JP5480941B2 - Excavator display system and control method thereof. - Google Patents

Description

  The present invention relates to an excavating machine display system and a control method thereof.

  There is known a display system that displays a guide screen showing a positional relationship between a drilling machine such as a hydraulic excavator and a target surface. The target plane is a plane selected as a work target from a plurality of design planes constituting the design terrain. For example, the display system disclosed in Patent Document 1 calculates the relative positional relationship between a bucket and a target surface from detection data such as the position and posture of the bucket of a hydraulic excavator and the position and gradient of the target surface. And a display system displays the schematic diagram of the bucket and target surface in a side view on a monitor. At this time, the display system changes the display scale of the image according to the distance between the target surface and the tip of the bucket. It is also disclosed that the above-mentioned image may be displayed on a monitor with the scale of the hydraulic excavator and the working machine and the target surface fixed to a scale that is included in the same screen.

JP 2001-123476 A

  When the display scale of the image is changed according to the distance between the target plane and the work implement as in the display system of Patent Document 1, the target plane and the work implement are displayed too small, and the target It may be difficult to grasp the positional relationship between the surface and the work implement. Also, when the image is displayed on a monitor with the excavator and the target surface fixed to a scale that includes the same screen, when the target surface is far away from the work implement, The excavator is displayed too small. For this reason, it becomes difficult to grasp the positional relationship between the target surface and the excavating machine.

  An object of the present invention is to provide a display system for an excavating machine and a control method for the excavating machine that can easily grasp the positional relationship between a display target surface displayed on a guide screen and the excavating machine.

  The display system for an excavating machine according to the first aspect of the present invention is a system that displays a guidance screen. The guidance screen shows a current position of the excavating machine and a cross section in a side view of a display target surface that shows a part of the target topography to be excavated. The display system for an excavating machine includes a storage unit, a position detection unit, a calculation unit, and a display unit. The storage unit stores terrain data indicating the position of the display target surface. The position detection unit detects the current position of the excavating machine. The calculation unit sets a predetermined display range to be displayed as a guidance screen for the terrain data. The calculation unit calculates the position of the upper boundary line and the position of the lower boundary line based on the terrain data and the current position of the excavating machine. The upper boundary line indicates the height position of the upper end of the cross section of the display target surface. The lower boundary line indicates the height position of the lower end of the cross section of the display target surface. The calculation unit sets a predetermined reference point of the display range based on a vertical positional relationship between the current position of the excavating machine and the upper boundary line or the lower boundary line. The display unit displays a guidance screen that shows a cross section of the display target surface included in the display range in a side view and the current position of the excavating machine.

  The display system for an excavating machine according to a second aspect of the present invention is the display system for an excavating machine according to the first aspect, wherein the calculation unit is configured to determine whether the current position of the excavating machine is an upper boundary line and a lower boundary line. When located between, the predetermined reference point of the display range is set to a predetermined position between the upper boundary line and the lower boundary line.

The display system for an excavating machine according to a third aspect of the present invention is the display system for an excavating machine according to the second aspect, wherein the calculation unit is such that the current position of the excavating machine is located above the upper boundary line. Sometimes, the reference point is set above a predetermined position. The calculation unit sets the reference point below the predetermined position when the current position of the excavating machine is located below the lower boundary line.

  The display system for an excavating machine according to a fourth aspect of the present invention is the display system for an excavating machine according to the third aspect, wherein the computing unit is configured to position the current position of the excavating machine above the upper boundary line. The reference point of the display range is set to a position obtained by adding a distance between the current position of the excavating machine and the upper boundary line upward from a predetermined position. In addition, when the current position of the excavating machine is located below the lower boundary line, the calculation unit adds the distance between the current position of the excavating machine and the lower boundary line from the predetermined position to the reference point of the display range. Set to the specified position.

  An excavating machine according to a fifth aspect of the present invention includes the excavating machine display system according to any one of the first to fourth aspects.

  The control method of the display system of an excavating machine which concerns on the 6th aspect of this invention is a control method of the display system which displays a guidance screen. The guidance screen shows a current position of the excavating machine and a cross section in a side view of a display target surface that shows a part of the target topography to be excavated. This control method includes the following steps. In the first step, the current position of the excavating machine is detected. In the second step, a predetermined display range to be displayed as a guidance screen is set for the terrain data indicating the position of the display target surface. In the third step, the position of the upper boundary line and the position of the lower boundary line are calculated based on the topographic data and the current position of the excavating machine. The upper boundary line indicates the height position of the upper end of the cross section in the side view of the display target surface. The lower boundary line indicates the height position of the lower end of the cross section in the side view of the display target surface. In the fourth step, a predetermined reference point of the display range is set according to the vertical positional relationship between the current position of the excavating machine and the upper boundary line or the lower boundary line. In the fifth step, a guidance screen is displayed that shows the cross section of the display target surface included in the display range in a side view and the current position of the excavating machine.

  A control method for a display system for an excavating machine according to a seventh aspect of the present invention is a control method for a display system for an excavating machine according to the sixth aspect, wherein the current position of the excavating machine is an upper boundary in the fourth step. When located between the line and the lower boundary line, a predetermined reference point of the display range is set to a predetermined position between the upper boundary line and the lower boundary line.

An excavating machine display system control method according to an eighth aspect of the present invention is an excavating machine display system control method according to the seventh aspect, wherein the current position of the excavating machine is an upper boundary in the fourth step. When positioned above the line, the reference point is set above the predetermined position, and when the current position of the excavating machine is positioned below the lower boundary line, the reference point is set below the predetermined position.

  In this invention, it can suppress that a target surface and an excavation machine are displayed too small. For this reason, the operator can easily grasp the positional relationship between the target surface and the excavating machine.

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 guidance screen of driving 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. The flowchart which shows the process of display range optimization control. The flowchart which shows the process of display range optimization control. The figure which shows the example of the display area on a display part. The table | surface which shows the magnitude | size of the short side of a display range. The figure which shows the attitude | position of a working machine when the reach length of a working machine becomes the maximum. The figure which shows the example of a display range. The figure which shows an example of the position of a starting point and an end point. The figure which shows an example of a display target surface line, and the setting method of the reference point of a display range. The figure which shows an example of the position of a starting point and an end point. The figure which shows an example of the position of a starting point and an end point. The figure which shows the setting method of the reference point of a display object surface line and a display range. The figure which shows the setting method of the reference point of the display range in the guidance screen of delicate excavation mode. The figure which shows the change of the image in the guidance screen of delicate excavation mode. The figure which shows the change of the image in the guidance screen of driving | running | working mode and rough | crude excavation mode. The figure which shows the setting method of the reference point of the display range in the guidance screen of driving | running | working mode and rough excavation mode. The figure which shows the change of the image in the guidance screen of driving | running | working mode and rough | crude excavation mode. The figure which shows the setting method of the reference point of the display range in the guidance screen of driving | running | working mode and rough excavation mode. The figure which shows the change of the image in the guidance screen of driving | running | working mode and rough excavation mode. The figure which shows the change of the image in the guidance screen of driving | running | working mode and rough excavation mode.

1. Configuration 1-1. Hereinafter, a display system for an excavating machine 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 as an example of an excavating machine on which a display 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 display controller 39 (see FIG. 3), which will be described later, determines an inclination angle θ1 of the boom 6 with respect to a Za axis (see FIG. 6) of a 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. Is calculated. The second stroke sensor 17 detects the stroke length of the arm cylinder 11. The display 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 display 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 by a certain distance along the Ya axis (see FIG. 6) 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 display 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 Display System 28 The display system 28 is a system for displaying a guidance screen indicating the relationship between the target surface in the work area and the current position of the excavator 100. The display system 28 includes a display input device 38 and a display 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. Various keys are displayed on the guidance screen. The operator can execute various functions of the display system 28 by touching various keys on the guidance screen. The guidance screen will be described in detail later.

  The display controller 39 executes various functions of the display system 28. The display controller 39 and the work machine controller 26 can communicate with each other by wireless or wired communication means. The display 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 includes a work machine data storage unit 47 that stores work machine data, and a terrain data storage unit 46 that stores design terrain 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. In the terrain data storage unit 46, design terrain data indicating the shape and position of the three-dimensional designed terrain in the work area is created and stored in advance. The display 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 74 each represented by a triangular polygon. In FIG. 4, only one of the plurality of design surfaces is denoted by reference numeral 74, and the other design surfaces are omitted. The operator selects one or more of these design surfaces 74 as the target surface 70. The display controller 39 causes the display input device 38 to display a guidance screen indicating the positional relationship between the current position of the excavator 100 and the target surface 70.

2. Guide screen Hereinafter, the guide screen will be described in detail. The guide screen includes a travel mode guide screen (hereinafter referred to as “travel mode screen 52”) shown in FIG. 5 and an excavation mode guide screens 53 and 54 shown in FIGS. The travel mode screen 52 is a screen showing the positional relationship between the current position of the excavator 100 and the target surface 70 in order to guide the hydraulic excavator 100 to the vicinity of the target surface 70. The guidance screens 53 and 54 in the excavation mode indicate the current position of the excavator 100 and the target surface 70 in order to guide the work machine 2 of the excavator 100 so that the ground to be excavated has the same shape as the target surface 70. Is a screen showing the positional relationship. 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 screen 52. The excavation mode guide screens 53 and 54 include a rough excavation mode guide screen 53 shown in FIG. 7 (hereinafter referred to as “rough excavation screen 53”) and a fine excavation mode guide screen 54 shown in FIG. Called a fine excavation screen 54 ").

2-1. Travel mode screen 52
FIG. 5 shows a travel mode screen 52. The traveling mode screen 52 includes a top view 52 a showing the design landform of the work area and the current position of the excavator 100, and a side view 52 b showing the target surface 70, the excavator 100, and the workable range 76 of the work implement 2. Including.

  A plurality of operation keys are displayed on the travel mode screen 52. The operation keys include a screen switching key 65. The screen switching key 65 is a key for executing switching between the traveling mode screen 52 and the excavation mode guide screens 53 and 54. For example, once the screen switching key 65 is pressed, a pop-up screen for selecting the traveling mode screen 52, the rough excavation screen 53, and the fine excavation screen 54 is displayed. In a normal display state in which the pop-up screen is not displayed, an icon corresponding to the currently displayed guidance screen among the travel mode screen 52, the rough excavation screen 53, and the delicate excavation screen 54 is used as the screen switching key 65. It is displayed on the guidance screen. For example, in FIG. 5, since the travel mode screen 52 is displayed, an icon indicating the travel mode screen 52 is displayed as the screen switching key 65. As shown in FIG. 7, when the rough excavation screen 53 is displayed, an icon indicating the rough excavation screen 53 is displayed as a screen switching key 65.

  A top view 52 a of the travel mode screen 52 shows the design landform of the work area and the current position of the excavator 100. The top view 52a represents the design terrain as viewed from above with a plurality of triangular polygons. Specifically, the top view 52a represents the design terrain using the horizontal plane of the global coordinate system as a projection plane. Further, the target surface 70 is displayed in a color different from other design surfaces. In FIG. 5, the current position of the excavator 100 is indicated by the icon 61 of the excavator as viewed from above, but may be indicated by other symbols. Further, the top view 52 a includes information for guiding the excavator 100 to the target surface 70. 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 traveling mode screen 52.

  The top view 52 a of the travel mode screen 52 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 of the traveling mode screen 52 includes information indicating the design surface line 91, the target surface line 92, the icon 75 of the excavator 100 in a side view, the workable range 76 of the work implement 2, and the target work position. Including. A design surface line 91 indicates a cross section of the design surface 74 other than the target surface 70. A target plane line 92 indicates a cross section of the target plane 70. As shown in FIG. 4, the design surface line 91 and the target surface line 92 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 surface line 92 is displayed in a color different from the design surface line 91. In FIG. 5, the target surface line 92 and the design surface line 91 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. 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. A target point on the excavator 100 is indicated by a triangular icon 82. The operator moves the excavator 100 so that the target point icon 82 matches the target work position icon 81.

  As described above, the travel mode 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 on the travel mode screen 52. Therefore, the traveling mode screen 52 is used for positioning the excavator 100.

  As described above, the target plane line 92 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. 6, 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. 6A is a side view of the excavator 100. FIG. 6B 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. 6A, 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. 6B, the vehicle 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 as 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 display 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. The intersection line 80 with the Ya-Za plane 77 passing through the tip P3 is calculated. And the display controller 39 displays the part which passes along the target surface 70 among this intersection on the guidance screen as the target surface line 92 mentioned above.

2-2. Rough excavation screen 53
FIG. 7 shows a rough excavation screen 53. On the rough excavation screen 53, a screen switching key 65 similar to the traveling mode screen 52 described above is displayed. 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 traveling mode 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 53b of the rough excavation screen 53 includes information indicating the design plane line 91, the target plane line 92, 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 92. The graphic information 84 is information that graphically shows the shortest distance between the tip of the bucket 8 and the target surface line 92. 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 92 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 92. 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 in detail the relative positional relationship between the target surface line 92 and the excavator 100 and the numerical value indicating the shortest distance between the tip of the bucket 8 and the target surface line 92. 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 surface line 92.

2-3. Delicate drilling screen 54
FIG. 8 shows a delicate excavation screen 54. The delicate 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 screen switching key 65 similar to the traveling mode screen 52 described above is displayed. In FIG. 8, since the delicate excavation screen 54 is displayed, an icon indicating the delicate excavation screen 54 is displayed as a 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 indicating a cross section of the target surface 70 when viewed from the front (hereinafter referred to as “target surface line 93”). The side view 54 b of the delicate excavation screen 54 includes an icon 90 of the bucket 8 in a side view, a design surface line 91, and a target surface line 92. 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 86 a indicates the distance in the Za direction between the tip of the bucket 8 and the target surface line 93. The angle information 86b is information indicating an angle between the target surface line 93 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 93.

  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 92, that is, the distance between the tip of the bucket 8 and the target surface line 92 in the direction perpendicular to the target surface line 92. is there. The angle information 87b is information indicating the angle between the target surface line 92 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 92.

  The delicate 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 92. 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, on the delicate excavation screen 54, the relative positional relationship between the target plane lines 92 and 93 and the bucket 8 is displayed. The operator can more easily excavate the current terrain into the same shape as the three-dimensional design terrain by moving the tip of the bucket 8 along the lines indicating the target plane lines 92 and 93.

3. Guidance Screen Display Range Optimization Control Next, guidance screen display range optimization control executed by the calculation unit 44 of the display controller 39 will be described. The display range optimization control is control for optimizing the display range in order to make it easy for the operator to grasp the positional relationship between the target surface 70 and the work implement 2. The display range indicates a range to be displayed as a guide screen with respect to the above-described designed terrain data. That is, a portion included in the display range of the design terrain expressed by the design terrain data is displayed as the guidance screen. As described above, traveling mode screen 52 and rough excavation screen 53 include top views 52a and 53a and side views 52b and 53b, respectively. The delicate excavation screen 54 includes a front view 54a and a side view 54b. The display range optimization control in the present embodiment optimizes the display range for the side view of each guide screen. 9 and 10 are flowcharts showing processing in the display range optimization control.

  In step S1, the current position of the vehicle body 1 is detected. Here, as described above, the calculation unit 44 calculates the current position of the vehicle main body 1 in the global coordinate system based on the detection signal from the position detection unit 19.

  In step S2, a display range is set. Here, the calculation unit 44 sets a rectangular display range. The calculation unit 44 determines whether the short side of the display range is the vertical side or the horizontal side from the screen aspect ratio of the portion (hereinafter referred to as “display area”) that displays the guidance screen of the display unit 42. Ask. For example, as shown in FIG. 11A, when the display area has a vertically long shape, the horizontal side is obtained as the short side. Also, as shown in FIG. 11B, when the display area has a horizontally long shape, the vertical side is obtained as the short side. The screen aspect ratio is stored in a storage unit (not shown) of the display input device 38 and is read out by the display controller 39. Then, the calculation unit 44 determines a scale for displaying the guidance screen in the display area so that the predetermined range of the guidance screen is within the range of the short side of the display range. Specifically, as shown in FIG. 12, the length of the short side of the display range is set based on the maximum reach length of the work implement 2. For example, on the travel mode screen, the scale of the display range is set so that the length of the short side of the display range is twice the maximum reach length. On the rough excavation screen, the scale of the display range is set so that the length of the short side of the display range is 1.5 times the maximum reach length. On the delicate excavation screen, the scale of the display range is set so that the length of the short side of the display range is 1.2 times the maximum reach length.

  The maximum reach length of the work machine 2 is calculated from the work machine data. As shown in FIG. 13, the maximum reach length is the length of the work implement 2 when the work implement 2 is extended to the maximum, that is, the boom pin 13 and the bucket 8 when the work implement 2 is extended to the maximum. It is the length between the tip P3. FIG. 13 schematically shows the posture of the work implement 2 when the length of the work implement 2 reaches the maximum reach length Lmax (hereinafter referred to as “maximum reach posture”). A coordinate plane Yb-Zb shown in FIG. 13 has the position of the boom pin 13 as the origin in the vehicle body coordinate system {Xa, Ya, Za} described above. In the maximum reach posture, the arm angle θ2 is the minimum value. Further, the bucket angle θ3 is calculated by numerical analysis for parameter optimization so that the reach length of the work implement 2 is maximized. Then, the maximum reach length Lmax is calculated from these results.

  The display range 55 as shown in FIG. 14 is set by the above processing. The size of the long side of the display range 55 is calculated from the size of the short side and the screen aspect ratio described above. Further, a predetermined position in the display range 55 is set as the reference point Pb. The reference point Pb is fixedly set for each type of guidance screen. Specifically, the reference point Pb is represented by a distance a1 in the Y-axis direction from a vertex of one corner of the display range 55 and a distance b1 in the Z-axis direction (hereinafter referred to as “offset value”). . Then, the offset value a1. For b1, a unique value is set in each of the travel mode screen 52, the rough excavation screen 53, and the fine excavation screen 54.

  Returning to FIG. 9, in step S3, the display target surface line is determined. Here, as shown in FIG. 15, the calculation unit 44 calculates the start point Ps and the end point Pe in the cross section in the side view on the target plane line 92 based on the terrain data, the work machine data, and the current position of the vehicle body. Is calculated. The starting point Ps is a position closest to the vehicle main body 1 on the target plane line 92. The end point Pe is a position away from the start point Ps by the maximum reach length Lmax of the work machine 2. Specifically, the coordinates of the start point Ps and the end point Pe are calculated on the intersection line between the Yb-Zb plane and the target surface 70. Thereby, for example, as shown in FIG. 16, the coordinates of the start point Ps and the end point Pe on the target plane line 92 are calculated, and the portion of the target plane line 92 between the start point Ps and the end point Pe is the display target plane line. Determined as 78. However, as shown in FIG. 17, when the vehicle main body 1 is located on the target plane 70, the position of the vehicle origin Po (here, the current position of the bucket pin 13) is determined as the position of the start point Ps. . As shown in FIG. 18, when the target surface line 92 is smaller than the maximum reach length Lmax, the end point Pe is located outside the target surface 70. Also, as shown in FIG. 17, the end point Pe is located outside the target surface 70 even when the position away from the start point Ps by the maximum reach distance is located outside the target surface 70. In this case, as shown in FIG. 19, the coordinates of the start point Ps on the target plane line 92 and the end point Pe on the design plane line 91 adjacent to the target plane line 92 are calculated, and the target plane line 92 and the design plane line are calculated. 91, a portion between the start point Ps and the end point Pe is determined as the display target surface line 78.

  Returning to FIG. 9, in step S <b> 4, it is determined whether the traveling mode screen 52 or the rough excavation screen 53 is displayed on the display unit 42. When the traveling mode screen 52 or the rough excavation screen 53 is not displayed on the display unit 42, the process proceeds to step S5. That is, when the delicate excavation screen 54 is displayed on the display unit 42, the process proceeds to step S5.

  In step S5, the reference point Pb is set to the average position of the start point Ps and the end point Pe of the display target surface line 78. That is, as shown in FIG. 20, the reference point Pb is set to the midpoint Pm between the start point Ps and the end point Pe. And in step S9 shown in FIG. 10, the guidance screen, ie, the fine excavation screen 54, is displayed. As described above, since the reference point Pb is set to the midpoint Pm between the start point Ps and the end point Pe, as shown in FIGS. 21 (a) to 21 (c), on the side view 54b of the delicate excavation screen 54, The display target surface line 78 is fixedly displayed, and the icon 89 of the bucket 8 is displayed so as to move on the side view 54b of the delicate excavation screen 54.

  Returning to FIG. 9, when it is determined in step S4 that the travel mode screen 52 or the rough excavation screen 53 is displayed on the display unit 42, the process proceeds to step S6 shown in FIG. In step S6, as shown in FIG. 16, the Y coordinate of the reference point Pb is set to the Y coordinate of the vehicle origin Po.

  Next, in step S7, it is determined whether or not the Z coordinate of the vehicle origin Po is between the upper boundary line and the lower boundary line. The upper boundary line indicates the height position of the upper end of the display target surface line 78. The lower boundary line indicates the height position of the lower end of the display target surface line 78. For example, as shown in FIG. 16, the upper boundary line La is a line parallel to the Y axis that passes through the end point Pe of the display target surface line 78. The lower boundary line Lb is a line parallel to the Y axis passing through the starting point Ps of the display target surface line 78. When it is determined that the Z coordinate of the vehicle origin Po is between the upper boundary line La and the lower boundary line Lb, the process proceeds to step S8.

  In step S8, the Z coordinate of the reference point Pb is set to the average position of the upper boundary line La and the lower boundary line Lb. Here, as shown in FIG. 16, the Z coordinate of the reference point Pb is fixed to the Z coordinate of the midpoint Pm between the upper boundary line La and the lower boundary line Lb. In step S9, a guidance screen is displayed. That is, the traveling mode screen 52 or the rough excavation screen 53 is displayed. For example, when the rough excavation screen 53 is displayed, if the vehicle body 1 moves up and down between the upper boundary line La and the lower boundary line Lb as shown in FIGS. The display target surface line 78 is fixedly displayed on the side view 53b of the excavation screen 53, and the icon 75 of the excavator 100 is displayed so as to move up and down on the side view 53b of the rough excavation screen 53. The side view 52 b of the travel mode screen 52 is also displayed in the same manner as the side view 53 b of the rough excavation screen 53.

  If it is determined in step S7 that the Z coordinate of the vehicle origin Po is not between the upper boundary line La and the lower boundary line Lb, the process proceeds to step S10. In step S10, it is determined whether or not the Z coordinate of the vehicle origin Po is above the upper boundary line La. If the Z coordinate of the vehicle origin Po is above the upper boundary line La as shown in FIG. 23, the process proceeds to step S11.

  In step S11, the Y coordinate of the reference point Pb is set to a position obtained by adding the distance between the vehicle origin Po and the upper boundary line La to the average position of the upper boundary line La and the lower boundary line Lb. That is, as shown in FIG. 23, a value obtained by adding the distance Da in the Z-axis direction between the vehicle origin Po and the upper boundary line La to the Z coordinate of the midpoint Pm between the start point Ps and the end point Pe is set as the reference point. Set to the Z coordinate of Pb. In FIG. 23, “Pb ′” indicates the position of the reference point when the Z coordinate of the vehicle origin Po is between the upper boundary line La and the lower boundary line Lb.

  In step S9, a guidance screen is displayed. That is, the traveling mode screen 52 or the rough excavation screen 53 is displayed. For example, when the rough excavation screen 53 is displayed, as shown in FIGS. 24A to 24C, the side view 53b of the rough excavation screen 53 as the vehicle body 1 moves upward from the upper boundary line La. The display target surface line 78 is displayed so as to gradually move downward. On the side view 53b of the rough excavation screen 53, the icon 75 of the excavator 100 is displayed so that the position in the vertical direction is fixed (see FIGS. 24B and 24C). The side view 52 b of the travel mode screen 52 is also displayed in the same manner as the side view 53 b of the rough excavation screen 53.

  If it is determined in step S10 that the Z coordinate of the vehicle origin Po is not above the upper boundary line La, the process proceeds to step S12. That is, as shown in FIG. 25, when it is determined that the Z coordinate of the vehicle origin Po is below the lower boundary line Lb, the process proceeds to step S12.

  In step S12, the Z coordinate of the reference point Pb is set to a position obtained by subtracting the distance between the vehicle origin Po and the lower boundary line Lb from the average position of the upper boundary line La and the lower boundary line Lb. That is, as shown in FIG. 25, a value obtained by subtracting the distance Db in the Z-axis direction between the vehicle origin Po and the lower boundary line Lb from the Z coordinate of the midpoint Pm between the start point Ps and the end point Pe is obtained as a reference point. Set to the Z coordinate of Pb.

  In step S9, a guidance screen is displayed. That is, the traveling mode screen 52 or the rough excavation screen 53 is displayed. For example, when the rough excavation screen 53 is displayed, a side view 53b of the rough excavation screen 53 as the vehicle body 1 moves downward from the lower boundary line Lb as shown in FIGS. The display target surface line 78 is displayed so as to gradually move upward. On the side view 53b of the rough excavation screen 53, the icon 75 of the excavator 100 is displayed so that the position in the vertical direction is fixed (see FIGS. 26B and 26C). The side view 52 b of the travel mode screen 52 is also displayed in the same manner as the side view 53 b of the rough excavation screen 53.

  As described above, when the traveling mode screen 52 or the rough excavation screen 53 is displayed, the Y coordinate of the reference point Pb is set to the Y coordinate of the vehicle origin Po (see FIG. 16). Therefore, when the vehicle body 1 moves in the Y-axis direction, as shown in FIGS. 27A to 27C, the icon 75 of the excavator 100 is fixed on the guide screen, and the display target surface line 78 is displayed. Displayed to move in the Y-axis direction.

4). Features In the display system 28 according to the present embodiment, when the vehicle origin Po is located between the upper boundary line La and the lower boundary line Lb on the travel mode screen 52 and the rough excavation screen 53, as shown in FIG. The Z coordinate of the reference point Pb in the display range 55 is fixed to the Z coordinate of the midpoint Pm between the upper boundary line La and the lower boundary line Lb. For this reason, as shown in FIG. 22, even if the vehicle origin Po moves upward or downward between the upper boundary line La and the lower boundary line Lb, the display target surface line 78 does not move on the guidance screen. The icon 75 of the excavator 100 is displayed so as to move upward or downward. Then, as shown in FIG. 24, when the vehicle origin Po moves above the upper boundary line La, the Z coordinate of the reference point Pb in the display range 55 is changed to a position above the Z coordinate of the midpoint Pm. . Thereby, the display target surface line 78 is moved downward on the guidance screen, and the display range 55 is displayed so as to move upward along the vehicle body 1. Further, as shown in FIG. 26, when the vehicle origin Po moves below the lower boundary line Lb, the Z coordinate of the reference point Pb in the display range 55 is changed to a position below the Z coordinate of the midpoint Pm. . Thereby, the display target surface line 78 moves upward on the guidance screen, and the display range 55 is displayed so as to move downward along the vehicle body 1. Thereby, it is suppressed that the target plane line 92 and the vehicle main body 1 are displayed too small. Therefore, the operator can easily grasp the positional relationship between the target surface 70 and the vehicle main body 1.

  Furthermore, the Z coordinate of the reference point Pb of the display range 55 is changed to a position above the Z coordinate of the middle point Pm according to the distance at which the current position of the vehicle origin Po is away from the upper boundary line La. Further, the Z coordinate of the reference point Pb in the display range 55 is changed to a position below the Z coordinate of the midpoint Pm according to the distance that the current position of the vehicle body 1 is separated downward from the lower boundary line Lb. Thereby, the guidance screen can be smoothly scrolled.

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, some or all of the functions of the display 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 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.

  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.

  The coordinates of the reference point Pb on the delicate excavation screen 54 are not limited to the midpoint Pm between the start point Ps and the end point Pe, and may be set at other predetermined positions. Similarly, in the travel mode screen 52 and the rough excavation screen 53, the Z coordinate of the reference point Pb when the vehicle origin Po is located between the upper boundary line La and the lower boundary line Lb is the start point Ps and the end point Pe. Not only the Z coordinate of the middle point Pm but also the Z coordinate of another position may be set.

  In the above embodiment, the vehicle origin Po indicating the current position of the vehicle main body 1 is set to the position of the bucket pin 15, but may be set to another position of the vehicle main body 1.

  In the above embodiment, the portion of the target plane 70 between the start point Ps and the end point Pe is set as the display target plane line, but the entire target plane 70 may be set as the display target plane line.

  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.

  INDUSTRIAL APPLICABILITY The present invention has an effect of easily grasping the positional relationship between a display target surface displayed on a guidance screen and an excavating machine, and is useful as a display system for an excavating machine and a control method thereof.

19 Position Detection Unit 28 Display System 42 Display Unit 44 Calculation Unit 46 Topographic Data Storage Unit 55 Display Range 78 Display Target Surface Line La Upper Boundary Line Lb Lower Boundary Line Pb Reference Point 100 Hydraulic Excavator

Claims (8)

A display system for an excavating machine that displays a guide screen indicating a current position of the excavating machine and a display target surface indicating a part of a target terrain to be excavated,
A storage unit for storing terrain data indicating the position of the display target surface;
A position detector for detecting a current position of the excavating machine;
An upper part that sets a predetermined display range to be displayed as the guide screen with respect to the topographic data and indicates the height position of the upper end of the cross section of the display target surface based on the topographic data and the current position of the excavating machine Calculate the position of the lower boundary line indicating the position of the boundary line and the height position of the lower end of the cross section of the display target surface, and the vertical direction between the current position of the excavating machine and the upper boundary line or the lower boundary line A calculation unit for setting a predetermined reference point of the display range according to the positional relationship of:
A display unit for displaying the guide screen showing a cross section in a side view of the display target surface included in the display range and a current position of the excavating machine;
Drilling machine display system comprising: When the current position of the excavating machine is located between the upper boundary line and the lower boundary line, the calculation unit sets a predetermined reference point of the display range between the upper boundary line and the lower boundary line. Set in place,
The display system of an excavating machine according to claim 1. The calculation unit sets the reference point above the predetermined position when the current position of the excavating machine is located above the upper boundary line, and the current position of the excavating machine is set higher than the lower boundary line. When the position is below, the reference point is set below the predetermined position.
The display system for an excavating machine according to claim 2 . When the current position of the excavating machine is located above the upper boundary line, the arithmetic unit moves the reference point upward from the predetermined position between the current position of the excavating machine and the upper boundary line. When the current position of the excavating machine is located below the lower boundary line, the reference point is moved downward from the predetermined position between the current position of the excavating machine and the lower boundary line. Set the distance to the added position,
The display system of an excavating machine according to claim 3.   An excavating machine comprising the excavating machine display system according to claim 1. A control method for a display system of an excavating machine that displays a guide screen indicating a current position of the excavating machine and a display target surface indicating a part of a target terrain to be excavated,
Detecting a current position of the excavating machine;
Setting a predetermined display range to be displayed as the guide screen with respect to terrain data indicating the position of the display target surface;
Based on the topographic data and the current position of the excavating machine, the position of the upper boundary line indicating the height position of the upper end of the cross section in the side view of the display target surface, and the lower end of the cross section in the side view of the display target surface Calculating the position of the lower boundary line indicating the height position of
Setting a predetermined reference point of the display range according to a vertical positional relationship between the current position of the excavating machine and the upper boundary line or the lower boundary line;
Displaying the guide screen showing a cross-section in a side view of the display target surface included in the display range and the current position of the excavating machine;
A control method for a display system of an excavating machine. In the step of setting the predetermined reference point of the display range, when the current position of the excavating machine is located between the upper boundary line and the lower boundary line, the predetermined reference point of the display range is set to the upper boundary line. And a predetermined position between the lower boundary line and
The control method of the display system of an excavation machine according to claim 6. In the step of setting the predetermined reference point of the display range, when the current position of the excavating machine is located above the upper boundary line, the reference point is set above the predetermined position, and the excavating machine When the current position is located below the lower boundary line, the reference point is set below the predetermined position;
The control method of the display system of an excavation machine according to claim 7 .

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