WO2017026469A1 - ショベル - Google Patents
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- WO2017026469A1 WO2017026469A1 PCT/JP2016/073380 JP2016073380W WO2017026469A1 WO 2017026469 A1 WO2017026469 A1 WO 2017026469A1 JP 2016073380 W JP2016073380 W JP 2016073380W WO 2017026469 A1 WO2017026469 A1 WO 2017026469A1
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- Prior art keywords
- image
- bucket
- excavator
- shovel
- display
- Prior art date
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- 238000012545 processing Methods 0.000 claims description 21
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- 230000001133 acceleration Effects 0.000 description 4
- 238000009412 basement excavation Methods 0.000 description 4
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Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
-
- 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
- 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
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of 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
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/272—Means for inserting a foreground image in a background image, i.e. inlay, outlay
Definitions
- the present invention relates to an excavator having a machine guidance function.
- An operator of a shovel as a construction machine is required to have a skilled operation technique in order to efficiently and accurately perform work such as excavation by an attachment. Therefore, there is an excavator provided with a function (referred to as machine guidance) for guiding the operation of the excavator so that even an operator who has little experience of operating the excavator can perform work efficiently and accurately (for example, Patent Documents). 1).
- machine guidance a function for guiding the operation of the excavator so that even an operator who has little experience of operating the excavator can perform work efficiently and accurately
- the excavator of Patent Document 1 includes a display system that displays an image indicating a line segment indicating a section of a slope of a work target and a position of a blade edge of a bucket. Then, the display system displays a facing compass, which is an icon indicating a facing direction with respect to the slope and a direction in which the shovel should be turned, as information for causing the shovel to face the slope.
- Patent Document 1 only displays a facing compass as an icon that is completely independent of the display contents of the computer image on the computer image of the design terrain represented by a plurality of triangular polygons. For this reason, the operator who sees the facing compass may not intuitively understand the operation to be performed in order to make the shovel face the slope.
- An excavator includes a lower traveling body, an upper swinging body that is turnably mounted on the lower traveling body, a camera attached to the upper swinging body, and a camera image acquired by the camera.
- An excavator including an arithmetic processing device that generates an output image, wherein the arithmetic processing device superimposes and displays an image representing an extension direction of a work target surface or a direction perpendicular to the extension direction on the camera image.
- FIG. 1 is a side view of an excavator (excavator) according to an embodiment of the present invention.
- An upper swing body 3 is mounted on the lower traveling body 1 of the excavator via a swing mechanism 2.
- a boom 4 is attached to the upper swing body 3.
- An arm 5 is attached to the tip of the boom 4, and a bucket 6 as an end attachment is attached to the tip of the arm 5.
- a slope bucket, a kite bucket, or the like may be used as an end attachment.
- the boom 4, the arm 5, and the bucket 6 constitute a drilling attachment as an example of the attachment, and are hydraulically driven by the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, respectively.
- a boom angle sensor S1 is attached to the boom 4
- an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.
- the excavation attachment may be provided with a bucket tilt mechanism.
- the boom angle sensor S1 detects the rotation angle of the boom 4.
- the boom angle sensor S ⁇ b> 1 is an acceleration sensor that detects a tilt angle with respect to the horizontal plane and detects a rotation angle of the boom 4 with respect to the upper swing body 3.
- the arm angle sensor S2 detects the rotation angle of the arm 5.
- the arm angle sensor S ⁇ b> 2 is an acceleration sensor that detects the rotation angle of the arm 5 relative to the boom 4 by detecting the inclination with respect to the horizontal plane.
- the bucket angle sensor S3 detects the rotation angle of the bucket 6.
- the bucket angle sensor S3 is an acceleration sensor that detects the rotation angle of the bucket 6 with respect to the arm 5 by detecting the inclination with respect to the horizontal plane.
- the bucket angle sensor S3 additionally detects the rotation angle of the bucket 6 around the tilt axis.
- the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are a potentiometer using a variable resistor, a stroke sensor that detects a stroke amount of a corresponding hydraulic cylinder, and a rotary encoder that detects a rotation angle around a connecting pin. Etc.
- the upper swing body 3 is provided with a cabin 10 and a power source such as an engine 11 is mounted.
- a machine body tilt sensor S4, a turning angular velocity sensor S5, and a camera S6 are attached to the upper turning body 3.
- a communication device S7 and a positioning device S8 may be attached.
- the body tilt sensor S4 detects the tilt of the upper swing body 3 with respect to the horizontal plane.
- the body tilt sensor S4 is a biaxial acceleration sensor that detects the tilt angles of the upper swing body 3 around the front and rear axes and the left and right axes.
- the front and rear axes and the left and right axes of the upper swing body 3 are, for example, orthogonal to each other and pass through a shovel center point that is one point on the shovel pivot axis.
- the turning angular velocity sensor S5 is a gyro sensor, for example, and detects the turning angular velocity of the upper turning body 3.
- the turning angular velocity sensor S5 may be a resolver, a rotary encoder, or the like.
- Camera S6 is a device that acquires images around the excavator.
- the camera S6 is one or a plurality of cameras attached to the upper swing body 3.
- the communication device S7 is a device that controls communication between the excavator and the outside.
- the communication device S7 controls, for example, wireless communication between a GNSS (Global Navigation Satellite System) survey system and an excavator.
- GNSS Global Navigation Satellite System
- the shovel can acquire design data including information on the target construction surface and the like via wireless communication by using the communication device S7.
- the shovel may acquire design data using a semiconductor memory or the like.
- the positioning device S8 is a device that measures the position and orientation of the excavator.
- the positioning device S8 is a GNSS receiver that incorporates an electronic compass, and measures the latitude, longitude, and altitude of the location of the shovel and measures the direction of the shovel.
- an input device D1 In the cabin 10, an input device D1, an audio output device D2, a display device D3, a storage device D4, a gate lock lever D5, a controller 30, and a machine guidance device 50 are installed.
- the controller 30 functions as a main control unit that performs drive control of the excavator.
- the controller 30 is composed of an arithmetic processing unit including a CPU and an internal memory.
- Various functions of the controller 30 are realized by the CPU executing programs stored in the internal memory.
- the machine guidance device 50 guides the operation of the excavator.
- the machine guidance device 50 visually and audibly notifies the operator of the distance in the vertical direction between the target construction surface set by the operator and the tip (toe) position of the bucket 6, for example.
- the machine guidance apparatus 50 guides the operation of the shovel by the operator.
- the machine guidance device 50 may only notify the operator of the distance visually or may only notify the operator audibly.
- the machine guidance device 50 is configured by an arithmetic processing device including a CPU and an internal memory. Various functions of the machine guidance device 50 are realized by the CPU executing a program stored in the internal memory.
- the machine guidance device 50 may be provided separately from the controller 30 or may be incorporated in the controller 30.
- the input device D1 is a device for an excavator operator to input various information to the machine guidance device 50.
- the input device D1 is a membrane switch attached around the display device D3.
- a touch panel or the like may be used as the input device D1.
- the audio output device D2 outputs various audio information in response to the audio output command from the machine guidance device 50.
- an in-vehicle speaker connected directly to the machine guidance device 50 is used as the audio output device D2.
- An alarm device such as a buzzer may be used as the audio output device D2.
- Display device D3 outputs various image information in response to a command from machine guidance device 50.
- an in-vehicle liquid crystal display directly connected to the machine guidance device 50 is used as the display device D3.
- a camera image is displayed on the display device D3.
- Storage device D4 is a device for storing various information.
- a nonvolatile storage medium such as a semiconductor memory is used as the storage device D4.
- the storage device D4 stores various information output by the machine guidance device 50 and the like.
- the gate lock lever D5 is a mechanism that prevents the shovel from being operated accidentally.
- the gate lock lever D5 is disposed between the door of the cabin 10 and the driver's seat.
- the various operation devices can be operated.
- the gate lock lever D5 is pushed down so that the operator can leave the cabin 10, the various operation devices become inoperable.
- FIG. 2 is a diagram showing a configuration example of the drive system of the excavator in FIG.
- the mechanical power system is indicated by a double line
- the high-pressure hydraulic line is indicated by a thick solid line
- the pilot line is indicated by a broken line
- the electric drive / control system is indicated by a thin solid line.
- the engine 11 is a power source for the excavator.
- the engine 11 is a diesel engine that employs isochronous control that keeps the engine speed constant regardless of increase or decrease in engine load.
- the fuel injection amount, fuel injection timing, boost pressure and the like in the engine 11 are controlled by an engine controller unit (ECU) D7.
- ECU engine controller unit
- the engine 11 is connected with a main pump 14 and a pilot pump 15 as hydraulic pumps.
- a control valve 17 is connected to the main pump 14 via a high pressure hydraulic line.
- the control valve 17 is a hydraulic control device that controls the hydraulic system of the excavator. Hydraulic actuators such as a right traveling hydraulic motor, a left traveling hydraulic motor, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, and a turning hydraulic motor are connected to a control valve 17 via a high pressure hydraulic line.
- the turning hydraulic motor may be a turning motor generator.
- the operating device 26 is connected to the pilot pump 15 through a pilot line.
- the operating device 26 includes a lever and a pedal.
- the operating device 26 is connected to the control valve 17 via a hydraulic line and a gate lock valve D6.
- the gate lock valve D6 switches communication / cutoff of the hydraulic line connecting the control valve 17 and the operating device 26.
- the gate lock valve D6 is an electromagnetic valve that switches between connection and disconnection of the hydraulic line in accordance with a command from the controller 30.
- the controller 30 determines the state of the gate lock lever D5 based on the state signal output from the gate lock lever D5.
- the controller 30 outputs a communication command to the gate lock valve D6.
- the gate lock valve D6 is opened to connect the hydraulic line. As a result, the operator's operation on the operation device 26 becomes effective.
- the controller 30 determines that the gate lock lever D5 is in the lowered state, the controller 30 outputs a cutoff command to the gate lock valve D6.
- the gate lock valve D6 is closed to shut off the hydraulic line. As a result, the operator's operation on the operation device 26 becomes invalid.
- the pressure sensor 29 detects the operation content of the operating device 26 in the form of pressure.
- the pressure sensor 29 outputs the detection value to the controller 30.
- FIG. 2 shows the connection relationship between the controller 30 and the display device D3.
- the display device D3 is connected to the controller 30 via the machine guidance device 50.
- the display device D3, the machine guidance device 50, and the controller 30 may be connected via a communication network such as CAN, or may be connected via a dedicated line.
- Display device D3 includes a conversion processing unit D3a that generates an image.
- the conversion processing unit D3a generates a camera image for display based on the output of the camera S6. Therefore, the camera S6 may be connected to the display device D3 through a dedicated line, for example.
- the conversion processing unit D3a generates a display image based on the output of the controller 30 or the machine guidance device 50.
- the conversion processing unit D3a converts various information output from the controller 30 or the machine guidance device 50 into an image signal.
- the information output by the controller 30 includes, for example, data indicating the temperature of engine coolant, data indicating the temperature of hydraulic oil, data indicating the remaining amount of fuel, and the like.
- the information output by the machine guidance device 50 includes data indicating the tip (toe) position of the bucket 6, data indicating the direction of the slope of the work target, data indicating the direction of the shovel, and for making the shovel face the slope. Includes data indicating the operation direction.
- the conversion processing unit D3a may be realized not as a function of the display device D3 but as a function of the controller 30 or the machine guidance device 50.
- the camera S6 is connected to the controller 30 or the machine guidance device 50 instead of the display device D3.
- the display device D3 operates upon receiving power from the storage battery 70.
- the storage battery 70 is charged with electric power generated by the alternator 11a (generator) of the engine 11.
- the electric power of the storage battery 70 is also supplied to the electrical equipment 72 of the excavator other than the controller 30 and the display device D3.
- the starter 11 b of the engine 11 is driven by electric power from the storage battery 70 and starts the engine 11.
- the engine 11 is controlled by the engine controller unit D7.
- Various data indicating the state of the engine 11 for example, data indicating the cooling water temperature (physical quantity) detected by the water temperature sensor 11c) is constantly transmitted from the engine controller unit D7 to the controller 30. Therefore, the controller 30 can store this data in the temporary storage unit (memory) 30a and transmit it to the display device D3 when necessary.
- Various data are supplied to the controller 30 as follows. Various types of data are stored in the temporary storage unit 30 a of the controller 30.
- data indicating the swash plate tilt angle is supplied to the controller 30 from the regulator 14a of the main pump 14 which is a variable displacement hydraulic pump.
- Data indicating the discharge pressure of the main pump 14 is sent to the controller 30 from the discharge pressure sensor 14b.
- These data are stored in the temporary storage unit 30a.
- An oil temperature sensor 14 c is provided in a pipe line between the main pump 14 and a tank that stores hydraulic oil sucked by the main pump 14. Data representing the temperature of the hydraulic oil flowing through the pipeline is supplied from the oil temperature sensor 14 c to the controller 30.
- Data indicating the fuel storage amount is supplied to the controller 30 from the fuel storage amount detection unit 55a in the fuel storage unit 55.
- data indicating the remaining amount of fuel is supplied to the controller 30 from a fuel remaining amount sensor as the fuel storage amount detection unit 55 a in the fuel tank as the fuel storage unit 55.
- the fuel remaining amount sensor is composed of a float that follows the liquid level and a variable resistor (potentiometer) that converts the vertical fluctuation amount of the float into a resistance value.
- the fuel remaining amount sensor can continuously display the fuel remaining state on the display device D3.
- the detection method of the fuel storage amount detection unit 55a can be appropriately selected according to the use environment and the like, and a detection method capable of displaying the remaining fuel level in stages may be adopted.
- the pilot pressure sent to the control valve 17 when the operating device 26 is operated is detected by the pressure sensor 29.
- the pressure sensor 29 supplies data indicating the detected pilot pressure to the controller 30.
- the excavator includes an engine speed adjustment dial 75 in the cabin 10.
- the engine rotation speed adjustment dial 75 is a dial for adjusting the rotation speed of the engine 11, and in this embodiment, the engine rotation speed can be switched in four stages. Data indicating the setting state of the engine speed is constantly transmitted from the engine speed adjustment dial 75 to the controller 30.
- the engine speed adjustment dial 75 can switch the engine speed in four stages of SP mode, H mode, A mode, and idling mode.
- FIG. 2 shows a state where the H mode is selected with the engine speed adjustment dial 75.
- the SP mode is a rotation speed mode that is selected when priority is given to the amount of work, and uses the highest engine speed.
- the H mode is a rotation speed mode that is selected when both the work amount and the fuel consumption are desired, and uses the second highest engine speed.
- the A mode is a rotation speed mode that is selected when it is desired to operate the shovel with low noise while giving priority to fuel consumption, and uses the third highest engine speed.
- the idling mode is a rotational speed mode that is selected when the engine 11 is desired to be in an idling state, and uses the lowest engine rotational speed. The engine 11 is controlled at a constant speed with the engine speed in the speed mode set with the engine speed adjustment dial 75.
- FIG. 3 is a functional block diagram illustrating a configuration example of the machine guidance device 50.
- the controller 30 controls whether or not to perform guidance by the machine guidance device 50 in addition to controlling the operation of the entire shovel. Specifically, the controller 30 controls whether or not the guidance by the machine guidance device 50 is performed based on the state of the gate lock lever D5, the detection signal from the pressure sensor 29, and the like.
- the machine guidance device 50 includes, for example, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body inclination sensor S4, a turning angular velocity sensor S5, an input device D1, and various outputs output from the controller 30.
- Receive signals and data Then, the machine guidance device 50 calculates the actual position of the attachment (for example, the bucket 6) based on the received signal and data. Then, when the actual position of the attachment is different from the target position, the machine guidance device 50 transmits a warning command to the voice output device D2 and the display device D3 to issue a warning.
- the machine guidance device 50 includes functional units that perform various functions.
- the machine guidance device 50 includes an inclination angle calculation unit 501, a height calculation unit 503, a comparison unit 504, an alarm control unit 505, a guidance data output unit 506, as functional units for guiding an attachment operation.
- a work target setting unit 507, a work target surface information display unit 508, an excavator orientation display unit 509, an operation direction display unit 510, and a facing state display unit 511 are included.
- the tilt angle calculation unit 501 calculates the tilt angle (excavator tilt angle) of the upper swing body 3 with respect to the horizontal plane based on the detection signal from the machine tilt sensor S4. That is, the tilt angle calculation unit 501 calculates the tilt angle of the shovel using the detection signal from the body tilt sensor S4.
- the height calculation unit 503 determines the tip (toe) of the bucket 6 based on the inclination angle calculated by the inclination angle calculation unit 501 and the angles of the boom 4, the arm 5, and the bucket 6 calculated from the detection signals of the sensors S 1 to S 3. Calculate the height of.
- the tip (toe) of the bucket 6 corresponds to the work site of the end attachment.
- the back surface of the bucket 6 corresponds to the work part of the end attachment.
- the tip of the breaker corresponds to the work site of the end attachment.
- the comparison unit 504 calculates the height of the tip (toe) of the bucket 6 calculated by the height calculation unit 503 and the target height of the tip (toe) of the bucket 6 indicated by the guidance data output from the guidance data output unit 506. Compare.
- the target height may be calculated from the design drawing inputted in advance, the current position of the excavator, and the working posture. It may be calculated from the set position of the previous toe of the shovel, the input target depth, the inclination angle of the shovel, and the current working posture (current toe position).
- the alarm control unit 505 transmits an alarm command to both or one of the audio output device D2 and the display device D3 when it is determined that an alarm is necessary based on the comparison result in the comparison unit 504.
- the sound output device D2 and the display device D3 receive an alarm command, the sound output device D2 and the display device D3 issue a predetermined alarm and notify the operator of the shovel.
- the guidance data output unit 506 extracts the target height data of the bucket 6 from the guidance data stored in advance in the storage device of the machine guidance device 50 and outputs it to the comparison unit 504. At this time, the guidance data output unit 506 may output data on the target height of the bucket 6 corresponding to the current position of the excavator, the working posture, the inclination angle, and the like.
- the work target setting unit 507 is a functional element that sets the work target of the excavator. For example, the work target setting unit 507 sets the direction of the shovel when a predetermined switch of the input device D1 is pressed as the direction facing the slope as the work target. In the case of two-dimensional machine guidance, the work target setting unit 507 may set the tip (toe) position of the bucket 6 when a predetermined switch of the input device D1 is pressed as a reference position. The reference position is used to calculate and display the current position of the tip position of the bucket 6.
- the work target setting unit 507 sets in advance the direction facing the slope.
- the work target surface information display unit 508 is a functional element that superimposes and displays information related to the slope as the work target surface on the camera image.
- the work target surface information display unit 508 superimposes and displays an image representing the extension direction of the slope as the work target surface or a direction perpendicular to the extension direction on the camera image generated by the display device D3.
- the image representing the extension direction of the slope or the direction perpendicular to the extension direction includes a line segment indicating the extension direction of the slope, a line segment indicating the direction perpendicular to the extension direction, and the like.
- the work target surface is not limited to a slope.
- the excavator orientation display unit 509 is a functional element that displays information on the orientation of the excavator on the output image.
- the shovel direction display unit 509 displays an image indicating the direction of the shovel on the camera image generated by the display device D3.
- the image representing the direction of the shovel includes a line segment indicating the direction of the shovel.
- the shovel direction display unit 509 may display an image indicating the direction of the shovel in a portion other than the camera image in the output image.
- the operation direction display unit 510 is a functional element that displays an image representing an operation direction for causing the shovel to face the slope as a work target on the output image. For example, the operation direction display unit 510 superimposes and displays an arrow indicating the operation direction for causing the shovel to face the slope.
- the operation direction display unit 510 may display an image representing an operation direction for causing the shovel to face the slope in a portion other than the camera image in the output image.
- the operation direction may include a turning direction or a traveling direction.
- the facing state display unit 511 is a functional element that displays on the output image an image representing a state where the excavator and the slope as a work target are facing each other. For example, the facing state display unit 511 superimposes and displays a facing mark indicating a state where the shovel and the slope face each other on the camera image.
- FIG. 4 shows a top view of the excavator for forming the slope WS.
- the slope WS is a slope as a work target set by the work target setting unit 507.
- a front camera S6F includes a front camera S6F, a left camera S6L, a right camera S6R, and a rear camera S6B mounted on the upper swing body 3.
- FIG. 4 shows that the object B exists on the right rear side of the excavator.
- An alternate long and short dash line VL1v is a virtual line (a line segment that does not actually exist drawn for the purpose of explanation) that is perpendicular to the extending direction of the slope WS and passes through the excavator center point SX.
- a two-dot chain line VL1p is a virtual line that is parallel to the extending direction of the slope WS and passes through the shovel center point SX.
- a broken line VL2 is an imaginary line that is parallel to the longitudinal direction of the shovel and passes through the shovel center point SX.
- FIG. 5A and 5B show an output image Gx including a fan-shaped overhead image generated by the display device D3 based on the outputs of the left side camera S6L, the right side camera S6R, and the rear camera S6B mounted on the excavator of FIG. .
- FIG. 5A shows the output image Gx when the shovel and the slope WS are not facing each other
- FIG. 5B shows the output image Gx when the shovel and the slope WS are facing each other.
- a camera image (fan-shaped overhead view image) generated by the display device D3 is displayed inside the sector region R1, and an illustration image representing a top view of the shovel is displayed at the center.
- a certain shovel icon G1 is arranged.
- the two-dot chain line L1p is an example of an image representing the extending direction of the slope WS, and corresponds to the two-dot chain line VL1p in FIG. At least a part of the two-dot chain line L1p is superimposed and displayed on the camera image by the work target surface information display unit 508.
- the two-dot chain line L1p passes through the center of the sector region R1 and has the same length as the diameter of the sector region R1. However, the two-dot chain line L1p may not pass through the center of the sector region R1.
- the length of the alternate long and two short dashes line L1p may not be the same as the diameter of the sector region R1.
- the two-dot chain line L1p may protrude from the sector region R1.
- the scale G2 is an example of an image representing the direction of the excavator.
- the scale G2 includes a left scale G2L disposed at the left end of the sector area R1, and a right scale G2R disposed at the right end of the sector area R1.
- the left scale G2L and the right scale G2R are each composed of five line segments, and the main scale, which is the longest line segment at the center, corresponds to the left and right axes of the upper swing body 3.
- the scale G2 is displayed on the output image Gx by the shovel orientation display unit 509.
- the scale G2 may be displayed outside the sector area R1.
- the arrow G3 in FIG. 5A is an example of an image representing an operation direction for causing the shovel to face the slope WS.
- the arrow G3 extends from the right scale G2R to the two-dot chain line L1p along the outer periphery of the sector region R1.
- the operator of the shovel who sees the arrow G3 intuitively understands that the shovel can be directly opposed to the slope WS by turning the upper swing body 3 to the left.
- the operator can cause the excavator to face the slope WS by turning the upper turning body 3 leftward by a turning operation or by turning the lower traveling body 1 leftward by a running operation. Intuitively understand what you can do.
- the arrow G3 is displayed on the output image Gx by the operation direction display unit 510.
- the arrow G3 may be displayed outside the sector area R1.
- the arrow G3 may be blinked.
- the facing mark G4 in FIG. 5B is an example of an image indicating that the shovel and the slope WS are facing each other.
- the facing mark G4 includes a left facing mark G4L disposed near the left scale G2L and a right facing mark G4R disposed near the right scale G2R.
- the left facing mark G4L and the right facing mark G4R are each composed of two triangles, and are arranged such that opposing vertices of the two triangles sandwich the two-dot chain line L1p. At this time, the two-dot chain line L1p is parallel to and coincides with the main scales of the left scale G2L and the right scale G2R.
- the arrow G3 is deleted.
- the operator of the shovel who has seen the facing mark G4 intuitively understands that the shovel and the slope WS are facing each other.
- the directly facing mark G4 is displayed on the output image Gx by the facing state display unit 511.
- the facing mark G4 may be displayed outside the sector area R1.
- the facing mark G4 may be blinked.
- FIG. 6A and 6B show an output image Gx including a rear image generated by the display device D3 based on the output of the rear camera S6B mounted on the excavator of FIG. Specifically, FIG. 6A shows the output image Gx when the shovel and the slope WS are not facing each other, and FIG. 6B shows the output image Gx when the shovel and the slope WS are facing each other.
- the camera image (rear image) generated by the display device D3 is displayed inside the rectangular region R2.
- the image displayed in the rear image is a mirror image similar to the image reflected in the rearview mirror. Therefore, as shown in FIG. 4, the object B that actually exists on the right rear side of the excavator is displayed on the right side of the rectangular region R2 as shown in FIG. 6A.
- the alternate long and short dash line L1v is an example of an image representing a direction perpendicular to the extending direction of the slope WS, and corresponds to the alternate long and short dash line VL1v in FIG. At least a part of the alternate long and short dash line L1v is superimposed and displayed on the camera image by the work target surface information display unit 508.
- the alternate long and short dash line L1v is displayed so as to be parallel to the vertical axis of the rectangular region R2, and has the same length as the height of the rectangular region R2.
- the alternate long and short dash line L1v may not be parallel to the vertical axis.
- the length of the alternate long and short dash line L1v may not be the same as the height of the rectangular region R2.
- the alternate long and short dash line L1v may protrude from the rectangular region R2.
- the scale G2 is an example of an image representing the direction of the excavator.
- the scale G2 is disposed at the lower center of the rectangular region R2.
- the scale G2 is composed of five line segments, and the main scale, which is the longest line segment at the center, corresponds to the longitudinal axis of the upper swing body 3.
- the rear end portion of the upper swing body 3 is displayed at the lower end portion of the rectangular region R2.
- the scale G2 is displayed on the output image Gx by the shovel orientation display unit 509.
- the scale G2 may be displayed outside the rectangular area R2.
- the arrow G3 in FIG. 6A is an example of an image representing an operation direction for causing the shovel to face the slope WS.
- the arrow G3 extends from the alternate long and short dash line L1v to the main scale of the scale G2 in parallel with the horizontal axis of the rectangular region R2.
- the operator of the shovel who sees the arrow G3 intuitively understands that the shovel can be directly opposed to the slope WS by turning the upper swing body 3 to the left.
- the operator can cause the excavator to face the slope WS by turning the upper turning body 3 leftward by a turning operation or by turning the lower traveling body 1 leftward by a running operation. Intuitively understand what you can do.
- the arrow G3 is displayed on the output image Gx by the operation direction display unit 510.
- the arrow G3 may be displayed outside the rectangular area R2.
- the arrow G3 may be blinked.
- the facing mark G4 in FIG. 6B is an example of an image indicating that the shovel and the slope WS are facing each other.
- the facing mark G4 is arranged at the main scale of the scale G2.
- the directly-facing mark G4 is composed of two triangles, and is arranged such that opposing vertices of the two triangles sandwich the main scale. At this time, the alternate long and short dash line L1v coincides with the main scale.
- the arrow G3 is deleted.
- the operator of the shovel who has seen the facing mark G4 intuitively understands that the shovel and the slope WS are facing each other.
- the directly facing mark G4 is displayed on the output image Gx by the facing state display unit 511.
- the facing mark G4 may be displayed outside the rectangular region R2.
- the facing mark G4 may be blinked.
- FIG. 7A and 7B are all-around overhead images generated by the display device D3 based on the outputs of the front camera S6F, left camera S6L, right camera S6R, and rear camera S6B mounted on the excavator of FIG.
- the output image Gx containing is shown.
- FIG. 7A shows the output image Gx when the shovel and the slope WS are not facing each other
- FIG. 7B shows the output image Gx when the shovel and the slope WS are facing each other.
- a camera image (all-around overhead image) generated by the display device D3 is displayed inside the circular region R3, and an illustration image representing the top view of the shovel at the center.
- An excavator icon G1 is arranged.
- the alternate long and short dash line L1v is an example of an image representing a direction perpendicular to the extending direction of the slope WS, and corresponds to the alternate long and short dash line VL1v in FIG. At least a part of the alternate long and short dash line L1v is superimposed and displayed on the camera image by the work target surface information display unit 508.
- the alternate long and short dash line L1v passes through the center of the circular region R3 and has the same length as the diameter of the circular region R3.
- the alternate long and short dash line L1v may not pass through the center of the circular region R3.
- the length of the alternate long and short dash line L1v may not be the same as the diameter of the circular region R3.
- the alternate long and short dash line L1v may protrude from the circular region R3.
- the broken line L2 is an example of an image representing the direction of the shovel, and corresponds to the front and rear axes of the shovel and the broken line VL2 in FIG.
- the broken line L2 is displayed on the output image Gx by the shovel orientation display unit 509.
- the broken line L2 passes through the center of the circular region R3 and has the same length as the diameter of the circular region R3.
- the broken line L2 may not pass through the center of the circular region R3.
- the length of the broken line L2 may not be the same as the diameter of the circular region R3.
- the broken line L2 may protrude from the circular region R3 and may be displayed outside the circular region R3.
- the scale G2 is an example of an image representing the direction of the excavator.
- the scale G2 includes an upper scale G2T disposed at the upper end of the circular area R3 and a lower scale G2B disposed at the lower end of the circular area R3.
- the upper scale G2T and the lower scale G2B are each composed of five line segments, and the main scale which is the longest center line segment corresponds to the vertical axis of the upper swing body 3.
- the scale G2 is displayed on the output image Gx by the shovel orientation display unit 509.
- the scale G2 may be displayed outside the circular region R3.
- the scale G2 may be omitted.
- the arrow G3 in FIG. 7A is an example of an image representing the operation direction for causing the shovel to face the slope WS.
- the arrow G3 extends from the broken line L2 to the alternate long and short dash line L1v along the outer periphery of the circular region R3.
- the operator of the shovel who sees the arrow G3 intuitively understands that the shovel can be directly opposed to the slope WS by turning the upper swing body 3 to the left.
- the operator can cause the excavator to face the slope WS by turning the upper turning body 3 leftward by a turning operation or by turning the lower traveling body 1 leftward by a running operation. Intuitively understand what you can do.
- the arrow G3 is displayed on the output image Gx by the operation direction display unit 510.
- the arrow G3 may be displayed outside the circular region R3.
- the arrow G3 may be blinked.
- the directly-facing mark G4 is disposed at the broken line L2.
- the directly-facing mark G4 is composed of two triangles, and is arranged so that the opposite vertices of the two triangles sandwich the broken line L2.
- the alternate long and short dash line L1v is parallel to and coincides with the broken line L2.
- the alternate long and short dash line L1v and the arrow G3 are deleted.
- the alternate long and short dash line L1v may be displayed as it is.
- the operator of the shovel who has seen the facing mark G4 intuitively understands that the shovel and the slope WS are facing each other.
- the directly facing mark G4 is displayed on the output image Gx by the facing state display unit 511.
- the facing mark G4 may be displayed outside the circular region R3.
- the facing mark G4 may be blinked.
- FIG. 8A and 8B show an output image Gx including a front image generated by the display device D3 based on the output of the front camera S6F mounted on the excavator of FIG. Specifically, FIG. 8A shows the output image Gx when the shovel and the slope WS are not facing each other, and FIG. 8B shows the output image Gx when the shovel and the slope WS are facing each other.
- the camera image (front image) generated by the display device D3 is displayed inside the rectangular region R4.
- the alternate long and short dash line L1v is an example of an image representing a direction perpendicular to the extending direction of the slope WS, and corresponds to the alternate long and short dash line VL1v in FIG. At least a part of the alternate long and short dash line L1v is superimposed and displayed on the camera image by the work target surface information display unit 508.
- the alternate long and short dash line L1v is displayed so as to be parallel to the vertical axis of the rectangular region R4, and has a length approximately half the height of the rectangular region R4.
- the alternate long and short dash line L1v may not be parallel to the vertical axis.
- the length of the alternate long and short dash line L1v may be longer or shorter.
- the alternate long and short dash line L1v may protrude from the rectangular region R4.
- the scale G2 is an example of an image representing the direction of the excavator.
- the scale G2 is arranged at the lower center of the rectangular region R4.
- the scale G2 is composed of five line segments, and the main scale, which is the longest line segment at the center, corresponds to the longitudinal axis of the upper swing body 3.
- the scale G2 is displayed on the output image Gx by the shovel orientation display unit 509.
- the scale G2 may be displayed outside the rectangular area R4.
- the arrow G3 in FIG. 8A is an example of an image representing an operation direction for causing the shovel to face the slope WS.
- the arrow G3 extends from the main scale of the scale G2 to the alternate long and short dash line L1v in parallel with the horizontal axis of the rectangular region R4.
- the operator of the shovel who sees the arrow G3 intuitively understands that the shovel can be directly opposed to the slope WS by turning the upper swing body 3 to the left.
- the operator can cause the excavator to face the slope WS by turning the upper turning body 3 leftward by a turning operation or by turning the lower traveling body 1 leftward by a running operation. Intuitively understand what you can do.
- the arrow G3 is displayed on the output image Gx by the operation direction display unit 510.
- the arrow G3 may be displayed outside the rectangular area R4.
- the arrow G3 may be blinked.
- the facing mark G4 is arranged at the main scale of the scale G2.
- the directly-facing mark G4 is composed of two triangles, and is arranged such that opposing vertices of the two triangles sandwich the main scale. At this time, the alternate long and short dash line L1v coincides with the main scale.
- the arrow G3 is deleted. The operator of the shovel who has seen the facing mark G4 intuitively understands that the shovel and the slope WS are facing each other.
- the directly facing mark G4 is displayed on the output image Gx by the facing state display unit 511.
- the facing mark G4 may be displayed outside the rectangular region R4.
- the facing mark G4 may be blinked.
- FIG. 9 shows an output image Gx including a camera image area Gy including the fan-shaped overhead view images of FIGS. 5A and 5B.
- 5A and 5B may be replaced with other camera images such as the rear images of FIGS. 6A and 6B, the all-around overhead images of FIGS. 7A and 7B, and the front images of FIGS. 8A and 8B. Good.
- the output image Gx in FIG. 9 includes a bucket height display area Ga, a cooling water temperature display area Gb, a fuel remaining amount display area Gc, a urea water remaining amount display area Gd, a moving height display area Ge, a moving distance display area Gf, It includes a horizontal slope angle display area Gg, a vertical slope angle display area Gh, an engine operating time display area Gi, and a deviation angle display area Gj.
- the information displayed in the bucket height display area Ga, the movement height display area Ge, the movement distance display area Gf, the horizontal slope angle display area Gg, the vertical slope angle display area Gh, and the deviation angle display area Gj is guidance information.
- the information displayed in the cooling water temperature display region Gb, the remaining fuel amount display region Gc, the remaining urea water amount display region Gd, and the engine operation time display region Gi constitutes vehicle information.
- the machine guidance device 50 displays at least one of guidance information and vehicle information simultaneously with the camera image.
- the bucket height display area Ga is a display area indicating the relationship between the current height of the bucket 6 and the target height, and includes, for example, a bar display.
- the bar display is composed of, for example, seven segments Ga1 to Ga7.
- the target height of the bucket 6 includes, for example, the height of the tip (toe) of the bucket 6 when the tip (toe) of the bucket 6 is brought into contact with the surface of the slope as the target construction surface.
- the segment Ga1 is turned on when the current height of the bucket 6 is lower than the target height and the difference between the current height of the bucket 6 and the target height is 25 cm or more.
- the segment Ga2 is turned on when the current height of the bucket 6 is lower than the target height and the difference is not less than 1 cm and less than 25 cm.
- the segment Ga3 is turned on when the current height of the bucket 6 matches the target height, for example, when the difference is less than ⁇ 1 cm.
- the segment Ga4 is turned on when the current height of the bucket 6 is higher than the target height and the difference is not less than 1 cm and less than 25 cm.
- the segments Ga5, Ga6, and Ga7 are turned on when the current height of the bucket 6 is higher than the target height, and the difference is 25 cm or more and less than 50 cm, 50 cm or more and less than 75 cm, or 75 cm or more. It becomes.
- the segment Ga3 indicated by hatching is displayed so as to be distinguishable from other segments regardless of the current height of the bucket 6. This is because the operator can intuitively understand the difference between the current height of the bucket 6 and the target height.
- FIG. 9 shows that the segment Ga7 is in the on state and the other segments Ga1 to Ga6 are in the off state.
- the cooling water temperature display area Gb is an area for displaying an image of the current temperature state of the engine cooling water.
- a bar graph representing the temperature state of the engine cooling water is displayed.
- the temperature of the engine cooling water is based on data output from a water temperature sensor 11c attached to the engine 11.
- the coolant temperature display area Gb includes a caution range display Gb1, a normal range display Gb2, a segment display Gb3, and an icon display Gb4.
- the caution range display Gb1 and the normal range display Gb2 are displays for notifying the operator that the temperature of the engine coolant is in a state that requires attention and is in a normal state, respectively.
- the segment display Gb3 is a display for notifying the operator of the level of the engine coolant temperature.
- the icon display Gb4 is an icon such as a symbol figure indicating that the caution range display Gb1, the normal range display Gb2, and the segment display Gb3 are displays related to the engine coolant temperature.
- the icon display Gb4 may be character information indicating that the display is related to the temperature of the engine coolant.
- the segment display Gb3 is composed of eight segments whose lighting / extinguishing states are individually controlled, and the number of lighting segments increases as the cooling water temperature increases. In the example of FIG. 9, three segments are lit.
- the attention range display Gb1 and the normal range display Gb2 are figures arranged side by side along the expansion / contraction direction of the segment display Gb3, and are always yellow (hatched hatching) and green (dot hatching). Illuminated.
- the segment display Gb3 the two segments at the left and right ends belong to the caution range, and the six segments at the center belong to the normal range.
- the above-described configuration including the attention range display, normal range display, segment display, and icon display is similarly adopted in the remaining fuel amount display region Gc and the remaining urea water amount display region Gd.
- Fuel remaining amount display area Gc is an area for displaying an image of the remaining amount of fuel.
- the remaining amount of fuel is based on data output from the remaining fuel sensor.
- the urea water remaining amount display region Gd is a region for displaying an image of the remaining amount of urea water used in the selective catalyst reduction system.
- the remaining amount of urea water is based on data output from a urea water remaining amount sensor (not shown).
- the moving height display area Ge is an area for displaying the difference in the vertical direction between the reference position of the bucket 6 and the current position as the moving height.
- the moving height is, for example, a positive value when the current position of the bucket 6 is lower than the reference position, and a negative value when the current position of the bucket 6 is higher than the reference position. In the example of FIG. 9, the moving height is 1.00 m.
- the movement distance display area Gf is an area for displaying the difference in the horizontal direction between the reference position of the bucket 6 and the current position as the movement distance.
- the moving distance is, for example, a positive value when the current position of the bucket 6 is closer to the upper swing body 3 than the reference position, and a negative value when the current position of the bucket 6 is farther from the upper swing body 3 than the reference position. It becomes. In the example of FIG. 9, the moving distance is 3.50 m.
- the lateral surface angle display area Gg is an area for displaying the value of the lateral surface angle and an illustration image representing the lateral surface angle.
- the lateral slope angle is an angle formed between a line segment representing the surface of the slope of the work target on the vertical plane that crosses the bucket 6 and a horizontal line. In the example of FIG. 9, the lateral surface angle is 15 °, which is lower right as viewed from the shovel.
- the first target construction surface image schematically representing the positional relationship between the bucket 6 and the target construction surface is displayed in the lateral surface angle display area Gg.
- the bucket 6 and the target construction surface when the operator sits in the cabin 10 and looks at the front of the excavator are schematically displayed as the bucket image and the target construction surface image.
- the bucket image is a graphic representing the bucket 6 and is represented in a shape when the bucket 6 is viewed from the cabin 10.
- the target construction surface image is a figure representing the ground as the target construction surface, and is represented in a shape when viewed from the cabin 10 as in the bucket image.
- the interval between the bucket image and the target construction surface image is displayed so as to change according to the change in the positional relationship (distance) between the actual tip of the bucket 6 and the target construction surface.
- the relative inclination angle between the bucket image and the target construction surface image is displayed so as to change according to the change in the positional relationship (relative inclination angle) between the actual bucket 6 and the target construction surface.
- the operator can grasp the positional relationship between the bucket 6 and the target construction surface and the lateral surface angle by looking at the first target construction surface display image.
- the target construction surface image may be displayed so as to be larger than the actual lateral surface angle in order to improve the visibility of the operator.
- the operator can recognize the rough lateral surface angle from the target construction surface image displayed on the first target construction surface display image. Further, when the operator wants to know an accurate value of the lateral surface angle, the operator only has to look at the value of the lateral surface angle displayed numerically below the target construction surface image.
- the vertical slope angle display area Gh is an area for displaying the vertical slope angle and an illustration image representing the vertical slope angle.
- the vertical slope angle is an angle formed between a line segment representing the surface of the slope of the work target on the vertical plane that cuts through the bucket 6 and a horizontal line.
- the vertical slope angle of the slope with an upward slope as viewed from the shovel is 35 °.
- a second target construction surface image that schematically represents the positional relationship between the bucket 6 and the target construction surface is displayed in the vertical slope angle display area Gh.
- the bucket 6 and the target construction surface when viewed from the side are schematically displayed as a bucket image and a target construction surface image.
- the bucket image is represented in a shape when the bucket 6 is viewed from the side.
- the target construction surface image is represented in a form when viewed from the side.
- the interval between the bucket image and the target construction surface image is displayed so as to change according to the change in the positional relationship (distance) between the actual tip of the bucket 6 and the target construction surface.
- the relative inclination angle between the bucket image and the target construction surface image is displayed so as to change according to the change in the positional relationship (relative inclination angle) between the actual bucket 6 and the target construction surface.
- the operator can grasp the positional relationship between the bucket 6 and the target construction surface and the vertical slope angle by looking at the second target construction surface display image.
- the target construction surface image may be displayed so as to be larger than the actual inclination angle in order to improve the visibility of the operator.
- the operator can recognize the approximate vertical slope angle from the target construction surface image displayed in the second target construction surface display image.
- the operator wants to know an accurate vertical slope value, he / she only has to see the value of the vertical slope angle displayed numerically below the target construction surface image.
- the engine operating time display area Gi is an area for displaying the cumulative operating time of the engine 11 as an image. In the example shown in FIG. 9, a value using the unit “hr (hour)” is displayed.
- the departure angle display area Gj is an area for displaying the departure angle.
- the deviation angle is an angle that represents the magnitude of deviation from a state where the excavator and the slope of the work target are directly facing each other. For example, the deviation angle between the front and rear axes of the excavator and the direction perpendicular to the extension direction of the slope of the work target is shown. An angle formed between them.
- the deviation angle is, for example, 0 ° in a state where the excavator and the slope of the work object face each other, and increases as the excavator upper swing body 3 turns rightward. In the example of FIG. 9, the departure angle is 30 °.
- the machine guidance device 50 superimposes and displays an image representing the extension direction of the slope WS of the work target or a direction perpendicular to the extension direction on the camera image.
- an alternate long and short dash line L1v indicating the direction perpendicular to the extension direction of the slope WS or a two-dot chain line L1p indicating the extension direction of the slope WS is represented by a fan-shaped overhead image, a rear image, an all-around overhead image, a front image, or the like. It is displayed superimposed on the camera image. Therefore, the excavator operator who views the output image Gx can intuitively understand, for example, how much the turning operation allows the excavator to face the slope. As a result, the machine guidance device 50 can improve the operability of the excavator.
- the machine guidance device 50 displays an image indicating the orientation of the excavator on the output image Gx.
- a broken line L2 corresponding to the front and rear axes of the shovel and a scale G2 corresponding to the left and right axes of the excavator are superimposed and displayed on the camera image. Therefore, the excavator operator who views the output image Gx can intuitively understand, for example, how much the excavator's orientation deviates from the orientation of the excavator in the facing state.
- the machine guidance device 50 displays an arrow G3 indicating an operation direction for causing the shovel to face the slope WS in the output image Gx. Therefore, the excavator operator who views the output image Gx can intuitively understand, for example, how much the turning operation or the traveling operation should be performed in the left or right direction in order to make the excavator directly face the slope WS.
- the machine guidance device 50 displays an image representing that the excavator is facing the output image Gx. For example, the machine guidance device 50 blinks the facing mark G4 when the shovel and the slope WS face each other. Therefore, the operator of the shovel who sees the output image Gx can intuitively understand that the shovel and the slope WS face each other.
- the machine guidance device 50 displays the facing mark G4 on the output image Gx when the shovel and the slope WS are facing each other, but the shovel and the slope WS are correctly seated according to the voice information. You may be made to tell an operator about it.
- the machine guidance device 50 may transmit the operation direction, deviation angle, and the like for causing the shovel to face the slope WS to the operator by voice information.
- Inclination angle calculation unit 503 ... Height calculation unit 504 ... Comparison unit 505 ...
- Alarm control unit 506 ... Guidance data output unit 507 ... Work object setting unit 508 ... Work object surface information display part 509 ... Excavator direction display part 510 ... Operation direction display part 511 ... Face-to-face display part S1 ... Boom angle sensor S2 ... Arm angle sensor S3 ... Bucket angle sensor S4 ... Airframe tilt sensor S5 ... Turning angular velocity sensor S6 ... Camera S6B ... Rear camera S6F ... Front camera S6L ... Left camera S6R ⁇ ⁇ Right-side camera S7 ... Communication device S8 ... Positioning device D1 ... Input device D2 ... Voice output device D3 And display unit D3a ⁇ ⁇ ⁇ conversion processing unit D4 ⁇ ⁇ ⁇ memory device D5 ⁇ ⁇ ⁇ gate lock lever D6 ⁇ ⁇ ⁇ gate lock valve D7 ⁇ ⁇ ⁇ engine controller unit
Abstract
Description
Claims (12)
- 下部走行体と、
前記下部走行体に旋回可能に搭載される上部旋回体と、
前記上部旋回体に取り付けられるカメラと、
前記カメラが取得したカメラ画像を含む出力画像を生成する演算処理装置と、を備えるショベルであって、
前記演算処理装置は、作業対象面の延長方向又は該延長方向に垂直な方向を表す画像を前記カメラ画像に重畳表示する、
ショベル。 - 前記演算処理装置は、前記ショベルの向きを表す画像を前記出力画像に表示する、
請求項1に記載のショベル。 - 前記カメラ画像は俯瞰画像である、
請求項1に記載のショベル。 - 前記演算処理装置は、前記ショベルを前記作業対象面に正対させるための操作方向を示す矢印を前記出力画像に表示する、
請求項1に記載のショベル。 - 前記操作方向は、旋回方向又は進行方向である、
請求項4に記載のショベル。 - 前記演算処理装置は、前記作業対象面の延長方向又は該延長方向に垂直な方向を示す第1線分と、前記ショベルの向きを示す第2線分とを前記カメラ画像に重畳表示し、
前記ショベルと前記作業対象面とが正対した場合、前記第1線分は前記第2線分と平行になり、或いは、一致する、
請求項1に記載のショベル。 - 前記演算処理装置は、前記ショベルと前記作業対象面とが正対した場合、正対した旨を表す画像を前記出力画像に表示する、
請求項1に記載のショベル。 - 前記演算処理装置は、ガイダンス情報を表示する、
請求項1に記載のショベル。 - 前記演算処理装置は、車両情報を表示する、
請求項1に記載のショベル。 - 前記演算処理装置は、バケットと目標施工面との位置関係を表す目標施工面表示画像を前記カメラ画像と同時に表示し、
前記目標施工面表示画像は、前記バケットを側方から見たときの前記バケットの図形と前記目標施工面の図形とを含み、前記バケットと前記目標施工面との位置関係の変化に応じて変化する、
請求項1に記載のショベル。 - 前記演算処理装置は、バケットと目標施工面との位置関係を表す目標施工面表示画像を前記カメラ画像と同時に表示し、
前記目標施工面表示画像は、前記バケットをキャビンから見たときの前記バケットの図形と前記目標施工面の図形とを含み、前記バケットと前記目標施工面との位置関係の変化に応じて変化する、
請求項1に記載のショベル。 - 前記演算処理装置は、バケットの高さと目標施工面の高さとの関係を表すバー表示を前記カメラ画像と同時に表示する、
請求項1に記載のショベル。
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CN201680047002.3A CN107923154B (zh) | 2015-08-10 | 2016-08-09 | 挖土机 |
JP2017534458A JP6672313B2 (ja) | 2015-08-10 | 2016-08-09 | ショベル |
EP16835166.6A EP3336265B1 (en) | 2015-08-10 | 2016-08-09 | Shovel |
KR1020187004674A KR102498986B1 (ko) | 2015-08-10 | 2016-08-09 | 쇼벨 |
US15/890,667 US10687026B2 (en) | 2015-08-10 | 2018-02-07 | Shovel |
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JP (1) | JP6672313B2 (ja) |
KR (1) | KR102498986B1 (ja) |
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Also Published As
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JPWO2017026469A1 (ja) | 2018-05-31 |
CN107923154B (zh) | 2024-02-20 |
JP6672313B2 (ja) | 2020-03-25 |
KR102498986B1 (ko) | 2023-02-13 |
US20180167588A1 (en) | 2018-06-14 |
US10687026B2 (en) | 2020-06-16 |
EP3336265B1 (en) | 2019-04-10 |
EP3336265A4 (en) | 2018-08-01 |
EP3336265A1 (en) | 2018-06-20 |
KR20180039082A (ko) | 2018-04-17 |
CN107923154A (zh) | 2018-04-17 |
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