JP5364742B2 - Hydraulic excavator position guidance system and method for controlling position guidance system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position guidance system of a hydraulic shovel and a control method for the position guidance system capable of reducing a workload of an operator. <P>SOLUTION: In a position guidance system of a hydraulic shovel, a calculation section calculates an approaching/leaving determination distance (D1) which shows a distance between a target work object (70) and a reachable range of a work machine (2). The calculation section allows a guidance screen in a detail mode to be displayed on a display section when the approaching/leaving determination distance (D1) is equal to or less than a prescribed threshold. The calculation section also allows the guidance screen in a wide area mode showing a wider range than the detail mode to be displayed on the display section when the approaching/leaving determination distance (D1) is larger than the prescribed threshold. <P>COPYRIGHT: (C)2012,JPO&amp;INPIT

Description

  The present invention relates to a position guidance system for a hydraulic excavator and a control method for the position guidance system.

  There is known a position guidance system that guides a work vehicle such as a hydraulic excavator to a target work target. For example, the position guidance system disclosed in Patent Document 1 has design data indicating a three-dimensional design landform. Further, the current position of the hydraulic excavator is detected by position measuring means such as GPS. The position guidance system guides the hydraulic excavator to the target work object by displaying a guidance screen indicating the current position of the hydraulic excavator on the display unit.

JP 2002-195829 A

  The guidance screen required for the operator of the hydraulic excavator varies depending on the situation of the hydraulic excavator. For example, when the excavator is at a position far away from the target work target, a wide area mode guidance screen is preferable. Thereby, the operator can easily confirm the movement route from the current position to the target work target. Further, when the excavator is in a position close to the target work object, a guidance screen in the detailed mode is preferable. On the guidance screen in the detailed mode, for example, more detailed information such as a design terrain having a larger scale than that in the wide area mode is displayed. Thereby, the operator can move the hydraulic excavator with high accuracy to an optimum work position for performing work.

  However, in the conventional position guidance system as described above, switching of the guidance screen is manually performed by an operator. That is, in order to move the excavator to the target work target, the operator himself / herself needs to select a necessary guidance screen. For this reason, the work burden on the operator is large.

  An object of the present invention is to provide a position guiding system for a hydraulic excavator and a method for controlling the position guiding system that can reduce the work burden on an operator.

  A hydraulic excavator position guidance system according to a first aspect of the present invention is a position guidance system that guides a hydraulic excavator having a vehicle main body and a work implement attached to the vehicle main body to a target work target in a work area. . The position guidance system includes a storage unit, a position detection unit, a display unit, and a calculation unit. The storage unit stores terrain data indicating the position of the target work target and work machine data indicating the reach range of the work machine. The position detection unit detects the current position of the vehicle body. The display unit displays a guidance screen for guiding the excavator to the target work target. The calculation unit calculates the approach / separation determination distance based on the terrain data, the current position of the vehicle body, and the work machine data. The approach / separation determination distance indicates a distance between the target work target and the reach range of the work implement. The computing unit displays a guidance screen in the detailed mode on the display unit when the approach / separation determination distance is equal to or less than a predetermined threshold. In addition, when the approach / separation determination distance is greater than a predetermined threshold, the calculation unit causes the display unit to display a wide area mode guidance screen indicating a wider range than the detailed mode.

  A hydraulic excavator position guidance system according to a second aspect of the present invention is the hydraulic excavator position guidance system according to the first aspect, and the work implement data is data indicating a maximum reach length of the work implement. The calculation unit calculates the distance between the target work target and the vehicle body from the topographic data and the current position of the vehicle body. Then, the calculation unit calculates a value obtained by subtracting the maximum reach length of the work implement from the distance between the target work target and the vehicle main body as the approach / separation determination distance.

  A hydraulic excavator position guidance system according to a third aspect of the present invention is the hydraulic excavator position guidance system according to the first aspect, and the work machine data is the circumference of the vehicle body that the work machine can actually reach. It is the data which shows the work possible range. The calculation unit calculates the distance between the target work target and the vehicle body from the topographic data and the current position of the vehicle body. Then, the calculation unit calculates a value obtained by subtracting the length of the workable range on the route connecting the target work target and the vehicle main body from the distance between the target work target and the vehicle main body as the approach / separation determination distance. .

  A hydraulic excavator position guidance system according to a fourth aspect of the present invention is the hydraulic excavator position guidance system according to the first aspect, and the work implement data is data indicating a maximum reach length of the work implement. The calculation unit calculates the shortest distance between the virtual circle having the maximum reach length as a radius around the attachment position of the work implement in the vehicle body and the target work target as an approaching / separating determination distance.

  A hydraulic excavator position guidance system according to a fifth aspect of the present invention is the hydraulic excavator position guidance system according to the first aspect, in which the work implement data is around the vehicle body that the work implement can actually reach. It is the data which shows the work possible range. The calculation unit calculates the shortest distance between the workable range and the target work target as the approach / separation determination distance.

  The position guidance system for a hydraulic excavator according to a sixth aspect of the present invention is the position guidance system according to any one of the first to fifth aspects, wherein the target work object includes a plurality of pieces constituting a three-dimensional design landform. This is the target surface selected from the design surface. For calculating the approach / separation determination distance, the closest point on the target surface is selected as the position of the target work target.

  A hydraulic excavator position guidance system according to a seventh aspect of the present invention is the position guidance system according to any one of the first to fifth aspects, wherein the target work object includes a plurality of pieces constituting a three-dimensional design landform. This is the target surface selected from the design surface. For the calculation of the approach / separation determination distance, the closest point on the outer periphery of the target surface is selected as the target work target position.

  The position guidance system for a hydraulic excavator according to an eighth aspect of the present invention is the position guidance system according to any one of the first to seventh aspects, wherein the guidance screen in the wide area mode includes the work area and the current position of the hydraulic excavator. The top view which shows is displayed. The detailed mode guide screen displays a side view showing the target work target, the excavator and the workable range of the work implement, and a top view showing the work area and the current position of the excavator.

  A hydraulic excavator position guidance system according to a ninth aspect of the present invention is the position guidance system according to any one of the first to eighth aspects, wherein the calculation unit has an approach / separation determination distance greater than a predetermined threshold value. If determined, the approach determination threshold is set as a predetermined threshold. Further, when the calculation unit determines that the approach / separation determination distance is equal to or smaller than the predetermined threshold, the calculation unit sets a separation determination threshold larger than the approach determination threshold as the predetermined threshold.

  A hydraulic excavator according to a tenth aspect of the present invention includes the hydraulic excavator position guiding system according to any one of claims 1 to 9.

  A position control system for a hydraulic excavator position guidance system according to an eleventh aspect of the present invention guides a hydraulic excavator having a vehicle main body and a work implement attached to the vehicle main body to a target work target in a work area. This is a control method. The position guidance system includes a storage unit, a position detection unit, and a display unit. The storage unit stores terrain data indicating the position of the target work target and work machine data indicating the reach range of the work machine. The position detection unit detects the current position of the vehicle body. The display unit displays a guidance screen for guiding the excavator to the target work target. The method for controlling the position guidance system includes the following steps. Step 1 detects the current position of the vehicle body. Step 2 calculates the approach / separation determination distance based on the terrain data, the current position of the vehicle body, and the work equipment data. The approach / separation determination distance indicates a distance between the target work target and the reach range of the work implement. In step 3, when the approach / separation determination distance is equal to or smaller than a predetermined threshold, a guidance screen in the detailed mode is displayed on the display unit. In step 4, when the approaching / separating distance is larger than a predetermined threshold, a wide area mode guidance screen showing a wider area than the detailed mode is displayed on the display unit.

  In the position guide system for a hydraulic excavator according to the first aspect of the present invention, the guide screen is automatically switched between the wide area mode and the detailed mode in accordance with the approach / separation determination distance. Therefore, when moving the excavator to the target work target, the operator does not need to operate the switching of the guide screen by himself. This reduces the work burden on the operator. The approach / separation determination distance is a distance in which the reach range of the work implement is considered. For this reason, the guide screen is switched to the detailed mode before being too close to the target work target. As a result, the operator can easily finely adjust the position of the hydraulic excavator.

  In the hydraulic excavator position guidance system according to the second aspect of the present invention, the maximum reach length is used as the work implement data indicating the reach range of the work implement. Thereby, the approach / separation determination distance can be easily calculated.

  In the excavator position guidance system according to the third aspect of the present invention, as work implement data indicating the reach range of the work implement, data indicating a work possible range around the vehicle body that can be actually reached by the work implement is included. Used. For this reason, the excavator can be easily moved to a position suitable for work.

  In the hydraulic excavator position guidance system according to the fourth aspect of the present invention, the shortest distance between the virtual circle having the radius of the maximum reach length of the work implement and the target work target is calculated as the approach / separation determination distance. . Thereby, the approach / separation determination distance can be easily calculated.

  In the hydraulic excavator position guidance system according to the fifth aspect of the present invention, the shortest distance between the workable range and the target work target is calculated as the approach / separation determination distance. For this reason, the excavator can be easily moved to a position suitable for work.

  In the excavator position guidance system according to the sixth aspect of the present invention, the distance between the closest point on the target surface and the reach range of the work implement is calculated as the approaching / separating determination distance. For this reason, when work such as excavation is performed from an arbitrary position on the target surface, the excavator can be easily moved to a position suitable for the work.

  In the excavator position guidance system according to the seventh aspect of the present invention, the distance between the closest point on the outer periphery of the target surface and the reach range of the work implement is calculated as the approaching / separating determination distance. For this reason, when work such as excavation is performed from a position on the outer periphery of the target surface, the excavator can be easily moved to a position suitable for the work.

  In the excavator position guidance system according to the eighth aspect of the present invention, the wide area mode guide screen displays a top view showing the work area and the current position of the excavator. For this reason, the operator can easily move the excavator to the vicinity of the target work object by the guidance screen in the wide-area traveling mode. The guidance screen in the detailed mode displays a side view showing the target work object, the excavator and the workable range of the work implement, and a top view showing the work area and the current position of the excavator. For this reason, the operator can easily finely adjust the position of the hydraulic excavator using the guidance screen in the detailed travel mode.

  In the excavator position guidance system according to the ninth aspect of the present invention, when the position of the excavator is away from the target work target, the approach determination threshold is used as the predetermined threshold. Further, when the position of the excavator is close to the target work target, a separation determination threshold value that is larger than the approach determination threshold value is used as the predetermined threshold value. For this reason, frequent switching of the guide screen due to the movement of the excavator by a small distance can be suppressed.

  In the hydraulic excavator according to the tenth aspect of the present invention, the guidance screen is automatically switched between the wide area mode and the detailed mode in accordance with the approach / separation determination distance. Therefore, when moving the excavator to the target work target, the operator does not need to operate the switching of the guide screen by himself. This reduces the work burden on the operator. The approach / separation determination distance is a distance in which the reach range of the work implement is considered. For this reason, the guide screen is switched to the detailed mode before being too close to the target work target. As a result, the operator can easily finely adjust the position of the hydraulic excavator to an appropriate work position.

  In the control method of the position guide system for a hydraulic excavator according to the eleventh aspect of the present invention, the guidance screen is automatically switched between the wide area mode and the detailed mode according to the approach / separation determination distance. Therefore, when moving the excavator to the target work target, the operator does not need to operate the switching of the guide screen by himself. This reduces the work burden on the operator. The approach / separation determination distance is a distance in which the reach range of the work implement is considered. For this reason, the guide screen is switched to the detailed mode before being too close to the target work target. As a result, the operator can easily finely adjust the position of the hydraulic excavator.

The perspective view of a hydraulic excavator. The figure which shows the structure of a hydraulic excavator typically. The block diagram which shows the structure of the control system with which a hydraulic excavator is provided. The figure which shows the design topography shown by design topography data. The figure which shows the switching method of a some guidance screen. The figure which shows the guidance screen of wide area driving mode. The figure which shows the pop-up display by a 1st screen switching key. The figure which shows the guidance screen of detailed driving | running | working mode. The figure which shows the method of calculating | requiring the present position of the front-end | tip of a bucket. The figure which shows the guidance screen of rough excavation mode. The figure which shows the guidance screen of delicate excavation mode. Flow of switching control of the guide screen between the wide area travel mode and the detailed travel mode. The figure which shows the calculation method of approach / separation determination distance. Flow of guide screen switching control from excavation mode to travel mode. The figure which shows the method of calculating the shortest distance of a vehicle main body and a target surface in other embodiment. The figure which shows the modification 1 of the calculation method of approach / separation determination distance. The figure which shows the modification 2 of the calculation method of approach / separation determination distance. The figure which shows the modification 3 of the calculation method of the approach / separation determination distance.

1. Configuration 1-1. Hereinafter, an excavator position guiding system according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view of a hydraulic excavator 100 on which a position guidance system is mounted. The excavator 100 includes a vehicle main body 1 and a work implement 2. The vehicle main body 1 includes an upper swing body 3, a cab 4, and a traveling device 5. The upper swing body 3 accommodates devices such as an engine and a hydraulic pump (not shown). The cab 4 is placed at the front of the upper swing body 3. A display input device 38 and an operation device 25 described later are arranged in the cab 4 (see FIG. 3). The traveling device 5 has crawler belts 5a and 5b, and the excavator 100 travels as the crawler belts 5a and 5b rotate.

  The work machine 2 is attached to the front portion of the vehicle body 1 and includes a boom 6, an arm 7, a bucket 8, a boom cylinder 10, an arm cylinder 11, and a bucket cylinder 12. A base end portion of the boom 6 is swingably attached to a front portion of the vehicle main body 1 via a boom pin 13. A base end portion of the arm 7 is swingably attached to a tip end portion of the boom 6 via an arm pin 14. A bucket 8 is swingably attached to the tip of the arm 7 via a bucket pin 15.

  FIG. 2 is a diagram schematically illustrating the configuration of the excavator 100. FIG. 2A is a side view of the excavator 100, and FIG. 2B is a rear view of the excavator 100. As shown in FIG. 2A, the length of the boom 6, that is, the length from the boom pin 13 to the arm pin 14 is L1. The length of the arm 7, that is, the length from the arm pin 14 to the bucket pin 15 is L2. The length of the bucket 8, that is, the length from the bucket pin 15 to the tip of the tooth of the bucket 8 is L3.

  The boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 shown in FIG. 1 are hydraulic cylinders that are driven by hydraulic pressure. The boom cylinder 10 drives the boom 6. The arm cylinder 11 drives the arm 7. The bucket cylinder 12 drives the bucket 8. A proportional control valve 37 is disposed between a hydraulic cylinder such as the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 and a hydraulic pump (not shown) (see FIG. 3). The proportional control valve 37 is controlled by the work machine controller 26 described later, whereby the flow rate of the hydraulic oil supplied to the hydraulic cylinder 10-12 is controlled. Thereby, the operation of the hydraulic cylinder 10-12 is controlled.

  As shown to Fig.2 (a), the boom 6, the arm 7, and the bucket 8 are provided with the 1st-3rd stroke sensors 16-18, respectively. The first stroke sensor 16 detects the stroke length of the boom cylinder 10. A position guidance controller 39 (see FIG. 3), which will be described later, determines the inclination angle of the boom 6 with respect to a Za axis (see FIG. 9) of the vehicle body coordinate system, which will be described later, from the stroke length of the boom cylinder 10 detected by the first stroke sensor 16. θ1 is calculated. The second stroke sensor 17 detects the stroke length of the arm cylinder 11. The position induction controller 39 calculates the inclination angle θ2 of the arm 7 with respect to the boom 6 from the stroke length of the arm cylinder 11 detected by the second stroke sensor 17. The third stroke sensor 18 detects the stroke length of the bucket cylinder 12. The position induction controller 39 calculates the inclination angle θ3 of the bucket 8 with respect to the arm 7 from the stroke length of the bucket cylinder 12 detected by the third stroke sensor 18.

  The vehicle main body 1 is provided with a position detection unit 19. The position detector 19 detects the current position of the excavator 100. The position detection unit 19 is called two antennas 21 and 22 (hereinafter referred to as “GNSS antennas 21 and 22”) for RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems, GNSS means a global navigation satellite system). ), A three-dimensional position sensor 23, and an inclination angle sensor 24. The GNSS antennas 21 and 22 are spaced apart from each other along a Ya axis (see FIG. 9) of a vehicle body coordinate system Xa-Ya-Za described later. A signal corresponding to the GNSS radio wave received by the GNSS antennas 21 and 22 is input to the three-dimensional position sensor 23. The three-dimensional position sensor 23 detects the positions of the installation positions P1, P2 of the GNSS antennas 21, 22. As shown in FIG. 2B, the inclination angle sensor 24 detects an inclination angle θ4 (hereinafter referred to as “roll angle θ4”) in the vehicle width direction of the vehicle body 1 with respect to the gravity direction (vertical line).

  FIG. 3 is a block diagram illustrating a configuration of a control system provided in the excavator 100. The excavator 100 includes an operation device 25, a work machine controller 26, a work machine control device 27, and a position guidance system 28. The operating device 25 includes a work implement operation member 31, a work implement operation detection unit 32, a travel operation member 33, and a travel operation detection unit 34. The work machine operation member 31 is a member for the operator to operate the work machine 2 and is, for example, an operation lever. The work machine operation detection unit 32 detects the operation content of the work machine operation member 31 and sends it to the work machine controller 26 as a detection signal. The traveling operation member 33 is a member for the operator to operate traveling of the excavator 100, and is, for example, an operation lever. The traveling operation detection unit 34 detects the operation content of the traveling operation member 33 and sends it to the work machine controller 26 as a detection signal.

  The work machine controller 26 includes a storage unit 35 such as a RAM and a ROM, and a calculation unit 36 such as a CPU. The work machine controller 26 mainly controls the work machine 2. The work machine controller 26 generates a control signal for operating the work machine 2 in accordance with the operation of the work machine operation member 31, and outputs the control signal to the work machine control device 27. The work machine control device 27 has a proportional control valve 37, and the proportional control valve 37 is controlled based on a control signal from the work machine controller 26. The hydraulic oil having a flow rate corresponding to the control signal from the work machine controller 26 flows out of the proportional control valve 37 and is supplied to the hydraulic cylinder 10-12. The hydraulic cylinder 10-12 is driven according to the hydraulic oil supplied from the proportional control valve 37. Thereby, the work machine 2 operates.

1-2. Configuration of Position Guidance System 28 The position guidance system 28 is a system for guiding the excavator 100 to a target work target in a work area. The position guidance system 28 includes a display input device 38 and a position guidance controller 39 in addition to the first to third stroke sensors 16-18, the three-dimensional position sensor 23, and the tilt angle sensor 24 described above.

  The display input device 38 includes a touch panel type input unit 41 and a display unit 42 such as an LCD. The display input device 38 displays a guidance screen for guiding the excavator 100 to the target work target in the work area. Various keys are displayed on the guidance screen. The operator can execute various functions of the position guidance system 28 by touching various keys on the guidance screen. The guidance screen will be described in detail later.

  The position guidance controller 39 performs various functions of the position guidance system 28. The position induction controller 39 includes a storage unit 43 such as a RAM and a ROM, and a calculation unit 44 such as a CPU. The storage unit 43 stores work implement data. The work machine data includes the above-described length L1 of the boom 6, the length L2 of the arm 7, and the length L3 of the bucket 8. The work implement data includes the minimum value and the maximum value of the inclination angle θ1 of the boom 6, the inclination angle θ2 of the arm 7, and the inclination angle θ3 of the bucket 8. The position induction controller 39 and the work machine controller 26 can communicate with each other by wireless or wired communication means. The storage unit 43 of the position guidance controller 39 stores design terrain data indicating the shape and position of the three-dimensional design terrain in the work area in advance. The position guidance controller 39 displays a guidance screen on the display input device 38 based on data such as the design terrain data and detection results from the various sensors described above. Specifically, as shown in FIG. 4, the design landform is composed of a plurality of design surfaces 45 each represented by a triangular polygon. In FIG. 4, reference numeral 45 is given to only one of the plurality of design surfaces, and reference numerals of the other design surfaces are omitted. The target work object is one of these design surfaces 45 or a plurality of design surfaces. The operator selects one or more of these design surfaces 45 as the target surface 70. The position guidance controller 39 causes the display input device 38 to display a guidance screen for guiding the excavator 100 to the target surface 70.

2. Guide screen Hereinafter, the guide screen will be described in detail. FIG. 5 is a diagram illustrating a method for switching between a plurality of guidance screens. The guide screens include travel mode guide screens 51 and 52 and excavation mode guide screens 53 and 54. The traveling mode guide screens 51 and 52 are screens for guiding the hydraulic excavator 100 to the vicinity of the target surface 70 and indicate the current position of the hydraulic excavator 100 in the work area. The excavation mode guide screens 53 and 54 are screens for guiding the work machine 2 of the excavator 100 so that the ground to be excavated has the same shape as the target surface 70. The excavation mode guide screens 53 and 54 show the positional relationship between the target surface 70 and the work implement 2 in more detail than the travel mode guide screens 51 and 52. The travel mode guide screens 51 and 52 are a wide travel mode guide screen 51 (hereinafter referred to as “wide travel screen 51”) and a detailed travel mode guide screen 52 (hereinafter referred to as “detailed travel screen 52”). Have The excavation mode guide screens 53 and 54 include a rough excavation mode guide screen 53 (hereinafter referred to as “rough excavation screen 53”) and a fine excavation mode guide screen 54 (hereinafter referred to as “fine excavation screen 54”). Call).

2-1. Wide area travel screen 51
FIG. 6 shows a wide area travel screen 51. The wide area travel screen 51 includes a top view 51 a showing the design landform of the work area and the current position of the excavator 100. The top view 51a represents the design terrain as viewed from above with a plurality of triangular polygons. The top view 51a represents the design terrain using the horizontal plane of the global coordinate system as a projection plane. Further, the target surface 70 selected as the target work target is displayed in a color different from other design surfaces. In FIG. 6, the current position of the excavator 100 is indicated by the excavator icon 61 in a top view, but may be indicated by other symbols.

  A plurality of operation keys are displayed on the wide area travel screen 51. The operation keys include, for example, a scroll key 62, an enlargement key 63, a reduction key 64, a first screen switching key 65, a second screen switching key 66, and the like. The scroll key 62 is an operation key for scrolling the top view 51a showing the designed landform. The enlargement key 63 is a key for increasing the scale of the top view 51a showing the design landform. The reduction key 64 is a key for reducing the scale of the top view 51a showing the design landform.

  The first screen switching key 65 is a key for manually executing switching between the traveling mode guidance screens 51 and 52 and the excavation mode guidance screens 53 and 54. When the first screen switching key 65 is pressed once, a travel mode selection key 67, a rough excavation mode selection key 68, and a fine excavation mode selection key 69 are popped up as shown in FIG. Here, when the travel mode selection key 67 is pressed, the travel mode guide screens 51 and 52 are selected as shown in FIG. When the rough excavation mode selection key 68 is pressed, the rough excavation screen 53 is selected. When the delicate excavation mode selection key 69 is pressed, the delicate excavation screen 54 is selected. In a normal display state that is not a pop-up display state, a selection key corresponding to the currently displayed guidance screen among the travel mode selection key 67, the rough excavation mode selection key 68, and the delicate excavation mode selection key 69. Is displayed as a first screen switching key 65 on the guidance screen. For example, in FIG. 6, since the wide area traveling screen 51 is displayed, the icon of the traveling mode selection key 67 is displayed as the first screen switching key 65. As shown in FIG. 5, the second screen switching key 66 is a key for manually switching between the wide traveling screen 51 and the detailed traveling screen 52.

  Further, as shown in FIG. 6, information for guiding the excavator 100 to the target surface 70 is displayed on the wide area travel screen 51. Specifically, the direction indicator 71 is displayed. The direction indicator 71 is an icon indicating the direction of the target surface 70 relative to the excavator 100. Therefore, the operator can easily move the excavator 100 to the vicinity of the target surface 70 by using the wide traveling screen 51. Further, the wide area travel screen 51 shows a wider range of designed terrain than the detailed travel screen 52 described later. For this reason, the wide area travel screen 51 is used for movement to the work place or for the prospect of the work.

2-2. Detailed travel screen 52
FIG. 8 shows the detailed travel screen 52. On the detailed travel screen 52, a plurality of operation keys similar to those on the wide travel screen 51 are displayed. The detailed travel screen 52 is a top view 52a showing the design landform of the work area and the current position of the excavator 100, and a side view 52b showing the target surface 70, the excavator 100, and the workable range 76 of the work implement 2. Including.

  The top view 52a in the detailed travel mode is substantially the same as the top view 51a in the wide travel mode described above. However, the top view 52a in the detailed travel mode further includes information indicating the target work position and information for causing the excavator 100 to face the target surface 70. The target work position is an optimal position for the excavator 100 to excavate the target surface 70, and is calculated from the position of the target surface 70 and a workable range 76 described later. The target work position is indicated by a straight line 72 in the top view 52a. Information for causing the excavator 100 to face the target surface 70 is displayed as a facing compass 73. The facing compass 73 is an icon indicating a facing direction with respect to the target surface 70 and a direction in which the excavator 100 should be turned. The operator can confirm the degree of confrontation with respect to the target surface 70 with the confrontation compass 73.

  The side view 52b in the detailed travel mode includes the design plane line 74, the target plane line 79, the icon 75 of the excavator 100 in a side view, the workable range 76 of the work implement 2, and information indicating the target work position. . The design surface line 74 indicates a cross section of the design surface 45 other than the target surface 70. A target plane line 79 indicates a cross section of the target plane 70. As shown in FIG. 4, the design surface line 74 and the target surface line 79 are obtained by calculating an intersection line 80 between the plane 77 passing through the current position of the tip P3 of the bucket 8 and the design landform. The target plane line 79 is displayed in a color different from the design plane line 74. In FIG. 8, the target surface line 79 and the design surface line 74 are expressed by changing the line type. The workable range 76 indicates a range around the vehicle body 1 that the work implement 2 can actually reach. The workable range 76 is calculated from work implement data stored in the storage unit 43. Further, data indicating the maximum reach length of the work implement 2 described later is also calculated from the work implement data. The maximum reach length is the length of the work machine 2 when the work machine 2 is extended to the maximum, that is, the length between the boom pin 13 and the tip of the bucket 8 when the work machine 2 is extended to the maximum. It is. The target work position shown in the side view 52b corresponds to the target work position shown in the top view 52a described above, and is indicated by a triangular icon 81. The reference position of the excavator 100 is also indicated by a triangular icon 82. The operator moves the excavator 100 so that the icon 82 of the reference position matches the icon 81 of the target work position.

  As described above, the detailed travel screen 52 includes information indicating the target work position and information for causing the excavator 100 to face the target surface 70. For this reason, the operator can place the excavator 100 in the optimal position and direction for performing the work with respect to the target surface 70 by using the detailed traveling screen 52. Therefore, the detailed travel screen 52 is used for positioning the excavator 100.

  As described above, the target plane line 79 is calculated from the current position of the tip of the bucket 8. The display controller 39 is based on the detection results from the three-dimensional position sensor 23, the first to third stroke sensors 16-18, the inclination angle sensor 24, etc., and the tip of the bucket 8 in the global coordinate system {X, Y, Z}. The current position of is calculated. Specifically, the current position of the tip of the bucket 8 is obtained as follows.

  First, as shown in FIG. 9, a vehicle body coordinate system {Xa, Ya, Za} having the origin at the installation position P1 of the GNSS antenna 21 described above is obtained. FIG. 9A is a side view of the excavator 100. FIG. 9B is a rear view of the excavator 100. Here, it is assumed that the front-rear direction of the excavator 100, that is, the Ya-axis direction of the vehicle body coordinate system is inclined with respect to the Y-axis direction of the global coordinate system. The coordinates of the boom pin 13 in the vehicle main body coordinate system are (0, Lb1, -Lb2), and are stored in advance in the storage unit 43 of the display controller 39.

The three-dimensional position sensor 23 detects the installation positions P1 and P2 of the GNSS antennas 21 and 22. A unit vector in the Ya-axis direction is calculated from the detected coordinate positions P1 and P2 by the following equation (1).
Ya = (P1-P2) / | P1-P2 | (1)
As shown in FIG. 9A, when a vector Z ′ that passes through a plane represented by two vectors Ya and Z and is perpendicular to Ya is introduced, the following relationship is established.
(Z ′, Ya) = 0 (2)
Z ′ = (1−c) Z + cYa (3)
c is a constant.
From the expressions (2) and (3), Z ′ is expressed as the following expression (4).
Z ′ = Z + {(Z, Ya) / ((Z, Ya) −1)} (Ya−Z) (4)
Further, if a vector perpendicular to Ya and Z ′ is X ′, X ′ is expressed as in the following equation (5).
X ′ = Ya⊥Z ′ (5)
As shown in FIG. 9B, the vehicle main body coordinate system is obtained by rotating the vehicle body coordinate system around the Ya axis by the roll angle θ4 described above, and is expressed by the following equation (6).
... (6)

Further, the current inclination angles θ1, θ2, and θ3 of the boom 6, the arm 7, and the bucket 8 are calculated from the detection results of the first to third stroke sensors 16-18. The coordinates (xat, yat, zat) of the tip P3 of the bucket 8 in the vehicle main body coordinate system are based on the inclination angles θ1, θ2, θ3 and the lengths L1, L2, L3 of the boom 6, arm 7, and bucket 8. These are calculated by the following equations (7) to (9).
xat = 0 (7)
yat = Lb1 + L1sin θ1 + L2sin (θ1 + θ2) + L3sin (θ1 + θ2 + θ3) (8)
zat = −Lb2 + L1 cos θ1 + L2 cos (θ1 + θ2) + L3 cos (θ1 + θ2 + θ3) (9)
It is assumed that the tip P3 of the bucket 8 moves on the Ya-Za plane of the vehicle body coordinate system.
And the coordinate of the front-end | tip P3 of the bucket 8 in a global coordinate system is calculated | required from the following (10) Formula.
P3 = xat · Xa + yat · Ya + zat · Za + P1 (10)
As shown in FIG. 4, the position guidance controller 39 calculates the three-dimensional design landform and the bucket 8 based on the current position of the tip of the bucket 8 calculated as described above and the design landform data stored in the storage unit 43. An intersection line 80 with the Ya-Za plane 77 passing through the tip P3 is calculated. And the position guidance controller 39 displays the part which passes along the target surface 70 among this intersection line on the guidance screen as the target surface line 79 mentioned above.

2-3. Rough excavation screen 53
FIG. 10 shows a rough excavation screen 53. On the rough excavation screen 53, the same first screen switching key 65 as the above-described traveling mode guide screens 51 and 52 is displayed. In FIG. 10, since the rough excavation screen 53 is displayed, the icon of the rough excavation mode selection key 68 is displayed as the first screen switching key 65. The rough excavation screen 53 includes a top view 53 a showing the design landform of the work area and the current position of the excavator 100, and a side view 53 b showing the target surface 70 and the excavator 100.

  Unlike the top view 52a of the detailed traveling screen 52 described above, the top view 53a of the rough excavation screen 53 represents the design landform using the turning plane of the excavator 100 as a projection plane. Therefore, the top view 53a is a view as seen from directly above the excavator 100, and the design surface is inclined when the excavator 100 is inclined. The side view 53 b of the rough excavation screen 53 includes information indicating the design plane line 74, the target plane line 79, the icon 75 of the excavator 100 in a side view, and the positional relationship between the bucket 8 and the target plane 70. Information indicating the positional relationship between the bucket 8 and the target surface 70 includes numerical information 83 and graphic information 84. The numerical information 83 is a numerical value indicating the shortest distance between the tip of the bucket 8 and the target surface line 79. The graphic information 84 is information that graphically shows the shortest distance between the tip of the bucket 8 and the target surface line 79. Specifically, the graphic information 84 includes an index bar 84a and an index mark 84b indicating a position in the index bar 84a where the distance between the tip of the bucket 8 and the target surface line 79 corresponds to zero. Each index bar 84a is lit according to the shortest distance between the tip of the bucket 8 and the target surface line 79. Note that the display on / off of the graphic information 84 may be changed by an operator's operation.

  As described above, the rough excavation screen 53 displays the relative positional relationship between the target surface line 79 and the excavator 100 and the numerical value indicating the shortest distance between the tip of the bucket 8 and the target surface line 79. The operator can easily excavate the current terrain into the three-dimensional design terrain by moving the tip of the bucket 8 along the line indicating the target plane line 79.

2-4. Delicate drilling screen 54
FIG. 11 shows a delicate excavation screen 54. The fine excavation screen 54 shows the positional relationship between the target surface 70 and the excavator 100 in more detail than the rough excavation screen 53. On the delicate excavation screen 54, a first screen switching key 65 similar to the above-described traveling mode guide screens 51 and 52 is displayed. In FIG. 11, since the delicate excavation screen 54 is displayed, the icon of the delicate excavation mode selection key 69 is displayed as the first screen switching key 65. The delicate excavation screen 54 includes a front view 54 a showing the target surface 70 and the bucket 8 and a side view 54 b showing the target surface 70 and the bucket 8. The front view 54a of the delicate excavation screen 54 includes an icon 89 of the bucket 8 when viewed from the front and a line 78 (hereinafter referred to as “target surface line 78”) indicating a cross section of the target surface 70 when viewed from the front. The side view 54b of the delicate excavation screen 54 includes an icon 90 of the bucket 8 in a side view, a design surface line 74, and a target surface line 79. Moreover, the front view 54a and the side view 54b of the delicate excavation screen 54 display information indicating the positional relationship between the target surface 70 and the bucket 8, respectively.

  Information indicating the positional relationship between the target surface 70 and the bucket 8 in the front view 54a includes distance information 86a and angle information 86b. The distance information 86a indicates the distance in the Za direction between the tip of the bucket 8 and the target surface line 78. The angle information 86b is information indicating an angle between the target plane line 78 and the bucket 8. Specifically, the angle information 86 b is an angle between an imaginary line passing through the tips of the plurality of teeth of the bucket 8 and the target plane line 78.

  In the side view 54b, the information indicating the positional relationship between the target surface 70 and the bucket 8 includes distance information 87a and angle information 87b. The distance information 87a indicates the shortest distance between the tip of the bucket 8 and the target surface line 79, that is, the distance between the tip of the bucket 8 and the target surface line 79 in the direction perpendicular to the target surface line 79. is there. The angle information 87b is information indicating the angle between the target plane line 79 and the bucket 8. Specifically, the angle information 87 b displayed in the side view 54 b is an angle between the bottom surface of the bucket 8 and the target surface line 79.

  The fine excavation screen 54 includes graphic information 88 that graphically indicates the shortest distance between the tip of the bucket 8 and the target surface line 79. Similar to the graphic information 84 on the rough excavation screen 53, the graphic information 88 includes an index bar 88a and an index mark 88b.

  As described above, the delicate excavation screen 54 displays the relative positional relationship between the target plane lines 78 and 79 indicating the cross section of the target plane 70 and the bucket 8. By moving the tip of the bucket 8 along the target plane lines 78 and 79, the operator can more easily excavate so that the current terrain has the same shape as the three-dimensional design terrain.

3. Guide Screen Switching Control As shown in FIG. 5, the guide screens in the wide area travel mode, detailed travel mode, rough excavation mode, and fine excavation mode can be switched to each other automatically or manually. In FIG. 5, a solid arrow indicates that the guide screen is automatically switched. A broken line arrow indicates that the guide screen is manually switched. Hereinafter, the guidance screen switching control executed by the position guidance system 28 will be described.

3-1. Switching between Wide Travel Mode and Detailed Travel Mode FIG. 12 shows a flow of guide screen switching control between the wide travel mode and the detailed travel mode. Hereinafter, processing for automatically switching the guidance screen between the wide-area traveling mode and the detailed traveling mode will be described.

  First, it is determined whether or not the traveling determination is ON. The travel determination being ON means that the excavator 100 has changed from the travel stop state to the travel state. Here, the position guidance controller 39 detects whether or not the traveling operation member 33 has been operated based on a detection signal from the traveling operation detection unit 34. The position guidance controller 39 determines that the travel determination is ON when it detects that the travel operation member 33 has been operated in the forward direction or the reverse direction from the neutral position.

  If it is determined in step S1 that the travel determination is not ON, that is, the travel determination is OFF, the process returns to step S1 again. In step S1, since the screen manually switched by the operator is prioritized when the vehicle is not traveling, the guidance screen is prevented from being switched against the operator's intention.

  If it is determined in step S1 that the traveling determination is ON, the process proceeds to step S2. In step S2, the current position of the excavator 100 is detected. Here, the position induction controller 39 detects the current position of the vehicle main body 1 by the position detector 19 described above.

  In step S3, the approach / separation determination distance is calculated. The approach / separation determination distance indicates a distance between the target surface 70 and the reach range of the work implement 2. The position guidance controller 39 calculates the approach / separation determination distance based on the design terrain data, the current position of the vehicle body 1 and the work implement data. Specifically, as shown in FIG. 13, the shortest distance between the boom pin 13 and the target surface 70 is the distance between the target surface 70 and the vehicle main body 1 from the designed terrain data and the current position of the vehicle main body 1. Calculated as the distance D0. At this time, the closest point P4 on the target surface 70 with respect to the boom pin 13 is selected, and the distance between the closest point P4 and the boom pin 13 is calculated as the distance D0 between the target surface 70 and the vehicle body 1. Then, a distance D1 obtained by subtracting the maximum reach length Lmax of the work implement 2 from the distance D0 between the target surface 70 and the vehicle main body 1 is calculated as an approaching / separating determination distance.

  Next, in step S4, it is determined whether the approach / separation determination distance is equal to or less than a predetermined determination threshold. At this time, when a position status described later is in a separated state, the approach determination threshold value is used as the determination threshold value. That is, the approach determination threshold value is used when the excavator 100 is about to approach the target surface 70 from a position away from the target surface 70. When the position status is in the approaching state, the separation determination threshold is used as the determination threshold. That is, the separation determination threshold is used when the excavator 100 is about to leave the target surface 70 from a position close to the target surface 70. The separation determination threshold is larger than the approach determination threshold.

  If it is determined in step S4 that the approach / separation determination distance is equal to or less than the determination threshold, the process proceeds to step S5. In step S <b> 5, the detailed travel screen 52 is displayed on the display unit 42. In step S6, the position status is set to the approaching state. Therefore, when it is determined that the approach / separation determination distance is equal to or less than the determination threshold, the separation determination threshold is set as the determination threshold in the next determination.

  If it is determined in step S4 that the approach / separation determination distance is greater than the determination threshold, the process proceeds to step S7. In step S <b> 7, the wide area travel screen 51 is displayed on the display unit 42. In step S8, the position status is set to the separated state. Therefore, when it is determined that the approach / separation determination distance is greater than the determination threshold, in the next determination, the approach determination threshold is set as the determination threshold. Note that the approach determination threshold is set as an initial value as the determination threshold when the excavator 100 is turned on.

  While the travel mode guide screens 51 and 52 are displayed, the above flow is repeatedly executed. As shown in FIG. 5, the switching of the guide screen between the wide-area travel mode and the detailed travel mode is also executed by the operator operating the second screen switching key 66 described above. That is, the operator can switch to the detailed travel screen 52 by pressing the second screen switching key 66 while the wide travel screen 51 is displayed. Further, the operator can switch to the wide-area travel screen 51 by pressing the second screen switching key 66 while the detailed travel screen 52 is displayed.

3-2. Switching between Travel Mode and Excavation Mode Next, switching control of the guidance screen between the travel mode and the excavation mode will be described. FIG. 14 shows a flow of switching control of the guide screen from the excavation mode to the travel mode. Hereinafter, processing for automatically switching the guide screen from the excavation mode to the traveling mode will be described.

  First, in step S11, the current position of the excavator 100 is detected. Here, the position induction controller 39 detects the current position of the vehicle main body 1 by the position detector 19 described above.

  Next, in step S12, it is determined whether the travel determination is ON. The travel determination being ON means that the excavator 100 has changed from the travel stop state to the travel state. Here, the position guidance controller 39 detects whether or not the traveling operation member 33 has been operated based on a detection signal from the traveling operation detection unit 34. The position guidance controller 39 determines that the travel determination is ON when it detects that the travel operation member 33 has been operated in the forward direction or the reverse direction from the neutral position.

  If it is determined in step S12 that the travel determination is ON, the process proceeds to step S13. In step S13, travel mode guidance screens 51 and 52 are displayed. That is, when the excavator 100 changes from the travel stop state to the travel state, the excavation mode guide screens 53 and 54 are automatically switched to the travel mode guide screens 51 and 52. At this time, the position guidance controller 39 determines whether the guide screen currently displayed on the display unit 42 is the rough excavation screen 53 or the fine excavation screen 54, the travel mode guide screen 51, Switch to 52. At this time, as in step S3 described above, it is determined whether to display the guidance screen of the wide travel screen 51 or the detailed travel screen 52 depending on whether the approach / separation determination distance is equal to or smaller than the determination threshold. The

  If it is determined in step S12 that the travel determination is not ON, that is, the travel determination is OFF, the process proceeds to step S14. In step S14, the excavation mode guidance screens 53 and 54 are displayed. That is, when it is determined that the excavator 100 has not changed from the state where it is not in the traveling state to the traveling state, the guidance screens 53 and 54 in the excavation mode are maintained. For example, the rough excavation screen 53 or the fine excavation screen 54 is maintained while the excavator 100 is stopped and the excavation is performed.

  As described above, when it is determined that the travel determination is ON, the guidance screen is automatically switched from the excavation mode to the travel mode. However, even if it is determined that the travel determination is OFF, the guide screen is not automatically switched from the travel mode to the excavation mode, and the travel mode guide screens 51 and 52 are maintained.

  As described above, when the first screen switching key 65 is operated, the guidance screen is switched from the traveling mode to the excavation mode. Specifically, as shown in FIG. 5, when the operator presses the rough excavation mode selection key 68 while the traveling mode guidance screens 51 and 52 are displayed, the guidance screen is changed from the traveling mode guidance screens 51 and 52. The screen is switched to the rough excavation screen 53. If the operator presses the fine excavation mode selection key 69 while the travel mode guide screens 51 and 52 are displayed, the guide screen is switched from the travel mode guide screens 51 and 52 to the delicate excavation screen 54.

  When the travel mode selection key 67 is pressed while the rough excavation screen 53 is displayed, the guide screen is switched from the rough excavation mode to the travel mode. When the travel mode selection key 67 is pressed while the delicate excavation screen 54 is displayed, the guide screen is switched from the delicate excavation screen 54 to the guide screens 51 and 52 for the travel mode. In these cases, similarly to the switching control between the wide travel screen 51 and the detailed travel screen 52 described above, the wide travel screen 51 and the detailed travel screen 52 are determined depending on whether the approach / separation determination distance is equal to or less than the determination threshold. Which guidance screen is to be displayed is determined.

3-3. Switching between the rough excavation mode and the fine excavation mode The switching between the rough excavation screen 53 and the fine excavation screen 54 is manually performed by the first screen switching key 65 described above. That is, as shown in FIG. 5, when the operator presses the rough excavation mode selection key 68, the rough excavation screen 53 is displayed. When the operator presses the fine excavation mode selection key 69, the fine excavation screen 54 is displayed.

4). Features The position guidance system 28 of the excavator 100 according to the present embodiment changes from the excavation mode guide screens 53 and 54 to the travel mode guide screens 51 and 52 when it is determined that the travel stop state has changed to the travel state. It is switched automatically. Accordingly, when the excavator 100 is moved greatly, the operator does not need to operate the switching of the guide screen himself. For this reason, the work burden on the operator is reduced.

  The travel mode guide screens 51 and 52 are automatically switched between the wide travel screen 51 and the detailed travel screen 52 in accordance with the approach / separation determination distance. Therefore, when the position of the excavator 100 is finely adjusted, the operator does not need to operate the guide screen switching by himself / herself. This further reduces the work burden on the operator. Further, since the workable range 76 is displayed on the detailed travel screen 52, the operator can easily finely adjust the position of the excavator 100.

  Switching from the excavation mode guide screens 53 and 54 to the travel mode guide screens 51 and 52 is automatically performed, but switching from the travel mode guide screens 51 and 52 to the excavation mode guide screens 53 and 54 is automatically performed. It is done manually and not. If the guide screen is automatically switched in both directions between the driving mode and the excavation mode by turning ON / OFF the driving judgment, even if the vehicle is paused during driving and then restarted When it stops temporarily, it always switches to the excavation mode. However, in a situation where the vehicle is temporarily stopped and then re-traveled, the operator should move to the travel mode guide screens 51 and 52 before operating the travel operation member 33 (for example, work In many cases, it is desired to confirm the position of the target surface 70 in the area. Further, when the travel determination is turned ON again after the temporary stop, the guidance screen is switched from the excavation mode to the travel mode, but this is slow. Therefore, in the present embodiment, the travel mode guidance screens 51 and 52 are maintained when the vehicle is temporarily stopped during traveling by the switching control as described above. This prevents the guide screen from being switched against the operator's intention. Further, the operator can easily confirm where to move on the guidance screens 51 and 52 in the travel mode. In addition, when it is desired to perform excavation in a stopped state instead of re-running, the operator can manually switch to the guide screens 53 and 54 in the excavation mode.

  The approach / separation determination distance is calculated by subtracting the maximum reach length of the work implement 2 from the distance between the target surface 70 and the vehicle body 1. The work machine 2 of the excavator 100 changes the reach length when the angle between the boom 6, the arm 7, and the bucket 8 changes. Therefore, even if the vehicle body 1 is at the same position, the distance between the current position at the tip of the bucket 8 and the target surface 70 is not constant. For this reason, if the guide screen is switched depending on the distance between the current position of the tip of the bucket 8 and the target surface 70, the timing at which the guide screen is switched depends on the current position of the tip of the bucket 8. It will be different. Further, the position suitable for the excavator 100 to perform work is determined not by the current position of the tip of the bucket 8 but by the relationship with the reach range of the work implement 2. The reach range of the work machine 2 is a range in which the work machine 2 can be reached, and is, for example, a range between the boom pin 13 and the tip P3 of the bucket 8 in FIG. Therefore, by using the maximum reach length of the work machine 2 for calculating the approach / separation determination distance, the guide screen can be switched when the reach range of the work machine 2 approaches the target surface 70. As a result, the operator can easily place the excavator 100 at the optimum work position for performing work.

  When the position status of the excavator 100 is in the separated state, the approach determination threshold value is used as the determination threshold value. Further, when the position status of the excavator 100 is in the approaching state, a separation determination threshold value that is larger than the approach determination threshold value is used as the determination threshold value. Therefore, frequent switching of the guide screen due to the movement of the excavator 100 by a small distance can be suppressed.

5. Other embodiments
As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the summary of invention. For example, the contents of each guidance screen are not limited to those described above, and may be changed as appropriate. In addition, part or all of the functions of the position induction controller 39 may be executed by a computer arranged outside the excavator 100. Further, the target work target is not limited to the plane as described above, but may be a point, a line, or a three-dimensional shape. The input unit 41 of the display input device 38 is not limited to a touch panel type, and may be configured by operation members such as hard keys and switches.

  In the above embodiment, the case where the operator manually digs by operating the work implement operating member 31 has been described, but an automatic digging mode may be further provided. When the automatic excavation mode is selected, the above-described target plane line 79 becomes a target movement path for moving the tip of the bucket 8. The position guidance controller 39 outputs a control signal for automatically moving the tip of the bucket 8 along the target movement path to the work machine control device 27. Thereby, excavation by the work machine 2 is automatically executed.

  In the above embodiment, the work machine 2 includes the boom 6, the arm 7, and the bucket 8, but the configuration of the work machine 2 is not limited to this. Moreover, the work performed by the work machine 2 is not limited to excavation, and other work may be performed. That is, in the above-described embodiment, the excavation mode guide screen is exemplified as the work mode guide screen. However, a work mode guide screen suitable for work other than excavation may be used.

  In the above embodiment, the tilt angles of the boom 6, the arm 7, and the bucket 8 are detected by the first to third stroke sensors 16-18, but the tilt angle detection means is not limited to these. For example, an angle sensor that detects the inclination angles of the boom 6, the arm 7, and the bucket 8 may be provided.

  In the above embodiment, the approach determination threshold is set as an initial value as a determination threshold when the excavator 100 is turned on. However, the initial value of the determination threshold is not limited to this, and may be set to another value.

  The screens included in each guide screen are not limited to the above. For example, on the delicate excavation screen 54, a top view of the excavator 100 may be displayed instead of the front view 54a described above. Moreover, on the wide traveling screen 51, a 3D bird's-eye view may be displayed instead of a top view showing the current position of the excavator 100.

  In the above embodiment, the closest point P4 is selected as the position of the target plane from all the parts on the target plane 70 as shown in FIG. However, as shown in FIG. 15B, the closest point P4 may be selected as the position of the target surface from the outer periphery of the target surface 70.

  In the above embodiment, the approach / separation determination distance is calculated by subtracting the maximum reach length of the work implement 2 from the distance between the target surface 70 and the vehicle body 1. However, the approach / separation determination distance is not limited to this, and may be calculated by another method. For example, the approach / separation determination distance may be calculated by the method shown in Modification 1-3 below.

(Modification 1)
As shown in FIG. 16, the position induction controller 39 calculates a distance D0 between the target surface 70 and the vehicle main body 1 from the design terrain data and the current position of the vehicle main body 1. The position induction controller 39 then obtains a distance D2 obtained by subtracting the length L1 of the workable range 76 on the route connecting the target surface 70 and the vehicle body 1 from the distance D0 between the target surface 70 and the vehicle body 1. Calculated as the approach / separation determination distance.

(Modification 2)
The position guidance controller 39 calculates the position of the virtual circle C1 as shown in FIG. 17 from the detected current position of the vehicle main body 1. The virtual circle C1 is a circle having a radius of the maximum reach length Lmax around the mounting position of the work implement 2 in the vehicle body 1, that is, the boom pin 13. Then, the position induction controller 39 calculates the shortest distance D3 between the target surface 70 and the virtual circle C1 as the approach / separation determination distance.

(Modification 3)
As shown in FIG. 18, the position guidance controller 39 calculates the shortest distance D4 between the workable range 76 and the target surface 70 as the approaching / separating determination distance.

  INDUSTRIAL APPLICABILITY The present invention has an effect of reducing the work load on an operator, and is useful as a position guidance system for a hydraulic excavator and a control method for the position guidance system.

DESCRIPTION OF SYMBOLS 1 Vehicle main body 2 Working machine 19 Position detection part 28 Position guidance system 42 Display part 43 Memory | storage part 44 Calculation part 51 Traveling screen 52 in wide area mode Traveling screen 70 in detailed mode Target surface 100 Hydraulic excavator

Claims (11)

A position guidance system for guiding a hydraulic excavator having a vehicle main body and a work implement attached to the vehicle main body to a target work target in a work area,
A storage unit for storing terrain data indicating the position of the target work object and work machine data indicating a reach range of the work machine;
A position detector for detecting a current position of the vehicle body;
A display unit for displaying a guidance screen for guiding the hydraulic excavator to the target work object;
An approach / separation determination distance indicating a distance between the target work target and the reach range of the work machine is calculated based on the terrain data, the current position of the vehicle body, and the work machine data, and the approach / separation determination distance Is displayed on the display unit, and when the approach / separation determination distance is larger than a predetermined threshold, a wide area mode guide screen showing a wider range than the detailed mode is displayed on the display unit. A computation unit to be displayed on
A hydraulic excavator position guidance system. The work machine data is data indicating a maximum reach length of the work machine,
The calculation unit calculates a distance between the target work target and the vehicle main body from the terrain data and a current position of the vehicle main body, and calculates the work from the distance between the target work target and the vehicle main body. A value obtained by subtracting the maximum reach length of the machine is calculated as the approaching / separating distance.
The position induction system for a hydraulic excavator according to claim 1. The work machine data is data indicating a workable range around the vehicle body that the work machine can actually reach,
The calculation unit calculates a distance between the target work target and the vehicle main body from the terrain data and a current position of the vehicle main body, and from the distance between the target work target and the vehicle main body, A value obtained by subtracting the length of the workable range on the route connecting the target work object and the vehicle body is calculated as the approaching / separating distance.
The position induction system for a hydraulic excavator according to claim 1. The work machine data is data indicating a maximum reach length of the work machine,
The calculation unit calculates, as the approaching / separating distance, a shortest distance between a virtual circle whose radius is the maximum reach length around the attachment position of the work implement in the vehicle body and the target work target.
The position induction system for a hydraulic excavator according to claim 1. The work machine data is data indicating a workable range around the vehicle body that the work machine can actually reach,
The calculation unit calculates the shortest distance between the workable range and the target work target as the approach / separation determination distance,
The position induction system for a hydraulic excavator according to claim 1. The target work object is a target surface selected from a plurality of design surfaces constituting a three-dimensional design landform,
For the calculation of the approach / separation determination distance, the closest point on the target surface is selected as the position of the target work target.
The position induction system for a hydraulic excavator according to any one of claims 1 to 5. The target work object is a target surface selected from a plurality of design surfaces constituting a three-dimensional design landform,
For the calculation of the approach / separation determination distance, the closest point on the outer periphery of the target surface is selected as the position of the target work target.
The position induction system for a hydraulic excavator according to any one of claims 1 to 5. The wide area mode guide screen displays a top view showing the work area and the current position of the excavator,
The detailed mode guide screen displays a side view showing the target work object, the hydraulic excavator, and a workable range of the work implement, and a top view showing the work area and the current position of the hydraulic excavator. ,
The position induction system of the hydraulic excavator according to any one of claims 1 to 7. When the calculation unit determines that the approach / separation determination distance is greater than the predetermined threshold, sets the approach determination threshold as the predetermined threshold, and determines that the approach / separation determination distance is equal to or less than the predetermined threshold; A separation determination threshold larger than the approach determination threshold is set as the predetermined threshold;
The position induction system for a hydraulic excavator according to any one of claims 1 to 8.   A hydraulic excavator comprising the excavator position guiding system according to any one of claims 1 to 9. A position guidance system for guiding a hydraulic excavator having a vehicle main body and a work implement attached to the vehicle main body to a target work target in a work area, the terrain data indicating the position of the target work target, and the work implement A storage unit that stores work machine data indicating a reach range, a position detection unit that detects a current position of the vehicle body, and a display unit that displays a guidance screen for guiding the hydraulic excavator to the target work target; A method for controlling a position guidance system comprising:
Detecting a current position of the vehicle body;
Calculating an approach / separation determination distance indicating a distance between the target work target and a reach range of the work implement based on the terrain data, the current position of the vehicle body, and the work implement data;
Displaying a guidance screen in a detailed mode on the display unit when the approach / separation determination distance is equal to or less than a predetermined threshold;
When the approaching / separating distance is greater than a predetermined threshold, displaying a wide area mode guidance screen indicating a wider area than the detailed mode on the display unit;
A method for controlling a position induction system of a hydraulic excavator.