JP4012448B2 - Construction machine excavation work teaching device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an excavation work teaching device for a construction machine such as a hydraulic excavator, and in particular, teaches a target excavation work position when a excavation work machine such as a bucket is operated to perform excavation work on a three-dimensional target landform. The present invention relates to an excavation work teaching apparatus suitable for a construction machine.
[0002]
[Prior art]
When constructing roads on slopes such as mountainous areas, first of all, using a construction machine such as a hydraulic excavator or bulldozer, work such as cutting or embankment is performed to form the necessary ground, and the ground collapses around it. In order to prevent this, a slope is formed using a hydraulic excavator or the like. This slope forming operation is a highly accurate excavation molding operation and requires skill. In particular, when excavating excessively below the target excavation surface, mere backfilling is not enough, and compaction using a machine such as a compactor is necessary to achieve the same strength as the natural ground, greatly improving work efficiency. To drop. Therefore, the operator carefully performs the slope forming operation so as not to dig too much the target excavation surface.
[0003]
On the other hand, as means for teaching the target excavation surface to the operator, numerical values related to the excavation target, such as slope gradient and depth, are recorded at a number of representative positions from the results of surveying the current original topography. Installed piles and plates (tightening work). The operator looks at this tightness and operates the excavator working machine to form the target slope. However, when slopes are formed on complex terrain such as slopes in mountainous areas, it is necessary to install many target piles and plates along complicated 3D terrain. Needed a lot of time.
[0004]
Therefore, for example, as described in Japanese Patent Application Laid-Open No. 2001-98585, the three-dimensional position and the direction of the work machine of a construction machine such as a hydraulic excavator are compared with the three-dimensional target landform, and the work machine is directed. The 3D intersection line between the plane of the longitudinal section passing through the direction and the 3D target landform is calculated, and the intersection line is displayed on the same screen on the display device installed in the cab together with the illustration of the car body and the work implement. Devices for guiding a target excavation surface by displaying are known.
[0005]
For example, in the 3D-MC GPS excavator manufactured by Topcon Corporation, the triangle polygons constituting the three-dimensional terrain are displayed on a touch panel display device installed in the cab, and the target excavation among the displayed triangle polygons is displayed. There is known an apparatus that displays a target excavation surface in a different color by directly touching and teaching a polygon corresponding to the surface on a display device.
[0006]
[Patent Document 1]
Japanese Patent Laid-Open No. 2001-98585
[Problems to be solved by the invention]
However, in the apparatus described in Japanese Patent Laid-Open No. 2001-98585, a three-dimensional intersection line between a plane of a longitudinal section passing through a direction in which the work machine is facing and a three-dimensional target landform is calculated, and the intersection is calculated. By displaying the line on the same screen together with the illustration of the car body and work implement on the display device installed in the cab, you can surely know the surface to be excavated at the current position of the excavator, but the direction in which the work implement operates Is not directed in the normal direction of the target slope, the bucket width will bite into the target plane. Therefore, when actually performing the slope forming work, it is necessary to perform a work of aligning the direction of operation of the work machine in the direction perpendicular to the target slope in consideration of the width of the work machine, which complicates the work. There was a problem.
[0008]
In addition, the Topcon 3D-MC GPS excavator displays the angle between the direction in which the work equipment operates and the normal direction of the target slope in a separate frame on the same screen of the vehicle body and the three-dimensional target landform. The operator turns or runs the vehicle so that the angle becomes 0, but there is no specific guidance in which direction the vehicle should actually be operated. There is a problem that it is necessary for the operator to operate by himself / herself, and an inexperienced operator cannot easily position the vehicle body.
[0009]
The object of the present invention is to make it easy to grasp an appropriate excavation surface as a target even in a slope forming operation on complicated three-dimensional terrain, and to easily position a vehicle body during excavation, thereby improving work efficiency. An object of the present invention is to provide a machine excavation work teaching device.
[0010]
In the present specification, the “absolute position in the three-dimensional space” is a position expressed by a coordinate system set outside the traveling construction machine. For example, GPS is used as a three-dimensional position measuring device. The case is a position expressed by a coordinate system fixed to a reference ellipsoid used as a height reference in GPS. In the present specification, the coordinate system set to the reference ellipsoid is referred to as a global coordinate system.
[0011]
The local plane Cartesian coordinate system is defined by the survey method, and is a Cartesian coordinate system that divides the whole of Japan into 20 regions and regards each region as a plane. It is a three-dimensional rectangular coordinate system with the origin at the location. The image data of the three-dimensional target landform in this specification is created as values in the local plane rectangular coordinate system.
[0012]
[Means for Solving the Problems]
(1) To achieve the above object, the present invention provides a drilling operation teaching device for a construction machine for performing excavating operations that a three-dimensional target landform 3D terrain by operating the working machine for drilling, the The construction machine is composed of a lower traveling body, an upper swinging body that is pivotable with respect to the lower traveling body, a boom, an arm, and a bucket, each of which is configured to be rotatable up and down. A position measuring means for measuring the three-dimensional position of the work machine of the construction machine, and a display means for displaying the positional relationship between the three-dimensional target landform and the work machine according to the measurement result of the position measuring means, The means displays a large number of small planes constituting the three-dimensional target terrain and an illustration of the whole or a part of the construction machine including at least the tip of the work machine as a first screen, and the first screen displays the first screen. There are, operating with the rotation operation of the vertical direction of a plurality of small projection line to the normal of the horizontal surface of the target excavation plane of the plane of the construction machine which is facing currently working machine constituting the three-dimensional target landform A straight line when the operation direction of the bucket is viewed from directly above is displayed.
In this way, even in the case of complex three-dimensional terrain where the shape of the terrain to be excavated changes as the construction machine moves, the working machine of the construction machine that is currently facing the projection line of the normal of the target excavation surface Therefore, the installation position of the construction machine suitable for excavating the target excavation surface can be intuitively and easily grasped, and the work efficiency during excavation can be improved.
[0013]
(2) In the above (1), preferably, the display means simultaneously displays the center position of the vehicle body of the construction machine on the first screen.
[0014]
(3) In the above (1), preferably, the display means includes a straight line and the small plane when the operation direction of the bucket that operates in accordance with the rotation operation of the work implement in the vertical direction is viewed from directly above. the intersection line, and a second screen displayed by the cross sectional view of the bucket illustration of a whole or a portion of the construction machine is obtained by the so displayed simultaneously with the first screen.
[0015]
(4) In the above (1), preferably, the display means simultaneously displays a direction line in which the traveling body of the construction machine moves on the first screen.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an example in which a construction machine excavation work teaching apparatus according to an embodiment of the present invention is applied to a hydraulic excavator will be described with reference to FIGS.
[0017]
FIG. 1 is a block diagram showing a configuration of a work position measuring system using a construction machine excavation work teaching apparatus according to an embodiment of the present invention.
[0018]
The work position measurement system receives correction data (described later) from the reference station via the antennas 33 and 34, and the correction data received by the radios 41 and 42 and the GPS antennas 31 and 32. GPS receivers 43 and 44 that measure the three-dimensional positions of the GPS antennas 31 and 32 in real time based on the signals from the GPS satellites, and position data and angle sensors 21 and 22 from the GPS receivers 43 and 44. , 23, the inclination sensor 24, and the angle data from various sensors such as the turning angle sensor 25, the position of the tip (monitor point) of the bucket 7 of the excavator 1 is calculated, and a three-dimensional target landform to be described later is shown. Panel computer 45 in which data is stored in a predetermined memory, and a position calculated by the panel computer 45 A display device 46 for displaying data and a three-dimensional target landform with illustrations and the like, a radio 47 for transmitting position data calculated by the panel computer 45 via the antenna 35, and a target for performing excavation work in advance And a setting device 48 for setting and instructing an excavation surface. The GPS antenna 31 and the GPS receiver 43, and the GPS antenna 32 and the GPS receiver 44 each constitute one set of GPS (Groba1 Positioning System).
[0019]
FIG. 2 is a diagram showing the external appearance of a hydraulic excavator using the excavation work teaching apparatus for construction machines according to the embodiment of the present invention.
[0020]
The excavator 1 is provided with a lower traveling body 2, a lower traveling body 2 that is turnable on the lower traveling body 2, an upper revolving body 3 that forms a vehicle body together with the lower traveling body 2, and a front work machine 4 that is provided on the upper revolving body 3. Consists of. The front work machine 4 is provided with a boom 5 provided on the upper swing body 3 so as to be rotatable in the vertical direction, an arm 6 provided at the tip of the boom 5 so as to be rotatable in the vertical direction, and rotated at the tip of the arm 6 in the vertical direction. It is comprised with the bucket 7 which is the tip excavation part provided possible, and it drives by expanding / contracting the boom cylinder 8, the arm cylinder 9, and the bucket cylinder 10, respectively. The upper swing body 3 is provided with a cab 11.
[0021]
The hydraulic excavator 1 includes an angle sensor 21 that detects a rotation angle (boom angle) between the upper swing body 3 and the boom 5, and an angle sensor 22 that detects a rotation angle (arm angle) between the boom 5 and the arm 6. An angle sensor 23 that detects a rotation angle (bucket angle) between the arm 6 and the bucket 7, an inclination sensor 24 that detects an inclination angle (pitch angle) in the front-rear direction of the upper swing body 3, the lower traveling body 2 and the upper part A turning angle sensor 25 that detects a rotation angle (turning angle) with respect to the turning body 3 is provided.
[0022]
Further, the excavator 1 transmits two GPS antennas 31 and 32 for receiving signals from GPS satellites, radio antennas 33 and 34 for receiving correction data (described later) from a reference station, and position data. A wireless antenna 35 is provided. The two GPS antennas 31 and 32 are installed on the left and right of the rear part of the revolving unit that is off the turning center of the upper revolving unit 3.
[0023]
FIG. 3 is a block diagram showing a configuration of an office side system having a role as a GPS reference station.
[0024]
The office 51 that manages the position and work of the excavator 1 and the bucket 7 includes a GPS antenna 52 that receives signals from GPS satellites, a radio antenna 53 that transmits correction data to the excavator 1, and the excavator 1. The above-described hydraulic excavator is based on the wireless antenna 54 that receives the position data of the hydraulic excavator 1 and the bucket 7 described above, the three-dimensional position data measured in advance, and the signal from the GPS satellite received by the GPS antenna 52. The GPS receiver 55 as a GPS reference station that generates correction data for performing RTK (real-time kinematic) measurement by one GPS receiver 43, 44, and the correction data generated by the GPS receiver 55 via the antenna 53 A radio 56 for transmitting, and a radio 57 for receiving position data via an antenna 54; A computer 58 that performs calculations for displaying and managing the positions of the hydraulic excavator 1 and the bucket 7 based on the position data received by the wireless device 57 and displaying data indicating the three-dimensional target landform, and the positions calculated by the computer 58 A display device 59 for displaying data, management data, and three-dimensional target terrain with illustrations is installed. The GPS antenna 52 and the GPS receiver 55 constitute one set of GPS.
[0025]
Next, an outline of the operation of the work position measurement system according to the present embodiment will be described. In the present embodiment, in order to perform position measurement with high accuracy, RTK measurement is performed by the GPS receivers 43 and 44 shown in FIG. For this purpose, first, the GPS reference station 55 for generating the correction data shown in FIG. 3 is required. The GPS reference station 55 generates and generates correction data for RTK measurement based on the position data of the antenna 52 measured in advance three-dimensionally as described above and the signal from the GPS satellite received by the antenna 52. The correction data is transmitted by the wireless device 56 through the antenna 53 at a constant cycle.
[0026]
On the other hand, the on-vehicle side GPS receivers 43 and 44 shown in FIG. 1 receive correction data received by the radios 41 and 42 via the antennas 33 and 34 and GPS satellites received by the antennas 31 and 32, respectively. Based on the signal, the three-dimensional positions of the antennas 31 and 32 are measured by RTK. By this RTK measurement, the three-dimensional positions of the antennas 31 and 32 are measured with an accuracy of about ± 1 to 2 cm. The measured three-dimensional position data is input to the panel computer 45.
[0027]
Further, the pitch angle of the hydraulic excavator 1 is measured by the tilt sensor 24, and the angles of the boom 5, the arm 6, and the bucket 7 are respectively measured by the angle sensors 21 to 23, and are similarly input to the panel computer 45.
[0028]
The panel computer 25 performs general vector calculation and coordinate conversion based on the position data from the GPS receivers 43 and 44 and the angle data from the various sensors 21 to 24, and determines the three-dimensional position of the tip of the bucket 7. Calculate.
[0029]
Next, the three-dimensional position calculation process in the panel computer 45 will be described with reference to FIGS. FIG. 4 is a diagram showing a coordinate system used for calculating the absolute position of the tip of the bucket 7 in the three-dimensional space. In FIG. 4, Σ0 is a global coordinate system having an origin O0 at the center of a GPS-compliant ellipsoid, Σ3 is fixed to the upper swing body 3 of the excavator 1, and has an origin O0 at the intersection of the swing base frame and the swing center. The shovel base coordinate system, Σ0, is a bucket tip coordinate system fixed to the bucket 7 and having a center O7 at the tip of the bucket 7.
[0030]
Since the positional relationships L1, L2, and L3 of the GPS antennas 31 and 32 with respect to the origin (intersection of the turning base frame and the turning center) O3 of the excavator base coordinate system Σ3 are known, the GPS antennas 31 and 32 in the global coordinate system Σ0 are known. If the three-dimensional position and the pitch angle θ2 of the hydraulic shovel 1 are known, the position and orientation of the shovel base coordinate system Σ3 in the global coordinate system Σ0 (the direction of the upper swing body 3) can be obtained. Further, the positional relationship α3, α4 between the origin (the intersection of the turning base frame and the turning center) O3 of the shovel base coordinate system Σ3 and the base end of the boom 5, and the dimensions α5, α6, α7 of the arm 5, arm 6, and bucket 7. Since the boom angle θ5, the arm threatness θ6, and the bucket angle θ7 are known, the position and orientation of the bucket tip coordinate system Σ7 in the shovel base coordinate system Σ3 can be obtained. Accordingly, the three-dimensional positions of the GPS antennas 31 and 32 obtained by the GPS receivers 43 and 44 on the vehicle side are obtained as values in the global coordinate system Σ0, the pitch angle θ2 of the hydraulic excavator 1 is obtained by the angle sensor 24, and the angle sensor By calculating the boom angle θ5, the arm angle θ6, and the bucket couple θ7 from 21 to 23 and performing coordinate conversion calculation, the tip position of the bucket 7 can be obtained by the value of the global coordinate system Σ0.
[0031]
FIG. 5 is a diagram for explaining the concept of the global coordinate system. In FIG. 5, G is a compliant ellipsoid used in GPS, and the origin O0 of the global coordinate system Σ0 is set at the center of the compliant ellipsoid G. Further, the x0 axis direction of the global coordinate system Σ0 is located on a line passing through the intersection C of the equator A and the meridian B and the center of the reference ellipsoid G, and the z0 axis direction is a line extending from the center of the reference ellipsoid G to the north and south. The y0 axis direction is located on a line orthogonal to the x0 axis and the z0 axis. In GPS, the position on the earth is expressed by latitude and longitude, and the height (depth) with respect to the reference ellipsoid G. By setting the global coordinate system Σ0 in this way, the GPS position information is expressed in the global coordinate system. It can be easily converted to a value of Σ0.
[0032]
FIG. 6 is a flowchart showing a three-dimensional position calculation processing procedure. In FIG. 6, first, the three-dimensional position (latitude, longitude, height) of the GPS antenna 31 obtained by the GPS receiver 43 on the vehicle-mounted side is converted into a value GP1 of the global coordinate system Σ0 based on the above idea (step S10). ), The arithmetic expression for this is generally well known, and is omitted here. Similarly, the three-dimensional position of the GPS antenna 32 obtained by the in-vehicle side GPS receiver 44 is converted into a value GP2 of the global coordinate system Σ0 (step S20). Next, the pitch angle θ2 measured by the tilt sensor 24 is input (step S30), and the three-dimensional positions GP1 and GP2 in the global coordinate system Σ0 of the GPS antennas 31 and 32 obtained in steps S10 and 20 and the pitch angle θ2 thereof. And the position of the shovel base coordinate system Σ3 from the positional relationship L1, L2, L3 of the GPS antennas 31 and 32 with respect to the origin (intersection of the turning base frame and the turning center) O3 of the shovel base coordinate system Σ3 stored in the storage device The attitude (the direction of the upper swing body 3) is obtained by the value GPB of the global coordinate system Σ0 (step S40). This calculation is coordinate transformation and can be performed by a general mathematical method. Next, the boom angle θ5, the arm angle θ6, and the bucket angle θ7 detected by the angle sensors 21 to 23 are input, and these values and the origin of the shovel base coordinate system Σ3 stored in the storage device (the rotation base frame and the rotation center) (Intersection) The bucket tip position BPBK is obtained by the shovel base coordinate system Σ3 from the positional relationship α3, α4 between O3 and the base end of the boom 5 and the dimensions α5, α6, α7 of the arm 5, arm 6, and bucket 7 (step S50). . This calculation is also coordinate transformation and can be performed by a general mathematical method. Next, the bucket tip position GPBK in the global coordinate system Σ0 from the value GPB of the shovel base coordinate system Σ3 in the global coordinate system Σ0 obtained in step S40 and the bucket tip position BPBK in the shovel base coordinate system Σ3 obtained in step S50. Is obtained (step S60). Then, the bucket tip position GPBK in the global coordinate system Σ0 is converted into a local plane rectangular coordinate system. An arithmetic expression for this is generally well known and is omitted here.
[0033]
By performing the above calculation, the absolute position of the tip position of the bucket 7 in the three-dimensional space can be obtained.
[0034]
Note that the obtained three-dimensional position of the bucket tip is transmitted via the antenna 35 by the wireless device 47. The transmitted position data of the tip of the bucket 7 is received by the wireless device 57 via the antenna 54 and input to the computer 58. The computer 58 stores the input position data of the tip of the bucket 7 and, similarly to the panel computer 25, a three-dimensional image in which the main body of the hydraulic excavator and the illustration of the bucket are stored in advance in a predetermined memory on the monitor of the display device 59. Display in the 3D position on the target terrain. Thereby, the working state of the excavator 1 can be managed in the office 51.
[0035]
Next, FIG. 7 and FIG. 8 show display examples of screens displayed on the display unit of the display device 46.
[0036]
FIG. 7 shows a first position display example displayed on the display unit of the display device 46. The display device 46 displays a first screen 46a and a second screen 46b. In the first screen 46a, the illustrations of the vehicle body S and bucket B of the excavator are stored in a predetermined memory in advance as shown in FIG. 7, using the three-dimensional position obtained by the three-dimensional position calculation process in the panel computer 45. It is displayed at a three-dimensional position on the three-dimensional target landform G. In addition, the target excavation surface TG (the hatched surface in the figure) taught by the excavation work teaching apparatus of the present embodiment is displayed in a different color from the other excavation surfaces. The display screen displayed on the display device 48 can change the viewpoint arbitrarily by operating the setting device 48.
[0037]
Further, the panel computer 45 includes a plane having a vertical cross section that passes in the direction in which the bucket is facing (a bucket operating surface, that is, a plane that is fixed to the upper rotating body on which the bucket operates in accordance with the operation of the front work machine) and the three-dimensional A three-dimensional intersection line with the target excavation surface is calculated, and the intersection line, the vehicle body S, and the bucket B are displayed on the second screen 46b to notify the operator of the work status.
[0038]
By simultaneously displaying the three-dimensional position display and the cross-section display in this manner, the positional relationship of the vehicle body S and the bucket B with respect to the target excavation surface TG can be intuitively displayed.
[0039]
FIG. 8 shows a second position display example displayed on the display unit of the display device 46. On the first screen 46a, a two-dimensional image with the viewpoint as the top surface is displayed. When the operator uses the setting device 48 to set one target of the small planes constituting the three-dimensional terrain, the panel computer 25 selects the direction PL (bucket operation plane) in which the bucket of the hydraulic excavator currently facing is operating. (Straight line seen from directly above), the projection line GL of the normal line of the set target small plane onto the horizontal plane, and the turning center O of the vehicle body S of the excavator are also displayed.
[0040]
FIG. 9 is an external perspective view of the setting device 48 used in the present embodiment. The setting device 48 includes a switch 48a for turning on / off the display start on the display device 46, a manual setting switch 48d for manually setting a target excavation surface, and a joystick 48c for moving the viewpoint of three-dimensional display. 8, a two-dimensional display switch 48f for switching the screen of the display device to the two-dimensional display seen from above, and a three-dimensional display switch for switching the screen of the display device to the three-dimensional display shown in FIG. 48g.
[0041]
Next, processing functions of the panel computer 45 as the excavation surface teaching apparatus according to the present embodiment will be described using the flowchart shown in FIG.
[0042]
The panel computer 45 is a hydraulic excavator that serves as a guidance for excavation work when displaying the illustration of the body and bucket of the hydraulic excavator shown in FIG. 8 at a three-dimensional position on a three-dimensional target terrain previously stored in a predetermined memory. The direction lines in which the buckets operate, the center position of the vehicle body, and the projection lines on the horizontal plane of the target excavation surface are displayed on the same screen.
[0043]
When excavating the set target excavation surface by operating the bucket, the bucket has a lateral width, so the bucket operating direction and the vertical line of the target excavation surface perpendicular to the horizontal plane are not almost parallel to each other. The edge bites into the target excavation surface or floats from the target excavation surface. Therefore, the operator can move the vehicle body in which direction and how much by looking at the direction line of the bucket that is displayed on the screen of the display device and the projection line of the vertical position of the target excavation surface onto the horizontal plane. For example, it is possible to turn the vehicle body by judging whether it is most suitable for excavation work, or to operate the lower traveling body so that the direction line in which the bucket operates and the perpendicular line of the target excavation surface are substantially parallel. When the direction line in which the bucket operates and the perpendicular line of the target excavation surface are substantially parallel, the plane of the longitudinal section passing through the direction in which the bucket faces and the three-dimensional target excavation surface shown in the sub-screen 46b of FIG. By excavating the target excavation surface while checking the screen displaying the three-dimensional intersection line with the vehicle body and the bucket, it is possible to excavate even in complicated three-dimensional landform with high accuracy.
[0044]
When the direction line in which the bucket operates and the projection line of the perpendicular of the target excavation surface onto the horizontal plane are not parallel, both can be made substantially parallel by the following procedure. First, while viewing the image of the display device 46 shown in FIG. 8, the operator travels the lower traveling body so that the center O of the vehicle body S approaches the projection line GL of the perpendicular to the horizontal plane of the target excavation surface, Next, this can be achieved by turning the upper turning body so that the direction line PL in which the bucket operates and the projection line GL of the perpendicular of the target excavation surface onto the horizontal plane substantially coincide. Second, it can be achieved by turning the upper turning body so that the direction line PL in which the bucket operates and the projection line GL of the perpendicular of the target excavation surface onto the horizontal plane are parallel.
[0045]
When excavating a target excavation surface by operating the bucket, the edge of the bucket bites into the target excavation surface unless the vertical plane of the target excavation surface and the surface where the bucket moves are almost parallel because of the lateral width of the bucket, It will float from the target excavation surface. On the other hand, in the present embodiment, the direction line in which the bucket of the hydraulic excavator operates, the center line of the vehicle body, and the projection line on the horizontal plane of the perpendicular of the target excavation surface are displayed on the same screen, so that the turning direction of the upper swing body In addition, the moving direction of the lower traveling body can be intuitively grasped, the movement of the vehicle body can be facilitated, and the working efficiency can be improved.
[0046]
In FIG. 10, the panel computer 45 sets the viewpoint in the three-dimensional display to an initial value (step S105). Next, it is determined whether or not the three-dimensional display start switch 48a of the setting device 48 is on (step S110). If it is on, the process proceeds to step S115. The panel computer 45 acquires the position data of the antennas 31 and 32 from the GPS receivers 43 and 44, and calculates the three-dimensional coordinates of the tip position of the bucket 7 by the method described in FIGS. 4 to 6 (step S115). . Details of steps S105 and S100 are as described in steps S10 to S70 of FIG.
[0047]
Next, it is determined whether or not the viewpoint has been changed by operating the joystick 48e of the setting device 48 (step S120). When the viewpoint has been changed, the viewpoint in the three-dimensional display is calculated for the changed viewpoint position. (Step S125). Then, as shown in FIG. 7, the three-dimensional target land G, the vehicle body S, and the bucket B are three-way displayed on the display unit of the display device 48 (step S130). Next, the operation direction of the bucket is calculated (step S135).
[0048]
Next, it is determined whether or not a configuration surface has been selected by the setting device (step S140), and if selected, the process proceeds to step S145. If the operator uses the target plane setting switch 48d of the setting device 48 shown in FIG. 9 to set one target of the small planes constituting the three-dimensional landform, the process proceeds to step S145.
[0049]
When the component plane is selected, it is determined whether or not the two-dimensional display mode is selected as the screen display mode (step S145). If the two-dimensional display switch 48f of the operation device 48 shown in FIG. 12 is pressed, the process proceeds to step S150, and if not, the process proceeds to step S165.
[0050]
When the two-dimensional display switch 48f is pressed, as shown in FIG. 8, a two-dimensional image when the viewpoint is the upper surface is displayed on the first screen 46a of the display device 46. That is, when the operator uses the setting device 48 to set one target of the small planes constituting the three-dimensional terrain, the panel computer 25 moves the direction PL (bucket operation) of the hydraulic shovel bucket that is currently facing. A straight line when the surface is viewed from directly above) and a projection line GL onto the horizontal plane of the perpendicular of each small plane constituting the three-dimensional target landform. Further, the turning center O of the vehicle body S of the excavator is also displayed.
[0051]
Next, the display color of the component surface selected in step S140 is changed (step S155). That is, in the case of three-dimensional display, as shown in FIG. 7, the display color of the target excavation surface TG is changed from the display color of the other component surfaces. Further, in the case of the two-dimensional display viewed from directly above, the display color of the target excavation surface TG is changed from the display color of the other component surfaces as shown in FIG.
[0052]
Then, a three-dimensional intersection line between the bucket movement direction and the selected component surface is calculated (step S160), and the three-dimensional line viewed from the side of the vehicle body is displayed on the sub-screen 46b of the display device 46 as shown in FIG. The intersection line, the vehicle body S and the bucket B are displayed (step S165).
[0053]
When the target excavation plane is set, the operator displays the three-dimensional intersection line between the plane of the longitudinal section passing through the direction of the bucket shown in FIG. 7 and the three-dimensional target excavation plane, and the vehicle body and the bucket. By excavating the target excavation surface while checking the screen, it is possible to excavate accurately even in complicated three-dimensional terrain.
[0054]
Further, as shown in FIG. 11, in the operation of forming a long slope G in substantially the same direction in the lateral direction, the slope is formed while sequentially moving the traveling body S in the direction in which the slope runs. In this case, by displaying the direction line TL in which the traveling body S moves on the same screen, the operator can check whether the direction in which the slope G extends and the traveling direction of the traveling body S are substantially parallel, Subtle shifts in the direction of travel can reduce the trouble of correcting the position of the hydraulic excavator one by one, improving work efficiency.
[0055]
The details of the above embodiment are not limited to the above examples, and various modifications are possible. As an example, in the above embodiment, the bucket and the vehicle body are displayed. However, as long as at least the excavation part at the tip of the bucket is displayed, the entire hydraulic excavator or a part thereof may be displayed. In addition, the direction line of the target excavation surface displayed on the display devices 46 and 59, the direction line of the working machine of the construction machine such as a hydraulic excavator, the center position of the vehicle body, and the direction line of the traveling body are displayed in different colors. It may be displayed. Further, the perpendicular direction lines of a plurality of triangular polygons near the target excavation surface may be displayed simultaneously. Further, the target excavation surface may be displayed or blinked in a display color different from other triangular polygons. As an example, a touch panel may be adopted as a method for teaching a target excavation surface, and a triangular polygon displayed directly on the screen with a finger may be designated. Further, although an angle meter that detects a rotation angle is used as a means for detecting a relative angle between each member of the front device, a stroke of a cylinder may be detected. Further, the detected three-dimensional position of the bucket tip is transmitted to the office computer 58, but it is not necessary to transmit the three-dimensional position data unless management on the office side is particularly necessary.
[0056]
As described above, according to the present embodiment, in the complicated three-dimensional terrain where the terrain shape to be excavated under the bucket changes as the excavator moves and as the bucket moves. Even if there is, the target excavation surface is taught according to the current position of the construction machine to calculate the three-dimensional intersection line between the plane of the longitudinal section passing through the direction in which the work equipment is facing and the target excavation surface. Then, since the intersection line is displayed on the same screen on the display device, the operator can grasp the target excavation surface according to the current position of the construction machine and can display the target excavation displayed on the display unit. If the work machine is operated along the target excavation surface while looking at the surface and the work machine, the three-dimensional target landform can be excavated. In addition, the screen with the perpendicular direction line of the target excavation surface and the direction line of the construction machine facing the construction machine and the center position of the construction machine viewed from the top surface is displayed on the same screen, so construction suitable for excavating the target excavation surface The installation position of the machine can be grasped intuitively and easily. In addition, since it has a display means that displays the direction line indicating the direction of the traveling body of the construction machine on the same screen, it is possible to intuitively know which direction the vehicle body is moving by the traveling operation, and the traveling operation is not wasteful. Work efficiency is improved.
[0057]
【The invention's effect】
According to the present invention, it is easy to grasp a target appropriate excavation surface even in slope forming work on complicated three-dimensional terrain, and it is easy to position a vehicle body during excavation, thereby improving work efficiency. Can do.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a work position measurement system using a construction machine excavation work teaching apparatus according to an embodiment of the present invention.
FIG. 2 is a diagram showing the external appearance of a hydraulic excavator equipped with a work position measurement system according to an embodiment of the present invention.
FIG. 3 is a block diagram showing a configuration of an office system having a role as a GPS reference station.
FIG. 4 is a diagram showing a coordinate system used for calculating an absolute position in a three-dimensional space of a tip of a bucket.
FIG. 5 is a diagram illustrating an outline of a global coordinate system.
FIG. 6 is a flowchart showing a three-dimensional position calculation processing procedure.
FIG. 7 shows a first display example displayed on the display unit of the display device.
FIG. 8 shows a second display example displayed on the display unit of the display device.
FIG. 9 is an external perspective view of a setting device used in the present embodiment.
FIG. 10 is a flowchart showing processing functions of a panel computer as an excavation surface teaching apparatus according to the present embodiment.
FIG. 11 illustrates a third display example displayed on the display unit of the display device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Hydraulic excavator 2 Lower traveling body 3 Upper turning body 4 Front work machine 5 Boom 6 Arm 7 Bucket 21-23 Angle sensor 24 Inclination sensor 25 Turning angle sensor 31, 32 GPS antenna 33, 34 Wireless antenna 35 Wireless antenna 41, 42 Wireless 43, 44 GPS receiver 45 Panel computer 46 Display device 47 Wireless device 48 Setter 51 Office 52 GPS antenna 53 Wireless antenna 54 Wireless antenna 55 GPS receiver 56 Wireless device 57 Wireless device 58 Computer 59 Display device

Claims (4)

In an excavation work teaching apparatus for a construction machine that performs excavation work by operating a work machine for excavation to change a 3D terrain into a 3D target terrain,
The construction machine is composed of a lower traveling body, an upper revolving body that can swivel with respect to the lower traveling body, a boom, an arm, and a bucket, and a work machine that can rotate in the vertical direction.
Position measuring means for measuring the three-dimensional position of the work machine of the construction machine;
Display means for displaying the positional relationship between the three-dimensional target landform and the work implement according to the measurement result of the position measuring means;
The display means displays a large number of small planes constituting the three-dimensional target landform and an illustration of the whole or a part of the construction machine including at least a tip portion of the work machine as a first screen, and the first screen. in the operation with the rotation of the vertical direction of the construction machine of the working machine that is currently facing a projection line to the normal of the horizontal surface of the target excavation plane of the plurality of facets constituting the three-dimensional target landform A construction machine excavation work teaching device, characterized by displaying a straight line when the operation direction of the bucket is viewed from directly above . The construction machine excavation work teaching device according to claim 1,
The construction machine excavation work teaching apparatus according to claim 1, wherein the display means simultaneously displays a center position of a vehicle body of the construction machine on the first screen. The construction machine excavation work teaching device according to claim 1,
The display means includes a line of intersection between a straight line and the small plane when the operation direction of the bucket that is operated in accordance with the rotation operation of the work machine in the vertical direction is seen from directly above , and the whole or a part of the construction machine. the second screen displaying a bucket illustration is the cross-sectional view, excavation work teaching device for a construction machine wherein the simultaneously displaying the first screen. The construction machine excavation work teaching device according to claim 1,
The apparatus for teaching excavation work of a construction machine, wherein the display means simultaneously displays a direction line in which the traveling body of the construction machine moves on the first screen.

Images