JP6615473B2 - Excavator - Google Patents

Description

  The present invention relates to an excavator having a machine guidance function.

  An operator of a shovel as a construction machine is required to have a skilled operation technique in order to efficiently and accurately perform an operation such as excavation by an attachment. Therefore, there is an excavator provided with a function (referred to as machine guidance) for guiding the operation of the excavator so that even an operator who has little experience with the excavator can perform the work efficiently and accurately (for example, Patent Literature 1).

JP 2014-148893 A

  In an excavator having a machine guidance function, a current position of a bucket and a target line indicating a work target surface may be displayed on a display device. In addition, the trajectory of the toe of the bucket during the excavation operation may be displayed. The trajectory of the toe of the bucket is displayed as information indicating the depth from the current ground surface that has been excavated to the target excavation surface. Therefore, when one excavation operation by the bucket is finished and the excavation operation to a deeper position is started, the trajectory of the previous excavation operation displayed is deleted, and the trajectory by this excavation operation is newly renewed. Is displayed.

  Thus, if the trajectory in the last excavation operation is deleted, it is impossible to confirm later what kind of bucket excavation operation has been performed so far. In addition, it is impossible to confirm on the display screen where the current ground surface to be excavated (corresponding to the trajectory of the previous bucket tip), and how deep the current bucket tip is relative to the current ground surface. I can't check on the display screen whether it's getting in.

  In view of this, an object of one embodiment is to provide an excavator that performs a display in which a history of a trail of a tip of a bucket can be confirmed on a display device.

In order to achieve the above-described object, according to one embodiment of the present invention, an attachment, an end attachment included in the attachment for performing work, a posture sensor provided in the attachment , and an operation of the end attachment are performed. The excavator having a guidance device that compares the excavation target with the height of the work site of the end attachment and performs guidance based on the comparison result, and a display device that displays information regarding work by the end attachment, The guidance device displays a trajectory line of the work site of the end attachment in the past predetermined number of operations and an image showing the position of the end attachment only at a calculated time point calculated based on the posture sensor. An excavator is provided for simultaneous display .

  According to the disclosed embodiment, the operator of the excavator can check the trajectory of the bucket toe in the past excavation operation during excavation work by looking at the display device. For this reason, the operator can confirm on the display screen of the display device how deep the excavation is with the bucket from the current ground surface or the ground surface formed in the excavation operation several times before.

It is a side view of the shovel by one Embodiment of this invention. It is a block diagram which shows the connection of the controller of an shovel, and an image display apparatus. It is a block diagram which shows the function structure of a controller and a machine guidance apparatus. It is a figure which shows the slope excavation operation | work by a shovel. It is the figure which looked at the front of the shovel from the driver's seat in a cabin. It is a figure which shows the display screen which left and displayed the locus line of the toe of a bucket in excavation operation | movement of the past predetermined number of times. It is a figure which shows the display screen which displays a track line by color. It is a figure which shows the display screen for demonstrating the determination method of the starting point of a locus line, and an end point. It is a figure which shows the display screen for demonstrating the other example of the determination method of the starting point of a locus line, and an end point.

  Embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a side view of an excavator according to an embodiment. An upper swing body 3 is mounted on the lower traveling body 1 of the excavator via a swing mechanism 2. A boom 4 is attached to the upper swing body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 as an end attachment is attached to the tip of the arm 5. As an end attachment, a slope bucket, a kite bucket, or the like may be used.

  The boom 4, the arm 5, and the bucket 6 constitute a drilling attachment as an example of the attachment, and are hydraulically driven by the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, respectively. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6. The excavation attachment may be provided with a bucket tilt mechanism. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be referred to as “attitude sensors”.

  The boom angle sensor S1 detects the rotation angle of the boom 4. In the present embodiment, the boom angle sensor S1 is an acceleration sensor that detects a tilt angle with respect to the horizontal plane and detects a rotation angle of the boom 4 with respect to the upper swing body 3. The arm angle sensor S2 detects the rotation angle of the arm 5. In the present embodiment, the arm angle sensor S <b> 2 is an acceleration sensor that detects an inclination angle with respect to the horizontal plane and detects a rotation angle of the arm 5 with respect to the boom 4. The bucket angle sensor S3 detects the rotation angle of the bucket 6. In the present embodiment, the bucket angle sensor S3 is an acceleration sensor that detects the rotation angle of the bucket 6 with respect to the arm 5 by detecting an inclination with respect to the horizontal plane. When the excavation attachment includes a bucket tilt mechanism, the bucket angle sensor S3 additionally detects the rotation angle of the bucket 6 around the tilt axis. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are a potentiometer using a variable resistor, a stroke sensor that detects a stroke amount of a corresponding hydraulic cylinder, and a rotary encoder that detects a rotation angle around a connecting pin. Etc.

  The upper swing body 3 is provided with a cabin 10 and a power source such as an engine 11 is mounted. A GPS device (GNSS receiver) G <b> 1 is provided at the top of the cabin 10. The GPS device G1 detects the position of the excavator by the GPS function, and supplies the position data to the machine guidance device 50 in the controller 30. In the cabin 10, an input device D1, an audio output device D2, a display device D3, a storage device D4, and a controller 30 are installed.

  The controller 30 functions as a main control unit that performs drive control of the shovel. In the present embodiment, the controller 30 includes an arithmetic processing device that includes a CPU and an internal memory. Various functions of the controller 30 are realized by the CPU executing programs stored in the internal memory.

  The controller 30 also functions as a machine guidance device 50 that guides the operation of the shovel. In the present embodiment, the machine guidance device 50 visually and audibly notifies the operator of the distance in the vertical direction between the surface of the target landform set by the operator and the tip (toe) position of the bucket 6, for example. . Thereby, the machine guidance apparatus 50 guides the operation of the shovel by the operator. Note that the machine guidance device 50 may only notify the operator of the distance visually or may only notify the operator audibly.

  In the present embodiment, the machine guidance device 50 is incorporated in the controller 30, but the machine guidance device 50 may be provided separately from the controller 30. In this case, like the controller 30, the machine guidance device 50 is configured by an arithmetic processing device including a CPU and an internal memory. Various functions of the machine guidance device 50 are realized by the CPU executing a program stored in the internal memory.

  The input device D1 is a device for an operator of the shovel to input various information to the controller 30 including the machine guidance device 50. In the present embodiment, the input device D1 is a membrane switch attached to the surface of the display device D3. A touch panel or the like may be used as the input device D1.

  The audio output device D2 outputs various audio information in response to an audio output command from the machine guidance device 50 included in the controller 30. In the present embodiment, an in-vehicle speaker connected to the machine guidance device 50 is used as the audio output device D2. An alarm device such as a buzzer may be used as the audio output device D2.

  The display device D3 outputs various image information in response to a command from the machine guidance device 50 included in the controller 30. In the present embodiment, an in-vehicle liquid crystal display connected to the machine guidance device 50 is used as the display device D3.

  The storage device D4 is a device for storing various information. In the present embodiment, a nonvolatile storage medium such as a semiconductor memory is used as the storage device D4. The storage device D4 stores various information output by the controller 30 including the machine guidance device 50.

  The gate lock lever D5 is a mechanism that prevents the shovel from being operated accidentally. In the present embodiment, the gate lock lever D5 is disposed between the door of the cabin 10 and the driver's seat. When the gate lock lever D5 is pulled up so that the operator cannot leave the cabin 10, the various operation devices can be operated. On the other hand, when the gate lock lever D5 is pushed down so that the operator can leave the cabin 10, the various operation devices become inoperable.

  FIG. 2 is a block diagram showing the connection between the shovel controller 30 and the image display device 40. The image display device 40 corresponds to the display device D3 described above, and displays information supplied from the machine guidance device 50 on the display screen. In the present embodiment, the image display device 40 is connected to the controller 30 including the machine guidance device 50 via a communication network such as a controller area network (CAN) or a local interconnect network (LIN). Note that the image display device 40 may be connected to the controller 30 via a dedicated line.

  The image display device 40 includes a conversion processing unit 40 a that generates an image to be displayed on the image display unit 41. In the present embodiment, the conversion processing unit 40 a generates a camera image to be displayed on the image display unit 41 based on the output of the imaging device 80. Therefore, the imaging device 80 is connected to the image display device 40 through a dedicated line, for example.

  The conversion processing unit 40a converts data to be displayed on the image display unit 41 among data input to the image display device 40 into an image signal. Data input to the image display device 40 includes image data from the imaging device 80. The imaging device 80 may include, for example, a left side monitoring camera, a rear side monitoring camera, and a right side monitoring camera. In that case, image data output from each of the left side monitoring camera, the rear side monitoring camera, and the right side monitoring camera is input to the image display device 40.

  The conversion processing unit 40 a generates an image to be displayed on the image display unit 41 based on the output of the controller 30. In the present embodiment, the conversion processing unit 40 a converts data to be displayed on the image display unit 41 among data input to the controller 30 into an image signal. The data input to the controller 30 includes, for example, data indicating the temperature of engine cooling water, data indicating the temperature of hydraulic oil, data indicating the remaining amount of urea water, data indicating the remaining amount of fuel, and the like. The conversion processing unit 40 a outputs the converted image signal to the image display unit 41 and displays a corresponding image on the image display unit 41.

  Note that the conversion processing unit 40a may be realized as a function of the controller 30 instead of a function of the image display device 40. In this case, the imaging device 80 is connected to the controller 30 instead of the image display device 40.

  The image display device 40 includes a switch panel 42 as the input unit 42. The switch panel 42 is a panel including various hardware switches. In the present embodiment, the switch panel 42 includes a light switch 42a as a hardware button, a wiper switch 42b, and a window washer switch 42c. The light switch 42 a is a switch for switching on / off of a light attached to the outside of the cabin 10. The wiper switch 42b is a switch for switching operation / stop of the wiper. Further, the window washer switch 42c is a switch for injecting window washer fluid.

  The image display device 40 operates by receiving power from the storage battery 70. The storage battery 70 is charged with electric power generated by the alternator 11a (generator) of the engine 11. The power of the storage battery 70 is also supplied to the electrical equipment 72 of the excavator other than the controller 30 and the image display device 40. Further, the starter 11 b of the engine 11 is driven by electric power from the storage battery 70 and starts the engine 11.

  The engine 11 is controlled by an engine control unit (ECU) 74. Various data indicating the state of the engine 11 (for example, data indicating the cooling water temperature (physical quantity) detected by the water temperature sensor 11c) is constantly transmitted from the ECU 74 to the controller 30. Therefore, the controller 30 can store this data in the internal temporary storage unit (memory) 30a and transmit it to the image display device 40 when necessary.

  Various types of data are supplied to the controller 30 as described below and stored in the temporary storage unit 30a of the controller 30.

  First, data indicating the swash plate angle is supplied to the controller 30 from the regulator 14 a of the main pump 14 which is a variable displacement hydraulic pump. Further, data indicating the discharge pressure of the main pump 14 is sent from the discharge pressure sensor 14b to the controller 30. These data (data representing physical quantities) are stored in the temporary storage unit 30a. An oil temperature sensor 14c is provided in a pipe line between the main pump 14 and a tank in which the hydraulic oil sucked by the main pump 14 is stored, and data representing the temperature of the hydraulic oil flowing through the pipe line. Is supplied to the controller 30 from the oil temperature sensor 14c.

  The pilot pressure sent to the control valve 17 when the operation levers 26 </ b> A to 26 </ b> C are operated is detected by the hydraulic pressure sensors 15 a and 15 b, and data indicating the detected pilot pressure is supplied to the controller 30. A switch button 27 is provided on the operation levers 26A to 26C. The operator can send a command signal to the controller 30 by operating the switch button 27 while operating the operation levers 26A to 26C. The controller 30 controls the machine guidance function and other excavator functions based on a command signal supplied by operating the switch button 27.

  In the present embodiment, the excavator includes an engine speed adjustment dial 75 in the cabin 10. The engine speed adjustment dial 75 is a dial for adjusting the engine speed. In this embodiment, the engine speed can be switched in four stages. Further, data indicating the setting state of the engine speed is constantly transmitted from the engine speed adjustment dial 75 to the controller 30. Further, the engine speed adjustment dial 75 allows the engine speed to be switched in four stages of SP mode, H mode, A mode, and idling mode. FIG. 5 shows a state in which the H mode is selected with the engine speed adjustment dial 75.

  The SP mode is a rotation speed mode that is selected when priority is given to the amount of work, and uses the highest engine speed. The H mode is a rotation speed mode that is selected when both the work amount and the fuel consumption are desired, and uses the second highest engine speed. The A mode is a rotation speed mode that is selected when it is desired to operate the shovel with low noise while giving priority to fuel consumption, and uses the third highest engine speed. The idling mode is a rotation speed mode that is selected when the engine is desired to be in an idling state, and uses the lowest engine speed. The engine 11 is controlled at a constant speed with the engine speed in the speed mode set with the engine speed adjustment dial 75.

  Next, various functional elements provided in the controller 30 and the machine guidance device 50 will be described with reference to FIG. FIG. 3 is a functional block diagram showing the configuration of the controller 30 and the machine guidance device 50.

  In the present embodiment, the controller 30 controls whether to perform guidance by the machine guidance device 50 in addition to controlling the operation of the entire shovel. Specifically, the controller 30 determines whether or not the excavator is at rest based on the state of the gate lock lever D5 and detection signals from the pressure sensors 15a and 15b. When the controller 30 determines that the excavator is at rest, it sends a guidance stop command to the machine guidance device 50 so as to stop the guidance by the machine guidance device 50.

  Further, the controller 30 may output a guidance stop command to the machine guidance device 50 when outputting an auto idle stop command to the engine controller D7. The engine controller D7 corresponds to the ECU 74 in FIG. Alternatively, the controller 30 may output a guidance stop command to the machine guidance device 50 when it is determined that the gate lock lever D5 is in a depressed state.

  Next, the machine guidance device 50 will be described. In the present embodiment, the machine guidance device 50 receives various signals and data supplied to the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the GPS device G1, the input device D1, and the controller 30. The machine guidance device 50 calculates the actual operation position of the attachment (for example, the bucket 6) based on the received signal and data. Then, when the actual operation position of the attachment is different from the target operation position, the machine guidance device 50 transmits a notification command to the voice output device D2 and the display device D3 to issue a notification. When the machine guidance device 50 is provided separately from the controller 30, the machine guidance device 50 and the controller 30 are connected to each other through a CAN (Controller Area Network) so as to communicate with each other.

  The machine guidance device 50 includes a functional unit that performs various functions. In the present embodiment, the machine guidance device 50 includes a height calculation unit 503, a comparison unit 504, a display control unit 505, and a guidance data output unit 506 as functional units for guiding the operation of the attachment.

  The height calculation unit 503 calculates the height of the tip (toe) of the bucket 6 from the angles of the boom 4, the arm 5, and the bucket 6 calculated from the detection signals of the sensors S <b> 1 to S <b> 3.

  The comparison unit 504 calculates the height of the tip (toe) of the bucket 6 calculated by the height calculation unit 503 and the target height of the tip (toe) of the bucket 6 indicated by the guidance data output from the guidance data output unit 506. Compare.

  The display control unit 505 transmits a display control command to the display device D3 when it is determined that display is necessary based on the comparison result in the comparison unit 504. When the display device D3 receives the display control command, the display device D3 displays a predetermined display (such as an image showing the position of the target line and the bucket) on the screen of the display device and notifies the operator of the shovel.

  As described above, the guidance data output unit 506 extracts the target height data of the bucket 6 from the guidance data stored in advance in the storage device of the machine guidance device 50 and outputs the data to the comparison unit 504. .

  Next, display control performed by the display control unit 505 of the machine guidance device 50 in the present embodiment will be described.

  The display control described below is performed when guidance is displayed on the image display device 40 while excavating a slope (inclined surface) as shown in FIG. Control. The display control according to the present embodiment is not limited to slope excavation work, but can be applied to horizontal excavation work and other work.

  FIG. 5 is a view of the front when viewed from the cabin 10 of the shovel. The bucket 6 can be seen from the front window of the cabin 10. A seat surface of the driver's seat 10a is shown in the lower part of the center of FIG. 5, and operating levers 26A and 26B are shown on both sides thereof. The operator sits in the driver's seat, holds the operation lever 26A with the left hand, moves the bucket 6 to a desired position while holding the operation lever 26B with the right hand, and performs excavation work. Usually, the excavation target surface exists in the ground. Further, it is difficult for the operator to confirm the depth of the excavation surface from the position where the operator is seated in the driver's seat 10a. Therefore, it is difficult for the operator to grasp how close to the excavation target surface by one operation only by looking at only the position of the bucket 6 and the ground surface.

  Therefore, the image display unit 41 (hereinafter also referred to as a display screen 41) of the image display device 40 is disposed in the lower right portion of the front window frame. In a state where the operator of the shovel is looking at the work in the bucket 6 outside the window, the image display unit 41 is in one corner of the operator's field of view. The operator of the shovel confirms the position of the tip of the bucket 6 with respect to the excavation target surface while viewing the display screen 41 while performing excavation work by operating the bucket 6.

  In the work shown in FIG. 4, since excavation is performed at the tip of the bucket 6, the tip (toe) of the bucket 6 corresponds to the work part of the end attachment. For example, when working to level the earth and sand on the back surface of the bucket 6, the back surface of the bucket 6 corresponds to the work site of the end attachment. When a breaker is used as an end attachment other than the bucket 6, the tip of the breaker corresponds to the work site of the end attachment.

  Here, a case will be considered in which, after the trajectory line of the tip of the bucket 6 in the current excavation operation is displayed on the display screen 41, the trajectory line in the previous excavation operation is deleted when the next excavation operation starts. The ground surface that is currently being excavated corresponds to the ground surface that has been excavated in the previous excavation operation, and this ground surface is indicated on the display screen 41 by the trajectory line of the tip of the bucket 6.

  Thus, the locus line of the tip of the bucket 6 in the previous excavation operation displayed on the display screen 41 is the only line representing the current ground surface, and it is deleted without leaving the past locus line. As a result, the operator cannot know where the current ground surface is on the display screen 41. Therefore, it cannot be confirmed on the display screen 41 how much the current toe of the actual bucket 6 is excavating the ground. In addition, it is not possible to confirm how the ground has been excavated and the earth and sand removed by a plurality of excavation operations so far.

  Therefore, in the present embodiment, in the display on the display screen 41, the current actual bucket 6 is displayed by leaving the toe trajectory lines of the bucket 6 in the past plural excavation operations including the previous excavation operation. It is made possible to confirm on the display screen 41 how much the tip of the toe is excavating the ground. Further, by displaying the toe trajectory line of the bucket 6 in the past plural excavation operations, it is possible to confirm how the ground has been excavated and the earth and sand removed by the plural excavation operations so far. Like that.

  FIG. 6 is a diagram showing a display screen 41 displayed by leaving the trace line of the tip of the bucket 6 in the past predetermined number of excavation operations.

  FIG. 6 shows a diagram of a display screen 41 that is displayed when an excavation operation by the bucket 6 (here, the fourth excavation operation) is performed. In FIG. 6, the excavation target surface is indicated by a target line TL. In addition, FIG. 6 shows the locus line RL1 of the tip of the bucket 6 in the first excavation operation (that is, the excavation operation three times before) and the second excavation operation (that is, the excavation operation two times before). The locus line RL2 of the toe of the bucket 6 in FIG. 5 and the locus line RL3 of the toe of the bucket 6 in the third excavation operation (that is, the previous excavation operation) are shown.

  By viewing the display as shown in FIG. 6, the operator can excavate the ground surface in the first excavation operation to become the ground surface along the trajectory line RL1, and the ground surface along the trajectory line RL2 by the next excavation operation. Thus, it can be easily confirmed that the ground surface along the locus line RL3 has been obtained by the previous excavation operation. In this way, by checking the excavation operation history, it is possible to obtain information useful for determining the next excavation operation. In addition, the current ground surface can be confirmed by looking at the locus line RL3 obtained by the previous excavation operation, and it is determined how much the tip of the bucket 6 should be put on the ground surface in the current excavation operation. Can be useful. Moreover, since the amount of excavation by one operation, the distance to the excavation target surface, and the like can be visually grasped, it is possible to grasp to what depth the bucket 6 should be excavated next.

  Further, in the locus line RL3 shown in FIG. 6, there is a portion in which the middle of the dotted line is a thick broken line. This thick broken line indicates that the display line type (including the type of line such as a broken line and a solid line, the thickness of the line, etc.) or the display color (including the line color) is changed. The portion where the display line type or the display color is changed in the locus line RL3 indicates that the actual ground corresponding to the portion is hard earth and sand. When excavating hard earth and sand, the load on the excavator increases, so the load applied to the arm 5 and boom 4 during the excavation operation is detected, and a part of the locus line RL3 corresponding to the increased load is displayed. Change the line type or display color. Thereby, the operator can recognize that there is a hard part on the current ground surface, and can use this information for the operation of the bucket. It should be noted that instead of the display based on the display line type or the display color, only that portion may be blinked or blinked, and the display may be different from the other portions. In this way, by displaying the load applied to the bucket 6 by changing the line type, it is possible to visually confirm which part is hard, and it is possible to perform excavation efficiently.

  In addition, when the excavation work by a series of excavation operations is finished and, for example, the excavation work is moved to another place, the machine guidance device 50 deletes all the trajectory lines. That is, when the work place or work condition is changed, the trajectory lines in the past excavation operation are not used as references, and thus all past trajectory lines are deleted from the display screen and new trajectory lines are created.

  The display shown in FIG. 6 may be the display shown in FIG. In FIG. 7, locus lines RL1, RL2, and RL3 are displayed in different colors. In order to show the difference in color, in FIG. 7, locus lines RL1, RL2, and RL3 are indicated by a two-dot chain line, a one-dot chain line, and a dotted line, respectively. Thus, by displaying a plurality of trajectory lines in different colors, the color of the trajectory lines changes depending on the distance from the excavation target surface. Thus, the operator can easily grasp the distance from the ground surface to the excavation target surface, and can easily know how the excavation has progressed.

  FIG. 8 is a diagram for explaining an example of a method for determining a start point and an end point of a trajectory line on the display screen when displaying the trajectory line. In FIG. 8, the start point of the locus line RL1 in the first excavation operation is indicated by S1, and the end point is indicated by E1.

  The starting point S1 is a portion where the first ground surface has begun to be excavated, and corresponds to the position of the tip of the bucket 6 at the time when the excavation load is applied after the excavation operation is started. The start of loading due to excavation is detected by pressure sensors S7R, S7B, S8R, S8B, S9R, S9B provided in the oil passage for supplying hydraulic oil to the boom cylinder 7, arm cylinder 8, or bucket cylinder 9, The position of the tip of the bucket 6 is defined as a starting point S1. Therefore, the starting point S1 corresponds to the intersection of the locus line RL1 and the ground line. The ground line corresponding to the ground surface before excavation is not displayed on the display screen, but is included in the guidance data as terrain data.

  The end point E1 is a portion after the first excavation of the ground surface, and corresponds to the position of the toe of the bucket 6 when the load due to excavation is lost. The time point at which this load disappears is detected by a load sensor provided on the bucket 6, the arm 5 or the boom 4, and the position of the toe of the bucket 6 at that time is defined as an end point E1. Therefore, the end point E1 corresponds to the intersection of the locus line RL1 and the ground line.

  Since the start points S2 and S3 and the end points E2 and E3 can also be obtained by the above-described determination method, description thereof will be omitted.

  FIG. 9 is a diagram for explaining another example of a method for determining a start point and an end point of a trajectory line on the display screen when displaying the trajectory line. In FIG. 9, as in FIG. 8, the start point of the locus line RL1 in the first excavation operation is S1, and the end point is indicated by E1. In the determination method shown in FIG. 9, the start point S1 and the end point E1 are obtained on the screen display.

  In FIG. 9, a determination reference line DL is displayed at a position away from the target line TL by a predetermined distance. The determination reference line Dl is a virtual plane at a position away from the excavation target plane by a predetermined process, and is not in the actual excavation area. That is, the determination reference line DL is a line determined on the screen.

  The starting point S1 of the locus line RL1 corresponds to the position of the tip of the bucket 6 when the tip of the bucket 6 crosses the determination reference line DL while approaching the target line TL on the display screen 41. That is, it corresponds to the position of the toe of the bucket 6 when the toe of the bucket 6 approaches a predetermined distance from the target surface. Therefore, the starting point S1 corresponds to the intersection of the locus line RL1 and the ground line.

  The end point E1 of the locus line RL1 corresponds to the position of the toe of the bucket 6 at the time when the toe of the bucket 6 crosses the determination reference line DL while moving away from the target line TL on the display screen 41. That is, it corresponds to the position of the toe of the bucket 6 when the toe of the bucket 6 moves away from the target surface to a predetermined distance. Therefore, the end point E1 corresponds to the intersection of the locus line RL1 and the ground line.

  Since the start points S2 and S3 and the end points E2 and E3 can also be obtained by the above-described determination method, description thereof is omitted.

  As described above, the machine guidance device 50, when the bucket 6 is in a predetermined working state (for example, when the toe of the bucket 6 reaches the ground surface and starts excavation (see FIG. 8), Alternatively, when the toe of the bucket 6 is close to a predetermined distance from the target surface (see FIG. 9), the trajectory line is displayed on the display screen 41.

  As described above, according to the present embodiment, the display of the locus line of the tip of the bucket 6 in the past predetermined number of excavation operations is left on the display screen, so that the operator can consider the current ground surface and Appropriate excavation operations can be performed at.

DESCRIPTION OF SYMBOLS 1 Lower traveling body 2 Turning mechanism 3 Upper turning body 4 Boom 5 Arm 6 Bucket 7 Boom cylinder 8 Arm cylinder 9 Bucket cylinder 10 Cabin 11 Engine 14 Main pump 14b Pressure sensor 15 Pilot pump 15a, 15b Pressure sensor 17 Control valve 26A-26C Operation lever 30 Controller 40 Image display device 41 Image display unit 50 Machine guidance device 503 Height calculation unit 504 Comparison unit 505 Display control unit 506 Guidance data output unit S1 Boom angle sensor S2 Arm angle sensor S3 Bucket angle sensor S7R, S7B, S8R , S8B, S9R, S9B Pressure sensor G1 GPS device (GNSS receiver)
D1 Input device D2 Audio output device D3 Display device D4 Storage device D5 Gate lock lever D6 Gate lock valve D7 Engine controller

Claims (6)

Attachments,
An end attachment for performing work included in the attachment;
An attitude sensor provided in the attachment;
A guidance device for guiding the operation of the end attachment by comparing the height of the work site of the end attachment with an excavation target and based on the comparison result;
A shovel having a display device on which information on work by the end attachment is displayed,
The guidance device
In a past predetermined number of operations , a plurality of trajectory lines of the work site of the end attachment ,
An image showing the position of the end attachment only at the calculated time point obtained based on the posture sensor is simultaneously displayed on a display screen, and the distance relationship between the position and the plurality of trajectory lines is visually displayed. Excavator to be displayed . The excavator according to claim 1,
The said guidance apparatus is a shovel which changes the line type or color of the said locus | trajectory line according to the load added to the operation | work part of the said end attachment. Attachments,
An end attachment for performing work included in the attachment;
An attitude sensor provided in the attachment;
A guidance device for guiding the operation of the end attachment by comparing the height of the work site of the end attachment with an excavation target and based on the comparison result;
A shovel having a display device on which information on work by the end attachment is displayed,
The guidance device leaves a display of the locus line of the work site of the end attachment in the past predetermined number of operations on the display screen,
The guidance device displays the trajectory line on the display screen when the end attachment is in a predetermined work state,
The predetermined work state is when the end attachment approaches a work target within a predetermined distance.
Excavator. Attachments,
An end attachment for performing work included in the attachment;
An attitude sensor provided in the attachment;
A guidance device for guiding the operation of the end attachment by comparing the height of the work site of the end attachment with an excavation target and based on the comparison result;
A shovel having a display device on which information on work by the end attachment is displayed,
The guidance device leaves a display of the locus line of the work site of the end attachment in the past predetermined number of operations on the display screen,
The guidance device displays the trajectory line on the display screen when the end attachment is in a predetermined work state,
The predetermined work state is when a load applied to the end attachment becomes a certain level or more.
Excavator. The excavator according to any one of claims 1 to 4,
The guidance device is an excavator that deletes the locus line from the display screen when a work condition changes. The excavator according to claim 5,
The excavator is when the working position is changed by traveling or turning.

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