WO2018164152A1 - ショベル - Google Patents
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- Publication number
- WO2018164152A1 WO2018164152A1 PCT/JP2018/008654 JP2018008654W WO2018164152A1 WO 2018164152 A1 WO2018164152 A1 WO 2018164152A1 JP 2018008654 W JP2018008654 W JP 2018008654W WO 2018164152 A1 WO2018164152 A1 WO 2018164152A1
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- WO
- WIPO (PCT)
- Prior art keywords
- button
- operation lever
- displayed
- setting screen
- surface portion
- Prior art date
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Images
Classifications
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- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
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- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
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- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
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- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04774—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional switches or sensors on the handle
Definitions
- This disclosure relates to excavators.
- machine guidance system a system that guides the operation of the excavator
- ICT setting screens related to construction support systems using information communication technology (Information Communications Technology (ICT)) such as machine guidance systems (hereinafter referred to as “ICT setting screens”) may be used frequently. . Therefore, the operator may feel annoyed by pressing the hardware switch to display the setting screen.
- ICT Information Communications Technology
- An excavator is provided in a lower traveling body, an upper revolving body that is pivotably mounted on the lower traveling body, a cab mounted on the upper revolving body, and the cab.
- a function for switching the screen displayed on the apparatus to the setting screen is assigned.
- the above-described means provides an excavator that can display the ICT setting screen more easily.
- It is a system block diagram of the shovel of FIG. It is a figure which shows the structural example of a machine guidance system. It is a figure which shows an example of a main screen. It is a figure which shows an example of an information display / setting screen. It is a perspective view inside a cabin.
- FIG. 1 is a side view illustrating a shovel PS according to an embodiment of the present invention.
- An upper swing body 3 is mounted on the lower traveling body 1 of the excavator PS so as to be swingable 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.
- a bucket 6 is attached to the tip of the arm 5 as an end attachment (working part).
- 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
- a bucket angle sensor S3 is attached to the bucket 6.
- the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be collectively referred to as “attitude sensors”.
- the posture sensor detects the posture of the attachment. For example, the position of the work site of the attachment can be derived.
- 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, for example, an inclination with respect to a 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 S2 is an acceleration sensor that detects the rotation angle of the arm 5 with respect to the boom 4 by detecting an inclination with respect to the horizontal plane, for example.
- 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 an inclination with respect to the horizontal plane, for example.
- 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, a rotary encoder that detects a rotation angle around a connection, and the like. It may be. You may be comprised by the combination of the gyro sensor and the acceleration sensor.
- the upper turning body 3 is mounted with a power source such as the engine 11, a vehicle body tilt sensor S 4 and an imaging device 80.
- the vehicle body tilt sensor S4 detects the tilt angle of the upper swing body 3.
- the vehicle body inclination sensor S4 is an acceleration sensor that detects an inclination angle of the upper swing body 3 by detecting an inclination with respect to a horizontal plane, for example. You may be comprised by the combination of the gyro sensor and the acceleration sensor.
- the upper revolving unit 3 is provided with an imaging device 80.
- the imaging device 80 includes a left camera 80L that images the left space of the excavator PS, a right camera 80R that images the right space, and a back camera 80B that images the rear space.
- the left camera 80L, the right camera 80R, and the back camera 80B are digital cameras having an image sensor such as a CCD or a CMOS, for example, and send captured camera images to the display device 40 provided in the cabin 10.
- the upper swing body 3 is provided with a cabin 10 as a cab.
- a positioning device (GNSS receiver) G1 and a communication device T1 are provided on the top of the cabin 10.
- the positioning device G1 detects the position of the excavator PS and supplies the position data to the machine guidance system 50 in the controller 30.
- the communication device T1 controls communication with the outside and supplies data acquired from the outside to the machine guidance system 50 in the controller 30.
- a controller 30, a display device 40, an audio output device 43, a storage device 47, and the like are provided in the cabin 10.
- the controller 30 functions as a main control unit that performs drive control of the excavator PS.
- the controller 30 includes an arithmetic processing unit that includes 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 controller 30 also functions as a machine guidance system 50 that guides the operation of the excavator PS.
- the machine guidance system 50 uses a relative relationship between the work site of the attachment and the target surface, such as the distance between the target surface, which is the surface of the target terrain set by the operator, the construction manager, etc., and the work site of the attachment. Is notified to the operator.
- the work site of the attachment is, for example, the tip (toe) of the bucket 6 as an end attachment, the back surface of the bucket 6, the tip of a breaker as an end attachment, or the like.
- the machine guidance system 50 notifies the operator of work information via the display device 40, the audio output device 43, etc., and guides the operation of the excavator PS.
- the machine guidance system 50 may execute a machine control function for automatically or semi-automatically operating the excavator PS.
- the machine guidance system 50 is incorporated in the controller 30, but the machine guidance system 50 and the controller 30 may be provided separately.
- the machine guidance system 50 may be configured by an arithmetic processing device including a CPU and an internal memory.
- Various functions of the machine guidance system 50 may be realized by the CPU executing a program stored in the internal memory.
- the display device 40 is configured to display an image including various work information in response to a command from the machine guidance system 50 included in the controller 30.
- the display device 40 is a liquid crystal display connected to the machine guidance system 50, for example.
- the audio output device 43 outputs various audio information in response to an audio output command from the machine guidance system 50 included in the controller 30.
- the audio output device 43 includes a speaker connected to the machine guidance system 50, for example. Further, the audio output device 43 may include an alarm device such as a buzzer.
- Storage device 47 stores various information.
- the storage device 47 is composed of a nonvolatile storage medium such as a semiconductor memory, for example.
- the storage device 47 stores design data and the like.
- Various information output by the machine guidance system 50 or the like may be stored.
- the gate lock lever 49 is a mechanism that prevents the excavator PS from being erroneously operated, and is provided between the door of the cabin 10 and the driver's seat.
- the operator can make various operating devices operable by sitting on the driver's seat and pulling up the gate lock lever 49. At this time, the operator is in a state where it is difficult for the operator to leave the cabin 10 due to being blocked by the gate lock lever 49.
- the operator can make various operating devices inoperable by pushing down the gate lock lever 49. At this time, since the operator is not blocked by the gate lock lever 49, the operator can easily exit the cabin 10.
- FIG. 2 shows a configuration example of a basic system mounted on the excavator PS.
- the basic system includes an engine 11, a controller 30, a display device 40, and the like.
- the display device 40 is provided in the cabin 10 and is configured to display an image including work information supplied from the machine guidance system 50.
- the display device 40 is connected to the controller 30 including the machine guidance system 50 via, for example, a communication network such as CAN or LIN, a dedicated line, or the like.
- the display device 40 includes a conversion processing unit 40 a that generates an image to be displayed on the image display unit 41.
- the conversion processing unit 40a converts data to be displayed on the image display unit 41 among various data input from the controller 30 to the display device 40 into image data.
- Data input from the controller 30 to the display device 40 includes, for example, data related to engine coolant temperature, data related to hydraulic oil temperature, data related to the remaining amount of urea water, data related to the remaining amount of fuel, and the like.
- the conversion processing unit 40a generates image data to be displayed on the image display unit 41 based on the converted image data and the image data obtained from the imaging device 80. Therefore, the display device 40 is configured such that image data is input from each of the left camera 80L, the right camera 80R, and the back camera 80B.
- the conversion processing unit 40a outputs the generated image data to the image display unit 41.
- the image display unit 41 displays an image corresponding to the image data generated by the conversion processing unit 40a.
- the conversion processing unit 40 a may be provided in the controller 30 instead of the display device 40. In this case, the imaging device 80 is connected to the controller 30.
- the display device 40 includes an input device 42.
- the input device 42 is a device for an operator of the excavator PS to input various information to the controller 30.
- the input device 42 is a push button switch provided on the switch panel.
- the input device 42 may be a membrane switch or a touch panel, for example.
- the input device 42 includes a display switching button 42a and a direction button 42b.
- the display switching button 42 a is a button for switching an image displayed on the image display unit 41. Each time the display switching button 42a is pressed, the screen displayed on the image display unit 41 is switched.
- the screen displayed on the image display unit 41 includes a main screen and an information display / setting screen.
- the direction button 42b is an example of an operation unit for inputting a direction.
- a cross button configured to be able to input four directions of up, down, left, and right is employed.
- Four independent buttons including an upper button, a lower button, a left button, and a right button may be used. The operator can switch the screen, move the cursor displayed in the screen, or change the value of the item selected by moving the cursor by operating the direction button 42b.
- the display device 40 operates by 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 PS other than the controller 30 and the display device 40.
- the starter 11 b of the engine 11 is driven by the power from the storage battery 70 to start the engine 11.
- the engine 11 is connected to the main pump 14 and the pilot pump 15, and is controlled by an engine controller (ECU 74).
- Various data indicating the state of the engine 11 is output from the ECU 74 to the controller 30.
- the various data indicating the state of the engine 11 includes, for example, data related to the temperature of the cooling water detected by the water temperature sensor 11c.
- the controller 30 is configured to accumulate various data in the internal storage unit 30a and to transmit various data to the display device 40 as necessary.
- the main pump 14 is a hydraulic pump for supplying hydraulic oil to the control valve 17 via the hydraulic oil line.
- the main pump 14 is, for example, a swash plate type variable displacement hydraulic pump.
- the pilot pump 15 is a hydraulic pump for supplying hydraulic oil to various hydraulic control devices via a pilot line.
- the pilot pump 15 is, for example, a fixed displacement hydraulic pump.
- the control valve 17 is a hydraulic control device that controls the hydraulic system in the excavator PS.
- the control valve 17 can selectively supply hydraulic oil discharged from the main pump 14 to hydraulic actuators such as a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a traveling hydraulic motor, and a turning hydraulic motor, for example. It is configured.
- the turning hydraulic motor may be replaced with a turning electric motor as an electric actuator.
- the operating device 26 is a device used for operating the actuator, and is provided in the cabin 10.
- the operation device 26 includes an operation lever and an operation pedal.
- the actuator includes at least one of a hydraulic actuator and an electric actuator. For example, when the operating device 26 is operated, hydraulic oil is supplied from the pilot pump to the pilot port of the flow control valve corresponding to each of the hydraulic actuators. Each pilot port is supplied with hydraulic oil having a pressure corresponding to the operation direction and operation amount of the corresponding operation device 26.
- the controller 30 acquires various data described below, for example.
- the data acquired by the controller 30 is stored in the storage unit 30a.
- the discharge pressure sensor 14 b sends data indicating the discharge pressure of the main pump 14 to the controller 30. These data (data representing physical quantities) are stored in the storage unit 30a.
- the oil temperature sensor 14c provided in the pipe line between the main pump 14 and the tank in which the hydraulic oil sucked by the main pump 14 is stored provides the controller 30 with data relating to the temperature of the hydraulic oil flowing through the pipe line. send.
- the pressure sensors 15a and 15b detect the pilot pressure sent to the control valve 17 when the operating device 26 is operated, and send data related to the detected pilot pressure to the controller 30.
- the operation lever as the operation device 26 is provided with a switch button 26 ⁇ / b> S as another example of the input device 42. The operator can send a command signal to the controller 30 by operating the switch button 26S while operating the operation lever.
- the engine speed adjusting dial 75 is provided in the cabin 10 of the excavator PS.
- the engine speed adjustment dial 75 is a dial for adjusting the engine speed, and can switch the engine speed in stages, for example.
- the engine speed adjustment dial 75 is provided so that the engine speed can be switched in four stages: SP mode, H mode, A mode, and idling mode.
- the engine speed adjustment dial 75 sends data related to the setting state of the engine speed to the controller 30.
- FIG. 2 shows a state in which the H mode is selected by 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 excavator PS with low noise while giving priority to fuel consumption, and uses the third highest engine rotation speed.
- the idling mode is a rotation speed mode that is selected when the engine is desired to be in an idling state, and uses the lowest engine speed.
- the engine 11 is controlled to a constant rotational speed at the engine rotational speed in the rotational speed mode set by the engine rotational speed adjustment dial 75.
- FIG. 3 shows a configuration example of the controller 30.
- Controller 30 controls the entire operation of the excavator PS.
- the controller 30 is configured to close the gate lock valve 49a when the gate lock lever 49 is depressed, and to open the gate lock valve 49a when the gate lock lever 49 is pulled up.
- the gate lock valve 49 a is a switching valve provided in the oil passage between the control valve 17 and the operation device 26.
- the gate lock valve 49a is configured to open and close in response to a command from the controller 30, but is mechanically connected to the gate lock lever 49 and opens and closes according to the operation of the gate lock lever 49. Also good.
- the gate lock valve 49a blocks the flow of hydraulic oil between the control valve 17 and the operation device 26, thereby invalidating the operation of the operation device 26. Further, the gate lock valve 49a makes the operation of the operating device 26 effective by communicating between the control valve 17 and the operating device 26 in the open state.
- the controller 30 detects the operation direction and the operation amount of the operation device 26 from the pilot pressure detected by the pressure sensors 15a and 15b with the gate lock valve 49a opened and the operation of the operation device 26 enabled. To do.
- the controller 30 may control whether or not to perform guidance by the machine guidance system 50 in addition to controlling the operation of the entire shovel PS. For example, when it is determined that the excavator PS is at rest, the controller 30 may output a guidance stop command to the machine guidance system 50 so as to stop the guidance by the machine guidance system 50.
- the controller 30 may output a guidance stop command to the machine guidance system 50 when outputting an auto idle stop command to the ECU 74.
- the controller 30 may output a guidance stop command to the machine guidance system 50 when it is determined that the gate lock lever 49 is in a depressed state.
- FIG. 3 is a functional block diagram illustrating a configuration example of the machine guidance system 50.
- the machine guidance system 50 receives information output by the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the vehicle body tilt sensor S4, the positioning device G1, the input device 42, and the like. And various calculations are performed based on the received information and the information memorize
- the machine guidance system 50 calculates the height of the work part of the attachment, and issues a control command according to the distance between the height of the work part and a predetermined target height to the display device 40 and the voice output device 43. Output to at least one.
- the display device 40 displays an image indicating the magnitude of the distance.
- the voice output device 43 outputs a sound indicating the magnitude of the distance.
- the target height is a concept including the target depth, and is, for example, a height that the operator inputs as a vertical distance with respect to the reference position after the work site is brought into contact with the reference position.
- the reference position typically has a known latitude, longitude, and altitude.
- size of the distance of the work part height of the attachment and target height which are displayed on the display apparatus 40 is set as "work part guidance information.”
- the operator can proceed with the work while confirming the transition of the distance by looking at the work part guidance information.
- the machine guidance system 50 includes an inclination angle calculation unit 501, a height calculation unit 502, a distance calculation unit 503, a target setting unit 504, and the like in order to perform the above-described guidance.
- the tilt angle calculation unit 501 calculates the tilt angle of the excavator PS, which is the tilt angle of the upper swing body 3 with respect to the horizontal plane, based on the detection signal from the vehicle body tilt sensor S4.
- the inclination angle of the shovel PS includes, for example, the inclination angle of the front and rear axes of the upper swing body 3 with respect to the horizontal plane and the tilt angle of the left and right axes of the upper swing body 3 with respect to the horizontal plane.
- the height calculation unit 502 is an attachment to the reference plane based on the tilt angle calculated by the tilt angle calculation unit 501 and the rotation angles of the boom 4, arm 5, and bucket 6 calculated from the detection signal of the attitude sensor.
- the height of the working part is calculated.
- the reference plane is a virtual plane including a plane on which the excavator is located, for example. In the example of FIG. 3, since excavation is performed at the tip of the bucket 6, the tip (toe) of the bucket 6 corresponds to the work site of the attachment. When working to level the earth and sand on the back surface of the bucket 6, the back surface of the bucket 6 corresponds to the work site of the attachment.
- the distance calculation unit 503 calculates the distance between the height of the work part calculated by the height calculation unit 502 and the target height. In the example of FIG. 3, the distance between the height of the tip (toe) of the bucket 6 calculated by the height calculation unit 502 and the target height is calculated.
- the target setting unit 504 sets a target value used in the machine guidance function or the machine control function.
- the target setting unit 504 sets a target value based on information regarding the position of a predetermined part of the excavation attachment at two time points. For example, based on the position coordinates of the tip of the bucket 6 at two points in time, an angle formed between an imaginary straight line passing through these two coordinate points and a horizontal plane is calculated, and the angle is set as the target slope angle.
- Each of the two time points is a time point when a predetermined condition is satisfied. For example, it includes a time point when a predetermined switch is pressed, a time point when a predetermined time elapses while the excavation attachment is stationary.
- the target slope angle may include zero degrees.
- the target setting unit 504 may display geometric information on the display device 40 using information regarding the position of a predetermined part of the excavation attachment at two points in time.
- Geometric information is information related to the result of surveying by an excavator.
- the target setting unit 504 for example, based on the position coordinates of the tip of the bucket 6 at two points in time, displays the angle formed between the virtual straight line passing through these two coordinate points and the horizontal plane as geometric information.
- Two coordinate points may be displayed as geometric information as they are, and a horizontal distance and a vertical distance between the two coordinate points may be displayed as geometric information.
- the first of the two time points is a time point when the predetermined condition is satisfied as described above.
- the second time of the two time points is the current time point. In this way, the geometric information is displayed in order for the operator to recognize the positional relationship between the coordinate point of the predetermined part registered at the first time point and the coordinate point of the predetermined part at the current time point.
- FIG. 4 is a diagram illustrating an example of a main screen 41 ⁇ / b> V displayed on the image display unit 41 of the display device 40.
- the main screen 41V includes a date / time display area 41a, a travel mode display area 41b, an attachment display area 41c, an average fuel consumption display area 41d, an engine control state display area 41e, an engine operating time display area 41f, a cooling water temperature display area 41g, and a remaining fuel amount. It includes a display area 41h, a rotation speed mode display area 41i, a urea water remaining amount display area 41j, a hydraulic oil temperature display area 41k, and a camera image display area 41m.
- Each of the travel mode display area 41b, the attachment display area 41c, the engine control state display area 41e, and the rotation speed mode display area 41i is an example of a setting state display unit that displays the setting state of the excavator.
- Each of the average fuel consumption display area 41d, the engine operation time display area 41f, the cooling water temperature display area 41g, the fuel remaining amount display area 41h, the urea water remaining amount display area 41j, and the hydraulic oil temperature display area 41k is an operating state of the excavator. It is an example of the driving
- the date display area 41a is an area for displaying the current date and time.
- the travel mode display area 41b is an area for displaying the current travel mode.
- the attachment display area 41c is an area for displaying an image representing the currently attached attachment.
- the average fuel consumption display area 41d is an area for displaying the current average fuel consumption.
- the engine control state display area 41e is an area for displaying the control state of the engine 11.
- the cooling water temperature display area 41g is an area for displaying the current temperature state of the engine cooling water.
- the remaining fuel amount display area 41 h is an area for displaying the remaining amount of fuel stored in the fuel tank 55.
- the rotation speed mode display area 41i is an area for displaying the current rotation speed mode.
- the urea water remaining amount display area 41j is an area for displaying the remaining amount of urea water stored in the urea water tank.
- the hydraulic oil temperature display area 41k is an area for displaying the temperature state of the hydraulic oil in the hydraulic oil tank.
- the camera image display area 41m is an area for displaying a camera image.
- FIG. 5 is a diagram illustrating an example of the information display / setting screen 41VC displayed on the image display unit 41 of the display device 40.
- the information display / setting screen 41VC is different from the main screen 41V of FIG. 4 in that it has a hierarchical information display area 41n instead of the camera image display area 41m. That is, at the time of operation, the hierarchical information display area 41n is switched to the camera image display area 41m, and a camera image is displayed.
- the information display / setting screen 41VC is common to the main screen 41V in other points. Therefore, description of common parts is omitted, and different parts are described in detail.
- the hierarchical information display area 41n is an area for displaying information having a hierarchical structure.
- the hierarchical information display area 41n displays information having a hierarchical structure of two layers using five tabs per layer.
- FIG. 5 illustrates a procedure for changing the setting value of a specific setting item in the hierarchical information display area 41n. Specifically, FIG. 5 shows a procedure in which the operator changes the setting value of the setting item in the fifth tab of the second layer by using the display switching button 42a and the direction button 42b.
- the operator switches the camera image display area 41m to the hierarchy information display area 41n by pressing the display switching button 42a in a state where the camera image display area 41m is displayed instead of the hierarchy information display area 41n, and the display device 40 is displayed.
- the first tab “A” in the first layer is selected, and the second to fifth tabs “B” to “E” are not selected.
- a first image (not shown) in a state is displayed.
- the fifth tab “E” in the first layer is in the selected state, and the first to fourth four tabs “A” to “D” are in the non-selected state (the fifth Z2 image described later). Is displayed. Various information is displayed in the main area R1 indicated by a broken line.
- the screen on which the first image is displayed in the hierarchy information display area 41n is, for example, a fuel consumption information screen.
- a fuel consumption information screen On the fuel consumption information screen, for example, past changes in fuel consumption (for example, fuel consumption per unit time) are displayed.
- the image displayed in the hierarchical information display area 41n is switched to the second image (not shown).
- the second tab “B” in the first layer is in the selected state, and the first and third to fifth four tabs “A” and “C” to “E” are in a non-selected state.
- Various information is displayed in the main region R1 as in the case of the first image.
- the screen on which the second image is displayed in the hierarchical information display area 41n is, for example, a machine state information screen. On the machine state information screen, for example, past changes such as engine speed are displayed.
- the image displayed in the hierarchical information display area 41n is switched to the third image (not shown).
- the image displayed in the hierarchical information display area 41n is switched to the fourth image (not shown).
- the third tab “C” in the first layer is selected, and the four tabs “A”, “B”, “D”, and “E” in the first, second, fourth, and fifth are displayed. Not selected.
- the fourth tab “D” in the first layer is in a selected state, and the first to third and fifth four tabs “A” to “C” and “E” are in a non-selected state.
- Various information is displayed in the main region R1 as in the case of the first image.
- the screen on which the third image is displayed in the hierarchical information display area 41n is, for example, a maintenance information screen
- the screen on which the fourth image is displayed in the hierarchical information display area 41n is, for example, an attachment option information screen.
- the image displayed in the hierarchical information display area 41n is switched to the fifth image (not shown).
- the fifth tab “E” in the first layer is in the selected state, and the four first to fourth tabs “A” to “D” are in the non-selected state.
- the fifth image includes five tabs in the second layer in the main region R1.
- the screen on which the fifth image is displayed in the hierarchical information display area 41n is, for example, an ICT setting screen related to a construction support system using information communication technology such as the machine guidance system 50.
- the construction support system displays, for example, an ICT setting screen that enables the setting of the relative relationship between the work site of the attachment (for example, the tip (toe of the bucket 6), the back of the bucket 6) and the target surface.
- the operator of the excavator PS can make settings related to the machine guidance function or the machine control function using the ICT setting screen.
- the image displayed in the hierarchical information display area 41n is switched to the first image.
- the image displayed in the hierarchical information display area 41n is switched to the fifth V image (not shown).
- the first tab “V” in the second layer is in a selected state, and the second to fifth fourth tabs “W” to “Z” are in a non-selected state.
- setting values of setting items are displayed in the main area.
- the screen on which the fifth V image is displayed in the hierarchical information display area 41n is, for example, a dimension setting screen that is one of the ICT setting screens. On the dimension setting screen, for example, the dimensions of the bucket 6 are set.
- the image displayed in the hierarchical information display area 41n is switched to the fifth W image (not shown).
- the fifth W image the second tab “W” in the second layer is in a selected state, and the four tabs “V” and “X” to “Z” in the first and third to fifth are not selected.
- the setting value of the setting item is displayed in the main area.
- the screen on which the fifth W image is displayed in the hierarchical information display area 41n is, for example, a buzzer setting screen that is one of the ICT setting screens. On the buzzer setting screen, for example, the frequency (high and low) of the buzzer sound, the volume, etc. are set.
- the image displayed in the hierarchical information display area 41n is switched to the 5X image (not shown).
- the image displayed in the hierarchical information display area 41n is switched to the fifth Y image (not shown).
- the image displayed in the hierarchical information display area 41n is switched to the fifth Z image (not shown).
- the third tab “X” in the second layer is selected, and the fourth tabs “V”, “W”, “Y”, and “Z” in the first, second, fourth, and fifth layers are displayed. Not selected.
- the fourth tab “Y” in the second layer is in a selected state, and the first to third and fifth four tabs “V” to “X” and “Z” are in a non-selected state.
- the fifth tab “Z” in the second layer is in a selected state, and the first to fourth four tabs “V” to “Y” are in a non-selected state.
- the setting value of the setting item is displayed in each main area of the fifth X image to the fifth Z image.
- the screen on which the fifth X image is displayed in the hierarchical information display area 41n is, for example, a survey setting screen that is one of the ICT setting screens. In the survey setting screen, for example, whether or not to enable use of the survey mode is set.
- the screen on which the fifth Y image is displayed in the hierarchical information display area 41n is, for example, a reference point setting screen that is one of the ICT setting screens. On the reference point setting screen, for example, whether or not to enable use of a later-described bucket bench set function is set.
- the screen on which the fifth Z image is displayed in the hierarchical information display area 41n is, for example, a turning angle reference setting screen that is one of the ICT setting screens. In the turning angle reference setting screen, for example, whether or not to enable use of a turning bench set function described later is set.
- the image displayed in the hierarchical information display area 41n is switched to the fifth V image.
- the image displayed in the hierarchical information display area 41n is switched to the fifth Z1 image (not shown).
- the first setting item in the main area of the fifth tab “Z” in the second layer is in the selected state, and the second setting item is in the non-selected state.
- FIG. 5 shows a state in which the fifth Z2 image is displayed.
- the second setting item in the main region R2 of the fifth tab “Z” in the second layer is in a selected state, and the first setting item is in a non-selected state.
- the second setting item in the selected state may be instructed using a cursor or the like.
- the image displayed in the hierarchical information display area 41n is switched to the fifth Z1 image.
- the setting value of the second setting item is incremented (increased) by a predetermined increment.
- the setting value of the second setting item is decremented (reduced) by a predetermined decrement.
- the operator can change the setting value of any setting item by the above procedure. Specifically, the operator presses the display switching button 42a to display the information display / setting screen 41VC, and then displays the ICT setting screen by pressing the right portion of the direction button 42b four times.
- the ICT setting screen may be displayed by pressing the left portion of the direction button 42b once.
- ICT setting screen display operation a series of operations until the ICT setting screen is displayed.
- the turning angle reference setting screen may be displayed by pressing the lower part of the direction button 42b once and then pressing the left part of the direction button 42b once.
- the operator selects the second setting item on the turning angle reference setting screen by pressing the lower part of the direction button 42b twice, and then presses the right part or the left part of the direction button 42b.
- the setting value of the second setting item can be increased or decreased.
- the display switching button 42a of the input device 42 is assigned a function for switching the screen displayed on the display device 40 to the information display / setting screen 41VC.
- the direction button 42b of the input device 42 is assigned a function for switching the screen displayed on the display device 40 to the ICT setting screen. Therefore, the operator can display the ICT setting screen by operating the display switching button 42a and the direction button 42b.
- a function for selecting one of a plurality of setting items displayed on the ICT setting screen and a function for changing the value of each setting item are assigned to the direction button 42b of the input device 42. Therefore, the operator can change the value of each setting item by operating the direction button 42b.
- FIG. 6 is a perspective view of the interior of the cabin 10 and shows a state when the front of the excavator is viewed from the driver seat DS.
- the operation device 26 includes a left operation lever 26L, a right operation lever 26R, a travel lever 26F, and a travel pedal 26P.
- the left operation lever 26L is an operation lever for operating opening / closing of the arm 5 and turning of the upper swing body.
- the right operation lever 26 ⁇ / b> R is an operation lever for operating the raising / lowering of the boom 4 and the opening / closing of the bucket 6.
- the travel lever 26F is an operation lever that drives the travel hydraulic motor
- the travel pedal 26P is an operation pedal that drives the travel hydraulic motor.
- the switch button 26S includes three buttons provided at the tip of the left operation lever 26L and three buttons provided at the tip of the right operation lever 26R. The operator can operate the switch button 26S with a finger without releasing the hand from the operation lever.
- the switch button 26S includes a laser setting button 26S1, a survey mode button 26S2, a horn button 26S3, a bucket bench set button 26S4, a turning bench set button 26S5, and a one-touch idle button 26S6.
- the laser setting button 26S1 is a button used when using the laser reference plane defined by the rotating laser level.
- the operator presses the laser setting button 26 ⁇ / b> S ⁇ b> 1 when receiving a laser emitted from a rotating laser level with a laser receiver attached to the side of the arm 5, for example.
- the excavator PS determines the height of the ground contact surface (the ground on which the excavator PS is located) with respect to the laser reference plane and the tip of the bucket with respect to the laser reference plane based on the posture of the attachment at that time and the inclination angle of the upper swing body 3. Can be recognized.
- Surveying mode button 26S2 is a button for starting or ending surveying mode.
- the survey mode is one of the operation modes of the shovel, and is selected when surveying is performed using the shovel. In the example of FIG. 6, the survey mode starts when the survey mode button 26S2 is pressed.
- FIG. 7 illustrates processing in the surveying mode.
- FIG. 7 is a flowchart showing the flow of processing in the surveying mode.
- the operator starts the surveying mode (step ST1). For example, the operator presses the survey mode button 26S2 of the left operation lever 26L to start the survey mode.
- the operator aligns the tip of the bucket 6 with a desired first point (step ST2).
- the operator operates the left operation lever 26L and the right operation lever 26R to move the excavation attachment so that the toes of the bucket 6 come into contact with the first point.
- the controller 30 can calculate the position of the tip of the bucket 6 as the coordinates of the first point using the output of the attitude sensor.
- the operator aligns the tip of the bucket 6 with a desired second point (step ST4).
- the operator operates the left operation lever 26L and the right operation lever 26R to move the excavation attachment, and brings the toe of the bucket 6 into contact with the desired second point.
- the controller 30 can calculate the position of the tip of the bucket 6 as the coordinates of the second point using the output of the attitude sensor.
- the machine guidance system 50 calculates the horizontal distance and the vertical distance between the first point and the second point based on the coordinates of the first point and the second point, and displays the calculated distance on the display device 40. Therefore, the operator can easily confirm the horizontal distance and the vertical distance between any two points.
- the machine guidance system 50 may calculate and display an angle formed between a virtual plane including a virtual straight line passing through the first point and the second point and a horizontal plane. In this case, the operator can easily confirm the gradient of the plane including any two points with respect to the horizontal plane.
- the processing related to the survey mode shown in FIG. 7 can be executed when setting the target surface and when checking the finish after construction.
- the operator can keep the geometric information of the construction surface calculated from the first point and the second point within the target range after construction. You can check whether it is in place.
- the operator can set the reference surface and the target surface based on the first point and the second point on the string.
- the horn button 26S3 is a button for sounding the horn.
- the operator can sound a horn (not shown) attached to the excavator PS by pressing the horn button 26S3 at a desired timing.
- the bucket bench set button 26S4 is a button for executing a bucket bench set function, that is, a button for setting a benchmark (reference point) related to a bucket. For example, the operator presses the bucket bench set button 26S4 with the tip of the bucket 6 in contact with the reference point. The shovel PS registers the coordinates of the tip of the bucket 6 when the bucket bench set button 26S4 is pressed as the origin.
- the turning bench set button 26S5 is a button for executing a turning bench set function, that is, a button for setting a reference for a turning angle. For example, the operator presses the turning bench set button 26S5 in a state where the upper turning body 3 is oriented in a desired direction by a turning operation. The excavator PS registers the turning angle when the turning bench set button 26S5 is pressed as zero degrees.
- the one-touch idle button 26S6 is a button for putting the engine 11 in an idling state.
- the operator can execute the one-touch idle function by pressing the one-touch idle button 26S6. That is, the engine speed of the engine 11 can be reduced to the idle speed.
- the switch button 26S may be alternatively assigned so that a function related to the construction support system and a function related to the information display / setting screen 41VC are switched based on a predetermined condition.
- a function of switching the screen displayed on the display device 40 to the ICT setting screen may be assigned to the bucket bench set button 26S4 in a switchable manner.
- the ICT setting screen is displayed in the same manner as when the ICT setting screen display operation is performed. That is, the operator can immediately display the ICT setting screen without operating the direction button 42b many times.
- the bucket bench set button 26S4 is pressed when the predetermined condition is not satisfied, the original function of the bucket bench set button 26S4 is executed.
- the “predetermined condition” is, for example, when the switch button 26S (for example, the bucket bench set button 26S4) is pressed for a long time, two buttons (for example, the horn button 26S3 and the bucket bench) constituting the switch button 26S. This is satisfied when the set button 26S4) is pressed simultaneously. Further, “when the predetermined condition is satisfied” may be when the gate lock lever 49 is pushed down. In addition, a button other than the bucket bench set button 26S4 may be switchably assigned with a function of switching the screen displayed on the display device 40 to the ICT setting screen.
- FIG. 8 is a flowchart showing the flow of processing when the bucket bench set button 26S4 is pressed.
- the controller 30 repeatedly executes this process at a predetermined control cycle.
- the controller 30 determines whether or not the bucket bench set button 26S4 has been pressed (step ST11).
- step ST11 When it is determined that the bucket bench set button 26S4 is not pressed (NO in step ST11), the controller 30 repeats the determination in step ST11 until the bucket bench set button 26S4 is pressed.
- step ST11 the controller 30 determines whether a predetermined condition is satisfied.
- the controller 30 causes the display device 40 to display an ICT setting screen (step ST13). Specifically, the ICT setting screen in which the fifth V image is displayed in the hierarchical information display area 41n is displayed. A fifth Y image may be displayed instead of the fifth V image. That is, instead of the dimension setting screen, a reference point setting screen related to the bucket bench set function (a screen when the tab “Y” is selected) may be displayed.
- the controller 30 executes the bucket bench set function which is the original function assigned to the bucket bench set button 26S4 (step ST14).
- the excavator PS registers the coordinates of the tip of the bucket 6 when the bucket bench set button 26S4 is pressed as the origin.
- step ST12A in FIG. 9 and step ST12B in FIG. 10 is a specific example of the process shown in the flowchart of FIG. Specifically, the determination conditions in each of step ST12A in FIG. 9 and step ST12B in FIG. 10 are specific examples of the determination conditions in step ST12 in FIG. Therefore, description of the common part, that is, the part other than the determination condition is omitted, and the different part, that is, the determination condition will be described in detail.
- step ST11 when it is determined that the bucket bench set button 26S4 has been pressed (YES in step ST11), the controller 30 determines whether or not the bucket bench set button 26S4 has been pressed long (step ST12A). For example, it is determined whether or not the bucket bench set button 26S4 is continuously pressed for a predetermined time.
- the controller 30 displays the ICT setting screen on the display device 40 in the same manner as when the ICT setting screen display operation is performed. It is displayed (step ST13). This is because the operator's intention to display the ICT setting screen can be estimated. At this time, the controller 30 may display a reference point setting screen (screen when the tab “Y” is selected) instead of the dimension setting screen (screen when the tab “V” is selected).
- step ST12A when it is determined that the bucket bench set button 26S4 has not been pressed for a long time (NO in step ST12A), the controller 30 executes the bucket bench set function, which is the original function assigned to the bucket bench set button 26S4 ( Step ST14).
- step ST11 when it is determined that the bucket bench set button 26S4 is pressed (YES in step ST11), the controller 30 determines whether or not the gate lock lever 49 is pressed (step ST12B). It is determined whether or not the operation of the operation device 26 is invalid, that is, whether or not it is necessary to display a camera image including an image of the blind spot area.
- the controller 30 causes the display device 40 to display the ICT setting screen in the same manner as when the ICT setting screen display operation is performed. (Step ST13). This is because the movement of the attachment is prohibited, and it can be determined that there is no safety problem even if the ICT setting screen is displayed instead of the camera image. At this time, the controller 30 may display a reference point setting screen (screen when the tab “Y” is selected) instead of the dimension setting screen (screen when the tab “V” is selected).
- step ST12B when it is determined that the gate lock lever 49 is not depressed (NO in step ST12B), the controller 30 executes a bucket bench set function that is an original function assigned to the bucket bench set button 26S4 (step ST14).
- a bucket bench set function that is an original function assigned to the bucket bench set button 26S4 (step ST14). This is because, since the movement of the attachment is allowed, it can be determined that the ICT setting screen should not be displayed instead of the camera image for safety. Moreover, it is because it can be estimated that the operator desires execution of the bucket bench set function which is an original function.
- the same function as that of the direction button 42b may be assigned to the switch button 26S in a switchable manner.
- a function similar to the function executed when the right portion of the direction button 42b is pressed may be switchably assigned to the laser setting button 26S1 in addition to the original function of the laser setting button 26S1.
- a function similar to the function executed when the left portion of the direction button 42b is pressed may be assigned to the survey mode button 26S2 in a switchable manner.
- the same function as that executed when the upper portion of the direction button 42b is pressed is switchably assigned to the swing bench set button 26S5.
- a function similar to the function executed when the lower part of the direction button 42b is pressed may be switchably assigned to the one-touch idle button 26S6. .
- the function assigned to each of the laser setting button 26S1, the survey mode button 26S2, the turning bench set button 26S5, and the one-touch idle button 26S6 is, for example, when the function assigned to the bucket bench set button 26S4 is switched. Can be switched to. That is, switching is performed when the above-described predetermined condition is satisfied. Specifically, the switch is made when the gate lock lever 49 is pressed down when the button is held down. However, switching may be performed when a condition different from the above-described predetermined condition is satisfied.
- the function of switching the screen displayed on the display device 40 to the ICT setting screen may be assigned to the switch button 26S as the input device 42.
- the operator can display the ICT setting screen only by pressing the switch button 26S once.
- the switch button 26S may be assigned a function for selecting one of a plurality of setting items displayed on the ICT setting screen and a function for changing the value of each setting item.
- the operator can change the value of each setting item by operating the switch button 26S. Specifically, by operating the laser setting button 26S1, the survey mode button 26S2, the turning bench set button 26S5, and the one-touch idle button 26S6 that function in the same manner as the direction button 42b, one of a plurality of setting items is selected. And the value of the setting item can be changed.
- the switch button 26S is alternatively assigned so that the function of switching the screen displayed on the display device 40 to the ICT setting screen and the function related to the construction support system can be switched based on a predetermined condition. It may be done.
- the button arrangement can be simplified as compared with the case where a dedicated button for switching the screen displayed on the display device 40 to the ICT setting screen is provided.
- the controller 30 may switch the screen displayed on the display device 40 to the ICT setting screen when a specific button (bucket bench set button 26S4) of the switch buttons 26S is pressed for a long time. .
- the controller 30 may switch the screen displayed on the display device 40 to the ICT setting screen when a plurality of push buttons among the switch buttons 26S are pressed simultaneously.
- the controller 30 presses a specific one of the switch buttons 26S (bucket bench set button 26S4).
- the screen displayed on the display device 40 may be switched to the ICT setting screen. With these configurations, the operator can display the ICT setting screen on the display device 40 very easily.
- the switch button 26S can display the ICT setting screen with a significantly smaller number of button presses than when the ICT setting screen display operation is performed using the display switching button 42a and the direction button 42b. Therefore, the operator can easily access the ICT setting screen even if the operator does not know the hierarchical structure of the information.
- FIG. 11 is a perspective view of the interior of the cabin 10 and corresponds to FIG.
- buttons 26S of FIG. 6 are different from the switch button 26S of FIG. 6 in that a part (four in the example of FIG. 11) is provided in the button housing 26H. Therefore, description of common parts is omitted, and different parts are described in detail.
- the button housing 26H is a member that branches and extends from the lower end of the left operation lever 26L, and moves together with the left operation lever 26L. For example, when the left operation lever 26L is tilted forward, the button housing 26H is tilted forward together with the left operation lever 26L. Therefore, the operator can operate the button provided on the button housing 26H with the finger of the hand operating the left operation lever without releasing the hand from the left operation lever.
- the button housing 26H is provided with a laser setting button 26S1, a surveying mode button 26S2, a bucket bench set button 26S4, and a turning bench set button 26S5.
- the horn button 26S3 is provided at the tip of the left operation lever 26L
- the one-touch idle button 26S6 is provided at the tip of the right operation lever 26R.
- the switch button 26S of FIG. 11 has the same effect as the switch button 26S of FIG. Specifically, the original function of each button can be executed when each of the six buttons is pressed. Further, when each button is pressed when a predetermined condition is satisfied, a function different from the original function can be executed. For example, when the one-touch idle button 26S6 is pressed when the gate lock lever 49 is pressed down, the ICT setting screen may be displayed on the display device 40 as if the ICT setting screen display operation was performed.
- the laser setting button 26S1, the survey mode button 26S2, the bucket bench set button 26S4, and the swing bench set button 26S5 are pressed when the gate lock lever 49 is depressed, it is as if the upper part and the lower part of the direction button 42b. You may react as if the right part and the left part were pressed.
- FIG. 12 is a perspective view of the distal end portion of the operation lever.
- the horn button 26S3 is provided on the front side of the left operation lever 26L so as to be operated with the thumb of the left hand of the operator who operates the left operation lever 26L.
- the laser setting button 26S1 is provided on the back side of the left operation lever 26L so as to be operated by the index finger of the left hand of the operator who operates the left operation lever 26L.
- the surveying mode button 26S2 is provided on the back side of the left operation lever 26L so as to be operated with the middle finger of the left hand of the operator who operates the left operation lever 26L.
- the one-touch idle button 26S6 is provided on the front side of the right operation lever 26R so as to be operated with the thumb of the right hand of the operator who operates the right operation lever 26R.
- the bucket bench set button 26S4 is provided on the back side of the right operation lever 26R so as to be operated by the index finger of the right hand of the operator who operates the right operation lever 26R.
- the turning bench set button 26S5 is provided on the back side of the right operation lever 26R so as to be operated with the middle finger of the right hand of the operator who operates the right operation lever 26R.
- the switch button 26S of FIG. 12 has the same effect as the switch button 26S of FIG. Specifically, the original function of each button can be executed when each of the six buttons is pressed. Further, when each button is pressed when a predetermined condition is satisfied, a function different from the original function can be executed. For example, when the one-touch idle button 26S6 is pressed when the gate lock lever 49 is pressed down, the ICT setting screen may be displayed on the display device 40 as if the ICT setting screen display operation was performed.
- the laser setting button 26S1, the survey mode button 26S2, the bucket bench set button 26S4, and the swing bench set button 26S5 are pressed when the gate lock lever 49 is depressed, it is as if the upper part and the lower part of the direction button 42b. You may react as if the right part and the left part were pressed.
- FIG. 13 is a perspective view of the interior of the cabin 10 and shows a state when the front of the excavator is viewed from the driver seat DS.
- the switch button 26S includes four buttons provided on the button housing 26H, one button provided on the front surface of the front end of the left operation lever 26L, and the back side of the front end of the left operation lever 26L.
- One button provided on the surface of the. The operator can operate the switch button 26S with a finger without releasing the hand from the left operation lever 26L.
- the button housing 26H is a member that branches and extends from the lower end of the left operation lever 26L, and moves together with the left operation lever 26L. For example, when the left operation lever 26L is tilted forward, the button housing 26H is tilted forward together with the left operation lever 26L. Therefore, the operator can operate the buttons provided on the button housing 26H with the finger (thumb) of the hand operating the left operation lever 26L without releasing the hand from the left operation lever 26L.
- the button housing 26H is provided with a laser setting button 26S1, a surveying mode button 26S2, a bucket bench set button 26S4, and a turning bench set button 26S5.
- the horn button 26S3 is provided on the front surface of the front end of the left operation lever 26L
- the one-touch idle button 26S6 is provided on the back surface of the front end of the left operation lever 26L.
- a function for switching the screen displayed on the display device 40 to the ICT setting screen may be assigned to the one-touch idle button 26S6 in a switchable manner.
- buttons provided on the button housing 26H, the front side surface of the front end of the left operation lever 26L, and the back side surface of the front end of the left operation lever 26L may be other combinations. Also, other functions may be assigned to each of the switch buttons 26S.
- FIG. 14 is a front view of the left operation lever 26L.
- FIG. 15 is a right side view of the left operation lever 26L.
- FIG. 16 is a top view of the left operation lever 26L.
- FIG. 17 is a rear view of the left operation lever 26L.
- the button housing 26H is configured to extend from the base portion 26LB of the left operation lever 26L along the longitudinal direction of the left operation lever 26L.
- the button housing 26H is formed of a synthetic resin and is coupled to the left operation lever 26L so as not to be relatively rotatable.
- the button housing 26H is arranged such that the central axis AX2 is inclined by an angle ⁇ in front view with respect to the central axis AX1 of the left operation lever 26L.
- the angle ⁇ is, for example, in the range of 3 ° to 8 °, and preferably 5 °.
- the distance D1 between the center of the laser setting button 26S1 and the center axis AX1 in the X-axis direction is smaller than the distance D2 between the center of the survey mode button 26S2 and the center axis AX1 in the X-axis direction.
- the distance D1 is, for example, in the range of 35 mm to 50 mm, and desirably 42 mm.
- the distance D2 is smaller than the distance D3 between the center of the bucket bench set button 26S4 and the central axis AX1 in the X-axis direction.
- the distance D3 is smaller than the distance D4 between the center of the turning bench set button 26S5 and the central axis AX1 in the X-axis direction.
- the button housing 26H is arranged such that the center axis AX2 thereof is inclined by an angle ⁇ in the right side view with respect to the center axis AX1 of the left operation lever 26L.
- the angle ⁇ is, for example, in the range of 17 ° to 23 °, and preferably 20 °. Therefore, the distance D5 between the center of the laser setting button 26S1 and the center axis AX1 in the Y-axis direction is smaller than the distance D6 between the center of the survey mode button 26S2 and the center axis AX1 in the Y-axis direction.
- the distance D5 is, for example, in the range of 6.8 to 8.0 mm, and preferably 7.2 mm.
- the distance D6 is smaller than the distance D7 between the center of the bucket bench set button 26S4 and the central axis AX1 in the Y-axis direction.
- the distance D7 is smaller than the distance D8 between the center of the turning bench set button 26S5 and the center axis AX1 in the Y-axis direction.
- the button housing 26H is arranged to be shorter than the left operation lever 26L by a distance D9 in the Z-axis direction.
- the distance D9 is, for example, in the range of 45 mm to 55 mm, and desirably 52 mm.
- the center of the laser setting button 26S1 is disposed at a distance D10 from the tip of the left operation lever 26L in the Z-axis direction.
- the distance D10 is, for example, in the range of 63 mm to 70 mm, and preferably 66 mm. This configuration can prevent the button housing 26H from contacting a part of the operator's body (eg, thigh, knee) when the left operation lever 26L is tilted toward the driver seat DS.
- the left operation lever 26L includes a first surface portion SF1 configured to dispose the first finger (thumb) of the left hand of the operator who holds the left operation lever 26L, and a second finger (index finger).
- the second surface portion SF2 configured in the above, the third surface portion SF3 configured to dispose the third finger (middle finger), and the fourth surface configured to dispose the fourth finger (ring finger).
- It has a surface portion SF4 and a fifth surface portion SF5 configured to place a fifth finger (little finger). That is, the left operation lever 26L is ergonomically formed so that the five fingers of the left hand of the operator who holds the left operation lever 26L are in contact with the corresponding surface portions.
- the left operation lever 26L passes between each of the first surface portion SF1, the second surface portion SF2, the third surface portion SF3, the fourth surface portion SF4, and the fifth surface portion SF5. It has an inner surface portion SF0 extending along the longitudinal direction.
- the button housing 26H is disposed so as to face the inner surface portion SF0. 14 to 17 virtually show these surface portions in a cross-hatching pattern.
- the first surface portion SF1, the second surface portion SF2, and the third surface portion SF3 are arranged at a position (Z1 side position) higher than the top of the button housing 26H in the Z-axis direction.
- the fourth surface portion SF4 and the fifth surface portion SF5 are disposed at a position lower than the top of the button housing 26H (position on the Z2 side) in the Z-axis direction.
- the first surface portion SF1 is disposed on the X2 side and the Y1 side with respect to the central axis AX1, and is disposed on the Z2 side with respect to the horn button 26S3.
- the second surface portion SF2 is disposed on the X2 side and the Y2 side with respect to the central axis AX1, and is disposed on the Z1 side with respect to the one-touch idle button 26S6.
- the third surface portion SF3 is disposed on the X2 side and the Y2 side with respect to the central axis AX1, and is disposed on the X2 side with respect to the one-touch idle button 26S6.
- the fourth surface portion SF4 is disposed on the X2 side and the Y2 side with respect to the central axis AX1, and is disposed on the X2 side with respect to the one-touch idle button 26S6.
- the fifth surface portion SF5 is disposed on the X2 side and the Y2 side with respect to the central axis AX1, and is disposed on the X2 side with respect to the one-touch idle button 26S6.
- the button housing 26H has a front part 26H1 on which a laser setting button 26S1, a survey mode button 26S2, a bucket bench set button 26S4 and a turning bench set button 26S5 are arranged, and a back part 26H2.
- the width W1 of the front part 26H1 is larger than the width W2 of the back part 26H2.
- the distance CL1 in the X-axis direction between the front part 26H1 and the left operation lever 26L is the distance in the X-axis direction between the back part 26H2 and the left operation lever 26L in an arbitrary XY plane. It is configured to be smaller than CL2.
- the distance CL1 and the distance CL2 are both configured to increase as they go downward (Z2 side).
- the minimum value of the distance CL1 is, for example, in the range of 5.0 mm to 6.3 mm, and preferably 5.7 mm.
- the minimum value of the distance CL2 is, for example, in the range of 10 mm to 15 mm, and desirably 12 mm.
- the depth DP (see FIG. 15) of the button housing 26H is, for example, in the range of 10 mm to 15 mm, and desirably 12 mm.
- the laser setting button 26S1, the survey mode button 26S2, the horn button 26S3, the bucket bench set button 26S4, and the turning bench set button 26S5 can be operated with the thumb of the left hand by the operator operating the left operation lever 26L.
- the one-touch idle button 26S6 is arranged so that an operator who operates the left operation lever 26L can operate with the index finger or middle finger of the left hand.
- the laser setting button 26S1, the survey mode button 26S2, and the horn button 26S3 rotate the thumb around the base of the thumb with the index finger, middle finger, ring finger, and little finger in contact with the left operation lever 26L. It is arranged so that it can be operated simply by letting it. Therefore, as shown in FIG.
- the laser setting button 26S1 is disposed at a position closer to the central axis AX1 than the end surface 26LE on the Y1 side of the left operation lever 26L in the Y-axis direction.
- the surveying mode button 26S2 is arranged at substantially the same position as the end surface 26LE on the Y1 side of the left operation lever 26L in the Y-axis direction.
- the button housing 26H is arranged so that the operator's five fingers do not come into contact when the operator of the excavator PS holds the left operation lever 26L with the left hand.
- the button housing 26H is arranged to be shorter than the left operation lever 26L by a distance D9.
- the thumb, index finger, and middle finger are all located above the button housing 26H (Z1 side), and thus do not contact the button housing 26H.
- the button housing 26H has a space (gap) that becomes larger as it goes downward (Z2 side) between the left operation lever 26L and the button housing 26H.
- the left operation lever 26L can provide the operator with the same ease of gripping as when the button housing 26H is not attached, and can prevent deterioration in operability when the button housing 26H is not attached.
- the button housing 26H is disposed to be shorter than the left operation lever 26L by the distance D9. Therefore, even when the left operation lever 26L is tilted toward the driver's seat DS, it does not come into contact with a part of the operator's body (for example, the thigh or knee). Also in this respect, the left operation lever 26L can prevent a decrease in operability when the button housing 26H is not attached.
- the excavator PS includes the lower traveling body 1, the upper swing body 3 that is turnably mounted on the lower travel body 1, and the driver seat that is mounted on the upper swing body 3. DS, a left operation lever 26L provided on the left side of the driver seat DS, and a button housing 26H attached to the driver seat DS side of the left operation lever 26L so as to be tilted together with the left operation lever 26L. Therefore, the excavator PS can make the operator more easily perform the switch operation.
- the button housing 26H is attached to the driver seat DS side of the left operation lever 26L, but may be attached to the driver seat DS side of the right operation lever 26R.
- buttons may be arranged on the button housing 26H. In the above-described embodiment, four buttons are arranged. However, the number of buttons arranged on the button housing 26H may be one, two, three, or five or more.
- the plurality of buttons arranged in the button housing 26H are desirably arranged so as to be arranged along the longitudinal direction of the left operation lever 26L.
- the left operation lever 26 ⁇ / b> L is arranged in a line along a central axis AX ⁇ b> 2 that forms an angle ⁇ with respect to the central axis AX ⁇ b> 1.
- the plurality of buttons may be arranged in two rows or may be arranged in three or more rows.
- the distal end (tip) of the left operation lever 26L desirably projects beyond the distal end (tip) of the button housing 26H.
- the button housing 26H is disposed so as to be shorter than the left operation lever 26L by a distance D9 in the Z-axis direction, as shown in FIG. This configuration can prevent the button housing 26H from contacting a part of the operator's body (eg, thigh, knee) when the left operation lever 26L is tilted toward the driver seat DS.
- the button housing 26H is desirably disposed at a position away from the left operation lever 26L by a predetermined distance in the direction of the driver seat DS.
- the front portion 26H1 of the button housing 26H is disposed at a position at least a distance CL1 away from the left operation lever 26L
- the back portion 26H2 of the button housing 26H is It is arranged at a position separated from the operation lever 26L by at least a distance CL2 (> CL1).
- CL2 > CL1
- the left operation lever 26L is desirably provided with a first surface portion SF1 configured so that a first finger (thumb) of an operator who holds the left operation lever 26L is disposed, and a second finger (index finger).
- the second surface portion SF2 configured as described above, the third surface portion SF3 configured so that the third finger (middle finger) is disposed, and the fourth surface (ring finger) configured to be disposed.
- An inner surface extending along the longitudinal direction of the left operating lever 26L through the four surface portions SF4 and between the first surface portion SF1, the second surface portion SF2, the third surface portion SF3 and the fourth surface portion SF4.
- the button housing 26H is desirably disposed so as to face the inner surface portion SF0.
- the second surface portion SF2 and the third surface portion SF3 are desirably arranged in a portion of the left operation lever 26L that protrudes from the distal end (tip) of the button housing 26H.
- the button housing 26H desirably includes a front part 26H1 on which buttons are arranged, and a back part 26H2 on the opposite side of the front part 26H1.
- the back surface portion 26H2 is disposed at a position farther from the left operation lever 26L than the front surface portion 26H1. This configuration can prevent the finger of the left hand of the operator who operates the left operation lever 26L from coming into contact with the button housing 26H.
- the switch button 26S that functions as a shortcut button for displaying the ICT setting screen is provided on the operation lever as a dual-purpose button that can selectively execute two functions.
- the present invention is not limited to this configuration.
- the shortcut button for displaying the ICT setting screen may be provided independently of the operation lever.
- it may be provided on the switch panel.
- the shortcut button for displaying the ICT setting screen may be a dedicated button to which only the shortcut function is assigned.
- the display device 40 may be composed of two display devices.
- one of the two display devices may be a dedicated monitor of a construction support system using ICT, such as a machine guidance system or a machine control system.
- the controller 30 displays the hierarchical information display area 41n instead of the camera image display area 41m.
- the controller 30 may display the hierarchical information display area 41n simultaneously with the camera image display area 41m.
- the push button switch is arranged in the button housing 26H, but other types of switches such as a toggle switch and a rocker switch may be arranged.
- a waterproof switch such as a membrane switch may be disposed.
- tilt angle calculator 502 ... height calculator 503 ... Distance calculation unit 504 ... Target setting unit G1 ... Positioning device PS ... Excavator S1 ... Boom angle sensor S2 ... Arm angle sensor S3 ... Bucket angle sensor S4 ... Vehicle body tilt sensor T1 ⁇ Communication device
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Abstract
Description
Claims (17)
- 下部走行体と、
前記下部走行体に旋回自在に搭載された上部旋回体と、
前記上部旋回体に搭載された運転室と、
前記運転室内に設けられた表示装置と、
前記運転室内に設けられた入力装置と、を有し、
前記表示装置は、情報通信技術を利用した施工支援システムに関する設定画面を表示可能であり、
前記入力装置には、前記表示装置に表示されている画面を前記設定画面に切り換える機能が割り当てられている、
ショベル。 - 下部走行体と、
前記下部走行体に旋回自在に搭載された上部旋回体と、
前記上部旋回体に取り付けられるアタッチメントと、
前記アタッチメントの作業部位の位置を導き出すことができるように前記アタッチメントの姿勢を検出する姿勢センサと、
前記アタッチメントの作業部位と目標面との相対的な関係の設定を可能にする設定画面を表示してショベルによる施工を支援する施工支援システムと、
前記上部旋回体に搭載された運転室と、
前記運転室内に設けられた表示装置と、
前記運転室内に設けられた操作部と、
前記運転室内に設けられた入力装置と、を有し、
前記表示装置には、前記操作部が操作される度に順番に切り換えられる複数の画面が表示され、前記入力装置が操作されると前記順番にかかわらず前記設定画面が表示される、
ショベル。 - 前記入力装置は、前記運転室内に設けられた操作レバーに取り付けられ、且つ、前記操作レバーを操作する手の指で操作可能である、
請求項1又は2に記載のショベル。 - 前記入力装置は、前記運転室内に設けられた操作レバーとは独立している、
請求項1又は2に記載のショベル。 - 前記入力装置には、前記設定画面に表示される複数の設定項目のうちの1つを選択する機能と、各設定項目の値を変更する機能とが割り当てられている、
請求項1又は2に記載のショベル。 - 前記入力装置には、前記表示装置に表示されている画面を前記設定画面に切り換える機能と、前記施工支援システムに関する機能とが、所定の条件に基づいて切り換えられるように択一的に割り当てられている、
請求項1又は2に記載のショベル。 - 前記入力装置は、押しボタンであり、
前記押しボタンが長押しされた場合に、前記表示装置に表示されている画面が前記設定画面に切り換えられる、
請求項6に記載のショベル。 - 前記入力装置は、複数の押しボタンで構成され、
前記複数の押しボタンが同時に押された場合に、前記表示装置に表示されている画面が前記設定画面に切り換えられる、
請求項6に記載のショベル。 - 前記入力装置には、ゲートロックレバーが押し下げられている場合、前記表示装置に表示されている画面を前記設定画面に切り換える機能が割り当てられている、
請求項6に記載のショベル。 - 運転席の側方に設けられた操作レバーを有し、
前記入力装置は、前記操作レバーと共に傾けられるように前記操作レバーの前記運転席側に取り付けられるボタンハウジングに設けられている、
請求項1又は2に記載のショベル。 - 前記ボタンハウジングには複数のボタンが配置されている、
請求項10に記載のショベル。 - 前記複数のボタンは、前記操作レバーの長手方向に沿って並ぶように配置されている、
請求項11に記載のショベル。 - 前記操作レバーの遠位端は、前記ボタンハウジングの遠位端よりも突出している、
請求項10に記載のショベル。 - 前記ボタンハウジングは、前記操作レバーから前記運転席の方向に所定の距離だけ離れた位置に配置されている、
請求項10に記載のショベル。 - 前記操作レバーは、
前記操作レバーを握る操作者の第1指が配置されるように構成された第1表面部分と、
前記操作レバーを握る操作者の第2指が配置されるように構成された第2表面部分と、
前記操作レバーを握る操作者の第3指が配置されるように構成された第3表面部分と、
前記操作レバーを握る操作者の第4指が配置されるように構成された第4表面部分と、
前記第1表面部分と前記第2表面部分、前記第3表面部分及び前記第4表面部分のそれぞれとの間を通って前記操作レバーの長手方向に沿って延びる内側表面部分と、を有し、
前記ボタンハウジングは、前記内側表面部分に対向するように配置されている、
請求項10に記載のショベル。 - 前記第2表面部分及び前記第3表面部分は、前記操作レバーのうち、前記ボタンハウジングの遠位端よりも突出している部分に配置されている、
請求項15に記載のショベル。 - 前記ボタンハウジングは、ボタンが配置される正面部と、該正面部の反対側にある背面部とを有し、
前記背面部は、前記正面部よりも前記操作レバーから遠い位置に配置されている、
請求項10に記載のショベル。
Priority Applications (5)
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KR1020197022962A KR102455257B1 (ko) | 2017-03-07 | 2018-03-06 | 쇼벨 |
CN201880011519.6A CN110291256B (zh) | 2017-03-07 | 2018-03-06 | 挖土机 |
JP2019504618A JP6838137B2 (ja) | 2017-03-07 | 2018-03-06 | ショベル |
EP18764718.5A EP3594416B1 (en) | 2017-03-07 | 2018-03-06 | Shovel |
US16/536,817 US11519158B2 (en) | 2017-03-07 | 2019-08-09 | Shovel |
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JP2017043247 | 2017-03-07 | ||
JP2017-043247 | 2017-03-07 | ||
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US16/536,817 Continuation US11519158B2 (en) | 2017-03-07 | 2019-08-09 | Shovel |
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WO2018164152A1 true WO2018164152A1 (ja) | 2018-09-13 |
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US (1) | US11519158B2 (ja) |
EP (1) | EP3594416B1 (ja) |
JP (1) | JP6838137B2 (ja) |
KR (1) | KR102455257B1 (ja) |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CN110593347A (zh) * | 2019-06-28 | 2019-12-20 | 三一重机有限公司 | 半自动控制挖掘机和挖掘机操控方法 |
WO2022210662A1 (ja) * | 2021-03-31 | 2022-10-06 | 住友建機株式会社 | ショベル及びショベル用表示装置 |
EP4372153A1 (en) | 2022-10-31 | 2024-05-22 | Sumitomo Heavy Industries, LTD. | Shovel and shovel control system |
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WO2020022297A1 (ja) * | 2018-07-25 | 2020-01-30 | 株式会社タダノ | 報知装置、作業機、及び報知方法 |
JP7227843B2 (ja) * | 2019-05-09 | 2023-02-22 | 鹿島建設株式会社 | 立坑構築装置及び立坑構築方法 |
CN114424140B (zh) * | 2019-08-30 | 2023-08-04 | 阿尔卑斯阿尔派株式会社 | 操作装置 |
JP2023183699A (ja) * | 2022-06-16 | 2023-12-28 | ヤンマーホールディングス株式会社 | 作業機械の制御方法、作業機械用制御プログラム、作業機械用制御システム及び作業機械 |
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Also Published As
Publication number | Publication date |
---|---|
EP3594416A4 (en) | 2020-04-01 |
US20190360178A1 (en) | 2019-11-28 |
US11519158B2 (en) | 2022-12-06 |
EP3594416A1 (en) | 2020-01-15 |
KR102455257B1 (ko) | 2022-10-14 |
EP3594416B1 (en) | 2022-07-27 |
KR20190122662A (ko) | 2019-10-30 |
JPWO2018164152A1 (ja) | 2020-01-16 |
CN110291256A (zh) | 2019-09-27 |
JP6838137B2 (ja) | 2021-03-03 |
CN110291256B (zh) | 2022-10-21 |
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