WO2014054354A1 - 掘削機械の表示システム及び掘削機械 - Google Patents
掘削機械の表示システム及び掘削機械 Download PDFInfo
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- WO2014054354A1 WO2014054354A1 PCT/JP2013/072747 JP2013072747W WO2014054354A1 WO 2014054354 A1 WO2014054354 A1 WO 2014054354A1 JP 2013072747 W JP2013072747 W JP 2013072747W WO 2014054354 A1 WO2014054354 A1 WO 2014054354A1
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- WIPO (PCT)
- Prior art keywords
- bucket
- excavation
- information
- display
- screen
- Prior art date
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/3604—Devices to connect tools to arms, booms or the like
- E02F3/3677—Devices to connect tools to arms, booms or the like allowing movement, e.g. rotation or translation, of the tool around or along another axis as the movement implied by the boom or arms, e.g. for tilting buckets
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
Definitions
- the present invention relates to an excavating machine display system and an excavating machine equipped with the same.
- an excavating machine such as a hydraulic excavator
- a working machine including a bucket is driven to excavate a ground or the like to be worked.
- the cutting edge position of a bucket is detected, and the relationship between the absolute position of the buried pipe and the absolute position of the bucket cutting edge is determined. Based on this relationship, excavation position / depth determination means performs excavation by the bucket. A technique is described in which the position and drilling depth are determined.
- Patent Literature 1 can grasp the position of the bucket blade edge (excavation edge) from the side view.
- the groove wall can be obtained only by the position of the bucket blade edge (excavation edge) in a side view that can be grasped by the operator during the operation of excavation using an excavator such as a hydraulic excavator.
- Patent Document 1 It is necessary to infer relative position information between the surface of the blade and the bucket blade edge (excavation edge). For this reason, there is a possibility that the technique of Patent Document 1 cannot provide the left and right situations in the width direction of the bucket in an easily understandable manner.
- An object of the present invention is to provide an operator with an easy-to-understand understanding of left and right situations in the width direction of a bucket when an operator of an excavating machine proceeds with a trench excavation work according to a design surface.
- a display system for an excavating machine having a working machine including a bucket that generates excavation force at an excavation edge and an arm that swingably attaches the bucket, and a main body part to which the working machine is attached.
- a vehicle state detection unit that detects information about the current position of the excavating machine and information about the posture of the main body, and a storage unit that stores position information of the target surface indicating the target shape of the work target and outer shape information of the bucket And a plane passing through both ends of the excavation edge among the planes parallel to the plane on which the arm moves based on the information on the current position of the excavating machine, the information on the posture of the main body, and the outer shape information of the bucket
- a processing unit that obtains a virtual image indicating the position of the image and displays the virtual image on the screen of the display device together with the bucket when viewed from above the excavating machine; Drilling machine display system including is provided.
- the processing unit displays the target surface when viewed from a side surface of the excavating machine on a screen of the display device.
- the processing unit includes the excavation of a plane parallel to a plane on which the arm moves based on information on a current position of the excavating machine, information on an attitude of the main body, and outline information on the bucket. It is preferable to obtain a virtual image indicating the position of a plane passing through both ends of the edge and display the virtual image on the screen of the display device together with the bucket when viewed from the main body side.
- the bucket is a tilt bucket, and further includes a work machine state detection unit that detects a position of the excavation edge, and the processing unit includes information on a current position of the excavation machine, A virtual image indicating the position of a plane passing through both ends of the excavation edge, out of the plane parallel to the plane on which the arm moves, based on information on the posture, information on the position of the excavation edge, and outer shape information of the bucket And the virtual image is preferably displayed on the screen of the display device together with the bucket when viewed from the main body side.
- the said process part displays the said virtual image and the line which shows the surface of the wall of the said groove
- a line indicating the surface of the groove wall is orthogonal to the target surface.
- an excavating machine comprising the excavating machine display system described above.
- the present invention can provide the operator of the excavating machine with an easy-to-understand understanding of the left and right situations in the width direction of the bucket when the operator of the excavating machine proceeds with the excavation work according to the design surface.
- FIG. 1 is a perspective view of a hydraulic excavator 100 according to the present embodiment.
- FIG. 2 is a side view of the excavator 100.
- FIG. 3 is a rear view of the excavator 100.
- FIG. 4 is a block diagram illustrating a control system provided in the excavator 100.
- FIG. 5 is a diagram showing the design terrain indicated by the design terrain data.
- FIG. 6 is a diagram illustrating an example of a guidance screen.
- FIG. 7 is a diagram illustrating an example of a guidance screen.
- FIG. 8 is a diagram for explaining an example of a method for obtaining the current position of the excavation edge P3.
- FIG. 9 is a diagram for explaining an example of a method for obtaining the current position of the excavation edge P3.
- FIG. 10 is a diagram for explaining an example of a method for obtaining the current position of the excavation edge P3.
- FIG. 10 is a flowchart showing a procedure for displaying the excavation edge P3 in top view.
- FIG. 11 is a flowchart showing a procedure for storing the outer shape information of the bucket 8.
- FIG. 12 is a diagram illustrating an example of the outer shape information of the bucket 8.
- FIG. 13 is a diagram illustrating an example of the outer shape display of the bucket 8.
- FIG. 14 is a diagram illustrating an example of the outer shape display of the bucket 8.
- FIG. 15 is a diagram illustrating an example of the outer shape display of the bucket 8.
- FIG. 16 is a diagram illustrating an example of the outer shape display of the bucket 8.
- FIG. 17 is an explanatory diagram illustrating a display example of the excavation edge P3.
- FIG. 18 is a perspective view for explaining the rotation of the excavation edge P3.
- FIG. 18 is a perspective view for explaining the rotation of the excavation edge P3.
- FIG. 18 is a perspective view for explaining the rotation of the excavation edge P3.
- FIG. 18 is a perspective view
- FIG. 19 is a side view for explaining the target surface distance DAi.
- FIG. 20 is a diagram illustrating an example in which the bucket 8 is displayed in a top view on the screen of the display unit.
- FIG. 21 is a diagram illustrating an example in which the bucket 8 is displayed in a top view and a front view on the screen of the display unit.
- FIG. 22 is a side view of a tilt bucket 8T of a hydraulic excavator according to a modification.
- FIG. 23 is a front view of a tilt bucket 8T of a hydraulic excavator according to a modification.
- FIG. 24 is a diagram showing a tilt bucket 8T of a hydraulic excavator according to a modification on a screen of the display unit.
- FIG. 1 is a perspective view of a hydraulic excavator 100 according to the present embodiment.
- FIG. 2 is a side view of the excavator 100.
- FIG. 3 is a rear view of the excavator 100.
- FIG. 4 is a block diagram illustrating a control system provided in the excavator 100.
- FIG. 5 is a diagram showing the design terrain indicated by the design terrain data.
- a hydraulic excavator 100 as an excavating machine has a vehicle main body 1 and a work implement 2 as main body portions.
- the vehicle main body 1 includes an upper swing body 3 and a traveling device 5.
- the upper swing body 3 accommodates devices such as a power generation device and a hydraulic pump (not shown) inside the engine room 3EG.
- the engine room 3EG is disposed on one end side of the upper swing body 3.
- the excavator 100 uses, for example, an internal combustion engine such as a diesel engine as a power generation device, but the excavator 100 is not limited to this.
- the hydraulic excavator 100 may include, for example, a so-called hybrid power generation device in which an internal combustion engine, a generator motor, and a power storage device are combined.
- the upper swing body 3 has a cab 4.
- the cab 4 is placed on the other end side of the upper swing body 3. That is, the cab 4 is arranged on the side opposite to the side where the engine room 3EG is arranged.
- a display input device 38 and an operation device 25 shown in FIG. These will be described later.
- the traveling device 5 has crawler belts 5a and 5b. The traveling device 5 travels by rotating the crawler belts 5a and 5b, and causes the excavator 100 to travel.
- the work machine 2 is attached to the cab 4 side of the upper swing body 3.
- the upper revolving unit 3 is on the front side where the work implement 2 and the cab 4 are arranged, and is on the side where the engine room 3EG is arranged.
- the left side toward the front is the left of the upper swing body 3, and the right side toward the front is the right of the upper swing body 3.
- the excavator 100 or the vehicle main body 1 is on the lower side of the traveling device 5 with respect to the upper swing body 3, and the upper side of the upper swing body 3 with respect to the traveling device 5.
- the lower side is the vertical direction, that is, the gravity direction side
- the upper side is the opposite side of the vertical direction.
- the work machine 2 includes a boom 6, an arm 7, a bucket 8, a boom cylinder 10, an arm cylinder 11, and a bucket cylinder 12.
- a base end portion of the boom 6 is swingably attached to a front portion of the vehicle main body 1 via a boom pin 13.
- a base end portion of the arm 7 is swingably attached to a tip end portion of the boom 6 via an arm pin 14.
- a bucket 8 is swingably attached to the tip of the arm 7 via a bucket pin 15.
- a blade (tooth member) 8B is attached to the edge 8A of the concave portion of the bucket 8.
- the tip of the blade 8B is a digging edge P3 where the work machine 2 generates a digging force.
- the edge 8 ⁇ / b> A of the recess of the bucket 8 may not have the blade 8 ⁇ / b> B.
- the edge 8 ⁇ / b> A of the recess of the bucket 8 is the excavation edge P ⁇ b> 3 that generates excavation force.
- the bottom part of the recessed part of the bucket 8 is called the bottom part 8C, and the work machine 2 can level the ground by pressing the bottom part 8C against the ground surface.
- the length of the boom 6, that is, the length from the boom pin 13 to the arm pin 14 is L1.
- the length of the arm 7, that is, the length from the center of the arm pin 14 to the center of the bucket pin 15 is L2.
- the length of the bucket 8, that is, the length from the center of the bucket pin 15 to the excavation edge portion P3 of the bucket 8 is L3.
- the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 shown in FIG. 1 are hydraulic cylinders that are driven by the pressure of hydraulic oil (hereinafter referred to as hydraulic pressure as appropriate).
- the boom cylinder 10 drives the boom 6 to raise and lower it.
- the arm cylinder 11 drives the arm 7 to swing around the arm pin 14.
- the bucket cylinder 12 drives the bucket 8 to swing around the bucket pin 15.
- a proportional control valve 37 shown in FIG. 4 is arranged between hydraulic cylinders such as the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 and a hydraulic pump (not shown).
- the work machine electronic control unit 26 to be described later controls the proportional control valve 37 to control the flow rate of the hydraulic oil supplied to the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12. As a result, the operations of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 are controlled.
- the boom 6, the arm 7 and the bucket 8 are provided with a first stroke sensor 16, a second stroke sensor 17 and a third stroke sensor 18, respectively.
- the first stroke sensor 16 detects the stroke length of the boom cylinder 10.
- the display control device 39 (see FIG. 4), which will be described later, calculates the tilt angle ⁇ 1 of the boom 6 with respect to the Za axis of the vehicle body coordinate system, which will be described later, from the stroke length of the boom cylinder 10 detected by the first stroke sensor 16.
- the second stroke sensor 17 detects the stroke length of the arm cylinder 11.
- the display control device 39 calculates the tilt angle ⁇ 2 of the arm 7 with respect to the boom 6 from the stroke length of the arm cylinder 11 detected by the second stroke sensor 17.
- the third stroke sensor 18 detects the stroke length of the bucket cylinder 12.
- the display control device 39 calculates the inclination angle ⁇ 3 of the bucket 8 with respect to the arm 7 from the stroke length of the bucket cylinder 12 detected by the third stroke sensor 18.
- the vehicle body 1 includes a work machine state detection unit 19.
- the work machine state detection unit 19 detects the current position of the excavator 100, the posture of the vehicle body 1, and the current position of the excavation edge P3.
- the work machine state detection unit 19 includes two antennas 21 and 22 (hereinafter referred to as GNSS antennas 21 and 22 as appropriate) for RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems, GNSS is a global navigation satellite system). ), A three-dimensional position sensor 23, and an inclination angle sensor 24.
- the GNSS antennas 21 and 22 are installed in the vehicle main body 1, more specifically, the upper swing body 3.
- the GNSS antennas 21 and 22 are installed apart from each other by a certain distance along the Ya axis of the vehicle body coordinate system described later.
- the GNSS antennas 21 and 22 may be separated by a certain distance along the Xa axis of the vehicle body coordinate system, or may be separated by a certain distance in the plane of the Xa axis-Ya axis of the vehicle body coordinate system.
- the vehicle state detection unit 19A includes a three-dimensional position sensor 23 and an inclination angle sensor 24, and can detect information related to the posture of the vehicle main body 1 such as a vehicle main body coordinate system described later.
- a signal corresponding to the GNSS radio wave received by the GNSS antennas 21 and 22 is input to the three-dimensional position sensor 23.
- the three-dimensional position sensor 23 detects the positions of the installation positions P1 and P2 of the GNSS antennas 21 and 22.
- the inclination angle sensor 24 detects an inclination angle ⁇ 4 in the width direction of the vehicle body 1 with respect to the direction in which gravity acts, that is, the vertical direction Ng (hereinafter referred to as a roll angle ⁇ 4 as appropriate).
- the width direction means the width direction of the bucket 8 and coincides with the width direction of the upper swing body 3, that is, the left-right direction.
- the work implement 2 includes a tilt bucket described later, the width direction of the bucket 8 and the width direction of the upper swing body 3 may not match.
- the hydraulic excavator 100 includes an operating device 25, a work implement electronic control device 26, a work implement control device 27, and a display system (hereinafter referred to as a display system as appropriate) 28 of an excavating machine.
- the operating device 25 includes a work implement operation member 31, a work implement operation detection unit 32, a travel operation member 33, and a travel operation detection unit 34.
- the work machine operation member 31 is a member for the operator to operate the work machine 2, and is, for example, a joystick or an operation lever.
- the work machine operation detection unit 32 detects the operation content of the work machine operation member 31 and sends it as a detection signal to the work machine electronic control device 26.
- the traveling operation member 33 is a member for an operator to operate traveling of the excavator 100, and is, for example, a joystick or an operation lever.
- the traveling operation detection unit 34 detects the operation content of the traveling operation member 33 and sends it to the work machine electronic control device 26 as a detection signal.
- the work machine electronic control device 26 includes a work machine side storage unit 35 including at least one of a RAM (Random Access Memory) and a ROM (Read Only Memory), and a calculation unit 36 such as a CPU (Central Processing Unit). .
- the work machine electronic control device 26 mainly controls the work machine 2.
- the work implement electronic control device 26 generates a control signal for operating the work implement 2 in accordance with the operation of the work implement operating member 31, and outputs the control signal to the work implement control device 27.
- the work machine control device 27 has a proportional control valve 37, and the proportional control valve 37 is controlled based on a control signal from the work machine electronic control device 26.
- the hydraulic oil having a flow rate corresponding to the control signal from the work machine electronic control device 26 flows out of the proportional control valve 37 and is supplied to at least one of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12. Then, the boom cylinder 10, the arm cylinder 11 and the bucket cylinder 12 shown in FIG. 1 are driven according to the hydraulic oil supplied from the proportional control valve 37. As a result, the work machine 2 operates.
- the display system 28 is a system for providing an operator with information for excavating the ground in the work area to form a shape like a design surface described later.
- the display system 28 includes a display input device 38 as a display device, a display It has a control device 39 and a sound generator 46 including a speaker or the like for informing an alarm sound.
- the display input device 38 includes a touch panel type input unit 41 and a display unit 42 such as an LCD (Liquid Crystal Display).
- the display input device 38 displays a guidance screen for providing information for excavation. Various keys are displayed on the guidance screen.
- An operator who is an operator can execute various functions of the display system 28 by touching various keys on the guidance screen.
- the guidance screen will be described in detail later.
- the display control device 39 executes various functions of the display system 28.
- the display control device 39 is an electronic control device having a storage unit 43 including at least one of a RAM and a ROM, and a processing unit 44 such as a CPU.
- the storage unit 43 stores work implement data.
- the work machine data includes the above-described length L1 of the boom 6, the length L2 of the arm 7, and the length L3 of the bucket 8.
- the work implement data includes the minimum value and the maximum value of the inclination angle ⁇ 1 of the boom 6, the inclination angle ⁇ 2 of the arm 7, and the inclination angle ⁇ 3 of the bucket 8.
- the display control device 39 and the work machine electronic control device 26 can communicate with each other via a wireless or wired communication means.
- the storage unit 43 of the display control device 39 stores design terrain data created in advance.
- the design terrain data is information regarding the shape and position of the three-dimensional design terrain.
- the design terrain indicates the target shape of the ground to be worked.
- the display control device 39 displays a guidance screen on the display input device 38 based on the design terrain data and information such as detection results from the various sensors described above.
- the design landform is composed of a plurality of design surfaces 45 each represented by a triangular polygon. In FIG. 5, only one of the plurality of design surfaces is denoted by reference numeral 45, and the other design surfaces are omitted.
- the target work object is one or a plurality of design surfaces among these design surfaces 45.
- the operator selects one or a plurality of design surfaces among these design surfaces 45 as the target surface 70.
- the target surface 70 is a surface to be excavated from among the plurality of design surfaces 45.
- the display control device 39 causes the display input device 38 to display a guidance screen for notifying the operator of the position of the target surface 70.
- ⁇ Guidance screen> 6 and 7 are diagrams illustrating an example of a guidance screen.
- the guidance screen shows the positional relationship between the target surface 70 and the excavation edge P3 of the bucket 8 and is used for guiding the work implement 2 of the excavator 100 so that the ground as the work target has the same shape as the target surface 70. It is a screen.
- the guide screen includes a rough excavation mode guide screen (hereinafter appropriately referred to as a rough excavation screen 53) and a fine excavation mode guide screen (hereinafter appropriately referred to as a fine excavation screen 54). Including.
- the rough excavation screen 53 includes a top view 53 a showing the design topography of the work area and the current position of the excavator 100, and a side view 53 b showing the positional relationship between the target surface 70 and the excavator 100.
- a top view 53a of the rough excavation screen 53 expresses the design topography in a top view by a plurality of triangular polygons. More specifically, the top view 53a expresses the design terrain using a turning plane that is a plane on which the excavator 100 turns as a projection plane. Therefore, the top view 53a is an overhead view seen from directly above the excavator 100, and when the excavator 100 is inclined, the design surface is also inclined.
- the target surface 70 selected as the target work object from the plurality of design surfaces 45 is displayed in a color different from that of the other design surfaces 45.
- the current position of the excavator 100 is indicated by the excavator icon 61 in a top view, but may be indicated by other symbols.
- the top view 53a includes information for causing the excavator 100 to face the target surface 70.
- Information for causing the excavator 100 to face the target surface 70 is displayed as a target surface facing compass 73.
- the target surface facing compass 73 is an icon indicating, for example, a facing direction with respect to the target surface 70 and a direction in which the excavator 100 is to be turned by rotating the arrow-shaped pointer 73I in the direction of the arrow R.
- the operator of the excavator 100 can confirm the degree of confrontation with respect to the target surface 70 by the target surface confrontation compass 73.
- the side view 53b of the rough excavation screen 53 is an image showing the positional relationship between the target surface 70 and the excavation edge P3 of the bucket 8, and distance information showing the distance between the target surface 70 and the excavation edge P3 of the bucket 8. Including. Specifically, the side view 53b includes a line 74 indicating a cross section of the design surface, a line 79 indicating a cross section of the target surface, and an icon 75 of the excavator 100 in a side view. A line 74 indicating a cross section of the design surface indicates a cross section of the design surface 45 other than the target surface 70. A line 79 indicating a cross section of the target surface indicates a cross section of the target surface 70.
- a line 74 indicating the cross section of the design surface and a line 79 indicating the cross section of the target surface are, as shown in FIG. 5, an intersection line 80 between the plane 77 passing the current position of the excavation edge P3 of the bucket 8 and the design surface 45. It is calculated
- the intersection line 80 is obtained by the processing unit 44 of the display control device 39. A method for obtaining the current position of the excavation edge P3 of the bucket 8 will be described later.
- the line 79 indicating the cross section of the target surface is displayed in a color different from the line 74 indicating the cross section of the design surface.
- the line type is changed to express a line 79 indicating the cross section of the target surface and a line 74 indicating the cross section of the design surface.
- a region on the ground side with respect to the line 79 indicating the cross section of the target surface and a line 74 indicating the cross section of the design surface and the region on the air side with respect to these line segments are shown in different colors.
- the difference in color is expressed by hatching a region on the ground side from the line 79 indicating the cross section of the target surface and the line 74 indicating the cross section of the design surface.
- the distance information indicating the distance between the target surface 70 and the excavation edge P3 of the bucket 8 includes numerical information 83 and graphic information 84.
- the numerical information 83 is a numerical value indicating the shortest distance between the excavation edge portion P ⁇ b> 3 of the bucket 8 and the target surface 70.
- the graphic information 84 is information that graphically represents the distance between the excavation edge P3 of the bucket 8 and the target surface 70.
- the graphic information 84 is a guide index for indicating the position of the excavation edge portion P3 of the bucket 8.
- the graphic information 84 includes an index bar 84a and an index mark 84b indicating a position in the index bar 84a where the distance between the excavation edge portion P3 of the bucket 8 and the target surface 70 corresponds to zero. .
- Each index bar 84a is turned on according to the shortest distance between the tip of the bucket 8 and the target surface 70. Note that the display on / off of the graphic information 84 may be changed by an operation of the operator of the excavator 100.
- the relative positional relationship between the line 79 indicating the cross section of the target surface and the excavator 100 and the shortest distance between the excavation edge P3 of the bucket 8 and the line 79 indicating the cross section of the target surface are shown.
- a numerical value is displayed.
- the operator of the excavator 100 can easily excavate so that the current terrain becomes the designed terrain by moving the excavation edge P3 of the bucket 8 along the line 79 indicating the cross section of the target surface.
- the rough excavation screen 53 displays a screen switching key 65 for switching the guide screen. The operator can switch from the rough excavation screen 53 to the fine excavation screen 54 by operating the screen switching key 65.
- the delicate excavation screen 54 shown in FIG. 7 is displayed on the screen 42P of the display unit 42.
- the fine excavation screen 54 shows the positional relationship between the target surface 70 and the excavator 100 in more detail than the rough excavation screen 53. That is, the fine excavation screen 54 shows the positional relationship between the target surface 70 and the excavation edge P3 of the bucket 8 in more detail than the rough excavation screen 53.
- the delicate excavation screen 54 includes a front view 54 a showing the target surface 70 and the bucket 8, and a side view 54 b showing the target surface 70 and the bucket 8.
- the front view 54a of the delicate excavation screen 54 includes an icon 89 that indicates the bucket 8 when viewed from the front, and a line 78 that indicates a cross section of the target surface when viewed from the front.
- the front (front view) means that the bucket 8 shown in FIGS. 1 and 2 is viewed from the vehicle body 1 side, and is viewed in parallel with the Ya axis of the vehicle body coordinate system described later.
- the side view 54b of the delicate excavation screen 54 includes an icon 90 of the bucket 8 in a side view, a line 74 indicating a cross section of the design surface, and a line 79 indicating a cross section of the target surface.
- the front view 54a and the side view 54b of the delicate excavation screen 54 display information indicating the positional relationship between the target surface 70 and the bucket 8, respectively.
- a side surface (side view) is a view from the extending direction of the bucket pin 15 shown in FIGS. 1 and 2 (the swinging central axis direction of the bucket 8), and is parallel to the Xa axis of the vehicle body coordinate system described later. To see.
- the information indicating the positional relationship between the target surface 70 and the bucket 8 includes distance information 86a and angle information 86b.
- the distance information 86a indicates the distance in the Za direction between the excavation edge portion P3 of the bucket 8 and the target surface 70. This distance is a distance between the closest position to the target surface 70 among the positions in the width direction of the excavation edge P3 of the bucket 8 and the target surface 70.
- a mark 86 c indicating the closest position is displayed over the icon 89 of the front view of the bucket 8.
- the angle information 86 b is information indicating the angle between the target surface 70 and the bucket 8. Specifically, the angle information 86b is an angle between an imaginary line segment passing through the excavation edge portion P3 of the bucket 8 and a line 78 indicating a cross section of the target surface.
- information indicating the positional relationship between the target surface 70 and the bucket 8 includes distance information 87a and angle information 87b.
- the distance information 87a indicates the shortest distance between the excavation edge P3 of the bucket 8 and the target surface 70, that is, the distance between the tip of the bucket 8 and the target surface 70 in the direction perpendicular to the target surface 70.
- the angle information 87b is information indicating the angle between the target surface 70 and the bucket 8. Specifically, the angle information 87b displayed in the side view 54b is an angle between the bottom surface of the bucket 8 and a line 79 indicating a cross section of the target surface.
- the delicate excavation screen 54 includes graphic information 84 that graphically indicates the distance between the excavation edge P3 of the bucket 8 and the target surface 70 described above. Similar to the graphic information 84 on the rough excavation screen 53, the graphic information 84 includes an index bar 84a and an index mark 84b. As described above, on the delicate excavation screen 54, the relative positional relationship between the lines 78 and 79 indicating the cross section of the target surface and the excavation edge portion P3 of the bucket 8 is displayed in detail. The operator of the excavator 100 moves the excavation edge P3 of the bucket 8 along the lines 78 and 79 indicating the cross section of the target surface so that the current terrain has the same shape as the three-dimensional design terrain. It can be excavated more easily. Note that a screen switching key 65 is displayed on the fine excavation screen 54 in the same manner as the rough excavation screen 53 described above. The operator can switch from the fine excavation screen 54 to the rough excavation screen 53 by operating the screen switching key 65.
- a line 79 indicating the cross section of the target surface is calculated from the current position of the excavation edge P3 of the bucket 8.
- the display control device 39 uses the global coordinate system ⁇ X, Y, Z based on the detection results of the three-dimensional position sensor 23, the first stroke sensor 16, the second stroke sensor 17, the third stroke sensor 18, the tilt angle sensor 24, and the like.
- ⁇ The current position of the excavation edge P3 of the bucket 8 is obtained.
- the current position of the excavation edge portion P3 of the bucket 8 is obtained as follows.
- FIG. 8 and 9 are diagrams for explaining an example of a method for obtaining the current position of the excavation edge P3.
- FIG. 8 is a side view of the excavator 100
- FIG. 9 is a rear view of the excavator 100.
- the display control device 39 uses the vehicle body coordinate system ⁇ Xa, Ya, Za with the installation position P1 of the GNSS antenna 21 described above as the origin. ⁇ .
- the front-rear direction of the hydraulic excavator 100 that is, the Ya axis direction of the coordinate system (vehicle body coordinate system) COM of the vehicle main body 1 is inclined with respect to the Y axis direction of the global coordinate system COG. .
- the coordinates of the boom pin 13 in the vehicle main body coordinate system COM are (0, Lb1, -Lb2), and are stored in the storage unit 43 of the display control device 39 in advance.
- the upper swing body 3 turns in a plane parallel to the Xa-Ya plane.
- the work implement 2 of the excavator 100 is driven by the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12, and the boom 6, the arm 7, and the bucket 8 move along the Ya-Za plane.
- the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 are driven, the arm 7 moves along the Ya-Za plane in the vehicle body coordinate system COM determined according to the attitude (tilt) of the vehicle body 1, and the bucket 8 Will move.
- the three-dimensional position sensor 23 shown in FIG. 4 detects the installation positions P1 and P2 of the GNSS antennas 21 and 22 shown in FIG.
- a unit vector in the Ya-axis direction is calculated from the detected coordinate positions of the installation positions P1 and P2 by Expression (1).
- the vehicle main body coordinate system COM is obtained by rotating the vehicle body coordinate system COM about the Ya axis by the roll angle ⁇ 4 described above, and is expressed by the following equation (6).
- the coordinates (xat, yat, zat) of the excavation edge P3 of the bucket 8 in the vehicle main body coordinate system COM are the inclination angles ⁇ 1, ⁇ 2, ⁇ 3 and the lengths L1, L2, L3 of the boom 6, the arm 7, and the bucket 8. And can be obtained by Equation (7), Equation (8) and Equation (9).
- the excavation edge P3 of the bucket 8 is assumed to move in the Ya-Za plane of the vehicle body coordinate system COM.
- the coordinates of the excavation edge portion P3 of the bucket 8 in the global coordinate system COG can be obtained by Expression (10).
- the coordinates of the excavation edge P3 in the global coordinate system COG are the positions of the excavation edge P3.
- the display control device 39 Based on the current position of the excavation edge P3 of the bucket 8 calculated as described above and the design terrain data stored in the storage unit 43, the display control device 39, as shown in FIG. And an intersection line 80 between the Ya-Za plane 77 passing through the excavation edge P3 of the bucket 8 is calculated. And the display control apparatus 39 displays the part which passes along the target surface 70 among this intersection 80 on the guidance screen as the line 79 which shows the cross section of the target surface mentioned above. Next, the display control device 39 shown in FIG. 4 displays the current position of the excavation edge P3 when excavating the ground on which the bucket 8 is a work target on the screen 42P of the display unit 42 of the display input device 38 in a top view. An example of display will be described.
- FIG. 10 is a flowchart showing a procedure for displaying the excavation edge P3 in top view.
- the display control device 39 more specifically, the processing unit 44 specifies the bucket size.
- the bucket 8 can be attached to and detached from the arm 7, and the bucket 8 can be attached to the arm 7.
- the storage unit 43 of the display control device 39 shown in FIG. 4 stores bucket outer shape information that is input from the input unit 41 and that specifies the dimensions of the bucket 8.
- FIG. 11 is a flowchart showing a procedure for storing the outer shape information of the bucket 8.
- FIG. 12 is a diagram illustrating an example of the outer shape information of the bucket 8.
- FIGS. 13 to 16 are diagrams showing examples of the outer shape display of the bucket 8.
- the input unit 41 of the display input device 38 waits for input.
- the display input device 38 accepts the selection of the bucket type, and the processing unit 44 stores the bucket type selection information received by the display input device 38 in the storage unit 43.
- the processing unit 44 stores the type identification code 1 as a standard bucket like the bucket 8 described above in association with the registration identification code shown in FIG.
- the processing unit 44 stores the type identification code 2 as a tilt bucket described later in association with the registration identification code.
- step S ⁇ b> 12 shown in FIG. 11 the display input device 38 receives the bucket information, and the processing unit 44 stores the bucket information received by the display input device 38 in the storage unit 43.
- This bucket information is, for example, dimension A, dimension B, dimension C, dimension D, and dimension E shown in FIG.
- the dimension A, the dimension B, the dimension C, the dimension D, and the dimension E are, for example, the bucket width, the bucket length, the recess depth of the bucket, the bucket height, and the like.
- step S13 the processing unit 44 changes the shape of the graphic data 8GA, 8GB, 8GC, and 8GD of the icon of the bucket 8 shown in FIGS. 13 to 16 based on, for example, the outer shape information of the bucket shown in FIG. Calculate and generate.
- Icon graphic data 8GA, 8GB, 8GC, and 8GD are information that graphically represents shapes that satisfy the information such as dimensions A, B, C, D, and E shown in the bucket outline information shown in FIG. It is.
- step S14 the processing unit 44 stores the graphic data 8GA, 8GB, 8GC, and 8GD of the icon of the bucket 8 generated in step S13 in the storage unit 43. Then, as described above, in step S1, the processing unit 44 reads the icon graphic data 8GA, 8GB, 8GC, and 8GD stored in the storage unit 43 based on the input of the input unit 41, and specifies the bucket size. .
- step S ⁇ b> 2 shown in FIG. 10 the processing unit 44 detects the current position of the excavator 100.
- the display control device 39 detects the current position of the vehicle main body 1 based on the detection signal from the three-dimensional position sensor 23.
- step S ⁇ b> 3 the processing unit 44 sets a plurality of calculation points on the excavation edge P ⁇ b> 3 of the bucket 8.
- FIG. 17 is an explanatory diagram illustrating a display example of the excavation edge P3.
- the bucket 8 calculates an imaginary line segment LS ⁇ b> 1 that passes through the tips of the plurality of blades 8 ⁇ / b> B and matches the widthwise dimension of the bucket 8.
- the process part 44 reads the width direction dimension of the bucket 8 from the bucket external shape information specified in step S1, and calculates the virtual line segment LS1.
- This virtual line segment LS1 becomes a line segment 8AL indicating the position of the excavation edge portion P3.
- the processing unit 44 equally divides the virtual line segment LS1 into a plurality of (for example, four) ranges, and sets the five points indicating the boundary and both ends of each range to the first calculation point C1 and the second calculation point C2, respectively.
- the calculation point C2, the third calculation point C3, the fourth calculation point C4, and the fifth calculation point C5 are set.
- the division number i is a natural number, and i is 1, 2, 3, 4, 5 in this embodiment. That is, the first calculation point C1, the second calculation point C2, the third calculation point C3, the fourth calculation point C4, and the fifth calculation point C5 are defined as a plurality of specific positions in the width direction of the excavation edge P3 of the bucket 8. Show.
- the processing unit 44 Based on the current position of the excavator 100 detected in step S2, the processing unit 44 performs the first calculation point C1, the second calculation point C2, the third calculation point C3, the fourth calculation point C4, and the fifth calculation.
- the current position of the point C5 is calculated. Specifically, the processing unit 44 calculates the current position of the third third calculation point C3 by the above-described method for calculating the current position of the excavation edge P3 of the bucket 8. Then, the processing unit 44 determines other first calculation points C1, second calculation points C2, and fourth from the current position of the third calculation point C3 at the center, the width dimension of the bucket 8 and the extending direction of the virtual line segment LS1. The current positions of the calculation point C4 and the fifth calculation point C5 are calculated.
- FIG. 18 is a perspective view for explaining the rotation of the excavation edge P3.
- FIG. 19 is a side view for explaining the target surface distance DAi.
- the bucket 8 is swingably attached to the tip of the arm 7 via the bucket pin 15.
- the tip of the blade 8 ⁇ / b> B is an arc centering on the bucket pin 15 of the bucket 8 from the uppermost end (slope) 71 of the target surface 70 toward the lowermost end (slope) 72 of the target surface. May rotate to draw.
- the line segment 8AL indicating the position of the excavation edge P3 also rotates to draw an arc.
- the length L3 of the bucket 8 described above is the radius of the arc of this rotation.
- step S4 the processing unit 44 and each straight line MAi-MCi included in the intersection line Mi
- the distance to the i calculation point Ci is calculated.
- a perpendicular passing through the i-th calculation point Ci is calculated for each straight line MAi-MCi included in the intersection line Mi, and the distance between each straight line MAi-MCi and the i-th calculation point Ci is calculated.
- the perpendicular of the target line MAi passing through the i-th calculation point Ci is calculated.
- target surface distance DAi The shortest distance between the i-th calculation point Ci and the target line MAi (hereinafter referred to as “target surface distance DAi”) is calculated.
- the processing unit 44 calculates DA5 from the distance DA1 shown in FIG. 17, and sets the shortest distance as the target surface distance DA1.
- FIG. 20 is a diagram showing an example of displaying the bucket in a top view on the screen of the display unit.
- the processing unit 44 waits for input of the upper surface display.
- the processing unit 44 performs processing for reading the bucket outer shape information stored in the storage unit 43, and sets the bucket width line.
- the processing unit 44 performs a top surface display by displaying a top view 55a on the screen 42P of the display unit 42 (step S6).
- the delicate excavation screen 55 shown in FIG. 20 includes a top view 55a showing the design terrain (target shape of the work target) and the bucket 8, and a side view 55b showing the target surface 79 and the bucket 8.
- the top view 55a of the delicate excavation screen 55 includes a line 78d indicating the surface of the groove wall as viewed from above.
- the top surface means that the bucket 8 shown in FIGS. 1 and 2 is viewed from above in a direction parallel to the Za axis of the vehicle body coordinate system described above. This makes it easier for the operator to intuitively grasp the posture of the work machine 2 shown in FIGS.
- the processing unit 44 reads the dimension in the width direction of the bucket 8 from the bucket outline information specified in step S1, and obtains the outline 8BL in a top view based on the outline information of the bucket 8 projected in the vertical direction. Next, the processing unit 44 obtains virtual images Br and Bl that indicate positions of planes that pass through both ends of the excavation edge portion P3 in a top view and are parallel to the Ya-Za plane.
- the working machine 2 of the excavator 100 includes the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 with the boom 6, the arm 7, and the bucket 8 along the Ya-Za plane. And driven by.
- the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 are driven, the arm 7 moves along the Ya-Za plane in the vehicle body coordinate system COM determined according to the attitude (tilt) of the vehicle body 1, and the bucket 8 Will move.
- the processing unit 44 obtains, from the storage unit 43, information on the vehicle body coordinate system COM and the width dimension of the bucket 8, which is determined according to the attitude (tilt) of the vehicle body 1, that is, the length of the excavation edge P3.
- the position of a plane passing through both ends of the part P3 and parallel to the Ya-Za plane can be calculated.
- the processing unit 44 is parallel to the Ya-Za plane passing through both ends of the excavation edge P3 based on the information on the current position of the excavator 100, the information on the attitude of the vehicle body 1, and the outer shape information of the bucket 8.
- Virtual images Br and Bl indicating the position of the surface are displayed. As described above, the virtual images Br and Bl show surfaces parallel to the Ya-Za plane passing through both ends of the excavation edge portion P3 when the excavator 100 is viewed from above in a direction parallel to the Za axis.
- the processing unit 44 displays the virtual images Br and Bl together with the outline 8BL of the bucket 8 when the excavator 100 is viewed from above in a direction parallel to the Za axis.
- the virtual images Br and Bl indicate the direction in which the bucket 8 excavates at the excavation edge P3 (excavation direction).
- the virtual images Br and Bl are indicated by dotted virtual lines, but are not limited thereto.
- the virtual images Br and Bl may be virtual lines such as a solid line, a wavy line, a one-dot chain line, and a two-dot chain line.
- the virtual images Br and Bl are continuous or dotted with patterns such as dots, characters, and line drawings, and at first glance, the position of a plane parallel to the Ya-Za plane passing through both ends of the excavation edge P3 can be determined. Including things.
- the operator can display the line 78d indicating the surface of the groove wall and the virtual images Br and Bl simultaneously, so that the excavator 100 can easily perform the position of the groove and the digging edge P3 during the groove excavation work. Can be combined. That is, since the virtual images Br and Bl suggest a portion to be a future groove when the groove 8 is excavated with the bucket 8, it is easy to align the groove and the position of the excavation edge portion P3.
- the processing unit 44 has an excavation edge rather than a part of the displayed outline 8BL of the bucket 8.
- the line segment 8AL indicating the position of the part P3 is preferentially displayed on the top view 55a. For this reason, in the top view 55a shown in FIG. 20, the line segment 8AL indicating the position of the excavation edge P3 comes to a position that is not originally visible by the outline 8BL of the bucket 8, but the operator changes the position of the excavation edge P3.
- the line segment 8AL shown can be visually recognized.
- the excavating machine display system 28 can provide the operator with an easy-to-understand understanding of the position of the excavation edge portion P3 accompanying the swing of the bucket 8 when the operator proceeds with the construction according to the design surface.
- the processing unit 44 may display the line segment 8AL in a color different from the color for displaying the outline 8BL of the bucket 8, and may highlight the line segment 8AL from the periphery.
- the processing unit 44 may perform highlighting in which the line segment 8AL is conspicuous from the periphery as the line segment 8AL displayed with a width wider than the line width for displaying the outline 8BL of the bucket 8.
- the processing unit 44 may display the line segment 8AL displayed with a brightness brighter than the brightness for displaying the outline 8BL of the bucket 8, and may highlight the line segment 8AL from the periphery.
- the processing unit 44 uses the line segment 8AL as an index indicating the excavation edge portion P3, but is not limited thereto.
- a triangular mark or an arrow indicating the point C4 and the fifth calculation point C5 may be used.
- FIG. 21 is a diagram illustrating an example in which buckets are displayed in a top view and a front view on the screen of the display unit.
- the processing unit 44 performs processing for reading the bucket outer shape information stored in the storage unit 43, and sets the bucket width line.
- the process part 44 performs the front display which displays the front view 55c on the screen 42P of the display part 42 (step S8).
- the fine excavation screen 55 shown in FIG. 21 includes a top view 55a showing a line 78 showing a cross section of the target surface and the bucket 8, a side view 55b showing the target surface 79 and the bucket 8, and a groove to be dug by the bucket 8.
- a line 78d indicating a wall surface and a front view 55c showing an icon 89 indicating the bucket 8 in front view are included.
- the processing unit 44 also displays a triangular symbol 89M indicating the center of the bucket 8 in the width direction together with the icon 89.
- the processing unit 44 displays virtual images Br and Bl that indicate positions of planes that pass through both ends of the excavation edge portion P3 and are parallel to the Ya-Za plane.
- the processing unit 44 obtains, from the storage unit 43, information on the vehicle body coordinate system COM and the width dimension of the bucket 8, which is determined according to the attitude (tilt) of the vehicle body 1, that is, the length of the excavation edge P3. The position of a plane passing through both ends of the part P3 and parallel to the Ya-Za plane can be calculated.
- the processing unit 44 displays the virtual images Br and Bl together with an icon 89 indicating the bucket 8 when the bucket 8 is viewed from the vehicle body 1 in a direction parallel to the Ya axis.
- the processing unit 44 displays lines 78d and 78d indicating the surface of the groove wall dug by the bucket 8 together with the virtual images Br and Bl, so that the operator can perform the posture of the work machine 2 shown in FIGS. 1 and 2. It becomes easy to grasp intuitively.
- the processing unit 44 processes Step S9 with the front view 55c being hidden.
- the processing unit 44 displays a side view 55b (step S9).
- the side view 55b of the delicate excavation screen 55 includes an icon 90 of the bucket 8 in a side view, a line 74 indicating a cross section of the design surface, and a line 79 indicating a cross section of the target surface.
- information indicating the positional relationship between the target surface 70 and the bucket 8 is displayed on the top view 55a and the side view 55b of the delicate excavation screen 55, respectively.
- the side view means viewing from the extending direction of the bucket pin 15 shown in FIGS. 1 and 2 (the direction of the swinging central axis of the bucket 8).
- the display control device 39 of the present embodiment displays the side view 55b at the same time as the top view 55a, so that when the operator proceeds with the construction according to the design surface, when the operator digs a groove with the bucket 8, the operator It becomes possible to accurately grasp the inclination of the part to become.
- a line 79 indicating a cross section of the target surface in a side view and an icon 90 of the bucket 8 are displayed.
- the icon 90 may not be displayed in the side view 55b as long as the inclination of the line 79 indicating the cross section of the target surface can be determined.
- the display control device 39 may display the top view 55a while hiding the side view 55b.
- the display system 28 of the excavating machine is a system for operating the work machine 2 including the bucket 8 that generates excavation force at the excavation edge P3 and the vehicle body 1 to which the work machine 2 is attached. It is.
- the excavating machine display system 28 includes a work machine state detection unit 19, a storage unit 43, and a processing unit 44.
- the work machine state detection unit 19 detects information related to the current position of the excavator 100 that is an excavating machine.
- the storage unit 43 stores target surface position information indicating the target shape to be worked and outer shape information of the bucket 8.
- the processing unit 44 obtains the position of the excavation edge portion P3 when viewed from the upper surface of the excavator 100 based on the information on the current position of the excavator 100 and the outer shape information of the bucket 8, and determines both ends of the excavation edge portion P3.
- Virtual images Br and Bl parallel to the plane (Ya-Za plane) on which the street arm moves are displayed on the screen 42P of the display device.
- the position of the excavation edge P3 is indicated by a line segment 8AL.
- the operator of the excavator 100 can easily display the line 78d indicating the surface of the groove wall and the virtual images Br and Bl simultaneously during the excavation work of the excavator 100.
- the groove and the position of the excavation edge P3 can be matched. As a result, the operator can perform the construction while predicting the position of the excavation edge portion P3 by visually recognizing the virtual images Br and Bl, so that the work efficiency is improved.
- the processing unit 44 displays the target surface 79 when viewed from the side surface of the excavator 100 as shown in the side view 55b.
- the processing unit 44 based on the information on the current position of the excavator 100 and the outer shape information of the bucket 8, passes through both ends of the excavation edge P3 when viewed from the front of the bucket 8 as shown in the front view 55c.
- the target shape of the work target that is, the target surface of the design surface 45 is a groove
- lines 78d and 78d indicating the surface of the groove wall dug in the bucket 8 are displayed together with the virtual images Br and Bl. This makes it easy to intuitively grasp the posture of the work machine 2 shown in FIGS.
- the processing unit 44 of the present embodiment includes a top view 55a, a side view 55b, and a front view 55c described above, a top view in the vehicle main body coordinate system COM (viewed parallel to the Za axis), and a side view (with Xa axis). (Viewed in parallel) and a front view (viewed in parallel with the Ya axis).
- the processing unit 44 includes at least one of a top view 55a, a side view 55b, and a front view 55c as a top view in the global coordinate system (a view seen in parallel with the Z axis), a side view (a view seen in parallel with the X axis), You may display as a front view (figure seen in parallel with the Y-axis).
- FIG. 22 is a side view of a tilt bucket of a hydraulic excavator according to a modification.
- FIG. 23 is a front view of a tilt bucket of a hydraulic excavator according to a modification.
- FIG. 23 is a view of the tilt bucket 8T in the direction VA parallel to the second axis AX2, which is the central axis in the extending direction of the tilt pin 15T shown in FIG.
- FIG. 24 is a diagram illustrating a tilt bucket of a hydraulic excavator according to a modification on a screen of the display unit.
- the bucket 8T is called a tilt bucket.
- the tilt bucket is provided with bucket tilt cylinders 12T and 12T, and the bucket is tilted to the left and right, so that even if the excavator 100 is on an inclined ground, the slope and the flat ground can be freely shaped and leveled. It is a bucket that can also be rolled by a low plate.
- the bucket 8T is connected to the bucket pin 15 via the connecting member 9.
- the bucket 8T is attached to the bucket 8 on the side opposite to the bucket pin 15 of the connecting member 9 via a tilt pin 15T.
- the bucket 8T is attached to the connecting member 9 so that the bucket 8 can swing around the tilt pin 15T via the tilt pin 15T.
- the bucket 8T can swing around the bucket pin 15 and swing around the tilt pin 15T in the TR direction.
- the central axis in the extending direction of the bucket pin 15 is the first axis AX1
- the central axis in the extending direction of the tilt pin 15T is the second axis AX2 orthogonal to the plane including the first axis AX1.
- the bucket 8T swings about the first axis AX1 and swings about the second axis AX2 to thereby move the bucket 8T relative to the third axis AX3 orthogonal to the first axis AX1 and the second axis AX2.
- the excavation edge P3 that is the tip of the blade 8B is inclined by the inclination angle ⁇ 5.
- a fourth stroke sensor 18T similar to the third stroke sensor 18 described above is attached to the connecting member 9.
- the work machine state detection unit 19 described above includes a fourth stroke sensor 18T similar to the third stroke sensor 18, detects the stroke length of the bucket tilt cylinders 12T, 12T, and detects the detected value in the display control device 39. Is sent out. Thereby, the display control device 39 calculates the inclination angle ⁇ 5 of the excavation edge portion P3 with respect to the third axis AX3 from the stroke length of the bucket tilt cylinder 12T detected by the fourth stroke sensor 18T. Then, the storage unit 43 uses the coordinates (xat, yat, zat) of the excavation edge P3 of the bucket 8 and the inclination angle ⁇ 5 of the excavation edge P3 in the vehicle main body coordinate system COM as information on the position of the excavation edge P3. Can be remembered.
- the processing unit 44 displays a front view 55c showing an icon 89 indicating the bucket 8 in a front view, as shown in FIG.
- the icon 89 also displays a triangular symbol 89M indicating the center of the bucket 8 in the width direction.
- the processing unit 44 displays virtual images Br and Bl that indicate positions of planes that pass through both ends of the excavation edge portion P3 and are parallel to the Ya-Za plane.
- the processing unit 44 displays the icon 89 to be tilted as shown in FIG. 24 along ⁇ 5 that is the tilt inclination angle of the bucket 8 shown in FIG. For this reason, the operator can intuitively grasp the tilt angle ⁇ 5 of the tilt shown in FIG. 23 by simultaneously displaying the triangular symbol 89M in the icon 89 of the bucket 8 and the virtual images Br and Bl.
- the icon 89 may be displayed to be tilted.
- the processing unit 44 displays the icon 89 so as to incline as shown in FIG. Therefore, the operator intuitively grasps the inclination angle ⁇ 4 in the width direction of the vehicle body 1 shown in FIG. 3 by simultaneously displaying the triangular symbol 89M in the icon 89 of the bucket 8 and the virtual images Br and Bl. be able to.
- each guidance screen is not limited to the above, and may be changed as appropriate.
- some or all of the functions of the display control device 39 may be executed by a computer arranged outside the excavator 100.
- the target work target is not limited to the plane as described above, but may be a point, a line, or a three-dimensional shape.
- the input unit 41 of the display input device 38 is not limited to a touch panel type, and may be configured by operation members such as hard keys and switches.
- the work machine 2 has the boom 6, the arm 7, and the bucket 8, but the work machine 2 is not limited to this, and any work machine having at least the bucket 8 may be used.
- the first stroke sensor 16, the second stroke sensor 17, and the third stroke sensor 18 detect the inclination angles of the boom 6, the arm 7, and the bucket 8. Is not limited to these.
- an angle sensor that detects the inclination angles of the boom 6, the arm 7, and the bucket 8 may be provided.
- the working machine 2 according to the modified example may be an angle sensor instead of the inclination angle detecting unit of the fourth stroke sensor 18T according to the modified example.
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Abstract
Description
図1は、本実施形態に係る油圧ショベル100の斜視図である。図2は、油圧ショベル100の側面図である。図3は、油圧ショベル100の背面図である。図4は、油圧ショベル100が備える制御系を示すブロック図である。図5は、設計地形データによって示される設計地形を示す図である。本実施形態において、掘削機械としての油圧ショベル100は、本体部としての車両本体1と作業機2とを有する。車両本体1は、上部旋回体3と走行装置5とを有する。上部旋回体3は、機関室3EGの内部に、図示しない動力発生装置及び油圧ポンプ等の装置を収容している。機関室3EGは、上部旋回体3の一端側に配置されている。
表示システム28は、作業エリア内の地面を掘削して後述する設計面のような形状に形成するための情報をオペレータに提供するためのシステムである。表示システム28は、上述した第1ストロークセンサ16、第2ストロークセンサ17及び第3ストロークセンサ18、3次元位置センサ23及び傾斜角センサ24の他に、表示装置としての表示入力装置38と、表示制御装置39と、警報音を報知させるためのスピーカ等を含む音発生装置46とを有している。
図6、図7は、案内画面の一例を示す図である。案内画面は、目標面70とバケット8の掘削縁部P3との位置関係を示し、作業対象である地面が目標面70と同じ形状になるように油圧ショベル100の作業機2を誘導するための画面である。図6及び図7に示すように、案内画面は、粗掘削モードの案内画面(以下、適宜粗掘削画面53という)と、繊細掘削モードの案内画面(以下、適宜繊細掘削画面54という)とを含む。
図6に示す粗掘削画面53は、表示部42の画面42Pに表示される。粗掘削画面53は、作業エリアの設計地形と油圧ショベル100の現在位置とを示す上面図53aと、目標面70と油圧ショベル100との位置関係を示す側面図53bとを含む。粗掘削画面53の上面図53aは、複数の三角形ポリゴンによって上面視による設計地形を表現している。より具体的には、上面図53aは、油圧ショベル100が旋回する平面である旋回平面を投影面として設計地形を表現している。したがって、上面図53aは、油圧ショベル100の真上から見た俯瞰図であり、油圧ショベル100が傾いたときには設計面も傾くことになる。
図7に示す繊細掘削画面54は、表示部42の画面42Pに表示される。繊細掘削画面54は、粗掘削画面53よりも目標面70と油圧ショベル100との位置関係を詳細に示している。すなわち、繊細掘削画面54は、粗掘削画面53よりも目標面70とバケット8の掘削縁部P3との位置関係を詳細に示している。繊細掘削画面54は、目標面70とバケット8とを示す正面図54aと、目標面70とバケット8とを示す側面図54bとを含む。繊細掘削画面54の正面図54aには、正面視によるバケット8を示すアイコン89と、正面視による目標面の断面を示す線78とが含まれる。正面(正面視)とは、図1、図2に示すバケット8を車両本体1側から見ることであり、後述する車両本体座標系のYa軸と平行に見ることである。
目標面の断面を示す線79はバケット8の掘削縁部P3の現在位置から算出される。表示制御装置39は、3次元位置センサ23、第1ストロークセンサ16、第2ストロークセンサ17、第3ストロークセンサ18及び傾斜角センサ24等の検出結果に基づき、グローバル座標系{X、Y、Z}でのバケット8の掘削縁部P3の現在位置を求める。本実施形態において、バケット8の掘削縁部P3の現在位置は、次のようにして求められる。
図10は、掘削縁部P3を上面視で表示する手順を示すフローチャートである。掘削縁部P3を図4に示す表示部42の画面42Pに表示させるにあたり、ステップS1において、表示制御装置39、より具体的には処理部44は、バケット寸法の特定を行う。作業機2は、アーム7にバケット8が脱着自在であり、アーム7に付け替えてバケット8を取り付けることができる。図4に示す表示制御装置39の記憶部43には、入力部41から入力された、バケット8の寸法を特定するバケット外形情報が記憶されている。
上記の実施形態では、バケット8を有しているが、バケットはこれに限られず、チルトバケットであってもよい。図22は、変形例に係る油圧ショベルのチルトバケットの側面図である。図23は、変形例に係る油圧ショベルのチルトバケットの正面図である。図23は、図22に示すチルトピン15Tの延在方向における中心軸である第2軸AX2と平行な方向VAで、チルトバケット8Tをみた図である。図24は、変形例に係る油圧ショベルのチルトバケットを表示部の画面に示す図である。
2 作業機
3 上部旋回体
4 運転室
5 走行装置
8 バケット
8B 刃
19 作業機状態検出部
19A 車両状態検出部
21 アンテナ
23 3次元位置センサ
24 傾斜角センサ
28 掘削機械の表示システム(表示システム)
38 表示入力装置
39 表示制御装置
41 入力部
42 表示部
42P 画面
43 記憶部
44 処理部
45 設計面
46 音発生装置
70 目標面
78、79 目標面の断面を示す線
84 グラフィック情報
100 油圧ショベル
P3 掘削縁部
Claims (7)
- 掘削縁部で掘削力を発生するバケット及び前記バケットを揺動可能に取り付けるアームを含む作業機と、前記作業機が取り付けられる本体部とを有する掘削機械の表示システムであって、
前記掘削機械の現在位置に関する情報及び前記本体部の姿勢に関する情報を検出する車両状態検出部と、
作業対象の目標形状を示す目標面の位置情報及び前記バケットの外形情報を記憶する記憶部と、
前記掘削機械の現在位置に関する情報、前記本体部の姿勢に関する情報及び前記バケットの外形情報に基づいて、前記アームが移動する平面と平行な平面のうち、前記掘削縁部の両端を通る平面の位置を示す仮想画像を求め、当該仮想画像を前記掘削機械の上から見たときの前記バケットとともに表示装置の画面に表示する処理部と、
を含む掘削機械の表示システム。 - 前記処理部は、
前記掘削機械の側面から見たときの前記目標面を前記表示装置の画面に表示する、請求項1に記載の掘削機械の表示システム。 - 前記処理部は、
前記掘削機械の現在位置に関する情報、前記本体部の姿勢に関する情報及び前記バケットの外形情報に基づいて、前記アームが移動する平面と平行な平面のうち、前記掘削縁部の両端を通る平面の位置を示す仮想画像を求め、当該仮想画像を前記本体部側から見たときの前記バケットとともに表示装置の画面に表示する、請求項1又は2に記載の掘削機械の表示システム。 - 前記バケットは、チルトバケットであって、前記掘削縁部の位置を検出する作業機状態検出部をさらに備え、
前記処理部は、
前記掘削機械の現在位置に関する情報、前記本体部の姿勢に関する情報、前記掘削縁部の位置の情報及び前記バケットの外形情報に基づいて、前記アームが移動する平面と平行な平面のうち、前記掘削縁部の両端を通る平面の位置を示す仮想画像を求め、当該仮想画像を前記本体部側から見たときの前記バケットとともに表示装置の画面に表示する、請求項1に記載の掘削機械の表示システム。 - 前記処理部は、
前記作業対象の目標形状が溝である場合、前記仮想画像と、前記溝の延在方向と直交する断面における前記溝の壁の面を示す線とを表示する、請求項3又は4に記載の掘削機械の表示システム。 - 前記溝の壁の面を示す線は、前記目標面と直交する、請求項5に記載の掘削機械の表示システム。
- 請求項1から6のいずれか1項に記載の掘削機械の表示システムを備えたことを特徴とする掘削機械。
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Publication number | Publication date |
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CN103857854B (zh) | 2016-01-20 |
DE112013000121T5 (de) | 2014-10-16 |
US20140100744A1 (en) | 2014-04-10 |
US8965642B2 (en) | 2015-02-24 |
JP5676778B2 (ja) | 2015-02-25 |
DE112013000121B4 (de) | 2020-09-17 |
JPWO2014054354A1 (ja) | 2016-08-25 |
KR20150008147A (ko) | 2015-01-21 |
KR101678759B1 (ko) | 2016-11-23 |
CN103857854A (zh) | 2014-06-11 |
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