JP6644832B2 - Excavator, excavator display method, and excavator display device - Google Patents

Description

  The present invention relates to a shovel, a shovel display method, and a shovel display device.

  Conventionally, an excavation status display panel mounted on a hydraulic excavator is known (for example, see Patent Document 1).

  The excavation status display panel is a camera attached to the upper part of the cabin of the excavator, and includes a display monitor that displays an image captured by a camera that captures a state near an excavation work target point. The captured image of the camera is subjected to image processing for superimposing and displaying XY coordinates, and furthermore, the main part planar shape (graphic image) of the excavator is superimposed and displayed. Also, the excavation status display panel numerically displays the distance between the excavator body and the excavation work point and the distance between the excavation boundary defining the excavation work area and the excavation work point. It has a unit. The display monitor and the excavation distance display are arranged adjacent to each other.

  With the above-described configuration, the excavation status display panel allows the operator to read the current bucket position and the required excavable range so that the excavation work is efficiently executed.

JP 2008-12280 A

  However, the excavation status display panel described in Patent Literature 1 superimposes and displays the main part planar shape (CG image in top view) of the hydraulic shovel on the camera image. Therefore, the display of the excavation status display panel is far from the status of the outside of the shovel which is actually visually recognized by the operator through the front window of the cabin, and the operator may not be able to intuitively understand the display contents.

  In view of the above, an object of the present invention is to provide a shovel that allows an operator to more intuitively understand the state of the attachment of the shovel.

In order to achieve the above object, a shovel according to an embodiment of the present invention includes a lower traveling body, an upper revolving body pivotally disposed on the lower traveling body, and a bucket. A shovel including an attachment for lifting the earth and sand in an exposed state, and a display device, wherein the bucket is recognizable when the bucket becomes invisible due to an object around the shovel. Is displayed on the display device.

  By the above means, the present invention can provide a shovel that allows an operator to more intuitively understand the state of the attachment of the shovel.

1 is a schematic side view illustrating a configuration example of a shovel to which the present invention is applied. It is the schematic which shows the inside of the cabin in the shovel of FIG. FIG. 2 is a schematic diagram illustrating a configuration example of a monitor system mounted on the shovel of FIG. 1. It is the schematic which shows the example of the excavation angle. It is a figure (the 1) which shows the example of the attachment related information superimposedly displayed on the screen of a display device. FIG. 11 is a diagram (part 2) illustrating an example of attachment-related information superimposed and displayed on a screen of a display device. It is a flowchart which shows the flow of a display image generation process.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic side view showing a configuration example of a shovel 50 as a construction machine to which the present invention is applied. The upper traveling body 3 is mounted on the lower traveling body 1 of the shovel 50 via the rotating mechanism 2. A boom 4 is attached to the upper swing body 3, an arm 5 is attached to a tip of the boom 4, and a bucket 6 is attached to a tip of the arm 5. The boom 4, the arm 5, and the bucket 6 constitute a digging attachment, and are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively. A cabin 10 is provided on the upper swing body 3 and a power source such as an engine is mounted. Further, an inclination detecting device 32 for detecting an inclination of the shovel 50 with respect to a horizontal plane is mounted on the upper swing body 3. An attachment state detection device 33 that detects the state of the excavation attachment is mounted on the excavation attachment.

  FIG. 2 is a schematic diagram showing the inside of the cabin 10 in the shovel 50. The control device 30, the input device 34, and the display device 35 are installed inside the cabin 10. An imaging device 31 that captures an image of the front of the shovel 50 is mounted on the ceiling of the cabin 10. The display device 35 is attached to, for example, a pillar at the front right of the cabin 10 and projects a view substantially the same as an external view viewed by the operator through the front window 11 of the cabin 10. With this attachment position, the operator can compare an external scene visually recognized through the front window 11 with a scene displayed on the display device 35 without greatly moving the line of sight. Can understand intuitively.

  FIG. 3 is a schematic diagram illustrating a configuration example of the monitor system 100 mounted on the shovel 50. The monitor system 100 mainly includes a control device 30, an imaging device 31, an inclination detection device 32, an attachment state detection device 33, an input device 34, and a display device 35.

  The control device 30 is a device that controls the operation of the monitor system 100, and is, for example, a computer including a CPU, a RAM, a ROM, and the like. Specifically, the control device 30 reads a program corresponding to each functional element of the attachment-related information generating unit 300, the work amount estimating unit 301, and the display control unit 302 from the ROM, loads the program into the RAM, and stores the program in each functional element. Causes the CPU to execute the corresponding processing.

  The imaging device 31 is a device that images the front of the construction machine. In the present embodiment, the imaging device 31 is a camera including an imaging device such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). Specifically, the imaging device 31 images the front of the shovel 50 to obtain a front image including an image of a digging attachment (hereinafter, referred to as an “attachment image”), and transmits the obtained front image to the control device 30. Output to

  The tilt detection device 32 is a device that detects a tilt of the construction machine. In the present embodiment, the tilt detection device 32 is a tilt sensor that detects a tilt angle of the shovel 50 in a biaxial direction (front-back direction and left-right direction) with respect to a horizontal plane, and outputs the detected tilt angle to the control device 30. .

  The attachment state detection device 33 is a device that detects the state of the attachment of the construction machine. The attachment state detection device 33 is, for example, a sensor for acquiring information on the state of the excavation attachment of the shovel 50. In this embodiment, the attachment state detecting device 33 includes a boom angle sensor 33a for detecting the inclination of the boom 4 with respect to the upper swing body 3, an arm angle sensor 33b for detecting the inclination of the arm 5 with respect to the boom 4, and a bucket for the arm 5. 6 includes a bucket angle sensor 33c which detects the inclination of the bucket. Further, the attachment state detection device 33 outputs the obtained information to the control device 30. Based on the output of the attachment state detecting device 33, the control device 30 causes the excavation formed by the tip position of the bucket 6, the plane on which the shovel 50 is located (hereinafter, referred to as “installation surface”), and the reference surface of the bucket 6. Angle and the like can be derived. The reference surface of the bucket 6 is one of the surfaces formed by the components of the bucket 6, for example, the back surface of the bucket 6.

  FIG. 4 is a schematic diagram illustrating an example of an excavation angle. FIG. 4A illustrates an excavation angle when a slope having a 45-degree angle that increases in a direction approaching the shovel 50 is formed. (B) shows the excavation angle at the time of forming a 30-degree slope that becomes higher in the direction away from the shovel 50. Here, the excavation angle when forming a slope that increases in the direction approaching the shovel 50 is indicated by a positive value, and the excavation angle when forming a slope that increases in the direction away from the shovel 50 is indicated by a negative value.

  Further, the attachment state detection device 33 may include a pressure sensor that detects the pressure of hydraulic oil in each of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9.

  Further, the attachment state detection device 33 may include a lever operation amount sensor that detects an operation amount of an operation lever (not shown) corresponding to each of the boom 4, the arm 5, and the bucket 6.

  The attachment state detecting device 33 includes a discharge pressure sensor that detects a discharge pressure of a hydraulic pump (not shown) that supplies hydraulic oil to each of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. It may include a flow rate sensor for detecting the discharge flow rate.

  The input device 34 is a device for inputting various information to the control device 30. Specifically, it is a button, a switch, a dial, a touch panel, or the like arranged in the cabin 10.

  The display device 35 is a device that displays various information. In the present embodiment, the display device 35 is, for example, a liquid crystal display.

  Next, various functional elements in the control device 30 will be described.

  The attachment-related information generation unit 300 is a functional element for generating attachment-related information.

  The “attachment-related information” is information relating to the attachment of the construction machine, and may be in any form as long as it can be superimposed and displayed on a front image, such as a text, a graphic, or a photograph. In this embodiment, the attachment-related information includes information on the horizontal distance between the tip of the excavation attachment and the reference position of the shovel 50, information on the vertical distance from the installation surface to the tip of the excavation attachment, and the reference of the installation surface and the bucket 6. The information includes information on an excavation angle formed by the surface, information on a difference between a tip of the excavation attachment and a preset target excavation depth, information on a contour of the excavation attachment, and the like. The reference position of the shovel 50 is, for example, one point on the turning center of the shovel 50, one point on the front end surface of the cabin 10, or the like.

  In the present embodiment, the attachment-related information generation unit 300 generates the attachment-related information based on, for example, the output of the attachment state detection device 33.

  The work amount estimating unit 301 is a functional element for estimating the work amount of the construction machine. In the present embodiment, the work amount estimating unit 301 estimates the work amount of the digging attachment of the shovel 50 based on the output of the attachment state detection device 33.

  The work amount of the excavation attachment is, for example, the volume and weight of the earth and sand lifted by the bucket 6. Specifically, the work amount estimating unit 301 derives the posture of the excavation attachment based on the detection values of the boom angle sensor 33a, the arm angle sensor 33b, and the bucket angle sensor 33c. Then, the work amount estimating unit 301 estimates the weight of the earth and sand lifted by the bucket 6 as the work amount of the excavation attachment based on the detection value of the pressure sensor that detects the pressure of the hydraulic oil of the boom cylinder 7. Considering the position of the excavation attachment, even when the bucket 6 lifts the same weight of soil, as the horizontal distance between the shovel 50 and the bucket 6 increases, the pressure of the hydraulic oil of the boom cylinder 7 increases. It is to increase.

  The display control unit 302 is a functional element for controlling the content of the screen displayed on the display device 35. In the present embodiment, the display control unit 302 superimposes and displays the attachment-related information generated by the attachment-related information generation unit 300 on the front image captured by the imaging device 31. The display control unit 302 also links the display position of the attachment image in the front image and the display position of the attachment-related information. Specifically, the display control unit 302 derives the display position of the attachment image based on the output of the attachment state detection device 33, and determines the display position of the attachment-related information based on the derived display position of the attachment image. Then, the display control unit 302 superimposes and displays the attachment-related information at the determined display position on the front screen. It should be noted that the display control unit 302 can uniquely determine the display position of the attachment image if the posture of the excavation attachment is determined. This is because the imaging device 31 is fixedly attached to the cabin 10.

  5 and 6 show examples of the attachment-related information superimposed and displayed on the screen G of the display device 35. FIG. In each of FIG. 5 and FIG. 6, a solid line indicates a real image included in the front image, and a broken line indicates information superimposed and displayed on the front image.

  In FIG. 5, information (line segment) G1 is a line segment representing a plane (installation surface) on which the shovel 50 is located, and includes a line segment G1a and a line segment G1b. The line segment G1a indicates, for example, a forward extension line of the crawler on the left side of the lower traveling body 1, and the line segment G1b indicates, for example, a projection line of the excavation attachment projected on the installation surface and its extension line.

  The information (line segment) G2 is a line segment representing the installation surface, like the information G1, and is, for example, a line segment perpendicular to the line segments G1a and G1b. The line segment G2 passes through a point vertically below the tip of the bucket 6.

  The information G3 is information indicating the tip position of the bucket 6, and includes a tip center point G3a, a vertical auxiliary line G3b, and a horizontal auxiliary line G3c. The tip center point G3a corresponds to, for example, the middle point in the width direction of the claw portion at the tip of the bucket 6. The vertical auxiliary line G3b is a vertical line extending vertically downward from the screen G from the front end center point G3a. Therefore, the vertical auxiliary line G3b is orthogonal to both the line segment G1b and the line segment G2. The horizontal auxiliary line G3c is a horizontal line extending from the center point G3a to the left and right of the screen G. Therefore, the horizontal auxiliary line G3c extends parallel to the line segment G2.

  The information G4 is information indicating a target excavation depth, and includes a horizontal auxiliary line G4a and an arrow G4b. The target excavation depth is a value set through the input device 34. The horizontal auxiliary line G4a is a horizontal line extending to the left and right of the screen G from the intersection with the vertical auxiliary line G3b at the target excavation depth. Therefore, the horizontal auxiliary line G4a extends in parallel with each of the line segment G2 and the horizontal auxiliary line G3c. The arrow G4b is an image for emphasizing and presenting the level of the target excavation depth, and the tip of the arrow coincides with the horizontal auxiliary line G4a.

  The information G5 is information indicating a vertical distance from the tip of the bucket 6 to the target excavation depth, and includes a bidirectional arrow G5a and a numerical display G5b. The bidirectional arrow G5a is arranged between the horizontal auxiliary line G3c and the horizontal auxiliary line G4a in parallel with the vertical auxiliary line G3b. The numerical display G5b is a numerical display indicating the vertical distance from the tip of the bucket 6 to the target excavation depth, and is arranged adjacent to the bidirectional arrow G5a. FIG. 5 shows that the vertical distance from the tip of the bucket 6 to the target excavation depth is 1.3 meters.

  The information G6 is information indicating a vertical distance from the tip of the bucket 6 to the installation surface, and includes a bidirectional arrow G6a and a numerical display G6b. The bidirectional arrow G6a is arranged between the line segment G2 and the horizontal auxiliary line G3c in parallel with the vertical auxiliary line G3b. The numerical display G6b is a numerical display indicating the vertical distance from the tip of the bucket 6 to the installation surface, and is arranged adjacent to the bidirectional arrow G6a. FIG. 5 shows that the vertical distance from the tip of the bucket 6 to the installation surface is 0.5 meter.

  The information G7 is information indicating a horizontal distance between the tip of the bucket 6 and the reference position of the shovel 50, and includes a one-way arrow G7a and a numerical display G7b. The one-way arrow G7a is arranged parallel to the line segment G1b. The numerical display G7b is a numerical display indicating the horizontal distance between the tip of the bucket 6 and the reference position of the shovel 50, and is arranged adjacent to the one-way arrow G7a. FIG. 5 shows that the horizontal distance between the tip of the bucket 6 and the reference position of the shovel 50 is 2.3 meters.

  The information G8 is information indicating the weight of the earth and sand excavated by the bucket 6, and includes a one-way arrow G8a and a numerical display G8b. The one-way arrow G8a is a horizontal line drawn laterally from the actual image of the bucket 6 in order to emphasize and present the information related to the earth and sand excavated by the bucket 6. The numerical display G8b is a numerical display indicating the weight of the earth and sand excavated by the bucket 6, and is arranged adjacent to the one-way arrow G8a. FIG. 5 shows that the weight of the earth and sand excavated by the bucket 6 is 0 kg.

  The information G9 is information indicating an excavation angle formed by the installation surface and the reference surface of the bucket 6, and includes an auxiliary line G9a, an auxiliary line G9b, and a numerical display G9c. The auxiliary line G9a is a line segment extending along the back surface that is the reference surface of the bucket 6. The auxiliary line G9b is a curve arranged between the installation surface and the auxiliary line G9a to emphasize and present that the angle is formed between the installation surface and the auxiliary line G9a. The numerical display G9c is a numerical display indicating the excavation angle, and is arranged adjacent to the auxiliary line G9b. FIG. 5 shows that the excavation angle is -18 degrees.

  The information G10 is information representing the inclination of the shovel 50 in the front-rear direction and the left-right direction. The information G10 includes a center point G10a, a left-right inclination scale G10b, a left-right inclination instruction arrow G10c, a front-rear inclination index G10d, and a front-rear inclination instruction arrow G10e. Be composed. The center point G10a is a point representing the center of the shovel 50. The left-right inclination scale G10b is a scale corresponding to the inclination (roll angle) of the shovel 50 in the left-right direction, and a scale located below 0 ° in FIG. The scale located at corresponds to the leftward tilt. The left-right inclination degree instruction arrow G10c is an arrow that indicates the value of the roll angle on the left-right inclination degree scale G10b based on the output of the inclination detection device 32. FIG. 5 shows a state where the shovel 50 is inclined rightward by about 5 °. The front and rear inclination scale G10d is a scale corresponding to the inclination (pitch angle) of the shovel 50 in the front and rear direction, and a scale located below 0 ° in FIG. 5 corresponds to a backward inclination and above 0 °. The graduated scale corresponds to a forward tilt. The forward / backward tilt instruction arrow G10e is an arrow that indicates the value of the pitch angle in the forward / backward tilt scale G10d based on the output of the tilt detector 32. FIG. 5 shows a state in which the shovel 50 is inclined backward by about 10 °.

  6 is information indicating the location of the bucket 6, and is an outline image of the bucket 6. The outline image G11 is superimposed and displayed in the same position as the actual bucket 6 on the screen G, regardless of whether the image of the actual bucket 6 in the front image is visible or invisible. You. FIG. 6 shows a state in which the actual bucket 6 is buried in the earth and sand and is invisible, but the position and orientation of the bucket 6 in the earth and sand can be recognized by the contour image of the bucket 6.

  Each of the above information G1 to information G11 is superimposed and displayed on the front image in an easily recognizable color such as red, green, and yellow, and display / non-display is set in an arbitrary combination.

  The display position of each of the information G3 to the information G9 and the information G11 is changed by the display control unit 302 in conjunction with a change in the display position of the actual excavation attachment image (attachment image) in the front image. .

  Next, a process of generating a display image to be displayed on the display device 35 by the monitor system 100 (hereinafter, referred to as “display image generation process”) will be described with reference to FIG. FIG. 7 is a flowchart showing the flow of the display image generation process, and the monitor system 100 repeatedly executes the display image generation process at a predetermined cycle.

  First, the monitor system 100 uses the imaging device 31 to image the front of the shovel 50 and obtain a front image (step S1).

  Thereafter, the monitor system 100 detects the state of the excavation attachment of the shovel 50 using the attachment state detection device 33 (Step S2). Specifically, the monitor system 100 outputs the output of the boom angle sensor 33a, the arm angle sensor 33b, the bucket angle sensor 33c, and the pressure sensor that detects the pressure in each of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. To get.

  Thereafter, the monitor system 100 generates the attachment-related information based on the detected state of the excavation attachment by the attachment-related information generation unit 300 in the control device 30 (Step S3). Specifically, the monitor system 100 includes information on the horizontal distance between the tip of the digging attachment and the reference position of the shovel 50, information on the distance from the installation surface to the tip of the digging attachment, the installation surface and the reference surface of the bucket 6. And information on the difference between the tip of the excavation attachment and a preset target excavation depth, information on the contour of the bucket 6, and the like.

  Further, the monitor system 100 estimates the weight of the earth and sand excavated by the bucket 6 as attachment-related information based on the detected state of the excavation attachment by the work amount estimating unit 301 in the control device 30.

  Thereafter, the monitor system 100 derives the actual display position of the tip of the bucket 6 in the front image based on the detected state of the excavation attachment by the display control unit 302 of the control device 30, and displays the respective display positions of the attachment-related information. Is determined (step S4). Each display position of the attachment-related information is associated in advance with the actual display position of the tip of the bucket 6 in the front image. However, each display position of the attachment related information may be associated with a position other than the actual display position of the tip of the bucket 6 in the front image. In addition, step S3 and step S4 may be performed in any order, and the content of the attachment-related information (for example, the value of the excavation angle) may be generated after the display position of the attachment-related information is determined.

  After that, the monitor system 100 causes the display control unit 302 to superimpose and display the attachment-related information at the determined display position on the front image (Step S5).

  The monitor system 100 causes the display control unit 302 to superimpose and display the line segments G1a, G1b, and G2 (see FIG. 5) representing the installation surface on the front image (step S6).

  Further, the monitor system 100 causes the display control unit 302 to superimpose and display the inclination information indicating the inclination of the shovel 50 in the front-rear direction and the left-right direction on the front image (step S7).

  Steps S5, S6, and S7 are in no particular order. Further, the line segment representing the installation surface, the attachment-related information, and the inclination information may be displayed in the same color or may be displayed in different colors. Similarly, each of the plurality of attachment-related information may be displayed in the same color, or may be displayed in different colors.

  With the configuration described above, the monitor system 100 displays the display position of the attachment image in the front image and the display position of the attachment-related information in association with each other, so that the operator can intuitively understand the state of the excavation attachment of the shovel 50. be able to.

  Further, the monitor system 100 displays the vertical distance between the tip of the bucket 6 and the installation surface and the horizontal distance between the tip of the bucket 6 and the shovel 50 at the same time, so that the state of the excavation attachment can be displayed to the operator. Can be intuitively understood.

  Further, the monitor system 100 displays the digging angle of the bucket 6 at a predetermined position around the photographed image of the bucket 6, so that the operator can intuitively understand the state of the digging attachment and improve workability. be able to.

  Further, the monitor system 100 displays the weight of the earth and sand excavated by the bucket 6 at a predetermined position around the photographed image of the bucket 6, so that the operator can intuitively understand the state of the excavation attachment, and Performance can be improved.

  In addition, since the monitor system 100 superimposes and displays the outline image of the bucket 6 on the photographed image of the bucket 6, the bucket 6 is buried in the earth and sand, sunk in the water, or hidden behind a shadow and is invisible. Even in the case of, the position and posture of the bucket 6 can be presented to the operator. As a result, the monitor system 100 allows the operator to intuitively understand the state of the excavation attachment, thereby improving workability.

  Further, the monitor system 100 superimposes and displays the distance between the tip of the bucket 6 and the target excavation depth at a predetermined position around the photographed image of the bucket 6, so that the operator can intuitively understand the state of the excavation attachment. be able to.

  In addition, the monitor system 100 can also superimpose and display on the front image, information that is not directly related to the state of the excavation attachment, such as information on the inclination of the shovel 50 in the front-rear direction and the left-right direction. As a result, the monitor system 100 allows the operator to intuitively understand the state of the excavation attachment, and at the same time, presents the situation around the shovel 50 to the operator in an easy-to-understand manner, thereby improving workability.

  Further, the monitor system 100, by attaching the display device 35 to the side of the front window, allows the operator to visually recognize the actual situation outside the shovel through the front window and the image displayed on the display device 35 almost simultaneously. it can. As a result, the operator can intuitively understand the state of the excavation attachment.

  Although the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the above-described embodiment, and various modifications and substitutions can be made to the above-described embodiment without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, a case where the present invention is applied to the shovel 50 will be described. However, the invention is not limited to this. The present invention is also applicable to other construction machines including, for example, a lifting magnet, a grapple, a crusher, and the like.

  Specifically, when applied to a construction machine having a lifting magnet, the attachment-related information includes information on the lifting weight of the lifting magnet.

  In addition, when applied to a construction machine including a grapple, a crusher, and the like, the attachment-related information includes a contour image of the grapple, the crusher, and the like. Thus, even if the actual grapple, crusher, and the like are hidden behind the object and become invisible, the operator can recognize the position and the opening / closing state.

  Further, in the above-described embodiment, the bucket 6 is configured to be rotatable (open / closed) in the front-rear direction, but may be configured to be rotatable in the left-right direction like a tilt bucket. In this case, the attachment-related information is, in addition to the information about the longitudinal digging angle formed by the installation surface and the back surface of the bucket 6, or instead of the information about the longitudinal digging angle, the installation surface and the left and right side surfaces of the bucket 6 Includes information about the left-right excavation angle formed by.

  DESCRIPTION OF SYMBOLS 1 ... Lower traveling body 2 ... Revolving mechanism 3 ... Upper revolving body 4 ... Boom 5 ... Arm 6 ... Bucket 7 ... Boom cylinder 8 ... Arm cylinder 9 ... -Bucket cylinder 10-Cabin 11-Front window 30-Control device 31-Imaging device 32-Tilt detection device 33-Attachment state detection device 33a-Boom angle sensor 33b- ..Arm angle sensor 33c Bucket angle sensor 34 Input device 35 Display device 50 Excavator 100 Monitor system 300 Attachment-related information generation unit 301 Work volume Estimating unit 302: display control unit

Claims (11)

An excavator display method comprising: a lower traveling body, an upper revolving body rotatably disposed on the lower traveling body, and an attachment including a bucket, and an attachment that lifts the earth and sand taken in the bucket in an exposed state. So,
When the bucket becomes invisible due to an object around a shovel, the image processing apparatus further includes a step of displaying an image related to the bucket in a mode in which the bucket can be recognized.
Excavator display method. An excavator display device comprising: a lower traveling body, an upper revolving body pivotally disposed on the lower traveling body, and an attachment including a bucket, and an attachment for lifting the earth and sand taken in the bucket while exposing the earth and sand. So,
When the bucket is invisible due to an object around the shovel, the bucket is configured to display an image related to the bucket in a recognizable manner.
Excavator display device. An undercarriage,
An upper revolving structure that is rotatably arranged on the lower traveling structure,
An attachment that includes a bucket and lifts the earth and sand taken in the bucket in an exposed state,
A shovel comprising: a display device;
When the bucket becomes invisible due to an object around the shovel, an image related to the bucket is displayed on the display device in a mode in which the bucket can be recognized.
Excavator. An outline image of the bucket is displayed on the display device,
The shovel according to claim 3. The display position of the contour image is changed in conjunction with the change in the position of the bucket.
The shovel according to claim 4. The posture of the contour image is changed in conjunction with the change in the posture of the bucket.
The shovel according to claim 4. The outline image is superimposed and displayed on an image that reflects a scene in front of the revolving superstructure,
The shovel according to claim 4. In the case where the bucket is buried in earth and sand, in the case where the bucket is immersed in water, and in the case where the bucket is hidden behind an object, an image relating to the bucket is formed in such a manner that the bucket can be recognized. Is displayed on the display device,
The shovel according to claim 3. The attachment further includes a boom and an arm,
A boom angle sensor attached to the boom, an arm angle sensor attached to the arm, and a bucket angle sensor attached to the bucket,
Having an imaging device for imaging the front,
The shovel according to claim 3. The attachment further includes a boom and an arm,
Images related to the boom and the arm are displayed on the display device.
The shovel according to claim 3. The attachment further includes a boom and an arm,
Is configured to display an image related to the boom and the arm,
The display device of the shovel according to claim 2.

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