JP7135056B2 - Work machine display system and work machine - Google Patents

Description

The present invention relates to a work machine display system and a work machine that displays a monitor display level that allows an operator of the work machine to accurately recognize the tilt and direction of the work machine as needed.

In the past, working machines such as hydraulic excavators and bulldozers had a bubble level on the driver's seat. When scaffold leveling work is performed using a working machine, the inclination of the working machine is recognized by referring to the bubble level. However, since various display devices and the like are arranged in the driver's seat, the level may be hidden behind the display device. In this case, the operator needs to change his or her own posture in order to recognize the tilted state of the work machine by the bubble level, which deteriorates workability.

Patent Document 1 discloses a crane display in which a crane body is provided in a revolving body, a tilting state of the crane body is detected, and the tilting state is displayed on a display device of the driver's seat of the revolving body on a display screen of the display device. A device is described. Further, Patent Literature 2 describes a posture recognition device in which a sensor is attached to detect the tilt of heavy machinery in the horizontal direction in the front, rear, left, and right directions, and a posture information display image of the heavy machinery is displayed based on the signal from the sensor. .

Japanese Patent Application Laid-Open No. 2001-39680 Japanese Patent Application Laid-Open No. 2001-348914

By the way, the operator needs to recognize the tilt and direction of the work machine with high accuracy depending on the work performed by the work machine. However, in the conventional display device installed in the driver's seat to display the tilt of the work machine, the display contents indicating the tilt and direction of the work machine are fixed, and the tilt and direction of the work machine cannot be recognized with high accuracy. In some cases, tilt recognition support for the operator was insufficient.

The present invention has been made in view of the above, and is a display system for a working machine that displays a monitor display level that allows an operator of the working machine to accurately recognize the inclination and direction of the working machine as required. and to provide working machines.

In order to solve the above-described problems and achieve the object, a display system for a work machine according to the present invention includes an inclination sensor for detecting the pitch angle and roll angle of the work machine, and the detected pitch angle and roll angle. a calculation unit for calculating a tilt position on polar coordinates indicating the magnitude and direction of tilt of the work machine; a display unit for displaying various information; a display processing unit for displaying a monitor display level in which a marked line is displayed in polar coordinates in a predetermined area on the display screen of the display unit; and a setting processing unit for changing and setting display contents of the monitor display level. It is characterized by having

The display system for a work machine according to the present invention is characterized in that, in the above invention, the setting processing section includes a marking line setting processing section that changes and sets the magnitude of the inclination indicated by the marking line. .

In the display system for a work machine according to the present invention, in the above invention, the setting processing unit includes a magnification setting processing unit that changes and sets a display magnification of the magnitude of the tilt displayed on the polar coordinate display screen. characterized by

Further, in the display system for a work machine according to the present invention, in the above invention, the display processing unit changes the color of the screen of the polar coordinate display when the magnitude of the inclination of the inclined position exceeds the marked line. Characterized by changing.

Further, in the display system for a work machine according to the present invention, in the above-described invention, the setting processing section includes a color change setting processing section that changes and sets the color of the screen of the polar coordinate display.

Further, the display system for a work machine according to the present invention is characterized in that, in the above-described invention, the tilted position is displayed as a bubble that is a circle centered on the tilted position on the screen of the polar coordinate display.

Further, in the display system for a work machine according to the present invention, the tilt sensor is provided in the work machine, and at least one of the calculation unit, the display unit, the display processing unit, and the setting processing unit is configured to operate in the work machine. It is characterized by being installed outside.

According to another aspect of the present invention, there is provided a work machine including the display system for a work machine according to any one of the above inventions.

According to the present invention, setting processing is performed for a marker line setting processing unit that changes and sets the magnitude of the slope indicated by the marker line, or a magnification setting processing unit that changes and sets the display magnification of the slope displayed on the polar coordinate display screen. , the operator of the work machine can recognize the tilt and direction of the work machine with high accuracy as required.

FIG. 1 is a perspective view of a working machine equipped with a display system for displaying a monitor display level according to the present embodiment. FIG. 2 is a block diagram showing the control system of the hydraulic excavator. FIG. 3 is a diagram showing an example of a guidance image. FIG. 4 is an explanatory diagram for explaining the processing of the calculation unit. FIG. 5 is a diagram showing an example of performing a color change display when the marked line is crossed. FIG. 6 is a diagram showing a gradual color change. FIG. 7 is a diagram showing continuous color changes. FIG. 8 is a diagram showing a display state of the monitor display spirit level when a change is made to increase the slope of the marked line. FIG. 9 is a diagram showing the display state of the monitor display level when the display magnification is increased. FIG. 10 is a diagram showing an example of the setting menu screen. FIG. 11 is a diagram showing another example of the setting menu screen. FIG. 12 is a diagram showing an example of the marker line setting screen. FIG. 13 is a diagram showing an example of a magnification setting screen. FIG. 14 is a diagram showing an example of a color change setting screen. FIG. 15 is a diagram showing an example of a bubble change setting screen. FIG. 16 is a diagram showing an example in which the periphery of the display area is enlarged in consideration of the radius of bubbles. FIG. 17 is a diagram for explaining a display device when remotely controlling a hydraulic excavator. FIG. 18 is a diagram showing an example of displaying a monitor display level on the display unit of the portable terminal device outside the hydraulic excavator.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings.

<Overall Configuration of Working Machine>
FIG. 1 is a perspective view of a working machine equipped with a display system for displaying a monitor display level according to the present embodiment. A hydraulic excavator 100, which is an example of a working machine, has a vehicle main body 1 and a working machine 2 as a main body. The vehicle body 1 has an upper revolving body 3 as a revolving body and a traveling device 5 as a traveling body. The upper revolving body 3 accommodates devices such as an engine and a hydraulic pump inside a machine room 3EG.

The upper revolving body 3 has an operator's cab 4 . The operator's cab 4 is installed on the other end side of the upper revolving body 3 . That is, the driver's cab 4 is installed on the side opposite to the side where the machine room 3EG is arranged. A display unit 29 and an operating device 25 shown in FIG. 2 are arranged in the operator's cab 4 . A handrail 9 is attached above the upper revolving body 3 .

An upper revolving body 3 is mounted on the travel device 5 . The travel device 5 has crawler belts 5a and 5b. The travel device 5 is driven by one or both of hydraulic motors 5c provided on the left and right sides. The hydraulic excavator 100 is caused to travel by rotating the crawler belts 5 a and 5 b of the travel device 5 . The working machine 2 is attached to the side of the operator's cab 4 of the upper revolving body 3 .

The working machine 2 has a boom 6 , an arm 7 , a bucket 8 that is an example of a working tool, a boom cylinder 10 , an arm cylinder 11 and a bucket cylinder 12 . A base end portion of the boom 6 is rotatably attached to the front portion of the vehicle body 1 via a boom pin 13 . The base end of the arm 7 is rotatably attached to the tip of the boom 6 via an arm pin 14 . A bucket 8 is attached to the tip of the arm 7 via a bucket pin 15 . Bucket 8 is connected to bucket cylinder 12 via link pin 16 and link 17 . Bucket 8 rotates around bucket pin 15 . A plurality of blades 8B are attached to the bucket 8 on the side opposite to the bucket pin 15 . The cutting edge 8T is the tip of the cutting edge 8B.

The bucket 8 may not have multiple blades 8B. That is, a bucket that does not have a plurality of blades 8B as shown in FIG. 1 and has blade edges formed in a straight shape from a steel plate may be used. The work implement 2 may include, for example, a tilt bucket. The tilt bucket is provided with a bucket tilt cylinder, and the bucket tilts left and right, so that even if the hydraulic excavator 100 is on a slope, slopes and flat ground can be formed into a free shape and the ground can be leveled. The bucket 8 may be a bucket that can also perform rolling compaction work with a bottom plate.

A boom cylinder 10, an arm cylinder 11, and a bucket cylinder 12 shown in FIG. 1 are hydraulic cylinders driven by the pressure of hydraulic oil. A boom cylinder 10 drives the boom 6 to raise and lower it. Arm cylinder 11 drives arm 7 to rotate around arm pin 14 . Bucket cylinder 12 drives bucket 8 to rotate around bucket pin 15 .

Antennas 21 and 22 are attached to the upper part of the upper revolving body 3 . Antennas 21 and 22 are used to detect the current position of excavator 100 . Antennas 21 and 22 are electrically connected to a global coordinate calculator 23 shown in FIG.

FIG. 2 is a block diagram showing the control system of the excavator 100. As shown in FIG. Hydraulic excavator 100 has global coordinate calculation section 23 , operating device 25 , working machine controller 26 , sensor controller 27 , display controller 28 , and display section 29 . The operation device 25 controls a control valve 57 to rotate the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, the hydraulic motor 5c, and the swing motor 58 that swings the upper swing body 3 from the hydraulic pump 56 driven by the engine 55. Controls the flow rate of hydraulic oil supplied to

The global coordinate calculator 23 detects the position of the hydraulic excavator 100 . The global coordinate calculator 23 detects the current position of the hydraulic excavator 100 using RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems, GNSS means global navigation satellite system). Signals corresponding to GNSS radio waves received by the antennas (GNSS antennas) 21 and 22 are input to the global coordinate calculator 23 . The global coordinate calculator 23 obtains the installation positions of the GNSS antennas 21 and 22 in the global coordinate system.

The global coordinate calculator 23 acquires two reference position data P11 and P12 represented by the global coordinate system. The global coordinate calculator 23 generates revolving body arrangement data indicating the arrangement of the upper revolving body 3 based on the two reference position data P11 and P12. The revolving superstructure arrangement data includes at least one of the two reference position data P11 and P12 and information on the orientation of the upper revolving superstructure 3 generated based on the two reference position data P11 and P12. These two GNSS antennas 21 and 22 may constitute a GPS compass to obtain information on the orientation of the upper swing body 3 . That is, the global coordinate calculation unit 23 does not output the reference position data P11 and P12 of both the GNSS antennas 21 and 22, calculates the azimuth angle from the relative positions of the two GNSS antennas 21 and 22, and rotates the azimuth angle. It may be the orientation of the body.

The operating device 25 has a left operating lever 25L, a right operating lever 25R, a left running lever 25FL and a right running lever 25FR. An operator of the hydraulic excavator 100 operates the left operating lever 25L and the right operating lever 25R to control the operation of the working machine 2 and the upper revolving body 3, and perform excavation or the like on the ground to be worked. Carry out construction. The operator operates the left travel lever 25FL and the right travel lever 25FR to drive the hydraulic motor 5c and cause the hydraulic excavator 100 to travel. In the present embodiment, the left operating lever 25L, the right operating lever 25R, the left travel lever 25FL, and the right travel lever 25FR are pilot pressure type levers, but are not limited to this. The left operating lever 25L, the right operating lever 25R, the left travel lever 25FL, and the right travel lever 25FR may be electric levers, for example.

The work implement controller 26 has a processing section 26P and a storage section 26M. The work implement controller 26 is a device that controls the operation of the work implement 2 . The processing unit 26P controls the operation of the work machine 2, and the storage unit 26M stores computer programs and control data necessary for controlling the operation of the work machine 2. FIG. During construction by hydraulic excavator 100, work machine 2 is controlled so that the position of work machine 2, in this embodiment, the position of cutting edge 8T of bucket 8, does not erode the target construction surface indicating the target shape of the object to be worked. Although the position of the cutting edge 8T is determined by the display controller 28 in this embodiment, it may be determined by a device other than the display controller 28. FIG.

The sensor controller 27 has a processing section 27P and a storage section 27M. The sensor controller 27 is connected to various sensors that detect the state of the hydraulic excavator 100 . The sensor controller 27 converts information obtained from various sensors into a format that other devices of the excavator 100 can handle, and outputs the format. The information on the state of the hydraulic excavator 100 is, for example, information on the posture of the hydraulic excavator 100, information on the posture of the work implement 2, and the like. In the example shown in FIG. 2, as sensors for detecting information on the state of the hydraulic excavator 100, an IMU (Inertial Measurement Unit) 24, a first work machine attitude detector 18A, a second work machine attitude detector 18B and the third working machine attitude detector 18C are connected to the sensor controller 27, but the connected sensors are not limited to these.

The IMU 24 is an inclination sensor that detects angular velocity and acceleration of the excavator 100 . The attitude angle of the excavator 100 is obtained from the angular velocity and acceleration of the excavator 100 . The first work machine attitude detection section 18A detects the amount of movement of the boom cylinder 10, the second work machine attitude detection section 18B detects the amount of movement of the arm cylinder 11, and the third work machine attitude detection section 18C detects the amount of movement of the bucket cylinder 12. to detect the amount of movement of Information representing the attitude of the work implement 2 is obtained from the amount of movement of the boom cylinder 10, the amount of movement of the arm cylinder 11, and the amount of movement of the bucket cylinder 12. FIG. The information representing the attitude of the work machine 2 is defined by, for example, an angle θ1 formed between the boom 6 and the upper rotating body 3, an angle θ2 formed between the boom 6 and the arm 7, and an angle θ3 formed between the arm 7 and the bucket 8. be. The first work machine posture detection section 18A, the second work machine posture detection section 18B, and the third work machine posture detection section 18C may be potentiometers that detect the angles θ1, θ2, and θ3.

The sensor controller 27 provides information on the position of the hydraulic excavator 100 in the global coordinates obtained by the global coordinate calculation unit 23 and the orientation of the upper revolving body 3, information on the angular velocity and acceleration of the hydraulic excavator 100 obtained by the IMU 24, and information on the work. Information representing the attitude of the aircraft 2 is acquired. The sensor controller 27 outputs to the display controller 28 the acquired information on the position of the hydraulic excavator 100 in the global coordinates and the orientation of the upper revolving body 3 and information representing the attitude of the work implement 2 . A processing unit 27</b>P of the sensor controller 27 implements the functions of the sensor controller 27 . The storage unit 27M stores computer programs and data necessary for realizing the functions of the sensor controller 27. FIG.

The display controller 28 has a processing section 28P and a storage section 28M. A display unit 29 is connected to the display controller 28 . The display unit 29 is a device that displays various types of information such as images, and for example, a touch panel having an operation function and a display function can be used. A liquid crystal display panel or an organic EL (Electro Luminescence) panel, for example, is used for the display unit 29 . The display controller 28 generates drawing information for an image displayed on the display unit 29 . In the example shown in FIG. 2, the display unit 29 displays an example of the guidance image IG when the hydraulic excavator 100 constructs the construction target. The guidance image IG is an image when the excavator 100 and the bucket 8 are viewed from the side, that is, when the bucket 8 is viewed from the side.

Further, the guidance image IG includes, for example, a line indicating the cross section of the target construction surface 70 indicating the target shape of the construction target (target construction surface line 79 described later), a ground contact surface of the hydraulic excavator 100 which is not the construction target, and the surrounding area. A line is displayed showing the cross-section of the ground. That is, the display controller 28 displays an image showing a section of the terrain on the guidance image IG. The entire hydraulic excavator 100 including the bucket 8 may be displayed in the guidance image IG, or the bucket 8 including the work implement 2 may be extracted and displayed. Alternatively, the bucket 8 may be extracted and displayed on the guidance image IG. Further, the monitor display level 40 and the facing compass 73 are displayed on the guidance image IG. Note that the hydraulic excavator 100 is an example of a working machine, and the working machine includes other working machines such as a bulldozer that requires tilt state detection.

The display controller 28 uses the position of the hydraulic excavator 100 in the global coordinates and the orientation of the upper revolving body 3 acquired from the sensor controller 27, information representing the attitude of the work implement 2, and information representing the dimensions of the work implement 2. , the position of the working machine 2 is obtained. Information indicating the dimensions of the work machine 2 is stored in advance in the storage unit 28M of the display controller 28, for example. The position of the work implement 2 obtained by the display controller 28 is the position of the cutting edge 8T of the bucket 8, for example. The position of the cutting edge 8T of the bucket 8 obtained by the display controller 28 is a position in the global coordinate system. When causing the display unit 29 to display the guidance image IG, the display controller 28 causes the display unit 29 to simultaneously display the obtained position of the cutting edge 8T and the target construction surface 70 . Since the operator of the hydraulic excavator 100 can easily grasp the positional relationship between the position of the cutting edge 8T and the target construction surface 70 from the guidance image IG displayed on the display unit 29, work efficiency is improved. Although the position of the cutting edge 8T is determined by the display controller 28 in this embodiment, it may be determined by a device other than the display controller 28. FIG.

For example, when displaying the guidance image IG on the display unit 29 , the display controller 28 generates drawing information for drawing the side surface of the bucket 8 using information on the shape and dimensions of the bucket 8 . The display unit 29 displays an image of the side surface of the bucket 8 based on the drawing information generated by the display controller 28 .

The processing unit 28P of the display controller 28 performs the functions of the display controller 28, for example, generates drawing information for drawing a side view image of the bucket 8, and generates drawing information for the target construction surface 70 included in the guidance image IG. or The storage unit 28M stores computer programs and data necessary for realizing the functions of the display controller 28 . This data includes, for example, design landform information for generating the target construction surface 70 and dimension information of the work implement 2 .

An input device 28I is connected to the display controller 28 . The input device 28I inputs information on the shape and dimensions of the bucket 8 to the display controller 28, outputs commands to the display controller 28 to switch the display of the display unit 29, and commands the setting processing unit 33 to be described later. to the display controller 28 . In the present embodiment, the input device 28I is configured by a touch panel type or operation members such as hard keys or switches. When the input device 28I is of a touch panel type, the display unit 29 is a touch panel as described above, and the input device 28I and the display unit 29 are integrated.

The processing unit 26P of the work machine controller 26, the processing unit 27P of the sensor controller 27, and the processing unit 28P of the display controller 28 are implemented by, for example, a processor such as a CPU (Central Processing Unit) and a memory. The storage unit 26M of the work machine controller 26, the storage unit 27M of the sensor controller 27, and the storage unit 28M of the display controller 28 are RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory). ), non-volatile or volatile semiconductor memory such as EEPROM (Electrically Erasable Programmable Read Only Memory), magnetic disk, flexible disk and magneto-optical disk.

<Guidance image IG>
FIG. 3 is a diagram showing an example of the guidance image IG. Guidance image IG shows the positional relationship between target construction surface 70 and cutting edge 8T of bucket 8 . The guidance image IG is an image for guiding the operator of the hydraulic excavator 100 to operate the work implement 2 so that the ground, which is an example of the construction target, has the same shape as the target construction surface 70 . be.

The guidance image IG is displayed on the display screen 29P of the display unit 29, for example. The guidance image IG is a front view 53a showing the design topography of the construction area, that is, the design plane 45 including the target construction plane 70 and the current position of the excavator 100, and a side view showing the positional relationship between the target construction plane 70 and the hydraulic excavator 100. 53b. The front view 53a of the guidance image IG expresses the design topography viewed from the front using a plurality of triangular polygons. As shown in the front view 53a, the display controller 28 causes the display unit 29 to collectively display a plurality of triangular polygons as a design surface 59 or a target construction surface 70. FIG. FIG. 3 shows a state in which the hydraulic excavator 100 faces a slope when the design terrain is a slope. The front view 53a may display the design terrain, that is, the design surface 59 including the target construction surface 70 and the current position of the excavator 100 in a three-dimensional form such as a bird's-eye view.

A target construction plane 70 selected as a target work object from a plurality of design planes 59 is displayed in a color different from that of the other design planes 59 . For example, when a touch panel is used for the display unit 29, the operator of the hydraulic excavator 100 touches with a finger a place corresponding to the target construction surface 70 among the plurality of design surfaces 59 displayed on the display screen 29P. A face 70 can be selected. In the front view 53a of FIG. 3, the current position of the hydraulic excavator 100 is indicated by the icon 61 when the hydraulic excavator 100 is viewed from the back, but may be indicated by other symbols. The front view 53 a includes information for making the excavator 100 face the target construction surface 70 . The information for aligning the excavator 100 with the target construction surface 70 is obtained from the alignment compass 73 based on the result of calculating the positional relationship between the hydraulic excavator 100 (the cutting edge 8T of the bucket 8) and the target construction surface 70. displayed as The facing compass 73 is, for example, an arrow-shaped pointer 73I that rotates as indicated by an arrow R, and is a pattern or icon for guiding the facing direction with respect to the target construction surface 70 and the direction in which the hydraulic excavator 100 should be turned. Posture information. Also, as described above, the monitor display level 40 is displayed.

Guidance image IG includes an image indicating the positional relationship between target construction surface 70 and tooth edge 8T of bucket 8 and distance information indicating the distance between target construction surface 70 and tooth edge 8T of bucket 8 . In the present embodiment, the side view 53b includes a target construction plane line 79, an icon 75 of the hydraulic excavator 100 viewed from the side, an icon 90 of the bucket 8 viewed from the side, and the ground LND on which the hydraulic excavator 100 is grounded. . A target construction plane line 79 indicates a cross section of the target construction plane 70 . The target construction plane line 79 is obtained by calculating the line of intersection between the design plane 59 and a plane passing through the current position of the cutting edge 8T of the bucket 8 and parallel to the work machine center. The intersecting line is obtained by the processing section 28P of the display controller 28. FIG. The plane parallel to the center of the work machine is, for example, a plane that passes through the width direction center of the bucket pin 15 shown in FIG. 1 and is perpendicular to the direction in which the bucket pin 15 extends.

In side view 53 b , distance information indicating the distance between target construction surface 70 and cutting edge 8 T of bucket 8 includes graphic information 84 . The distance between the target working surface 70 and the blade edge 8T of the bucket 8 is, for example, the point where a line drawn down from the blade edge 8T in the vertical direction (the direction of gravity) toward the target working surface 70 intersects the target working surface 70, and the blade edge 8T. is the distance between Further, the distance between the target working surface 70 and the cutting edge 8T of the bucket 8 may be the distance between the cutting edge 8T and the intersection of a perpendicular line drawn from the cutting edge 8T to the target working surface 70 .

The graphic information 84 is information that graphically indicates the distance between the cutting edge 8T of the bucket 8 and the target working surface 70 . The graphic information 84 is a guide index for indicating the position of the cutting edge 8T of the bucket 8. FIG. In order to indicate the positional relationship between the target construction plane line 79 and the hydraulic excavator 100, the distance between the two may be indicated by a numerical value (not shown) on the guidance image IG. The operator of the hydraulic excavator 100 can easily excavate such that the current topography becomes the design topography (target construction plane 70) by moving the cutting edge 8T of the bucket 8 along the target construction plane 79. .

The display controller 28 shown in FIG. 2 generates drawing information for drawing the side surface of the bucket 8 using information on the shape and dimensions of the bucket 8, as described above. A side view image of the bucket 8 displayed on the display unit 29 based on this drawing information is displayed. Viewing the bucket 8 from the side means viewing the bucket 8 from the direction in which the bucket pin 15 extends. A side view of the bucket 8 includes an image showing the bottom surface 8BT of the bucket 8 .

<Display control system of monitor display level>
A monitor display level 40 is displayed on the display screen of the display unit 29, for example, in the display area of the guidance image IG. The monitor display level 40 has a display mode in which the vial level is viewed from above. The monitor display level 40 is shown in a polar coordinate system, and the center position of the bubble 41 indicates the tilt position and the tilt direction of the hydraulic excavator 100 . A bubble 41 indicates the tilt position on the polar coordinate system. A reference line L is displayed on the monitor display level 40 . Marker line L is an index indicating the magnitude of a preset inclination, and is indicated by a circle centered on the origin of the polar coordinate system.

The IMU 24 detects the angular velocity and acceleration of the excavator 100 as described above. As the hydraulic excavator 100 operates, the excavator 100 undergoes various accelerations such as acceleration during running, angular acceleration during turning, and gravitational acceleration. Outputs the detected acceleration regardless of the type of acceleration. Gravitational acceleration is acceleration corresponding to gravity. The IMU 24 detects acceleration in the x-, y-, and z-axis directions and angular velocity ω about the x-, y-, and z-axes in the vehicle body coordinate system (x, y, z) shown in FIG. do.

The IMU 24 is attached to the upper revolving body 3 . In order to detect acceleration and the like with higher accuracy, the IMU 24 is desirably provided, for example, on the center axis of revolving of the upper revolving body 3 of the hydraulic excavator 100, but the IMU 24 may be installed in the lower part of the operator's cab 4. good.

The IMU 24 controls at least the pitch angle θp obtained by time-integrating the angular velocity about the x-axis, the roll angle θr obtained by time-integrating the angular velocity about the y-axis, and the yaw angle θy obtained by time-integrating the angular velocity about the y-axis shown in FIG. 27 to the display controller 28 . Note that the IMU 24 may be directly connected to the display controller 28 without going through the sensor controller 27 . When the IMU 24 is directly connected to the display controller 28 , the processing performed by the sensor controller 27 is performed by the display controller 28 . Also, the IMU 24 updates the acceleration and angular velocity of the hydraulic excavator 100 in a predetermined cycle.

As shown in FIG. 2, the processing unit 28P has a calculation unit 31, a display processing unit 32, and a setting processing unit 33. Further, the setting processing section 33 has any one of a marked line setting processing section 34 , a magnification setting processing section 35 , a color change setting processing section 36 and a foam change setting processing section 37 . Based on the pitch angle θp and roll angle θr of the hydraulic excavator 100 detected by the IMU 24 , the calculation unit 31 calculates the tilt position on the polar coordinates indicating the magnitude and direction of tilt of the hydraulic excavator 100 . That is, the magnitude and direction of the inclination of the hydraulic excavator 100 with respect to the horizontal plane (xy plane) are calculated. The display processing unit 32 displays a level in which the tilt position obtained by the calculation unit 31 and the reference line L indicating the magnitude of the predetermined tilt are displayed in polar coordinates in a predetermined area on the monitor screen of the display unit 29, for example, a guidance signal. Display on image IG. Note that the IMU 24 is an example of a tilt sensor, and any tilt sensor may be used as long as it can detect the pitch angle θp and the roll angle θr of the hydraulic excavator 100 . Here, the display system includes an inclination sensor such as the IMU 24 , a calculation section 31 , a display processing section 32 , a setting processing section 33 and a display section 29 .

The marked line setting processing unit 34 changes and sets the magnitude of the inclination indicated by the marked line L in the monitor display level 40 . The magnification setting processing unit 35 changes and sets the display magnification of the magnitude of the tilt on the monitor display level 40 . The color change setting processor 36 changes the color of the screen of the monitor display level 40 . The bubble change setting processing unit 37 changes and sets the size and color of the bubble 41 indicating the size and direction of inclination in the monitor display level 40 . The bubble change setting processor 37 functions as a marker image change setting processor that changes and sets the size and color of the bubble 41, which is an example of the marker image. Setting information of the monitor display level 40 is stored as level information D in the storage unit 28M.

<Arithmetic processing of the calculation unit>
As shown in FIG. 4, the calculation unit 31 uses the pitch angle θp and the roll angle θr acquired by the IMU 24 (see FIG. 4A), and applies the following equations (1) and (2) to calculate the polar coordinates. An upper tilt position P1 (x1, y1) (see FIG. 4B) is obtained.
x1=-A・sin θr・cos θp (1)
x2=-A·sin θp (2)
Note that A is a constant.

As shown in FIGS. 4(b) and 4(c), in the polar coordinates display of the monitor display level 40, the inclination A bubble 41 drawn as a circle centered at position P1 is displayed. The distance from the center O to the tilt position P1 indicates the magnitude of the tilt, and the angle θ from the x-axis indicates the direction of the tilt. It should be noted that the marked line L is displayed as a circle indicating a predetermined degree of inclination rL from the center O. As shown in FIG.

<Color display of monitor display level>
As shown in FIG. 5, when the tilt of the bubble 41 exceeds the marked line L, the display processing unit 32 changes the color of the monitor display level 40 to notify the operator that the tilt has exceeded the marked line L. let me know. Whether or not the bubble 41 exceeds the marked line L is determined by whether or not the center of the bubble 41 (inclination position P1) exceeds the marked line. This color change may change various color elements such as lightness, luminance, and saturation. Also, the color change may be performed by increasing or decreasing the value of each color element. In any case, it is sufficient to indicate that the slope of the bubble 41 has exceeded the marked line L.

Further, as shown in FIG. 6, the color may be changed stepwise not only when the bubble 41 crosses the marked line but also as the slope r of the bubble 41 increases. Furthermore, as shown in FIG. 7, the color may be changed continuously as the slope r of the bubble 41 increases. That is, a color gradation may be applied. In both cases of FIGS. 6 and 7, various color elements such as lightness, luminance, and saturation may be changed stepwise or continuously.

<Marking line setting for monitor display level>
As shown in FIG. 8, a marked line L1 (see FIG. 8A) having a slope r1 is replaced by a marked line L2 having a slope r2 (>r1) larger than the slope r1 (>r1). (see FIG. 8B)). This change is set by the marker line setting processing unit 34 . If the work performed by the hydraulic excavator 100 requires high level maintenance, the marked line L1 having a small inclination r1 is set, and if the work does not require a very high level maintenance, r2 with a large inclination is set. It is preferable to set the reference line L2.

<Magnification setting of monitor display level>
As shown in FIG. 9, the display magnification of the monitor display level 40 may be changed. Enlarging the display magnification means enlarging the coordinate scale width in the radial direction from the center O of the polar coordinates for enlarged display. In this case, changes in the magnitude r1 of the inclination of the bubble 41 can be observed with high accuracy. Increasing the display magnification also means increasing the display sensitivity. Increasing the display sensitivity means increasing the constant A in the equations (1) and (2). In addition, as shown in FIG. 9B, the size of the bubble 41 may be changed according to the display magnification. In FIG. 9(b), since the display magnification is increased, the circle of the bubble 41 is changed to a larger bubble 41' according to this display magnification.

<Setting screen>
When performing various settings such as mark line setting, magnification setting, color change setting, bubble change setting, etc., selection is made by touching the icon of the monitor display level 40 on the display screen 29P. By this selection, the setting menu screen PU shown in FIG. 10 is popped up on the display screen 29P. The setting menu screen PU displays menu items such as a marker line setting m1, a magnification setting m2, a color change setting m3, and a foam change setting m4. When one of the menu items is selected, the setting screen for the selected item is displayed. Also, when the return icon I2 is selected, the setting menu screen PU disappears from the display screen 29P.

<Marker setting screen>
When the marked line setting m1 in FIG. 10 is selected, the marked line setting screen PU1 shown in FIG. 11 is displayed. An adjustment bar B1 is displayed on the left side of the marking line setting screen PU1, and the magnitude r of the inclination of the marking line L can be set by dragging the slider SL1 on the adjustment bar B1. The display state of the monitor display level gauge 40 being adjusted is displayed on the right side of the screen. When the setting icon I1 on the lower side of the screen is selected, the currently adjusted contents are set. On the other hand, when the return icon I2 is selected, the content currently being adjusted is canceled and the screen returns to the setting menu screen PU.

In addition, in the marking line setting screen PU1, the magnitude r of the inclination of the marking line L is set by sliding the adjustment bar B1. A marker line setting screen PU1' may be used in which a numerical value can be entered in the numerical value input field BX with the magnitude r as the inclination angle. In this case, when the numeric input field BX is selected, numeric input keys (not shown) are popped up. In addition, in the marking line setting screen PU1' shown in FIG. , a liquid vial gauge GP is provided to indicate the longitudinal tilt of the hydraulic excavator 100 . The liquid bubble tube gauge GR displays bubbles corresponding to the roll angle θr. The liquid bubble tube gauge GP displays bubbles corresponding to the pitch angle θp. This makes it easier to recognize the inclination state of the hydraulic excavator 100 from the monitor display level 40 . The liquid bubble tube gauges GR and GP may be displayed on the monitor display level 40 of the display screen 29P shown in FIG.

<Magnification setting screen>
When the magnification setting m2 in FIG. 10 is selected, the magnification setting screen PU2 shown in FIG. 13 is displayed. An adjustment bar B2 is displayed on the left side of the magnification setting screen PU2, and the display magnification can be set by dragging the slider SL2 on the adjustment bar B2. On the left side of the screen, there is also displayed a check box CB1 for determining whether or not to synchronize the size of the bubble 41 with the change in display magnification. When the check box CB1 is checked, the size of the bubble 41 is set to synchronize with the display magnification. When this synchronization setting is made, the size of the bubble 41 is enlarged or reduced according to the display magnification. The display state of the monitor display level gauge 40 being adjusted is displayed on the right side of the screen. When the setting icon I1 on the lower side of the screen is selected, the currently adjusted contents are set. On the other hand, when the return icon I2 is selected, the content currently being adjusted is canceled and the screen returns to the setting menu screen PU. It should be noted that this magnification setting screen PU2, like the marked line setting screen PU1', may be one that allows numerical input of the display magnification in place of the adjustment bar B2 and the slider SL2.

<Color change setting screen>
When the color change setting m3 in FIG. 10 is selected, the color change setting screen PU3 shown in FIG. 14 is displayed. A color sample 50 is displayed on the upper left side of the screen on the color change setting screen PU3. Various color change settings are displayed on the lower left side of the screen. Specifically, a check box CB11 for setting the color of the monitor display level gauge 40 as a whole, check boxes CB12 and CB13 for setting the color when the bubble 41 is less than the marked line L and the color when the bubble 41 is greater than or equal to the marked line L, and the bubble Check boxes CB14 and CB15 for the overall gradation that changes the color continuously as the slope of the bubble 41 changes, and check the overall gradation that changes the color step by step as the slope of the bubble 41 changes. Boxes CB16 and CB17 and a check box CB18 for setting the color of the marked line L itself are provided. Four categories of check boxes CB11, CB12, CB13, CB14, CB15, CB16 and CB17 are alternatively selected. To set the color for each check box CB11-CB18, select the corresponding color setting check box CBG, select the color for the selected item from the color sample 50, and the selected color is displayed in the color box BG. In addition, a check box may be provided for blinking the screen of the monitor display level 40 when the bubble 41 exceeds the marked line L. FIG. On the right side of the screen, the display state of the monitor display level gauge 40 during color setting is displayed. In this case, the bubble 41 is moved to repeatedly display the color change. When the setting icon I1 on the lower side of the screen is selected, the currently adjusted contents are set. On the other hand, when the return icon I2 is selected, the content currently being adjusted is canceled and the screen returns to the setting menu screen PU.

<Foam change setting screen>
When the bubble change setting m4 in FIG. 10 is selected, the bubble change setting screen PU4 shown in FIG. 15 is displayed. On the bubble change setting screen PU4, an adjustment bar B3 is displayed at the upper left of the screen, and the size of bubbles can be set by dragging a slider SL3 on this adjustment bar B3. A color sample 51 is displayed in the left center of the screen. Also, a check box CB20 for setting the color of the bubble and a check box CB21 for blinking the bubble when the bubble 41 exceeds the marked line L are provided on the lower left side of the screen. The color selected in the color sample 51 is displayed in the box B11. On the right side of the screen, the display state of the monitor display level 40 during bubble setting is displayed. When the setting icon I1 on the lower side of the screen is selected, the currently adjusted contents are set. On the other hand, when the return icon I2 is selected, the content currently being adjusted is canceled and the screen returns to the setting menu screen PU.

As shown in FIG. 16, when the magnitude r of the tilt of the bubble 41 reaches the maximum value rmax, the maximum value rmax is the distance from the center O of the polar coordinates to the tilt position P1, which is the center of the bubble 41. Therefore, it is preferable to increase the display area E of the monitor display level 40 by the radius of the bubble 41 .

In the present embodiment, the display unit 29 is mounted on the excavator 100, but the display unit 29 is not limited to this. A display device is provided in the remote control room. FIG. 17 is a diagram for explaining the display device 280 when remotely controlling the hydraulic excavator 100. As shown in FIG. The hydraulic excavator 100 and the remote control room 300 are capable of wireless communication with each other via a communication device (not shown). As shown in FIG. 17, the remote control room 300 is provided with a driver's seat 140, and work implement operation members 120L and 120R are installed near the driver's seat 140. As shown in FIG. In front of the driver's seat 140, traveling operation members 130L and 130R are installed. By operating the work implement operation members 120L and 120R, signals indicating the amount of operation and the details of the operation are transmitted to the hydraulic excavator 100, and the work implement 2 and the upper revolving body 3 can be operated remotely. Further, by operating the traveling operation members 130L and 130R, a signal indicating the operation amount and operation content is transmitted to the hydraulic excavator 100, and the traveling device 5 can be operated remotely.

In the remote control room 300, the monitor device 110 is installed obliquely in front of the driver's seat 140. As shown in FIG. Data detected by various sensors provided in the hydraulic excavator 100 is wirelessly transmitted to the remote control room 300 via the communication device, and various information based on the data is displayed on the monitor device 110 . Furthermore, a display device including a display device 280 corresponding to the display unit 29 is installed in front of the driver's seat 140 . Note that the display controller 28 may be provided in the remote control room 300 or may be provided in the hydraulic excavator 100 . Furthermore, when the display controller 28 is provided in the remote control room 300, only the calculation unit 31 may be provided on the hydraulic excavator 100 side. That is, at least one of the above-described display unit 29 , calculation unit 31 , display processing unit 32 , and setting processing unit 33 may be provided outside the hydraulic excavator 100 .

Therefore, a monitor display level similar to the monitor display level 40 displayed on the display screen 29P of the display unit 29 shown in the above embodiment can be displayed on the display device 280. FIG. As shown in FIG. 18, instead of the display device 280 installed in the remote control room 300, a mobile terminal device 380 having at least a display unit may be used as the display device. In this case, the display controller 28 is preferably provided on the excavator 100 side.

Further, in the above-described embodiment, the setting operation for the setting processing unit 33 is performed on the display screen of the display unit 29, but the present invention is not limited to this, for example, the console of the hydraulic excavator 100 or the remote control room 300 A setting operation for the setting processing unit 33 may be performed using a switch provided on a console or the like.

Furthermore, in the above-described embodiment, an example of displaying a monitor display level on a monitor mounted on a construction machine using ICT (Information and Communication Technology) has been described. It may be displayed on a monitor mounted on the construction machine.

Reference Signs List 1 vehicle body, 2 work machine, 3EG machine room, 3 upper revolving body, 4 driver's cab, 5 travel device, 5c hydraulic motor, 5a, 5b track, 6 boom, 7 arm, 8 bucket, 8B blade, 8T blade edge, 8BT Bottom 9 Handrail 10 Boom cylinder 11 Arm cylinder 12 Bucket cylinder 13 Boom pin 14 Arm pin 15 Bucket pin 16 Link pin 17 Link 18A First work machine attitude detector 18B Second work machine attitude detection Section 18C Third working machine attitude detection section 21, 22 Antenna 23 Global coordinate calculation section 24 IMU (tilt sensor) 25 Operation device 25R Right operation lever 25FR Right travel lever 25L Left operation lever 25FL left traveling lever 26 work machine controller 26M, 27M, 28M storage unit 26P, 27P, 28P processing unit 27 sensor controller 28 display controller 28I input device 29 display unit 29P display screen 31 calculation unit; 32 display processing unit, 33 setting processing unit, 34 reference line setting processing unit, 35 magnification setting processing unit, 36 color change setting processing unit, 37 bubble change setting processing unit, 40 monitor display level, 41 bubble, 45 design surface, 50, 51 color sample, 53a front view, 53b side view, 55 engine, 56 hydraulic pump, 57 control valve, 58 turning motor, 59 design surface, 61, 75, 90 icon, 70 target construction surface, 73I pointer, 73 correct Compass 79 Target construction plane 84 Graphic information 100 Hydraulic excavator 110 Monitor device 120L Working machine operation member 130L, 130R Travel operation member 140 Driver's seat 280 Display device 300 Remote control room 380 Portable terminal Device, B1, B2, B3 Adjustment bar, B11 box, BX Value input field, BG Color box, CB1, CB11 to CB18, CB20, CB21 check box, CBG color setting check box, D Level gauge information, E Display area, I1 Setting icon, I2 Return icon, IG Guidance image, L, L1, L2 Reference line, O Center, P1 Tilt position, PU Setting menu screen, PU1 , PU1' mark line setting screen, PU2 magnification setting screen, PU3 color change setting screen, PU4 bubble change setting screen, r tilt magnitude, SL1, SL2, SL3 slider, θ angle, θp pitch angle, θr roll angle

Claims (8)

a display unit for displaying various information of the working machine;
Calculation for calculating the tilt position on the polar coordinates indicating the magnitude and direction of tilt of the work machine having a traveling body, based on the pitch angle and roll angle detected by the tilt sensor that detects the tilt angle of the work machine. Department and
a display processing unit that displays, in a predetermined area on a display screen of the display unit, a monitor display level in which the tilt position and a marker line indicating a preset tilt magnitude are displayed in polar coordinates;
a setting processing unit that changes and sets a display magnification of the magnitude of the tilt displayed on the polar coordinate display screen of the monitor display level;
with
When the display magnification is changed by the setting processing unit, the display processing unit changes the display position of the tilt position on the monitor display level and the display of the magnitude of the tilt indicated by the marked line. displaying the tilted position as a graphic centered on the tilted position on the polar coordinate display screen, and changing the size of the graphic according to the change in the display magnification;
Work machine display system. further comprising a remote control room in which an operating member for operating the working machine is provided,
The display unit is installed in the remote control room,
The display system for a work machine according to claim 1. The display processing unit changes the color of the screen of the polar coordinate display when the magnitude of the inclination of the inclined position exceeds the marked line.
The display system for a work machine according to claim 1 or 2. The setting processing unit has a marked line setting processing unit that changes and sets the magnitude of the slope indicated by the marked line,
The display system for a work machine according to any one of claims 1 to 3. The setting processing unit has a color change setting processing unit that changes the color of the polar coordinate display screen.
The display system for a work machine according to any one of claims 1 to 4. The tilt position is displayed as a bubble that is a circle centered on the tilt position on the polar coordinate display screen.
The display system for a work machine according to any one of claims 1 to 5. The tilt sensor is provided within the work machine,
At least one of the calculation unit, the display processing unit, and the setting processing unit is provided outside the working machine,
The display system for a work machine according to any one of claims 1 to 6. A work machine display system according to any one of claims 1 to 7,
working machine.

Images