Whether or not the "side" key is operated is determined. When it is determined that the "plane" key is operated, the process proceeds to step S5, and when it is determined that the "side" key is operated, the process proceeds to step S6. Step S5
Then, it is determined whether or not the "enlargement" key and the "reduction" key are operated. If it is determined that the "enlargement" key is operated, the process proceeds to step S7, and if it is determined that the "reduction" key is operated, the step S8 is performed.
Proceed to.

In steps S6 to S8, footing 13 is performed based on the processing in steps S1 and S3.
And an image signal is output to the monitor 42 so as to display the breaker 7. That is, in step S6, a reduced plan view of the footing 13 and the breaker 7 is displayed in step S7.
Then, a signal is output so as to display the enlarged plan view and the reduced side view in step S9. As a result, the shape of the footing 13 is displayed on the monitor 42 in block units, and the posture of the entire work vehicle is displayed in an overlapping manner on the footing display. In this case, the signal output is adjusted so that the footing 13 is located at the center of the monitor screen, and the breaker 7 is displayed in accordance with the display of the footing 13. 7 to 9 show examples of output displays in steps S6 to S8. 8 and 9, the footing 13 is displayed in a color corresponding to the height of the top surface of the footing, and the display color becomes lighter as the height of the block becomes lower. Although the side view is only the reduced side view in this embodiment, an enlarged side view may be displayed as in the plan view.

Then, in step S9, the difference between the height z of the chisel 7a calculated in step S3 and the height z0 given to the upper surface of the footing block being crushed by the chisel 7a is equal to the length of one block. (In this embodiment, 2
0 cm) is judged. This is a step for determining whether a predetermined block of the footing 13 is given a predetermined influence by the characteristics of the breaker 7, that is, a step of determining whether or not one block of the footing 13 has been crushed. If S9 is affirmed, that is, if it is determined that the crushing is completed, the process proceeds to step S10, and if not, the process proceeds to step S12.

In step S10, footing 1 which is a numerical value on the spreadsheet for only one crushed block
The height data zo of 3 is updated, and the updated data is output to the receiver 34 in step S11. Then, in step S12, the updated footing data is written to the flash memory 46. Next, in step S13, it is determined whether or not there is a work interruption command by operating the "interruption" key. If the result is affirmative, the process ends, and if the result is negative, the process proceeds to step S14. In step S14, it is determined whether or not there is a work end command by operating the "end" key, and if affirmative, the process ends.
When denied, it will return to step S1.

Next, the operation of the progress status display device for the footing removing work according to the present embodiment will be described more specifically. When removing the footing, first
As shown in FIG.
Move S. Then, the flash memory 46 is inserted into the arithmetic unit 40 and the power is turned on. When the power is turned on, the initial screen is displayed on the monitor 42. On the initial screen, the site name and footing number are input to identify the footing 13 that is the target of the removal work. The site name and footing number are digitized in advance, and the operator inputs the site name and footing number by operating the ten keys.

Subsequently, the initial value resetting work of the stroke sensors 23 to 25 which are digital type sensors is performed. As shown in the position A of FIG.
With the cylinder 11 maximally contracted and the cylinder 11 maximally expanded, by operating the "reset" key.
As a result, the sensor output is reset to zero.

Then, the "start" key is operated. As a result, the above-described flowchart of FIG. 6 is executed, and the footing 13 is monitored by the monitor 42 based on the footing data.
Is displayed on the screen, and the sensors 21 to 25 and the receiver 32 are displayed.
The breaker 7 and the vehicle YS are displayed based on the signal from. Immediately after the operation of the "start" key, the process proceeds from step S4 to step S6, and the monitor 42 displays a reduced side view as shown in FIG. The side view displayed here is a vertical longitudinal sectional view directly below the working device 3 (VI in FIG. 8).
It is a sectional view taken along the line I-VII). Fleas 7a on the monitor 42
Working radius (tip working radius) and depth (tip depth)
Is displayed digitally. When the tip working radius becomes equal to or larger than a predetermined value, an alarm device (not shown) is activated to prohibit the driving of the working device 3 such that the working radius becomes large, whereby contact with an obstacle other than the footing is prevented. To be prevented.

When the "plane" key is operated in the state shown in FIG. 7, the process proceeds to step S4 → step S5 → step S8, and a reduced plan view as shown in FIG. 8 is displayed. S4 → step S5
→ Proceeds to step S7, and an enlarged plan view as shown in FIG. 9 is displayed. In the plan view, the blocks are color-coded (bright and dark display) according to the height of the blocks on the top surface of the footing so that the difference in height between the footing parts can be clearly seen on the screen. Even in the side view of FIG.
Color-coded display may be performed as in FIGS.

Next, the working device 3 is driven by operating the lever so that the tip of the chisel 7a is located at the corner of the footing 13 on the display screen, and the tip of the chisel 7a is footed 13 by the footer 13.
Press on the surface of. This is detected by the pressure sensor 26. That is, when the fleas 7a come into contact with the footing 13, a reaction force is received from the fleas 7a, and the detected value of the pressure sensor 26 increases. Therefore, the operator monitors the detected value by a not-shown instrument panel, and Determine the contact. At this time, when the position of the tip of the chisel 7a displayed on the monitor 42 is deviated from the actual position, that is, on the screen even though the chisel 7a is brought into contact with the surface of the footing 13. If they are not in contact, the position of the tip of the chisel 7a is adjusted on the screen. This is performed by shifting the image of the entire vehicle with respect to the footing 13 by operating arrow keys such as “→”, “←”, “↑”, “↓”. For such image adjustment, while moving the position of the tip of the chisel 7a by operating the lever,
It is repeated several times.

After the above procedure, while observing the monitor 42, the working device 3 is driven by operating the lever to set the tip of the chisel 7a vertically to the center of the surface of the footing block to be crushed, and the pressure sensor 26 Monitor the detection value. For example, as shown in FIG. 10, when the surface of the footing 13 has irregularities and the real surface of the footing 13 and the virtual surface (block surface) do not match (dotted line).
In this case, the detection value of the pressure sensor 26 becomes 0 or minute. In this case, the operator shifts the chisel 7a further downward until the detection value of the pressure sensor 26 increases, and the footing 13
Contact the surface of (solid line). Then, the fleas 7a are driven by the switch operation to start the crushing work. As a result, the chisel 7a is not driven in the non-contact state, and so-called blank driving is prevented.

During the crushing work, the working device 3 is the footing 1
Although the work vehicle YS is tilted by receiving a reaction force from No. 3, since the position of the boom base end is corrected by the tilt sensor 21,
The exact position of the chisel 7a is always calculated and displayed on the monitor 42. When the tip of the chisel 7a is moved downward by a predetermined length, it is determined that one block of the footing 13 has been crushed due to a predetermined influence of the characteristics of the breaker 7, and the above-described processing (step S9 → step S10) causes the spreadsheet to be broken. The footing data is updated. As a result, the image displayed on the monitor 42 is shown in FIGS.
It is changed as shown in. At the same time, the work processing data is transmitted to the receiver 34 (step S11), and the work output is recorded in the output file of the data processing device 35. The volume file is, for example, one block as one unit, and is a file in which the number of crushed blocks is integrated and recorded each time the breaker 7 crushes one block.

11 (a) and 12 (a) show an image display of a side view and a plan view before updating the data, and FIG. 11 (b) and FIG.
2 (b) shows an image display of a side view and a plan view after updating the data, respectively. In FIG. 11, when the footing data is updated as described above while the crushing operation of the predetermined block (for example, B1) is being performed, FIG. 11 (a) → (b)
As shown in, the display corresponding to the predetermined block B1 is erased (step S6). Further, when the footing data of the predetermined block B1 is updated in FIG.
As shown in 2 (a) → (b), the display corresponding to the predetermined block B1 is changed to one block low-brightness color (diagonal line) (steps S7 and S8). This allows the operator to easily recognize the progress of the footing removal work. When the crushing of one block of the footing 13 is completed, the tip of the chisel 7a is moved to another block by the lever operation, and the same operation is repeated.

When the crushing work is to be suspended for a break or lunch, the "interrupt" key is operated. As a result, step S13 is affirmed, and the processing in the calculation unit 44 is temporarily ended. After that, when resuming the work, the "restart" key is operated. As a result, the processing in the arithmetic unit 44 similar to that described above is restarted. Vehicle YS or work device 3 at the time of interruption
If you move, after operating the "Resume" key,
Start over from the initial value reset work.

When the crushing work is completed, the "end" key is operated. As a result, step S14 is affirmed, and the processing in the calculation unit 44 ends. After that, the power of the arithmetic unit 40 is turned off and the flash memory 46 is removed. CSV format data is stored in the flash memory 46, and the data can be organized by a personal computer or the like. As a result, the footing shape after the work is analyzed in detail, and the work progress status can be evaluated. Further, the progress status of the work is also output to the output file of the data processing device 35, and a daily work report or the like is created by this output file. When the crushing work described above is completed, the crushed scraps of the footing 13 are lifted to the ground by a clamshell bucket or the like, and the remaining footing shape is finally confirmed by two-dimensionally scanning the footing surface with ultrasonic sonar. To be done.

As described above, according to the present embodiment, the gantry 1
4, the excavator-type work vehicle YS having the breaker 7 is placed, the shape of the footing 13 is displayed on the monitor 42, and the position of the breaker 7 is displayed on the monitor 42 in real time. The operator can recognize the work status, and the work of removing the footing 13 becomes easy. Also, since it is not necessary to use a casing driver, there is no need to make the gantry large,
Work efficiency is not impaired.

Further, the footing 13 is displayed in block units, and when a predetermined one block is removed by the breaker 7, the block is erased or the color of the block is changed on the monitor 42. The change in the shape of can be easily grasped and the workability is improved. Furthermore, since the monitor screen is switched to any of the reduced side view, the enlarged plan view, and the reduced plan view according to the operator's intention, the work situation can be grasped more accurately.

In the above embodiment, the breaker 7 displays the progress of the work for breaking the footing, but the progress of other works may be displayed. As an example, the progress status of the work of excavating earth and sand by the clamshell bucket may be displayed. Further, in the side view display of FIG. 7, the removed footing 13 is deleted in block units as the removal work progresses, but the removed footing 13 may be displayed in block units. . Furthermore, the calculation unit 44
Flash memory 4 for passing footing data to and from
Although 6 is used, the footing data may be transferred wirelessly from the base station.

In the correspondence between the above embodiment and the claims, the footing 13 is a work object, the breaker 7 is a crushing attachment, the tilt sensor 21, the boom angle sensor 22, the arm stroke sensor 23, and the slide stroke sensor 24. , Bucket stroke sensor 25, light projecting devices 29A and 29B, surveying instruments 30A and 30B, and transmitter 31
A, 31B and the receiver 32 serve as position detecting means, the flash memory 46 serves as a storage device, the computing device 40 serves as an image control device, the monitor 42 serves as a display device, the computing device 40 serves as determination means, and the computing device 40 serves as the computing device 40. The correction means is the data processing device 3
5 constitutes the output management device, respectively.

[0034]

As described above in detail, according to the present invention, the work object is based on the shape data of the work object stored in the storage device and the position data of the crushing attachment detected by the position detecting means. Since the shape of and the position of the crushing attachment are displayed, it is possible to easily perform work in places such as underwater where it is difficult to see. Also, the work object is displayed in block units, and if the predetermined block is given a predetermined influence due to the crushing work of the crushing attachment, the display of the predetermined block is changed according to the influence. The progress of can be easily grasped.

[Brief description of drawings]

FIG. 1 is a side view of a shovel work vehicle to which the present invention is applied.

FIG. 2 is a diagram showing a footing removing work state.

FIG. 3 is a diagram showing a configuration of a position detection device for a revolving structure.

FIG. 4 is a block diagram of a progress status display device for footing removal work according to the present embodiment.

FIG. 5 is a diagram schematically showing a correspondence relationship between footing shapes and footing data.

FIG. 6 is a flowchart showing an example of processing in the arithmetic unit that constitutes the progressing display device for footing removal work according to the present embodiment.

FIG. 7 is a reduced side view of a footing and a working device showing an example displayed on a monitor that constitutes the progressing display device for the footing removing work according to the present embodiment.

FIG. 8 is a reduced plan view of a footing and a work device showing an example displayed on a monitor that constitutes the progressing display device for the footing removal work according to the present embodiment.

FIG. 9 is an enlarged plan view of a footing and a working device showing an example displayed on a monitor that constitutes the progressing display device for the footing removing work according to the present embodiment.

FIG. 10 is a diagram showing an example of comparison between a real surface and a virtual surface of footing.

FIG. 11 is a side view showing an example of changes in footing images displayed on a monitor.

FIG. 12 is a plan view showing an example of changes in footing images displayed on a monitor.

[Explanation of symbols]

2 Revolving structure 3 Working device 4 Long boom 5 Arm 6 Sliding arm 7 Breaker 7a chisel 13 Footing 21 Inclination sensor 22 Boom angle sensor 23 Arm stroke sensor 24 Sliding stroke sensor 25 Bucket stroke sensor 29A, 29B Light projecting device 30A, 30B Surveying Machine 31A, 31B Transmitter 32 Receiver 35 Data processing device 40 Arithmetic device 42 Monitor 46 Flash memory

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yoshinori Okazawa 1-10-3 Oshiage, Sumida-ku, Tokyo Inside Keisei Electric Railway Co., Ltd. (72) Katsuyuki Uematsu 2-2-2 Matsuzaki-cho, Abeno-ku, Osaka Okumura Gumi Co., Ltd. (72) Inventor Hideaki Mori 2-2-2 Matsuzakicho, Abeno-ku, Osaka City Okumura Gumi Co., Ltd. (72) Inventor Tsutomu Fujisawa 2-6-2 Otemachi, Chiyoda-ku, Tokyo Hitachi Construction Machinery Co., Ltd. In-house (56) References JP-A 64-91012 (JP, A) JP-A 63-135815 (JP, A) JP-A 62-63724 (JP, A) JP-A 60-59241 (JP, A) ) JP-A-11-256619 (JP, A) JP-A-11-210018 (JP, A) JP-A-10-306471 (JP, A) JP-A-7-259117 (JP, A) Actual development Sho-62- 181643 (JP, U) Actual flat 5-7744 (JP, U) Actual Flat 2-89052 (JP, U) (58 ) investigated the field (Int.Cl. ^7, DB name) G06T 1/00 280 E02F 9/26 G01B 21/00 JICST file (JOIS)

Claims (9)

(57) [Claims] 1. A device for displaying the progress status of work used in a work machine equipped with a crushing attachment mounted according to a work object at the tip of an arm rotatably attached to the work machine body. There, position detection means for detecting the position of the crushing attachment, and stores the shape of the work object in block units of a predetermined area or volume, the size of one of the blocks,
Affected by the crushing work of the crushing attachment
Based on the position data detected by the position data and the shape data of the work object stored in the storage device, a storage device that stores the volume determined in advance by verifying the volume to be determined ,
An image control device that generates an image signal that displays the shape of the work target in block units and an image signal that displays the position of the crushing attachment; and the work target and the crushing attachment based on the image signal. predetermined display device, determining means for determining that a predetermined influence is given by the crushing operation of the crushing attachment to a predetermined block of the work object, the previous SL determining means of said work object for displaying the door When it is determined that the predetermined influence is given to a block, the image control device generates the image signal so as to change the display of the predetermined block according to the influence. Display device. 2. The work progress status display apparatus according to claim 1, wherein the position detecting means detects a relative position between the arm and the crushing attachment provided at the arm tip, and A work progress display device, which also detects the amount of movement relative to the place where the machine body is installed. 3. The work progress status display device according to claim 1, wherein the image control device generates posture data of the crushing attachment based on position data detected by the position detection means, An operation progress status display device for generating an image signal for displaying the attitude of the crushing attachment from the attitude data. 4. The work progress status display device according to claim 1, wherein the image control device moves the position of the crushing attachment with respect to the work target on the display device. A work progress display device having a function of performing image adjustment. 5. The work according to any one of claims 1 to 4.
In the progress status display device, the position detection means detects an inclination angle of the working machine body.
Including a tilt sensor,
The work machine body is tilted due to the reaction force received from the work target.
The tilt angle detected by the tilt sensor when tilted
Based on this, a supplementary tool for correcting the position of the crushing attachment
Work progress display device characterized by having a positive means
Place 6. The work progress status display device according to claim 1, wherein the image control device displays the predetermined block differently according to the height of the work target. A work progress display device characterized by generating an image signal. 7. The work progress status display device according to claim 1, wherein when the determination unit determines the influence on the work target, the work target is displayed in block units. A work progress display device comprising a performance management device for outputting a corresponding signal to manage the work performance. 8. The work according to any one of claims 1 to 7.
In the progress display device, the position of the crushing attachment is detected by the position detecting means.
If it is detected that the position exceeds the specified working radius,
Large working radius of arm and crushing attachment
That an alarm device that prohibits movement in the direction of
A characteristic work progress display device. 9. A work machine comprising the work progress status display device according to claim 1.