WO2014077221A1 - 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
- Publication number
- WO2014077221A1 WO2014077221A1 PCT/JP2013/080458 JP2013080458W WO2014077221A1 WO 2014077221 A1 WO2014077221 A1 WO 2014077221A1 JP 2013080458 W JP2013080458 W JP 2013080458W WO 2014077221 A1 WO2014077221 A1 WO 2014077221A1
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- WIPO (PCT)
- Prior art keywords
- bucket
- design surface
- information
- measurement reference
- reference point
- 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
- 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
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- 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
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
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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
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
- E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
-
- 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
-
- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/203—Drawing of straight lines or curves
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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
- G01S19/53—Determining attitude
- G01S19/54—Determining attitude using carrier phase measurements; using long or short baseline interferometry
Definitions
- the present invention relates to an excavating machine display system and an excavating machine equipped with the same.
- Patent Document 1 describes a technique for showing a design difference and a bucket shape on an obtained screen in a backhoe work requiring precision such as slope finishing.
- Patent Document 2 describes a technology of a display system for a construction machine that can accurately perform an excavation operation by displaying a bucket symbol corresponding to the type of bucket that is actually attached to the machine.
- Patent Literature 1 and Patent Literature 2 When using a drilling machine such as a hydraulic excavator and setting a part of the design surface of the construction target as the target surface and excavating the ground of the work target according to this, the operator of the drilling machine needs distance information in the vicinity of the design surface. And In the techniques of Patent Literature 1 and Patent Literature 2, since the bucket shape is displayed, it is necessary to proceed with the construction while checking the screen of the display device visually or by monitoring. For this reason, the techniques of Patent Document 1 and Patent Document 2 cannot recognize the information on the shortest distance between the target surface and the bucket when a part of the design surface of the construction target is the target surface. There is a possibility of excavating the ground beyond the design surface.
- the present invention aims to provide an operator with easy understanding of information on the shortest distance between the design surface and the bucket related to the construction result when the operator of the excavating machine proceeds with the construction according to the design surface.
- a display system for an excavating machine having a working machine including a bucket and a main body part to which the working machine is attached, the information on the current position of the excavating machine, the information on the attitude of the main body part, and A working machine state detection unit for detecting information on the position of the tip of the bucket; a storage unit for storing position information of a design surface indicating design terrain and outer shape information of the bucket; and information on a current position of the excavating machine, Based on information on the posture of the main body, information on the position of the tip of the bucket, and information on the outer shape of the bucket, a plurality of positions determined in advance along the outer shape of the bottom of the bucket including at least the tip of the bucket A processing system for obtaining a measurement reference point closest to the design surface among measurement reference points for measurement is provided.
- the processing unit obtains a distance from the measurement reference point to the design surface in the normal direction of the design surface as a design surface distance, and obtains information corresponding to the minimum value of the design surface distance as the shortest distance. Is preferably displayed on the screen of the display device.
- a plurality of the measurement reference points are determined in advance along a cross section of the bucket cut along a plane parallel to the moving direction of the bucket and a width direction of the bucket, and the processing unit includes the processing unit, A distance from the measurement reference point to the design surface in the normal direction of the design surface is obtained as a design surface distance, and information corresponding to the minimum value of the design surface distance is displayed on the screen of the display device as the shortest distance. preferable.
- the processing unit obtains a plurality of design surface distances with respect to the measurement reference points.
- the processing unit issues an alarm based on the shortest distance.
- the processing unit changes a mode of issuing a sound as the alarm according to the shortest distance.
- the processing unit displays an image for specifying a measurement reference point closest to the design surface on the screen of the display device.
- the image specifying the measurement reference point closest to the design surface is an image showing a normal line of the design surface.
- a display system for an excavating machine having a working machine including a bucket and a main body part to which the working machine is attached, the information on the current position of the excavating machine, the information on the attitude of the main body part, and A working machine state detection unit for detecting information on the position of the tip of the bucket; a storage unit for storing position information of a design surface indicating design terrain and outer shape information of the bucket; and information on a current position of the excavating machine, Based on information on the posture of the main body, information on the position of the tip of the bucket, and information on the outer shape of the bucket, a plurality of positions determined in advance along the outer shape of the bottom of the bucket including at least the tip of the bucket Among the measurement reference points for measurement, the measurement reference point closest to the design surface is obtained, and the closest to the design surface in the normal direction of the design surface A processing unit for obtaining a distance from the measurement reference point to the design surface as a design surface distance; and display of the design surface distance and
- an excavating machine comprising the excavating machine display system described above.
- the present invention can provide the operator of the excavating machine with easy understanding of information on the shortest distance between the design surface and the bucket regarding the construction result when the operator of the excavating machine proceeds with the construction 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 blade edge P ⁇ b> 3 of the bucket 8.
- 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
- FIG. 9 is a diagram for explaining an example of a method for obtaining the current position of the blade tip P3 of the bucket 8.
- FIG. 10 is a flowchart illustrating an example of obtaining the shortest distance of the bucket 8 to the design surface.
- 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 a graphic example of the outer shape information of the bucket 8.
- FIG. 14 is an explanatory diagram for explaining the shortest distance between the design surface 45 when the blade edge P3 of the bucket 8 is viewed from above and the blade edge P3 of the bucket 8.
- FIG. 10 is a flowchart illustrating an example of obtaining the shortest distance of the bucket 8 to the design surface.
- 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
- FIG. 15 is an explanatory diagram for explaining the shortest distance between the design surface 45 when the outer shape of the bucket 8 is viewed from above and the bottom portion 8 ⁇ / b> C of the bucket 8.
- FIG. 16 is an explanatory diagram for explaining the shortest distance between the design surface 45 and the bucket 8 when the bucket 8 is viewed from the side.
- FIG. 17 is a diagram for explaining a collision of the design surface 70 caused by the bucket 8.
- FIG. 18 is a diagram illustrating an example of displaying the shortest distance between the bucket 8 and the design surface.
- FIG. 19 is a diagram illustrating another example of displaying the shortest distance between the bucket 8 and the design surface.
- Embodiments (embodiments) for carrying out the present invention will be described in detail with reference to the drawings.
- the present invention is not limited by the contents described in the following embodiments.
- the following embodiment demonstrates a hydraulic excavator as an example of an excavation machine, if the excavation machine made into object is a construction machine which mounts
- the embodiment may be applied to a backhoe loader as a construction machine, for example.
- 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 is driven by a hydraulic motor (not shown), and the crawler belts 5a and 5b are rotated to travel the hydraulic excavator 100.
- the work machine 2 is attached to the side of the cab 4 of the upper swing body 3.
- the hydraulic excavator 100 may include a tire instead of the crawler belts 5a and 5b, and a traveling device that can travel by transmitting the driving force of a diesel engine (not shown) to the tire via a transmission.
- a wheel-type hydraulic excavator may be used as the hydraulic excavator 100 having such a configuration.
- the hydraulic excavator 100 includes a traveling device having such a tire, a work machine is attached to the vehicle main body (main body portion), and the upper swing body and the swing mechanism thereof are not provided as shown in FIG.
- a backhoe loader may be used. That is, the backhoe loader is provided with a traveling device having a work machine attached to the vehicle body and constituting a part of the vehicle body.
- 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.
- the length of the boom 6, that is, the length from the center of the boom pin 13 to the arm pin 14 is L ⁇ b> 1.
- 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 cutting edge P3 of the bucket 8 is L3.
- the blade tip P3 is the tip of the blade 8B attached to the bucket 8 on the side opposite to the bucket pin 15.
- the tip of the blade 8B is the tip of the bucket 8 where the work machine 2 generates excavation force.
- the outer shape of the bucket 8 from the bucket pin 15 to the cutting edge P3 normally protrudes and is called the bottom portion 8C.
- 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 rotate around the arm pin 14.
- the bucket cylinder 12 drives the bucket 8 to rotate 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 blade tip 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, an inclination angle sensor 24, a first stroke sensor 16, a second stroke sensor 17, and a third stroke sensor 18.
- 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 GNSS antennas 21 and 22 are installed on the upper swing body 3 and at both end positions separated from each other in the left-right direction of the excavator 100. Further, it may be installed on the upper swing body 3 and behind the counterweight (not shown) (the rear end of the upper swing body 3) or the cab 4.
- the GNSS antennas 21 and 22 are installed at positions as far apart as possible, the detection accuracy of the current position of the excavator 100 increases.
- the GNSS antennas 21 and 22 are preferably installed at positions that do not hinder the visual field of the operator as much as possible.
- the work machine state detection unit 19 can detect a vehicle state such as the current position and posture of the excavating machine (the hydraulic excavator 100 in the present embodiment).
- 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 and the width direction of the upper swing body 3 may not coincide with each other.
- 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 A control device 39 and a sound generator 46 including a speaker or the like for issuing an alarm sound are provided.
- 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 of these design surfaces 45 as the target surface.
- the design surface 70 is a surface to be excavated from now on as a target surface 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 design 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 design surface 70 and the cutting edge P3 of the bucket 8, and is a screen for guiding the work implement 2 of the excavator 100 so that the ground as the work target has the same shape as the design surface 70. is there.
- 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 design 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 design 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 icon 61 of the excavator 100 as viewed from above, but may be indicated by other symbols.
- the top view 53 a includes information for causing the excavator 100 to face the design surface 70.
- Information for causing the excavator 100 to face the design surface 70 is displayed as a target surface facing compass 73.
- the target surface facing compass 73 is, for example, an icon that indicates a facing direction with respect to the design surface 70 and a direction in which the excavator 100 should be swung as the arrow-shaped pointer 73I rotates in the arrow R direction.
- the operator of the excavator 100 can confirm the degree of confrontation with respect to the design surface 70 by using the target surface confrontation compass 73.
- the side view 53b of the rough excavation screen 53 includes an image showing the positional relationship between the design surface 70 and the blade tip P3 of the bucket 8, and distance information showing the distance between the design surface 70 and the blade tip P3 of the bucket 8.
- 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 design 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 design surface 70.
- a line 79 indicating a cross section of the design surface indicates a cross section of the design surface 70.
- a line 74 indicating the cross section of the design surface and a line 79 indicating the cross section of the design surface calculate an intersection line 80 between the plane 77 passing through the current position of the blade tip P3 of the bucket 8 and the design surface 45, as shown in FIG. Is required.
- 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 blade tip P3 of the bucket 8 will be described later.
- the line 79 indicating the cross section of the design 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 design surface and a line 74 indicating the cross section of the design surface.
- the region on the ground side with respect to the line 79 indicating the cross section of the design surface and the 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 design surface and the line 74 indicating the cross section of the design surface.
- the distance information indicating the distance between the design surface 70 and the blade tip 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 cutting edge P3 of the bucket 8 and the design surface 70.
- the graphic information 84 is information that graphically represents the distance between the cutting edge P3 of the bucket 8 and the design surface 70.
- the graphic information 84 is a guide index for indicating the position of the blade edge 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 cutting edge P3 of the bucket 8 and the design surface 70 corresponds to zero.
- Each index bar 84a is turned on according to the shortest distance between the cutting edge P3 of the bucket 8 and the design surface 70. It should be noted that on / off of the display of the graphic information 84 may be changed by operating the input unit 41 by the operator of the excavator 100.
- the relative positional relationship between the line 79 indicating the cross section of the design surface and the excavator 100, and the numerical value indicating the shortest distance between the blade tip P3 of the bucket 8 and the line 79 indicating the cross section of the design surface. Is displayed.
- the operator of the excavator 100 can easily excavate the current topography to become the design topography by moving the blade tip P3 of the bucket 8 along the line 79 indicating the cross section of the design 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 design 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 design surface 70 and the cutting 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 design surface 70 and the bucket 8, and a side view 54 b showing the design surface 70 and the bucket 8.
- the front view 54a of the delicate excavation screen 54 includes an icon 89 indicating the bucket 8 as viewed from the front, and a line 78 indicating a cross section of the design surface 70 as 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 indicating 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 design surface. Further, the front view 54 a and the side view 54 b of the delicate excavation screen 54 display information indicating the positional relationship between the design 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 design 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 cutting edge P3 of the bucket 8 and the design surface 70. This distance is a distance between the design surface 70 and the closest position to the design surface 70 among the positions of the bucket 8 in the width direction of the blade tip P3.
- 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 an angle between the design surface 70 and the bucket 8. Specifically, the angle information 86b is an angle between an imaginary line segment passing through the blade edge P3 of the bucket 8 and a line 78 indicating a cross section of the design surface.
- information indicating the positional relationship between the design surface 70 and the bucket 8 includes distance information 87a and angle information 87b.
- the distance information 87a is the shortest distance between the bucket 8 and the design surface 70, that is, the distance between the bucket 8 and the design surface 70 in the normal direction of the design surface 70 (for example, the cutting edge P3 of the bucket 8 and the design surface 70). The distance between the two).
- the angle information 87b is information indicating an angle between the design 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 design surface.
- the delicate excavation screen 54 includes graphic information 84 that graphically indicates the distance between the cutting edge P3 of the bucket 8 and the design 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 design surface and the blade edge P3 of the bucket 8 is displayed in detail. The operator of the excavator 100 moves the cutting edge P3 of the bucket 8 along the lines 78 and 79 indicating the cross section of the design surface, so that the current terrain becomes the same shape as the three-dimensional design terrain. Can be drilled into. 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 design surface is calculated from the current position of the blade tip 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 blade edge P3 of the bucket 8 is obtained.
- the current position of the blade tip 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 blade tip P3 of the bucket 8.
- FIG. 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 a vehicle body coordinate system ⁇ Xa, Ya, Za ⁇ with the installation position P1 of the GNSS antenna 21 as an origin as shown in FIG. Ask.
- the longitudinal 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 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 cutting edge P3 of the bucket 8 in the vehicle body coordinate system COM are determined by using the inclination angles ⁇ 1, ⁇ 2, ⁇ 3 and the lengths L1, L2, L3 of the boom 6, the arm 7, and the bucket 8. (7), (8), and (9).
- the blade 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 cutting edge P3 of the bucket 8 in the global coordinate system COG can be obtained by Expression (10).
- the coordinates of the cutting edge P3 in the global coordinate system COG are the positions of the cutting edge P3.
- the display control device 39 Based on the current position of the cutting 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. The intersection line 80 with the Ya-Za plane 77 passing through the eight cutting edges P3 is calculated. And the display control apparatus 39 displays the part which passes along the design surface 70 among this intersection 80 on the guidance screen as the line 79 which shows the cross section of the design surface mentioned above. Next, an example will be described in which the display control device 39 shown in FIG. 4 displays the locus of the cutting 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. .
- FIG. 10 is a flowchart illustrating an example of obtaining the shortest distance of the bucket 8 to the design surface.
- 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.
- FIG. 13 is a diagram illustrating a graphic example of the outer shape information 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.
- the bucket information includes, for example, a bucket width, a bucket length, a bucket recess depth, a bucket height, and the like of the bucket 8, a bottom part A, a bottom part B, a bottom part C, a bottom part D, and the like. Includes information with the bottom E as the measurement reference point.
- the bucket information includes the lengths of the bottom part A, the bottom part B, the bottom part C, the bottom part D, and the bottom part E of the bucket 8, as shown in FIG. 1 and FIG. 2. It includes the length connecting the rotation center axis AX1 and the measurement reference point Pen as viewed from the extending direction (the direction of the rotation center axis AX1 of the bucket 8).
- the bucket information is the rotation center axis when viewed from the extending direction of the bucket pin 15 as each angle of the bottom part A, the bottom part B, the bottom part C, the bottom part D, and the bottom part E of the bucket 8. It includes an angle formed by a straight line connecting AX1 and the measurement reference point Pen and a straight line connecting the rotation center axis AX1 and the blade tip P3 of the bucket 8.
- step S13 the processing unit 44 calculates and generates the shape of the graphic data 8GA of the icon of the bucket 8 shown in FIG. 13 based on, for example, the outer shape information of the bucket shown in FIG.
- the icon graphic data 8GA is information that graphically represents a shape that satisfies the outer shape information of the bucket shown in FIG.
- step S14 the processing unit 44 stores the graphic data 8GA of the icon of the bucket 8 generated in step S13 in the storage unit 43.
- step S ⁇ b> 1 the processing unit 44 reads bucket information and icon graphic data 8 ⁇ / b> GA stored in the storage unit 43 based on an input from the input unit 41, and specifies a bucket size.
- step S ⁇ b> 2 shown in FIG. 10 the processing unit 44 detects the current position of the excavator 100 and the attitude of the vehicle body 1.
- 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.
- 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 processing unit 44 detects the posture state of the work implement 2 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 inclination angle sensor 24, and the like. To do.
- step S3 the processing unit 44 obtains the current position of the measurement reference point Pen on the outer periphery of the bucket 8 including the cutting edge P3 of the bucket 8.
- the measurement reference point Pen of the bucket 8 is assumed to move within the Ya-Za plane of the vehicle body coordinate system COM.
- the coordinates of the cutting edge P3 of the bucket 8 in the global coordinate system COG can be obtained by Expression (14).
- Each coordinate of the measurement reference point Pen in the global coordinate system COG is the position of the measurement reference point Pen of the bucket 8.
- the display control device 39 Based on the current position of the measurement reference point Pen 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 with the Ya-Za plane 77 passing through the measurement reference point Pen of the bucket 8 is calculated. Then, the display control device 39 displays a portion passing through the design surface 70 in the intersection line 80 on the guide screen as the line 79 indicating the cross section of the design surface and the line 74 indicating the cross section of the design surface.
- step S4 the processing unit 44 obtains the distance (design surface distance) between the bucket 8 and the design surface, and measures the bucket 8 that is the shortest distance among the measurement reference points Pen of the bucket 8 including the cutting edge P3.
- the reference point Pen or the blade edge P3 is obtained.
- FIG. 14 is an explanatory diagram for explaining the shortest distance between the design surface 45 and the cutting edge P3 of the bucket 8 when the outer shape of the bucket 8 is viewed from above.
- the processing unit 44 calculates an imaginary line segment LS1 that passes through the tips of the plurality of blades 8B of the bucket 8 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.
- the processing unit 44 equally divides the virtual line segment LS1 into a plurality of (for example, four) ranges, and designates five points indicating the boundary and both ends of each range as Ci, and the first measurement reference point C1,
- the second measurement reference point C2, the third measurement reference point C3, the fourth measurement reference point C4, and the fifth measurement reference point C5 are set.
- the division number i is a natural number, and i is 1, 2, 3, 4, 5 in this embodiment.
- the first measurement reference point C1, the second measurement reference point C2, the third measurement reference point C3, the fourth measurement reference point C4, and the fifth measurement reference point C5 are specified in the width direction of the blade tip P3 of the bucket 8. Indicates the position.
- the processing unit 44 performs the first measurement reference point C1, the second measurement reference point C2, the third measurement reference point C3, and the fourth measurement reference point C4.
- the current position of the fifth measurement reference point C5 is calculated.
- the processing unit 44 calculates the current position of the third measurement reference point C3 at the center by the method for calculating the current position of the blade tip P3 of the bucket 8 described above.
- the processing unit 44 determines another first measurement reference point C1 and second measurement reference point C2 from the current position of the third measurement reference point C3 at the center, the width direction dimension of the bucket 8, and the extending direction of the virtual line segment LS1.
- the current positions of the fourth measurement reference point C4 and the fifth measurement reference point C5 are calculated.
- FIG. 15 is an explanatory diagram for explaining the shortest distance between the design surface 45 and the bottom portion 8C of the bucket 8 when the outer shape of the bucket 8 is viewed from above.
- the processing unit 44 calculates a virtual line segment Lsen that passes through the measurement reference point Pen of the bucket 8 and matches the width direction dimension of the bucket 8.
- the processing unit 44 reads the dimension in the width direction of the bucket 8 from the bucket outer shape information specified in step S1, and calculates the virtual line segment Lsen.
- the processing unit 44 equally divides the virtual line segment Lsen into a plurality of (for example, four) ranges, sets five points indicating the boundaries and both ends of each range as Ceni, and sets the first measurement reference points Cen1, The second measurement reference point Cen2, the third measurement reference point Cen3, the fourth measurement reference point Cen4, and the fifth measurement reference point Cen5 are set.
- the division number i is a natural number and is easy to compare with the cutting edge P3 because it is the same as the value of i described above. That is, the first measurement reference point Cen1, the second measurement reference point Cen2, the third measurement reference point Cen3, the fourth measurement reference point Cen4, and the fifth measurement reference point Cen5 are specified in the width direction of the measurement reference point Pen of the bucket 8.
- the processing unit 44 uses the first measurement reference point Cen1, the second measurement reference point Cen2, the third measurement reference point Cen3, The current positions of the fourth measurement reference point Cen4 and the fifth measurement reference point Cen5 are calculated. Specifically, the processing unit 44 calculates the current position of the center third measurement reference point Cen3. Then, the processing unit 44 determines the first measurement reference point Cen1 and the second measurement reference point Cen2 from the current position of the center third measurement reference point Cen3, the width direction dimension of the bucket 8, and the extending direction of the virtual line segment Lsen.
- the current positions of the fourth measurement reference point Cen4 and the fifth measurement reference point Cen5 are calculated.
- the plurality of measurement reference points are a plane parallel to the moving direction of the bucket 8, that is, a plane parallel to the above-described Ya-Za plane, and a cross section obtained by cutting the outer shape of the bucket 8 and the width direction of the bucket 8. Are determined in advance along each line.
- FIG. 16 is an explanatory diagram for explaining the shortest distance between the design surface 45 and the bucket 8 when the bucket 8 is viewed from the side.
- the processing unit 44 determines each intersection line MAi included in the intersection line Mi. , MBi, MCi and the i-th measurement reference point Ci, Ceni are calculated.
- intersection line MAi, MBi, MCi included in the intersection line Mi a perpendicular passing through the i-th measurement reference point Ci, Ceni is calculated, and the intersection line MAi, MBi, MCi and the i-th measurement reference point Ci, Ceni are calculated.
- the distance between is calculated.
- the i th measurement reference point Ci is located in the target area A1 among the target areas A1, A2, and A3, and passes through the i th measurement reference point Ci.
- a perpendicular line of the line MAi is calculated, and design surface distances DAi and Deni between the i-th measurement reference points Ci and Ceni and the intersection line MAi are calculated.
- the processing unit 44 obtains the shortest distance that is the minimum distance from the calculable distances shown in FIGS. 14, 15, and 16.
- the processing unit 44 When the same measurement reference point Pe1 and blade edge P3 are located in the normal direction of the plurality of intersection lines MAi and intersection line MCi, the processing unit 44 has a plurality of design surface distances De1i with respect to the measurement reference point Pe1 and the blade edge P3. , DAi is obtained. Thereby, since the shortest distance which becomes the minimum distance can be obtained in consideration of a plurality of design surfaces, the bucket 8 is moved with reference to one design surface (intersection line MAi), and the other unintended design surface. A collision between (intersection line MCi) and the bucket 8 can be avoided.
- step S5 the processing unit 44 displays information corresponding to the shortest distance obtained in step S4 as the numerical information 83 shown in FIG. 6 or the distance information 87a shown in FIG. Further, the processing unit 44 displays an image SD1 or SD2 described later as a graphic display. Further, the processing unit 44 may display information corresponding to the shortest distance obtained in step S4 by turning on the index bar 84a.
- FIG. 17 is a diagram for explaining the collision of the design surface by the bucket 8.
- FIG. 18 is a diagram illustrating an example of displaying the shortest distance between the bucket 8 and the design surface.
- the bottom portion 8C is closer to the design surface than the tip of the blade 8B of the bucket 8. It cannot be determined.
- the operator may excavate the ground at the bottom portion 8 ⁇ / b> C of the bucket 8 beyond the line 79 indicating the cross section of the design surface. Therefore, for example, as illustrated in FIG.
- the processing unit 44 of the present embodiment displays an image SD1 together with the icon 90 of the bucket 8 in a side view on the side view 54b of the delicate excavation screen 54 described above.
- the image SD1 is an image of a normal line 79 indicating a cross section of the design surface, and the measurement reference point Pen or the blade edge P3 (for example, Pe3) of the bucket 8 where the design surface distance obtained in step S4 is the shortest distance. pass. For this reason, the operator can grasp the shortest distance between the bucket 8 and the design surface including the bottom portion 8C of the bucket 8 by visually recognizing the image SD1 in the side view 54b. It is possible to reduce the possibility of excavating the ground with the bottom portion 8C.
- FIG. 19 is a diagram illustrating another example of displaying the shortest distance between the bucket 8 and the design surface.
- the processing unit 44 of the present embodiment displays an image SD ⁇ b> 2 together with the icon 90 of the bucket 8 in a side view on the side view 54 b of the delicate excavation screen 54 described above.
- the image SD2 includes a triangular symbol that specifies the measurement reference point Pen or the blade edge P3 (for example, Pe3) of the bucket 8 where the design surface distance obtained in step S4 is the shortest distance.
- the image SD2 includes this triangular symbol and a triangular symbol that is in the normal direction of the line 79 indicating the cross section of the design surface and is in contact with the line 79 indicating the cross section of the design surface.
- the shortest distance from the surface 70 may be represented. Thereby, the operator can grasp the shortest distance between the design surface and the bucket 8 sandwiched between the triangular symbols of the image SD2, including the bottom portion 8C of the bucket 8, by visually recognizing the image SD2 in the side view 54b. It is possible to reduce the possibility of excavating the ground at the bottom 8C of the bucket 8 beyond the design surface.
- the operator can easily recognize the measurement reference point Pen or the blade edge P3 of the bucket 8 closest to the design surface among the measurement reference points Pen or the blade edge P3 of the bucket 8 by visually recognizing the image SD1 or SD2. Therefore, the operator can minimize the possibility that the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 are adjusted to perform unintentional excavation on the design surface with the bottom portion 8C of the bucket 8 or the like.
- the display control device 39 issues a sound as an alarm based on the shortest distance between the bucket 8 and the design surface obtained in step S4.
- the display control apparatus 39 can make an operator recognize the possibility of the collision between the bucket 8 and the design surface. For example, when the shortest distance between the bucket 8 obtained in step S4 and the design surface exceeds a predetermined threshold (step S6, Yes), the processing unit 44 determines that an alarm should be issued, and the display control device 39 issues an alarm sound from the sound generator 46 shown in FIG. 4 (step S7).
- the processing unit 44 approaches the operator of the excavator 100 closer to the design surface by changing the manner in which a warning sound is issued based on the distance between the bucket 8 and the design surface. It can be recognized that it has passed. For example, as an example of changing the mode of issuing a sound as an alarm, the frequency of the sound is increased as the shortest distance that the bucket 8 approaches the design surface becomes shorter. Alternatively, as an example of changing the mode of issuing a sound as an alarm, the volume is increased as the shortest distance that the bucket 8 approaches the design surface becomes shorter. Alternatively, as an example of changing the mode of issuing a sound as an alarm, the intermittent ringing period is shortened as the shortest distance that the bucket 8 approaches the design surface becomes shorter.
- step S6 If the shortest distance between the bucket 8 and the design surface obtained in step S4 does not exceed the predetermined threshold (No in step S6), the processing unit 44 advances the process to step S8.
- step S8 if the bucket 8 has not finished operating (No in step S8), the processing unit 44 returns the processing to step S2, and the processing unit 44 determines the current position of the excavator 100 and the vehicle body. 1 posture is detected.
- step S8 Yes
- the processing unit 44 ends the process.
- the excavating machine display system 28 is a system for operating the working machine 2 including the bucket 8 that generates excavating force at the cutting edge P3 and the vehicle body 1 to which the working machine 2 is attached.
- 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 the current position of the excavator 100, the posture of the vehicle body 1, and the current position of the blade tip P3.
- the storage unit 43 stores design surface position information indicating the target shape to be worked and outer shape information of the bucket 8.
- the processing unit 44 includes at least the blade edge P3 of the bucket 8 based on the information on the current position of the excavator 100, the attitude of the vehicle body 1, the current position of the blade edge P3, and the outer shape information of the bucket 8, and the Among the measurement reference points Pen for measuring a plurality of predetermined positions along the outer shape, the position of the measurement reference point closest to the design surface is obtained.
- the display system 28 of the excavating machine allows the operator to recognize the shortest distance between the bucket 8 including the bottom portion 8C of the bucket 8 and the design surface, and the bottom portion of the bucket 8 exceeds the design surface. The possibility of excavating the ground at 8C can be reduced.
- the processing unit 44 obtains the distance from the measurement reference point Pen to the design surface in the direction orthogonal to the design surface as the design surface distance, and displays information corresponding to the minimum value of the design surface distance on the screen 42P as the shortest distance. indicate. Thereby, the processing unit 44 can provide the operator with easy understanding of information on the shortest distance between the design surface and the bucket 8 regarding the construction result when the operator proceeds with the construction according to the design surface.
- the processing unit 44 obtains the distance from the measurement reference point Pen to the design surface in the direction orthogonal to the design surface as the design surface distance, and based on the information corresponding to the minimum value of the design surface distance, As the design surface approaches, the proximity speed at which the bucket 8 approaches the design surface is reduced.
- the processing unit 44 Based on information corresponding to the minimum value of the design surface distance, the processing unit 44 sets a predetermined distance between the bucket 8 and the design surface as a threshold, and stops the work implement 2 when the threshold is exceeded. For this reason, the process part 44 can suppress the possibility of excavating the ground beyond a design surface.
- the processing unit 44 includes at least the blade edge P3 of the bucket 8 based on the information on the current position of the excavator 100, the attitude of the vehicle body 1, the current position of the blade edge P3, and the outer shape information of the bucket 8, and the bottom of the bucket 8 Of the measurement reference points Pen for measuring a plurality of predetermined positions along the outer shape of 8C, the position of the measurement reference point closest to the design surface is obtained. Then, the processing unit 44 obtains the distance from the measurement reference point Pen closest to the design surface to the design surface in the normal direction of the design surface as the shortest design surface distance.
- the display input device 38 displays at least one of the display of the shortest design surface distance obtained or the display of the image SD1 indicating the normal of the design surface passing through the measurement reference point Pen closest to the design surface on the display unit 42. .
- the display system 28 of the excavating machine of the present embodiment allows the operator to recognize the shortest distance between the bucket 8 including the bottom portion 8C of the bucket 8 and the design surface by visually recognizing the image SD1. The possibility of excavating the ground with the bottom portion 8C of the bucket 8 can be reduced.
- the processing unit 44 of the present embodiment includes the front view 54a and the side view 54b described above, which are a front view (a view seen in parallel with the Ya axis) and a side view (a view seen in parallel with the Xa axis) in the vehicle body coordinate system COM. ).
- the processing unit 44 may display at least one of the front view 54a and the side view 54b as a top view (viewed parallel to the Y axis) and a side view (view viewed parallel to the X axis) in the global coordinate system. Good.
- 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 bucket 8 is provided, but the bucket is not limited to this.
- the work machine 2 may be mounted with other attachments such as a tilt bucket and a slope bucket.
- a tilt bucket is equipped with a bucket tilt cylinder. By tilting the bucket to the left and right, even if the excavator is on a sloping ground, the slope and flat ground can be freely shaped and leveled. It is a bucket that can also be rolled by a plate.
- the slope bucket is a bucket that has a flat bottom and is suitable for a flat or slope consolidation work.
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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、警報音を発報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、設計面70とバケット8の刃先P3との位置関係を示し、作業対象である地面が設計面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、設計面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よりも設計面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よりも設計面70とバケット8の刃先P3との位置関係を詳細に示している。繊細掘削画面54は、設計面70とバケット8とを示す正面図54aと、設計面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、正面視による設計面70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。
設計面の断面を示す線79はバケット8の刃先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の刃先P3の現在位置を求める。本実施形態において、バケット8の刃先P3の現在位置は、次のようにして求められる。
図10は、設計面へのバケット8の最短距離を求める例を示すフローチャートである。バケット8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。
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
8C 尻部
19 作業機状態検出部
21、22 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 設計面
78、79 設計面の断面を示す線
84 グラフィック情報
100 油圧ショベル
Claims (10)
- バケットを含む作業機と、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、前記本体部の姿勢に関する情報及び前記バケットの先端の位置の情報を検出する作業機状態検出部と、
設計地形を示す設計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、前記バケットの先端の位置の情報及び前記バケットの外形情報に基づいて、前記バケットの先端を少なくとも含み前記バケットの尻部の外形に沿って予め複数定められた、位置を計測するための計測基準点のうち、前記設計面に最も近い計測基準点を求める処理部と、
を含む掘削機械の表示システム。 - 前記処理部は、
前記設計面の法線方向における、前記計測基準点から前記設計面までの距離を設計面距離として求め、前記設計面距離の最小値に対応した情報を最短距離として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。 - 前記計測基準点は、前記バケットの移動方向と平行な面で前記バケットの前記外形を切った断面及び前記バケットの幅方向に沿ってそれぞれ予め複数定められ、
前記処理部は、
前記設計面の法線方向における、前記計測基準点から前記設計面までの距離を設計面距離として求め、前記設計面距離の最小値に対応した情報を最短距離として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、
複数の前記設計面の法線方向に同一の前記計測基準点がある場合、当該計測基準点に対して複数の設計面距離を求める、請求項2又は3に記載の掘削機械の表示システム。 - 前記処理部は、
前記最短距離に基づき、警報を発報する、請求項2から4のいずれか1項に記載の掘削機械の表示システム。 - 前記処理部は、
前記最短距離に応じて、前記警報として音を発報する態様を変更する、請求項5に記載の掘削機械の表示システム。 - 前記処理部は、前記表示装置の画面に、前記設計面に最も近い計測基準点を特定する画像を表示する、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。
- 前記設計面に最も近い計測基準点を特定する画像が、前記設計面の法線を示す画像である、請求項7に記載の掘削機械の表示システム。
- バケットを含む作業機と、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、前記本体部の姿勢に関する情報及び前記バケットの先端の位置の情報を検出する作業機状態検出部と、
設計地形を示す設計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、前記バケットの先端の位置の情報及び前記バケットの外形情報に基づいて、前記バケットの先端を少なくとも含み前記バケットの尻部の外形に沿って予め複数定められた、位置を計測するための計測基準点のうち、前記設計面に最も近い計測基準点を求め、前記設計面の法線方向における、前記設計面に最も近い計測基準点から前記設計面までの距離を設計面距離として求める処理部と、
前記設計面距離の表示及び前記設計面に最も近い計測基準点を通る前記設計面の法線を示す画像の表示の少なくとも1つを表示する表示装置と、
を含む掘削機械の表示システム。 - 請求項1から9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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US10968597B2 (en) | 2014-06-20 | 2021-04-06 | Sumitomo Heavy Industries, Ltd. | Shovel and control method thereof |
AT516278B1 (de) * | 2014-10-22 | 2016-04-15 | System 7 Railsupport Gmbh | Verfahren zur Messung und Darstellung der Gleisgeometrie einer Gleisanlage |
AT516278A4 (de) * | 2014-10-22 | 2016-04-15 | System 7 Railsupport Gmbh | Verfahren zur Messung und Darstellung der Gleisgeometrie einer Gleisanlage |
CN107407074A (zh) * | 2015-07-15 | 2017-11-28 | 株式会社小松制作所 | 显示系统及工程机械 |
Also Published As
Publication number | Publication date |
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KR101745859B1 (ko) | 2017-06-12 |
CN104781478A (zh) | 2015-07-15 |
JP2014101664A (ja) | 2014-06-05 |
US20160010312A1 (en) | 2016-01-14 |
DE112013005509T5 (de) | 2016-01-07 |
US9493929B2 (en) | 2016-11-15 |
KR20150067369A (ko) | 2015-06-17 |
CN104781478B (zh) | 2017-09-08 |
JP5476450B1 (ja) | 2014-04-23 |
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