WO2022210662A1 - ショベル及びショベル用表示装置 - Google Patents
ショベル及びショベル用表示装置 Download PDFInfo
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- WO2022210662A1 WO2022210662A1 PCT/JP2022/015320 JP2022015320W WO2022210662A1 WO 2022210662 A1 WO2022210662 A1 WO 2022210662A1 JP 2022015320 W JP2022015320 W JP 2022015320W WO 2022210662 A1 WO2022210662 A1 WO 2022210662A1
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- excavator
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Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
- E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/24—Safety devices, e.g. for preventing overload
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
- G06F3/04847—Interaction techniques to control parameter settings, e.g. interaction with sliders or dials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/412—Excavators
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
Definitions
- the present disclosure relates to excavators and display devices for excavators.
- Patent Document 1 An excavator configured so that the operability of the excavator can be adjusted according to the operator's preference is known (see Patent Document 1, for example).
- An excavator includes a lower traveling body, an upper revolving body rotatably mounted on the lower traveling body, an operator's cab mounted on the upper revolving body, and an operator's cab. a display device, wherein information relating to custom settings is displayed on the display device before operation is started.
- the operator can more easily recognize the state of the excavator.
- FIG. 2 is a top view of the shovel of Figure 1; 2 is a diagram showing a configuration example of a basic system mounted on the excavator of FIG. 1; FIG. It is a figure which shows an example of a detailed structure of a shovel.
- 3 is a diagram showing a configuration example of an image display section and an operation section of a display device;
- FIG. 5 is a diagram showing another configuration example of the image display section and the operation section of the display device; It is a figure which shows the structural example of a relative reactivity setting screen.
- 6 is a flowchart of an example of display processing; It is a figure which shows the structural example of an information image. It is a figure which shows an example of an excavator and an operator selection screen.
- FIG. 5 is a diagram showing another configuration example of the image display section and the operation section of the display device;
- FIG. 1 is a diagram showing a configuration example of a shovel according to an embodiment of the present invention.
- 2 is a top view of the shovel of FIG. 1;
- FIG. 1 is a diagram showing a configuration example of a shovel according to an embodiment of the present invention.
- the excavator 100 mounts an upper revolving body 3 on a crawler-type lower traveling body 1 via a revolving mechanism 2 so as to be able to revolve.
- a boom 4 as a working element is attached to the upper swing body 3 .
- An arm 5 as a working element is attached to the tip of the boom 4 , and a bucket 6 as a working element and an end attachment is attached to the tip of the arm 5 .
- Boom 4 is driven by boom cylinder 7
- arm 5 is driven by arm cylinder 8
- bucket 6 is driven by bucket cylinder 9 .
- a cabin 10 as an operator's cab is provided in the upper swing body 3, and a power source such as an engine 11 is mounted. Further, a swing hydraulic motor, a controller 30, an imaging device 80 and the like are attached to the upper swing body 3 .
- the swing hydraulic motor may be a swing motor-generator.
- An operating device 26, a display device 40, an alarm device 49, and the like are provided inside the cabin 10.
- the side of the upper rotating body 3 to which the working elements such as the boom 4 are attached is referred to as the front, and the side to which the counterweight is attached is referred to as the rear.
- the controller 30 is configured to be able to control the shovel 100.
- the controller 30 is configured by a computer including a CPU, RAM, NVRAM, ROM, and the like.
- the controller 30 reads a program corresponding to each functional element from the ROM, loads it into the RAM, and causes the CPU to execute the corresponding process.
- each functional element may be configured by hardware, or may be configured by a combination of software and hardware.
- the imaging device 80 is configured to image the surroundings of the excavator 100 .
- the imaging device 80 is, for example, a monocular camera, a stereo camera, a distance image camera, an infrared camera, a LIDAR, or the like.
- the imaging device 80 includes a rear camera 80B attached to the rear end of the upper surface of the upper rotating body 3, a left camera 80L attached to the left end of the upper surface of the upper rotating body 3, and It includes a right camera 80R mounted on the right edge of the top surface.
- the rear camera 80B, the left camera 80L, and the right camera 80R are all attached to the upper revolving body 3 so that their optical axes are directed obliquely downward and part of the upper revolving body 3 is included in the imaging range.
- the imaging range of each of the rear camera 80B, left camera 80L, and right camera 80R has a viewing angle of about 180 degrees when viewed from above, for example.
- the imaging range AB represents an example of the imaging range of the rear camera 80B
- the imaging range AL represents an example of the imaging range of the left camera 80L
- the imaging range AR represents an example of the imaging range of the right camera 80R.
- the imaging device 80 may function as an object detection device that detects a predetermined object within a predetermined area around the excavator 100 .
- the imaging device 80 may include an image processing device.
- the image processing device applies known image processing to an image (input image) captured by the imaging device 80 to detect an image of a predetermined object included in the input image.
- the imaging device 80 outputs an object detection signal to the controller 30 .
- a predetermined object is, for example, a person, an animal, a vehicle, or a machine.
- the image processing device may be configured to detect a moving object.
- the image processing device may be integrated with the controller 30 .
- the object detection device may be a LIDAR, an ultrasonic sensor, a millimeter wave sensor, a laser radar sensor, an infrared sensor, or the like.
- the excavator 100 has an object detection device (LIDAR, millimeter wave radar, stereo camera, etc.) as an object detection means separately from the imaging device 80 (rear camera 80B, left camera 80L, and right camera 80R). It may be configured as In this case, the excavator 100 may cause the display device 40 to display information about the object detected by the object detection device.
- object detection device LIDAR, millimeter wave radar, stereo camera, etc.
- the excavator 100 may cause the display device 40 to display information about the object detected by the object detection device.
- FIG. 3 shows a configuration example of a basic system mounted on the excavator 100 of FIG. 1
- mechanical power transmission lines are indicated by double lines
- hydraulic oil lines are indicated by thick solid lines
- pilot lines are indicated by broken lines
- electric power lines are indicated by thin solid lines
- electrical control lines are indicated by dashed lines.
- the basic system mainly includes an engine 11, a main pump 14, a pilot pump 15, a control valve unit 17, an operating device 26, an operating pressure sensor 29, a controller 30, a switching valve 35, a display device 40, and a , an alarm device 49, a dial 75, an ECO button 76, a gate lock lever D4, a key switch D5, and the like.
- the engine 11 is a diesel engine that employs isochronous control that maintains a constant engine speed regardless of increases or decreases in load.
- the fuel injection amount, fuel injection timing, boost pressure, etc. in the engine 11 are controlled by an engine control unit (ECU 74).
- the engine 11 is connected to each of a main pump 14 and a pilot pump 15 as hydraulic pumps.
- the main pump 14 is connected to a control valve unit 17 via a hydraulic oil line.
- the control valve unit 17 is a hydraulic control device that controls the hydraulic system of the excavator 100 .
- the control valve unit 17 is connected to hydraulic actuators such as a left travel hydraulic motor, a right travel hydraulic motor, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, and a turning hydraulic motor.
- control valve unit 17 includes a plurality of spool valves corresponding to each hydraulic actuator. Each spool valve is configured to be displaceable according to the pilot pressure so that the opening area of the PC port and the opening area of the CT port can be increased or decreased.
- the PC port is a port that communicates between the main pump 14 and the hydraulic actuator.
- a CT port is a port that communicates between a hydraulic actuator and a hydraulic fluid tank.
- the pilot pump 15 is connected to the operating device 26 via a pilot line.
- the operating device 26 includes, for example, a left operating lever, a right operating lever, and a travel operating device.
- the travel operation device includes, for example, a travel lever and a travel pedal.
- each of the actuators 26 is a hydraulic actuator and is connected via a pilot line to the pilot port of the corresponding spool valve in the control valve unit 17 .
- the operating device 26 may be an electric operating device.
- the pilot pump 15 may be omitted.
- the function previously performed by the pilot pump 15 may be realized by the main pump 14 .
- the main pump 14 has a function of supplying hydraulic oil to the operating device 26 and the like after reducing the pressure of the hydraulic oil by means of a throttle or the like, in addition to the function of supplying the hydraulic oil to the control valve unit 17 . good too.
- the operating pressure sensor 29 detects the details of the operation of the operating device 26 in the form of pressure.
- the operating pressure sensor 29 outputs the detected value to the controller 30 .
- the operation content of the operation device 26 may be detected electrically.
- the switching valve 35 is configured to switch the operating device 26 between a valid state and a disabled state.
- the valid state of the operating device 26 is a state in which the operator can operate the hydraulic actuators using the operating device 26 .
- the disabled state of the operating device 26 is a state in which the operator cannot operate the hydraulic actuators using the operating device 26 .
- the switching valve 35 is a gate lock valve that is configured to operate according to commands from the controller 30 .
- the switching valve 35 is arranged in a pilot line that connects the pilot pump 15 and the operating device 26 and is configured to be able to switch between disconnection and communication of the pilot line according to a command from the controller 30 .
- the operation device 26 is activated when the gate lock lever D4 is pulled up to open the switching valve 35 (gate lock valve), and the gate lock lever D4 is pushed down to open the switching valve 35 (gate lock valve). Disabled when closed.
- the display device 40 is an example of a display device for excavators, and is configured to display various types of information.
- the display device 40 may be connected to the controller 30 via a communication network such as CAN, or may be connected to the controller 30 via a dedicated line.
- the display device 40 is configured to display one or more captured images captured by the imaging device 80 and a menu screen.
- the display device 40 operates by being supplied with power from the storage battery 70 .
- the display device 40 has a control section 40 a , an image display section 41 and an operation section 42 .
- the control unit 40 a controls the image displayed on the image display unit 41 .
- the control unit 40a is configured by a computer including a CPU, RAM, NVRAM, ROM, and the like. In this case, the control unit 40a reads a program corresponding to each functional element from the ROM, loads it into the RAM, and causes the CPU to execute the corresponding process.
- each functional element may be configured by hardware, or may be configured by a combination of software and hardware.
- the image displayed on the image display unit 41 may be controlled by the controller 30 or the imaging device 80 .
- the image display unit 41 displays the captured image captured by at least one of the imaging devices 80 and the menu screen.
- the captured image may be, for example, any one of a rear image captured by the rear camera 80B, a left image captured by the left camera 80L, and a right image captured by the right camera 80R.
- the captured image may be, for example, a bird's-eye view image obtained by synthesizing captured images captured by the rear camera 80B, the left camera 80L, and the right camera 80R.
- the captured image may be two or more images selected from a rear image, a left image, a right image, and an overhead image.
- the menu screen includes a status screen showing the state of the excavator 100 and a setting screen showing various settings of the excavator 100 .
- the operation unit 42 is a switch panel including hardware switches.
- the operation unit 42 may be a touch panel.
- the operation unit 42 is arranged below the image display unit 41 and includes a switch (for example, a menu switch) for changing the image displayed by the image display unit 41 .
- the arrangement of the operation unit 42 is not limited to the above example, and for example, it may be arranged on the operation lever, or may be arranged on the seat left console or the seat right console on both the left and right sides of the driver's seat. good.
- a driver's seat side operation unit 50 having the same function as the operation unit 42 is attached to at least one of the operation lever, the seat left console, and the seat right console. may be placed.
- the image display unit 41 displays the menu screen when the menu switch of the operation unit 42 is operated while the right image RG and the rear image BG captured by the imaging device 80 are being displayed. For example, the image display unit 41 reduces the size of the rear image BG and selects detailed menu items without changing the size of the right image RG before and after the menu switch of the operation unit 42 is operated. display the screen. Then, when a predetermined switch of the operation unit 42 is operated while the screen for selecting detailed menu items is displayed, the image display unit 41 displays the rearward image BG as a state screen showing the state of the excavator 100 and the state screen showing the state of the excavator 100 Switches to a menu screen such as a setting screen showing various settings of the . At this time, the image display unit 41 displays the right image RG without changing its size.
- the image display unit 41 is configured to display the menu screen when the menu switch of the operation unit 42 is operated, regardless of whether the excavator 100 is in an operable state or an operable state. you can Further, the image display unit 41 may be configured to display the menu screen when the menu switch of the operation unit 42 is operated only when the excavator 100 cannot be operated. Moreover, for example, these may be configured to be switchable by switching means such as a switch.
- a state in which the excavator 100 can be operated is, for example, a state in which the operating device 26 is enabled by pulling up the gate lock lever D4 to open the switching valve 35 . The state of the gate lock lever D4 at this time is called the unlocked state.
- a state in which the excavator 100 cannot be operated is, for example, a state in which the operation device 26 is disabled by the gate lock lever D4 being pushed down to close the switching valve 35 .
- the state of the gate lock lever D4 at this time is called a locked state.
- the storage battery 70 is charged with electricity generated by the alternator 11a, for example.
- the power of the storage battery 70 is also supplied to the controller 30 and the like.
- the starter 11 b of the engine 11 is driven by electric power from the storage battery 70 to start the engine 11 .
- the ECU 74 transmits data regarding the state of the engine 11 such as the coolant temperature to the controller 30 .
- the regulator 14 a of the main pump 14 transmits data regarding the swash plate tilt angle to the controller 30 .
- the discharge pressure sensor 14 b transmits data regarding the discharge pressure of the main pump 14 to the controller 30 .
- An oil temperature sensor 14c provided in a line between the hydraulic oil tank and the main pump 14 transmits to the controller 30 data regarding the temperature of the hydraulic oil flowing through the line.
- the operating pressure sensor 29 transmits to the controller 30 data regarding the pilot pressure generated when the operating device 26 is operated.
- the controller 30 can store these data in a temporary storage unit (memory) and transmit them to the display device 40 when necessary.
- the dial 75 is configured so that the target rotation speed of the engine 11 can be adjusted. Specifically, the dial 75 is configured to transmit information indicating the setting state of the target rotation speed of the engine 11 to the controller 30 . In this embodiment, the dial 75 can switch the target rotation speed in 10 steps from the first level (the level corresponding to the lowest target rotation speed) to the tenth level (the level corresponding to the highest target rotation speed). It is configured. The actual number of revolutions of the engine 11 is controlled to the target number of revolutions selected with the dial 75 .
- the ECO button 76 is an example of an operation tool for switching ON/OFF of the ECO mode.
- the ECO mode is one of the work modes of the excavator 100, and is a work mode in which a function for suppressing fuel consumption is executed.
- the work mode of the excavator 100 is configured to switch between the ECO mode and the normal mode each time the ECO button 76 is pressed.
- the normal mode is one of the work modes of the excavator 100, and is a work mode in which the function for suppressing fuel consumption is not executed. Functions performed in ECO mode include, for example, the function of slowing attachment movement.
- the expansion and contraction accelerations of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 when moving the operation lever away from the neutral position are limited to a predetermined value or less.
- the maximum expansion/contraction speed is not limited in this embodiment, the maximum expansion/contraction speed may also be limited.
- the expansion/contraction acceleration when returning the operating lever to the neutral position is not limited, but the expansion/contraction acceleration when returning the operating lever to the neutral position may also be limited. This function is realized, for example, by limiting the stroke acceleration (pilot pressure increase rate) of the control valves 174, 175L, 175R, 176L, and 176R.
- the operator of the excavator 100 can suppress fuel consumption as needed. Therefore, the excavator 100 can cope with, for example, the case where the operator wants to suppress fuel consumption even if the workability of the excavator 100 is limited.
- the alarm device 49 is a device for calling the attention of a person involved in the work of the excavator 100 .
- the alarm device 49 is configured by, for example, a combination of an indoor alarm device and an outdoor alarm device.
- the indoor alarm device is a device for calling the attention of the operator of the excavator 100 in the cabin 10, and for example, at least one of a sound output device, a vibration generator, and a light emitting device provided in the cabin 10. including.
- the indoor alarm device may be the display device 40 .
- the outdoor alarm device is a device for calling the attention of workers working around the excavator 100, and includes, for example, at least one of a sound output device and a light emitting device provided outside the cabin 10.
- a sound output device as an outdoor alarm device includes, for example, a travel alarm device attached to the bottom surface of the upper revolving structure 3 .
- the outdoor alarm device may be a light-emitting device provided on the upper swing body 3 .
- the outdoor alarm device may be omitted.
- the imaging device 80 functioning as an object detection device detects a predetermined object
- the warning device 49 may notify a person involved in the work of the shovel 100 to that effect.
- the key switch D5 is a device for starting the shovel 100.
- the key switch D5 is composed of a key cylinder into which a mechanical key is inserted.
- the key switch D5 may be a button-type device used in a smart entry system or the like.
- the key switch D5 is configured to select one of four rotational positions by rotating a mechanical key inserted into a key cylinder.
- the four pivot positions are the OFF position, the ACC position, the ON position and the START position.
- the rotating position of the mechanical key is the OFF position
- power supply to the controller 30 is cut off.
- the rotational position of the mechanical key is the ACC position or the ON position
- power is supplied to the controller 30 .
- the rotating position of the mechanical key is the START position, power is supplied to the starter 11b of the engine 11 .
- FIG. 4 is a diagram showing an example of the detailed configuration of the excavator 100 according to this embodiment.
- mechanical power lines are indicated by double lines, high-pressure hydraulic lines by solid lines, pilot lines by broken lines, and electric drive/control lines by dotted lines.
- a hydraulic drive system for hydraulically driving the hydraulic actuators of the excavator 100 according to the present embodiment includes an engine 11, main pumps 14L and 14R, and a control valve unit 17. Further, the hydraulic drive system of the excavator 100 according to the present embodiment includes traveling hydraulic motors 1L and 1R that hydraulically drive the lower traveling body 1, the upper revolving body 3, the boom 4, the arm 5, and the bucket 6, respectively, as described above. , swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9 and other hydraulic actuators.
- the engine 11 is the main power source in the hydraulic drive system, and is mounted on the rear portion of the upper revolving body 3, for example. Specifically, under the control of the controller 30 , the engine 11 rotates at a predetermined target rotation speed to drive the main pumps 14L, 14R and the pilot pump 15 .
- the engine 11 is, for example, a diesel engine that uses light oil as fuel.
- the main pumps 14L and 14R are each mounted, for example, on the rear portion of the upper rotating body 3 in the same manner as the engine 11, and supply working oil to the control valve unit 17 through high-pressure hydraulic lines.
- the main pumps 14L, 14R are each driven by the engine 11 as described above.
- the main pumps 14L and 14R are, for example, variable displacement hydraulic pumps, and under the control of a controller 30 to be described later, regulators 13L and 13R adjust the angles (tilt angles) of the swash plates to move the pistons.
- the stroke length can be adjusted to control the discharge flow rate (discharge pressure).
- the control valve unit 17 is, for example, a hydraulic control device that is mounted in the central portion of the upper revolving body 3 and that controls the hydraulic drive system according to the operation of the operating device 26 by the operator or the like.
- the control valve unit 17 is connected to the main pumps 14L and 14R via the high-pressure hydraulic lines, as described above, and supplies the hydraulic fluid supplied from the main pumps 14L and 14R to the hydraulic actuators according to the operating state of the operating device 26.
- traveling hydraulic motor 1L for left crawler
- 1R for right crawler
- turning hydraulic motor 2A for boom cylinder 7, arm cylinder 8, and bucket cylinder 9.
- control valve unit 17 includes control valves 171, 172, 173, 174, 175L, 175R, and 176L for controlling the flow rate and flow direction of hydraulic oil supplied from the main pumps 14L, 14R to the hydraulic actuators. , 176R.
- the hydraulic drive system circulates hydraulic oil from the main pumps 14L, 14R driven by the engine 11 to the hydraulic oil tank through the center bypass oil passages C1L, C1R and the parallel oil passages C2L, C2R.
- the center bypass oil passage C1L starts from the main pump 14L, passes through the control valves 171, 173, 175L, 176L arranged in the control valve unit 17 in order, and reaches the hydraulic oil tank.
- the center bypass oil passage C1R starts from the main pump 14R, passes through the control valves 172, 174, 175R, and 176R arranged in the control valve unit 17 in order, and reaches the hydraulic oil tank.
- the control valve 171 is a spool valve that supplies the hydraulic oil discharged by the main pump 14L to the traveling hydraulic motor 1L and discharges the hydraulic oil discharged by the traveling hydraulic motor 1L to the hydraulic oil tank.
- the control valve 172 is a spool valve that supplies hydraulic fluid discharged by the main pump 14R to the traveling hydraulic motor 1R and discharges hydraulic fluid discharged by the traveling hydraulic motor 1R to the hydraulic fluid tank.
- the control valve 173 is a spool valve that supplies the hydraulic oil discharged by the main pump 14L to the swing hydraulic motor 2A and discharges the hydraulic oil discharged by the swing hydraulic motor 2A to the hydraulic oil tank.
- the control valve 174 is a spool valve that supplies the hydraulic oil discharged by the main pump 14R to the bucket cylinder 9 and discharges the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.
- the control valves 175L and 175R are spool valves that supply the hydraulic oil discharged by the main pumps 14L and 14R to the boom cylinder 7 and discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.
- the control valves 176L, 176R respectively supply the hydraulic oil discharged by the main pumps 14L, 14R to the arm cylinder 8 and discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.
- the control valves 171, 172, 173, 174, 175L, 175R, 176L, and 176R respectively adjust the flow rate of the hydraulic oil supplied to and discharged from the hydraulic actuator and control the flow direction according to the pilot pressure acting on the pilot port. to switch.
- the parallel oil passage C2L supplies the hydraulic oil of the main pump 14L to the control valves 171, 173, 175L, 176L in parallel with the center bypass oil passage C1L.
- the parallel oil passage C2L branches off from the center bypass oil passage C1L on the upstream side of the control valve 171, and supplies hydraulic oil for the main pump 14L in parallel to each of the control valves 171, 173, 175L, and 176L. configured as possible.
- the parallel oil passage C2L supplies hydraulic oil to the downstream control valve when the flow of hydraulic oil passing through the center bypass oil passage C1L is restricted or blocked by any of the control valves 171, 173, 175L. can.
- the parallel oil passage C2R supplies the hydraulic oil of the main pump 14R to the control valves 172, 174, 175R, and 176R in parallel with the center bypass oil passage C1R.
- the parallel oil passage C2R branches off from the center bypass oil passage C1R on the upstream side of the control valve 172, and supplies hydraulic oil for the main pump 14R in parallel to each of the control valves 172, 174, 175R, and 176R. configured as possible.
- the parallel oil passage C2R can supply hydraulic oil to control valves further downstream when the flow of hydraulic oil through the center bypass oil passage C1R is restricted or blocked by any of the control valves 172, 174, 175R.
- the operating system of the excavator 100 includes a pilot pump 15 and an operating device 26.
- the pilot pump 15 is mounted, for example, on the rear portion of the upper rotating body 3 in the same manner as the engine 11, and supplies pilot pressure to the operating device 26 via the pilot line 25.
- the pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the engine 11 as described above.
- the operation device 26 is provided near the cockpit of the cabin 10, and is used by an operator or the like to operate various operation elements (the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, the bucket 6, etc.). Input means.
- the operating device 26 operates the hydraulic actuators (that is, the traveling hydraulic motors 1L and 1R, the turning hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, etc.) that drive the respective operating elements.
- the operating device 26 includes, for example, four lever devices that operate the upper rotating body 3, the boom 4, the arm 5, and the bucket 6, respectively.
- the operation device 26 includes, for example, two lever devices or pedal devices for operating the left crawler and the right crawler of the undercarriage 1 (that is, the traveling hydraulic motors 1L and 1R).
- the operating devices 26 are connected to the control valve units 17 via pilot lines.
- a pilot signal (pilot pressure) is input to the control valve unit 17 according to the operation state of the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, the bucket 6, etc. in the operating device 26. .
- the pilot pressures on the secondary side of the two lever devices or pedal devices that operate the left crawler (traveling hydraulic motor 1L) and the right crawler (traveling hydraulic motor 1R) are controlled by the control valves 171 and 172, respectively. Act on the pilot port.
- the pilot pressure on the secondary side of the lever device that operates the upper swing body 3 acts on the pilot port of the control valve 173 .
- the pilot pressure on the secondary side of the lever device that operates the boom 4 (boom cylinder 7) acts on the pilot ports of the control valves 175L and 175R.
- the pilot pressure on the secondary side of the lever device that operates the arm 5 acts on the pilot ports of the control valves 176L and 176R.
- the pilot pressure on the secondary side of the lever device that operates the bucket 6 acts on the pilot port of the control valve 174 . Therefore, the control valve unit 17 can drive each hydraulic actuator according to the operating state of the operating device 26 .
- the control system of the excavator 100 includes a controller 30, regulators 13L and 13R, negative control throttles 18L and 18R, control pressure sensors 19L and 19R, a discharge pressure sensor 28, and an operating pressure sensor 29. , a display device 40 , an operation input device as an operation unit 42 , and a communication device 44 .
- the controller 30 performs drive control of the excavator 100 .
- the functions of the controller 30 may be realized by arbitrary hardware or a combination of hardware and software.
- the controller 30 is mainly a microcomputer including a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), a non-volatile auxiliary storage device, various input/output interfaces, etc. Configured.
- the controller 30 implements various functions by executing, on the CPU, various programs stored in, for example, a ROM or a nonvolatile auxiliary storage device.
- the controller 30 sets a target rotation speed based on a work mode or the like preset by an operator or the like, and causes the engine 11 to rotate at a constant speed either directly or via a dedicated control device for the engine 11. Drive control.
- the controller 30 controls the discharge amounts of the main pumps 14L, 14R by controlling the regulators 13L, 13R and adjusting the tilt angles of the swash plates of the main pumps 14L, 14R.
- the controller 30 controls the regulators 13L, 13R according to the discharge pressures of the main pumps 14L, 14R detected by the discharge pressure sensors 28L, 28R, thereby controlling the discharge amounts of the main pumps 14L, 14R.
- the controller 30 may adjust the tilt angle of the swash plate of the main pump 14L through the regulator 13L in response to an increase in the discharge pressure of the main pump 14L to reduce the discharge amount.
- the regulator 13R performs total horsepower control of the main pumps 14L, 14R so that the absorption horsepower of the main pumps 14L, 14R represented by the product of the discharge pressure and the discharge amount does not exceed the output horsepower of the engine 11. be able to.
- the controller 30 controls the regulators 13L, 13R according to the detection signals corresponding to the control pressure generated by the throttles 18L, 18R input from the control pressure sensors 19L, 19R, and discharges the main pumps 14L, 14R. You can control the amount. More specifically, the controller 30 reduces the discharge amounts of the main pumps 14L and 14R as the control pressure increases, and increases the discharge amounts of the main pumps 14L and 14R as the control pressure decreases.
- the hydraulic fluid discharged from the main pumps 14L and 14R is directed to the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated. flow in.
- the flow of hydraulic oil discharged from the main pumps 14L, 14R reduces or eliminates the amount reaching the throttles 18L, 18R, thereby reducing the control pressure generated upstream of the throttles 18L, 18R.
- the controller 30 can increase the discharge amounts of the main pumps 14L and 14R, circulate sufficient working oil to the hydraulic actuator to be operated, and reliably drive the hydraulic actuator to be operated.
- the controller 30 controls the waste of the main pumps 14L, 14R, including the pumping loss caused by the hydraulic oil discharged from the main pumps 14L, 14R in the center bypass oil passages C1L, C1R in the standby state of the hydraulic drive system. energy consumption can be suppressed. Further, when the hydraulic actuators are operated, the controller 30 can supply necessary and sufficient hydraulic oil from the main pumps 14L, 14R to the hydraulic actuators to be operated.
- the controller 30 controls the operation of the two hydraulic actuators according to preset contents.
- the regulators 13L and 13R are controlled to operate, and the discharge amounts of the main pumps 14L and 14R are controlled. More specifically, the controller 30 controls the regulators 13L and 13R so that the flow rate distribution of the hydraulic oil supplied to the two hydraulic actuators is adjusted to a preset content during the combined operation by the operating device 26. do.
- boost up turning operation For example, in a combined operation (hereinafter referred to as a "boom up turning operation") in which an operation in the raising direction of the boom 4 (hereinafter referred to as a “boom raising operation”) and a turning operation of the upper structure 3 are simultaneously performed, power is supplied from the main pump 14L.
- Hydraulic swing motor 2A driven by hydraulic oil and boom cylinder 7 supplied with hydraulic oil from both main pumps 14L and 14R are operated.
- hydraulic oil flows into the swing hydraulic motor 2A from the upstream side (main pump 14L side) of the boom cylinder 7 in the center bypass oil passage C1L.
- the flow rate of the swing hydraulic motor 2A can be relatively increased.
- the boom cylinder 7 can be supplied with hydraulic oil not only from the main pump 14L but also from the main pump 14R. can be relatively increased.
- the controller 30 controls the discharge amounts of the main pumps 14L and 14R based on the operating state of the operating device 26 during combined operation, thereby controlling the flow rate of the hydraulic oil supplied to the two hydraulic actuators. It can be adjusted so that it becomes the content set as follows.
- the controller 30 determines the relative reaction degree (hereinafter referred to as , “relative reactivity”).
- the controller 30 sets the relative reactivity of the two hydraulic actuators during a compound operation (hereinafter referred to as relative reactivity setting), which is realized by executing one or more programs stored in a non-volatile auxiliary storage device, for example. ) includes an operation screen display processing unit 301 and a complex operation setting unit 302 .
- the controller 30 also includes a storage unit 303 as a storage area regarding relative reactivity setting defined in a non-volatile internal memory such as an auxiliary storage device, for example.
- a part of the functions of the controller 30 may be realized by another controller. That is, the functions of the controller 30 may be implemented in a manner distributed by a plurality of controllers.
- the regulators 13L, 13R adjust the discharge amounts of the main pumps 14L, 14R by adjusting the tilt angles of the swash plates of the main pumps 14L, 14R under the control of the controller 30, respectively.
- the throttles 18L, 18R are provided between the control valves 176L, 176R, which are the most downstream in the center bypass oil passages C1L, C1R, respectively, and the hydraulic oil tank. As a result, the flow of hydraulic oil discharged by the main pumps 14L, 14R is restricted by the throttles 18L, 18R, and the throttles 18L, 18R generate the aforementioned control pressures.
- the control pressure sensors 19L and 19R detect the control pressure, and detection signals corresponding to the detected control pressure are taken into the controller 30.
- the discharge pressure sensors 28L, 28R respectively detect the discharge pressures of the main pumps 14L, 14R, and detection signals corresponding to the detected discharge pressures are taken into the controller 30.
- the operation pressure sensor 29 detects the pilot pressure on the secondary side of the operation device 26 , that is, the pilot pressure corresponding to the operation state of each operating element (hydraulic actuator) in the operation device 26 .
- a pilot pressure detection signal corresponding to the operation state of the lower traveling body 1 , the upper swing body 3 , the boom 4 , the arm 5 , the bucket 6 , etc. in the operating device 26 by the operation pressure sensor 29 is taken into the controller 30 .
- the display device 40 is provided in a place where an operator or the like near the cockpit in the cabin 10 can easily visually recognize (for example, a pillar portion in the right front part in the cabin 10), and various information screens are displayed under the control of the controller 30. indicate.
- the display device 40 is, for example, a liquid crystal display or an organic EL (Electro Luminescence) display, and may be of a touch panel type that also serves as an operation unit.
- the operation unit 42 is provided within the reach of an operator or the like seated in the cabin 10, and receives various operations by the operator or the like.
- the operation unit 42 includes a touch panel mounted on the display of the display device 40 that displays various information images, a touch pad provided separately from the display of the display device 40, and a tip of a lever portion of a lever device included in the operation device 26. button switches, levers, toggles, etc., which are installed around the display device 40 or located relatively away from the display device 40 .
- a signal corresponding to the operation content of the operation unit 42 is captured by the controller 30 .
- the communication device 44 connects to a communication network outside the excavator 100, which may include, for example, a mobile communication network with a base station as a terminal, a satellite communication network using communication satellites in the sky, an Internet network, etc., and communicates with external devices. communicate between a communication network outside the excavator 100, which may include, for example, a mobile communication network with a base station as a terminal, a satellite communication network using communication satellites in the sky, an Internet network, etc., and communicates with external devices. communicate between a communication network outside the excavator 100, which may include, for example, a mobile communication network with a base station as a terminal, a satellite communication network using communication satellites in the sky, an Internet network, etc., and communicates with external devices. communicate between a communication network outside the excavator 100, which may include, for example, a mobile communication network with a base station as a terminal, a satellite communication network using communication satellites in the sky, an Internet network, etc., and communicates with
- FIG. 5 is a diagram showing a configuration example of the image display section 41 and the operation section 42 of the display device 40.
- the example of FIG. 5 shows a state in which a home screen including a right image and a rear image is displayed on the image display unit 41 as a screen displayed before the menu switch of the operation unit 42 is operated.
- the home screen is a screen displayed while the excavator 100 is in operation.
- the image display section 41 includes a date and time display area 41a, a driving mode display area 41b, an attachment display area 41c, a fuel consumption display area 41d, an engine control state display area 41e, an engine operating time display area 41f, a cooling A water temperature display area 41g, a fuel remaining amount display area 41h, a rotation speed level display area 41i, a urea water remaining amount display area 41j, a working oil temperature display area 41k, an air conditioner operating state display area 41m, an image display area 41n, and a menu display area. 41p.
- the traveling mode display area 41b, the attachment display area 41c, the engine control state display area 41e, the rotation speed level display area 41i, and the air conditioner operation state display area 41m are areas for displaying setting state information, which is information regarding the setting state of the excavator 100. is.
- a fuel consumption display area 41d, an engine operating time display area 41f, a cooling water temperature display area 41g, a fuel remaining amount display area 41h, a urea water remaining amount display area 41j, and a working oil temperature display area 41k are information related to the operating state of the excavator 100. This is an area for displaying certain operating status information.
- the date and time display area 41a is an area for displaying the current date and time.
- the running mode display area 41b is an area for displaying the current running mode.
- the attachment display area 41c is an area for displaying an image representing the currently attached attachment.
- the fuel consumption display area 41 d is an area for displaying fuel consumption information calculated by the controller 30 .
- the fuel consumption display area 41d includes an average fuel consumption display area 41d1 that displays the lifetime average fuel consumption or the section average fuel consumption, and an instantaneous fuel consumption display area 41d2 that displays the instantaneous fuel consumption.
- the engine control state display area 41e is an area where the control state of the engine 11 is displayed.
- the engine operating time display area 41f is an area for displaying the accumulated operating time 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 fuel remaining amount display area 41h is an area for displaying the remaining amount of fuel stored in the fuel tank.
- the rotational speed level display area 41i is an area that displays the current level set by the dial 75 as an image.
- FIG. 5 shows the first level selected.
- the urea water remaining amount display area 41j is an area for displaying an image of 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 air conditioner operation state display area 41m includes an air outlet display area 41m1 for displaying the current position of the air outlet, an operation mode display area 41m2 for displaying the current operation mode, a temperature display area 41m3 for displaying the current set temperature, and a temperature display area 41m3 for displaying the current temperature setting.
- air volume display area 41m4 for displaying the set air volume.
- the image display area 41n is an area for displaying an image captured by the imaging device 80.
- the image display area 41n displays the right image RG and the rear image BG.
- the right image RG is an image showing the space to the right of the excavator 100 and includes an image GC1 of the upper surface right end of the upper revolving body 3 .
- the right image RG is a real viewpoint image generated by the control unit 40a, and is generated based on the image acquired by the right camera 80R.
- the rear image BG is an image showing the space behind the excavator 100, and includes a counterweight image GC2.
- the rear image BG is a real viewpoint image generated by the control unit 40a, and is generated based on the image acquired by the rear camera 80B.
- the image display area 41n has a first image display area 41n1 located above and a second image display area 41n2 located below.
- the right image RG is arranged in the first image display area 41n1
- the rear image BG is arranged in the second image display area 41n2.
- the image display area 41n may be configured to display an overhead image.
- a bird's-eye view image is a virtual viewpoint image generated by the control unit 40a, and is generated based on images obtained by the rear camera 80B, the left camera 80L, and the right camera 80R.
- a shovel figure corresponding to the shovel 100 is arranged in the central portion of the bird's-eye view image.
- the image display area 41n may be configured to simultaneously display at least two of the bird's-eye view image, the left image, the right image RG, and the rear image BG.
- the image display area 41n may arrange the overhead image in the first image display area 41n1, and arrange the rear image BG and the right image RG in the second image display area 41n2.
- the rear image BG may be arranged on the left side of the second image display area 41n2
- the right image RG may be arranged on the right side of the second image display area 41n2.
- the image display area 41n may arrange the left image and the right image RG in the first image display area 41n1, and arrange the rear image BG in the second image display area 41n2.
- the left image may be arranged on the left side of the first image display area 41n1
- the right image RG may be arranged on the right side of the first image display area 41n1.
- the right image RG and the rear image BG are arranged vertically adjacent to each other, but they may be arranged with an interval therebetween.
- the image display area 41n is a vertically long area, but the image display area 41n may be a horizontally long area.
- the image display area 41n arranges the rear image BG as the first image display area 41n1 on the left side, and arranges the right image RG as the second image display area 41n2 on the right side. may In this case, they may be arranged with a space left and right, or the positions of the rear image BG and the right image RG may be interchanged.
- the menu display area 41p has tabs 41p1 to 41p7.
- tabs 41p1 to 41p7 are arranged at the lowermost portion of the image display section 41 with a space left and right. Icons for displaying various information are displayed on the tabs 41p1 to 41p7.
- the tab 41p1 displays detailed menu item icons for displaying detailed menu items.
- the icons displayed on the tabs 41p2 to 41p7 are switched to icons associated with detailed menu items.
- the tab 41p4 displays icons for displaying information about the digital level.
- the rear image BG displayed in the second image display area 41n2 is switched to a screen showing information on the digital level.
- the right image RG displayed in the first image display area 41n1 is reduced and switched to a combination of the right image RG and the rear image BG.
- a screen showing information about the digital level may be displayed by being superimposed on the rear image BG or by reducing the rear image BG.
- the right image RG may be switched to a screen showing information about the digital level, and the screen showing the information about the digital level may be superimposed on the right image RG or the right image RG may be reduced. may be displayed.
- the rear image BG displayed in the second image display area 41n2 is reduced, It may be switched to a combination of the right image RG and the rear image BG.
- the tab 41p6 displays icons for displaying information about information-aided construction.
- the rear image BG displayed in the second image display area 41n2 is switched to a screen showing information about information-aided construction.
- the right image RG displayed in the first image display area 41n1 is reduced and switched to a combination of the right image RG and the rear image BG.
- a screen showing information about information-aided construction may be displayed by being superimposed on the rear image BG or by reducing the rear image BG.
- the right image RG may be switched to a screen showing information about the information-aided construction, and the screen showing the information about the information-aided construction may be superimposed on the right image RG or the right image RG may be reduced.
- the rear image BG displayed in the second image display area 41n2 may be reduced, It may be switched to a combination of the right image RG and the rear image BG.
- the tab 41p7 displays icons for displaying information about the crane mode.
- the rear image BG displayed in the second image display area 41n2 is switched to a screen showing information about the crane mode.
- the right image RG displayed in the first image display area 41n1 is reduced and switched to a combination of the right image RG and the rear image BG.
- a screen showing information about the crane mode may be displayed by being superimposed on the rear image BG or by reducing the rear image BG.
- the right image RG may be switched to a screen showing information about the crane mode, and the screen showing the information about the crane mode may be displayed by being superimposed on the right image RG or by shrinking the right image RG.
- the rearward image BG displayed in the second image display area 41n2 is reduced and displayed on the right side. It may be switched to a combination of the side image RG and the rear image BG.
- the icons displayed on the tabs 41p1 to 41p7 are not limited to the examples described above, and icons for displaying other information may be displayed.
- the operation unit 42 is composed of one or a plurality of button-type switches for selection of tabs 41p1 to 41p7 and setting input by the operator.
- the operation unit 42 includes seven switches 42a1 to 42a7 arranged in the upper row and seven switches 42b1 to 42b7 arranged in the lower row.
- the switches 42b1-42b7 are arranged below the switches 42a1-42a7, respectively.
- the number, form, and arrangement of the switches of the operation unit 42 are not limited to the above examples. form, and the operation unit 42 may be separate from the display device 40 .
- a method of directly operating the tabs 41p1 to 41p7 on a touch panel in which the image display unit 41 and the operation unit 42 are integrated may be used.
- the switches 42a1-42a7 are arranged under the tabs 41p1-41p7 corresponding to the tabs 41p1-41p7, respectively, and function as switches for selecting the tabs 41p1-41p7, respectively. Since the switches 42a1 to 42a7 are arranged under the tabs 41p1 to 41p7 corresponding to the tabs 41p1 to 41p7, respectively, the operator can intuitively select the tabs 41p1 to 41p7.
- the switch 42b1 is a switch for switching the captured image displayed in the image display area 41n.
- the switch 42b1 Each time the switch 42b1 is operated, the captured image displayed in the first image display area 41n1 of the image display area 41n is switched, for example, between the rear image, the left image, the right image, and the overhead image. It is configured.
- the captured image displayed in the second image display area 41n2 of the image display area 41n switches among, for example, the rear image, the left image, the right image, and the overhead image. It may be configured as Also, each time the switch 42b1 is operated, the captured image displayed in the first image display area 41n1 of the image display area 41n and the captured image displayed in the second image display area 41n2 are switched.
- the switch 42b1 as the operation unit 42 may switch the screen displayed in the first image display area 41n1 or the second image display area 41n2, or switch between the first image display area 41n1 and the second image display area 41n1. You may switch the screen displayed on 41n2. Also, a switch for switching the screen displayed in the second image display area 41n2 may be provided separately.
- the switches 42b2 and 42b3 are switches for adjusting the air volume of the air conditioner.
- the air volume of the air conditioner decreases when the switch 42b2 is operated, and the air volume of the air conditioner increases when the switch 42b3 is operated.
- a switch 42b4 is a switch for switching ON/OFF of the cooling/heating function.
- the cooling/heating function is switched between ON and OFF each time the switch 42b4 is operated.
- the switches 42b5 and 42b6 are switches for adjusting the set temperature of the air conditioner.
- the set temperature is lowered when the switch 42b5 is operated, and the set temperature is raised when the switch 42b6 is operated.
- the switch 42b7 is a switch that can switch the display of the engine operating time display area 41f.
- switches 42a2 to 42a6 and 42b2 to 42b6 are configured so that numbers displayed on the respective switches or near the switches can be input.
- the switches 42a3, 42a4, 42a5, and 42b4 are configured to move the cursor left, up, right, and down, respectively, when the cursor is displayed on the menu screen.
- switches 42a1 to 42a7 and 42b1 to 42b7 are examples, and may be configured so that other functions can be executed.
- the tab 41p1 when the right image RG and the rear image BG are displayed in the image display area 41n, when the tab 41p1 is selected, the tab is displayed while the right image RG and the rear image BG are displayed.
- the first menu detailed items are displayed in 41p2 to 41p7. Therefore, the operator can check the first menu detailed items while checking the right image RG and the rear image BG.
- the rear image BG is selected. Switches to a menu screen showing information corresponding to tabs 41p2 to 41p7. At this time, the display of the right image RG is switched to a combination of the right image RG and the rear image BG. In this way, the menu screen is displayed with the right image RG and the rear image BG displayed, so that the surrounding field of vision can be secured even when the menu screen is displayed. Therefore, the excavator 100 can be operated while the menu screen is displayed.
- FIG. 6 is a diagram showing a configuration example of the image display section 41 and the operation section 42 of the display device 40.
- the screen displayed on the image display unit 41 in FIG. 6 is displayed when, for example, a tab showing a machine information icon (not shown; one of the tabs 41p1 to 41p7 in FIG. 5) is selected. be.
- the image display unit 41 mainly displays a rear image BG, a right image RG, an image 41q indicating mechanical information, and a plurality of tabs 41p0 to 41p7.
- an image 41q indicating machine information includes a selection screen for selecting a type of compound operation for which relative reactivity is to be set by the relative reactivity setting screen from among a plurality of types of compound operations defined in advance. (Complex operation selection screen to be set) is displayed.
- the menu screen is not limited to this example, and may include other information.
- the tab 41p0 displays a first machine information icon, which is an icon indicating the currently selected machine information.
- a first operability setting icon for displaying the first operability setting is displayed on the tab 41p1.
- the icons associated with the first machine information displayed on the tabs 41p2 to 41p7 are switched to icons associated with the first operability setting.
- a second machine information icon for displaying the second machine information may be displayed on the tab 41p1.
- the tabs 41p2 to 41p6 display icons for selecting, moving, and canceling the items shown in the image 41q showing the machine information. When the operator selects one of the tabs 41p2 to 41p6, item selection, movement, and cancellation are performed.
- a home icon for displaying a preset home screen (eg, default screen) is displayed on the tab 41p7.
- a preset home screen is displayed. For example, the screen shown in FIG. 5 is displayed as the home screen.
- the image 41q showing the machine information is an example of the menu screen.
- the tab is displayed in the second image display area 41n2 shown in FIG.
- the rearward image BG displayed is switched to a menu screen showing the machine information corresponding to the selected tab, and the rightward image RG displayed in the first image display area 41n1 shown in FIG. Switch to combination with image BG.
- the second image display area 41n2 the engine operating time display area 41f, the air conditioner operating state display area 41m, and the menu display area 41p shown in FIG.
- an engine operating time display area 41f, an air conditioner operating state display area 41m an area for displaying an image 41q indicating machine information
- a menu display area 41p a menu display area 41p.
- the engine operating time display area 41f, the air conditioner operating state display area 41m, and the tab 41p0 are arranged above the area where the image 41q indicating the mechanical information is displayed.
- an area 41r is defined as an area in which the tab 41p0 is displayed, an area in which an image 41q indicating machine information is displayed, and a menu display area 41p. Since the menu screen showing the machine information is displayed with the right image RG and the rear image BG displayed in this way, the operator can operate the excavator 100 while confirming various settings.
- the image 41q in FIG. 6 shows, as described above, the type of relative reactivity setting target by the relative reactivity setting screen out of a plurality of types of predetermined complex operations displayed on the display device 40 of the excavator 100.
- 3 shows an example of a selection screen (setting target compound operation selection screen) (setting target compound operation selection screen 300) for selecting the compound operation of .
- the operation screen display processing unit 301 allows a predetermined screen transition option (eg, button icon) displayed on a predetermined screen (eg, home screen) displayed on the display device 40 to be operated through the operation unit 42 . Then, the display content of the display device 40 may be changed to the setting target composite operation selection screen 300 . Further, for example, the operation screen display processing unit 301 changes the display device 40 according to the user's operation on a registered content call screen for using registered content such as a current setting 3030, an initial setting 3031, and a custom setting 3032, which will be described later. The display content may be changed to the setting target composite operation selection screen 300 .
- a predetermined screen transition option eg, button icon
- a predetermined screen eg, home screen
- the current settings 3030 mean the currently used registered contents (current values of one or more parameters), and the initial settings 3031 mean the initial registered contents (initial values of one or more parameters).
- Custom settings mean registered contents (registered values of one or more parameters) that can be called at desired timing. The operator can return the current settings 3030 to the initial settings 3031 by performing a predetermined reset operation.
- the setting target compound operation selection screen 300 includes a list 304 of multiple types of selectable compound operations arranged in the center in the vertical direction.
- the setting target composite operation selection screen 300 includes button icons (tabs 41p2 to 41p5) for performing cursor operations, which are arranged in the horizontal direction at the lower end.
- a list 304 includes, as selectable types of combined operations, a combined operation of closing the arm 5 (hereinafter referred to as “arm closing operation”) and boom raising operation (hereinafter referred to as “fine grading”). (“Arm in & Boom up”). List 304 also includes, as selectable types of combined operations, combined operations (hereinafter referred to as “arm closing operation” and “bucket closing operation”) during excavation work (“Digging”). (“Arm in & Bucket close”). List 304 also includes an arm closing boom raising operation during excavation work as a selectable type of compound operation.
- List 304 also includes, as a selectable type of combined operation, a combined operation of bucket closing operation and boom raising operation during excavation work (hereinafter referred to as "bucket close & boom raising operation”). up”).
- List 304 also includes a boom up swing operation (“Boom up & Swing”) during loading of earth and sand onto a truck (“Truck loading”) as a selectable type of combined operation.
- the controller 30 determines the work content of the excavator 100, and depending on whether the determined work content is excavation work or leveling work, controls the arm cylinder 8 and boom cylinder 7 based on the current setting 3030 corresponding to the work content. control the flow distribution of Specifically, the controller 30 can determine whether the excavation work or the leveling work is to be performed based on, for example, the measured value of the cylinder pressure of the boom cylinder 7 or the image of the camera that captures the front of the excavator 100 . Further, the controller 30 may determine whether the work is excavation work or leveling work according to a user's operation of a switch or the like for selecting a work type included in the operation unit 42 .
- the user By operating the button icon (tab 41p4) through the operation unit 42, the user moves the cursor (for example, the color of the name of the selectable type of compound operation changes to a different color or an arrow is displayed). to select the desired type of compound operation. Then, the user can confirm the selected type of compound operation by operating the button icon (tab 41p2) through the operation unit 42 while the desired type of compound operation is selected with the cursor. .
- the cursor for example, the color of the name of the selectable type of compound operation changes to a different color or an arrow is displayed.
- the operation screen display processing unit 301 changes the display contents of the display device 40 to a relative reactivity setting screen (for example, a relative screen 400).
- the controller 30 displays a relative reactivity setting screen in the area 41r shown in FIG. Specifically, the controller 30 displays a relative reactivity setting screen 400, an information image 550, or the like, which will be described later, in the area where the image 41q indicating the machine information shown in FIG. 6 is displayed and the menu display area 41p.
- the controller 30 may be configured to display the relative reactivity setting screen 400 or the information image 550 or the like on the full screen.
- a touch panel mounted on the display device 40 may be used to select various items. The same applies to the relative reactivity operation screen shown in FIG. 7 below.
- FIG. 7 is a diagram showing a specific example of the relative reactivity setting screen.
- FIG. 7 is a diagram showing a first example of the relative reactivity setting screen (relative reactivity setting screen 400). Specifically, FIG. 7 is a diagram showing an example of the relative reactivity setting screen (relative reactivity setting screen 400) for the arm closing boom raising operation in the leveling work.
- the relative reactivity setting screen 400 includes arrow icons 402 and 403 simulating an arm closing operation and a boom raising operation, which are arranged adjacent to portions corresponding to the arm 5 and boom 4 of the excavator image 401.
- the relative reactivity setting screen 400 also includes a bar graph 404 that indicates the relative reactivity between the arm cylinder 8 and the boom cylinder 7 , which is arranged below the excavator image 401 .
- the relative reactivity setting screen 400 includes button icons 405 to 408 that are arranged in the horizontal direction at the lower end portion and are used for cursor operations, similarly to the setting target composite operation selection screen 300 .
- the bar graphs 404 include a bar graph 404A showing the relative reactivity of the arm cylinder 8 corresponding to the arm closing operation, and a bar graph 404B showing the relative reactivity of the boom cylinder 7 corresponding to the boom raising operation.
- the bar graphs 404A and 404B are respectively arranged vertically and arranged across the left and right of the relative reactivity setting screen 400 .
- the bar graphs 404A and 404B are each displayed in 10 levels.
- the bar graphs 404A and 404B are each displayed in a range from “level 1" to "level 9" and the sum of both is "level 10".
- bar graph 404A indicates “Stage 5" and bar graph 404B indicates "Stage 5.”
- the bar graph 404A indicates "stage 4" and the bar graph 404B indicates "stage 6”
- the operation of the boom cylinder 7 is slightly prioritized over the operation of the arm cylinder 8. It shows a state where In this way, the user can easily visually (intuitively) check the relative reactivity of the two hydraulic actuators (the arm cylinder 8 and the boom cylinder 7), and thus can easily set the relative reactivity. be possible.
- the user operates the button icon 407 through the operation unit 42 to move the cursor (for example, the letters "ARM IN” and "BOOM UP" added to the bar graphs 404A and 404B change to different colors) up and down. to select one of bar graphs 404A and 404B. Then, with either bar graph 404A or 404B selected, the user operates the button icon 408 through the operation unit 42 to increase the level of the selected bar graph by one level. , and by operating the button icon 406, the level of the selected bar graph can be decreased by one level.
- the operation screen display processing unit 301 automatically decreases or increases the level of the other bar graph that has not been selected in accordance with the increase or decrease of the level of one of the selected bar graphs. Keep the total at "Stage 10". This eliminates the need for the user to change the stage of the other bar graph that has not been selected, so the controller 30 can improve convenience for the user.
- the operation screen display processing unit 301 changes the position of one of the bar graphs 404A and 404B according to a touch operation or the like to the stage position of one of the bar graphs 404A and 404B through a touch panel or the like as the operation unit 42.
- the display may be changed to the stage position where the touch operation or the like was performed, and the display of the other bar graph and the display of the one bar graph after the change may be changed so that the total becomes "step 10".
- the user can directly set the stages of the bar graphs 404A and 404B through the touch panel, so the controller 30 can further improve user convenience.
- the operation screen display processing unit 301 displays the bar graphs 404A and 404B in accordance with an operation (for example, a touch operation) performed on one of the arrow icons 402 and 403 through a touch panel or the like as the operation unit 42.
- an operation for example, a touch operation
- One of the corresponding bar graph steps may be increased and the other bar graph step may be decreased. This makes it easier for the user to intuitively confirm whether the arm closing operation or the boom raising operation is performed by the arrow icons 402 and 403 attached to the shovel image 401. Therefore, while confirming the operation to be given priority, It becomes possible to change the setting of the relative reactivity, and the controller 30 can further improve the user's convenience.
- the operation screen display processing unit 301 displays operation elements (that is, the arm 5 or the boom 4) driven by two hydraulic actuators corresponding to the compound operation to be set in the excavator image 401 through a touch panel or the like as the operation unit 42. corresponding to one of the bar graphs 404A and 404B and decrease the other bar graph according to the operation (for example, touch operation, etc.) performed on the part of good.
- This makes it easier for the user to intuitively confirm from the excavator image 401 whether the arm closing operation or the boom raising operation is performed. Therefore, similarly to the case where the arrow icons 402 and 403 are operated, it is possible to change the setting of the relative reactivity while confirming the operation to be prioritized, and the controller 30 further enhances the user's convenience. can be improved.
- the size of the corresponding arrow icons 402 and 403 may change according to the change in the stages of the bar graphs 404A and 404B.
- the operation screen display processing unit 301 enlarges the arrow icon 402 corresponding to the arm closing operation as the stage of the bar graph 404A corresponding to the arm closing operation increases, and the stage of the bar graph 404A increases. As it decreases, the arrow icon 402 may become smaller.
- the operation screen display processing unit 301 enlarges the arrow icon 403 corresponding to the boom raising operation as the stage of the bar graph 404B corresponding to the boom raising operation increases, and the stage of the bar graph 404B decreases.
- the arrow icon 403 may be made smaller. This makes it easier for the user to visually confirm the relationship between the relative reactivity of the two hydraulic actuators, and makes it possible to change the setting of the relative reactivity more easily.
- the user operates button icon 405 through operation unit 42 to move the arm cylinder corresponding to the display content of bar graphs 404A and 404B.
- 8 and boom cylinder 7 relative reactivity settings can be established.
- the composite operation setting unit 302 stores the relative reactivity of the arm cylinder 8 and the boom cylinder 7 at the time of the arm closing boom raising operation of the leveling work corresponding to the display contents of the bar graphs 404A and 404B in the storage unit 303. Save as current settings 3030 .
- the operation screen display processing unit 301 changes the display content of the display device 40 to the setting target composite operation selection screen while maintaining the type of the registered content. Then, as described above, the operation screen display processing unit 301 stores the registered content of the held type from the storage unit 303 when the compound operation to be set is confirmed according to the user's operation through the operation unit 42 .
- Calling (reading) causes the display contents of the display device 40 to transition to a relative reactivity setting screen reflecting the registered contents.
- the user can confirm the relative reactivity through the operation unit 42 on the relative reactivity setting screen in which the registered contents (initial setting 3031, custom setting 3032) selected by the user are reflected. It can be set to the registered content selected on the registered content call screen.
- the operation screen display processing unit 301 changes the display content of the display device 40 when the custom setting is called. , the screen may be directly changed to the relative reactivity setting screen for the corresponding type of composite operation without transitioning to the setting target composite operation selection screen. Further, for example, if a certain type of custom setting has only registered contents for a part of the types of compound operations to be set, the operation screen display processing unit 301 selects the setting target when the custom setting is called. On the complex operation selection screen, complex operations of types that are not registered as custom settings may be hidden or displayed in an inoperable state.
- a composite operation setting unit 302 (an example of a setting unit) sets a composite operation for each of a plurality of types of composite operations in accordance with a user's operation on a relative reactivity setting screen performed through an operation input device as the operation unit 42.
- the relative reactivity setting screen can be operated not only by a touch panel that can directly operate the setting screen, but also on the operation screen through any hardware that can be included in the above-described operation input device. may include an operation on an operation target such as a cursor or an icon.
- the relative responsiveness of two hydraulic actuators at the time of combined operation is the degree of distribution of the speed of operation of the two hydraulic actuators when the two hydraulic actuators are operated simultaneously.
- the relative responsiveness of the two hydraulic actuators at the time of compound operation is the same as when the two hydraulic actuators are operated simultaneously. , reaction time from operation to start of operation of the two hydraulic actuators, operating speed, operating acceleration, etc. of the two hydraulic actuators.
- the relative responsiveness of the two hydraulic actuators during a compound operation is the relative priority of which of the two hydraulic actuators is preferentially operated.
- the relative responsiveness of the two hydraulic actuators can be changed, for example, by adjusting the flow distribution of hydraulic fluid supplied to the two hydraulic actuators.
- the composite manipulation setting unit 302 sets the relative reactivity of the two hydraulic actuators at the time of the composite manipulation for each of a plurality of types of composite manipulations defined in advance as follows: A flow distribution of hydraulic fluid to the two hydraulic actuators may be set.
- the compound operation setting unit 302 saves the setting contents for each of a plurality of types of compound operations in the storage unit 303 as current settings 3030 .
- the current setting 3030 is associated with the identification information of the current operator of the excavator 100 (for example, an operator ID (Identifier) predefined for each of a plurality of operators) (hereinafter referred to as "operator identification information").
- the display device 40 displays an operation screen (hereinafter referred to as an "operator selection screen") for selecting an operator who will actually operate from a plurality of operators registered in advance.
- the operator of the excavator 100 may be specified according to the operation content (selection content) by the operator or the like.
- an indoor camera is installed inside the cabin 10 for capturing an image of the face of the operator in the cockpit. An operator may be specified. Thereby, the controller 30 can identify the current operator of the excavator 100 and associate the current setting 3030 with the operator identification information corresponding to the current operator.
- the compound operation setting unit 302 transmits the content set for each of the plurality of types of compound operations, that is, the content of the current settings 3030 to the management device as an external device through the communication device 44 . Accordingly, the administrator of the management device or the like can confirm the current settings regarding the relative reactivity of the two hydraulic actuators during the compound operation of the excavator 100 . In addition, when the contents of the current setting 3030 are associated with the operator identification information, the administrator of the management device or the like can grasp what kind of setting contents regarding relative reactivity are used for each operator. .
- the excavator 100 is equipped with a function that allows the operator to customize the operability of the excavator 100 according to the operator's preference.
- the operability of the excavator 100 is customized, for example, by changing values such as relative reactivity from initial values. If such a function is provided, it is desirable that the operator can confirm whether or not the operability of the excavator 100 has been customized before the excavator 100 starts operating. In particular, when the excavator 100 is shared by a plurality of operators, it is desirable that the operator can confirm whether or not the operability of the excavator 100 has been customized. This is because there is a high probability that the operability of the excavator 100 has been customized by another operator.
- the operator may spare the trouble of performing such complicated operations. There is In this case, the operator operates the excavator 100 while maintaining operability that does not suit the operator's taste. There is a risk that the excavator 100 may move unintended by the operator, such as moving the boom 4 abruptly, moving the arm 5 abruptly, or turning the upper revolving body 3 abruptly. .
- the controller 30 automatically, that is, without manual operation by the operator, before the operation of the excavator 100 is started.
- the display device 40 is configured to display information about custom settings.
- the predetermined condition is, for example, that parameters relating to operability of the excavator 100 are customized.
- Information about custom settings is displayed, for example, when the engine 11 is started, or when the gate lock lever D4 is in the locked state.
- the information about the custom setting is, for example, information about the operability of the control lever.
- Information about the operability of the control lever is, for example, information about relative reactivity.
- the information about the custom setting is, for example, information notifying that the current setting regarding the operability of the control lever is different from the initial setting.
- the information indicating that the current setting regarding the operability of the control lever is different from the initial setting is, for example, text information or an icon.
- the information related to custom settings may include the current settings related to the operability of the control lever.
- the current setting regarding the operability of the control lever is, for example, the relative reactivity value previously set by the operator.
- FIG. 8 is a flowchart of an example of display processing.
- the controller 30 executes display processing when the key switch D5 is rotated to the ACC position. That is, the controller 30 executes the display process when the key switch D5 is turned to the ACC position while the engine 11 is not started.
- the controller 30 may execute the display process when the state of the gate lock lever D4 is switched from the locked state to the unlocked state.
- the controller 30 may execute the display process when the state of the gate lock lever D4 is switched from the locked state to the unlocked state even when the engine 11 is started. That is, even when the engine 11 is started, the controller 30 is configured not to execute the display process until the state of the gate lock lever D4 is switched from the locked state to the unlocked state. good.
- the controller 30 determines whether the parameters have been changed from their initial values (step ST1).
- the parameters are parameters relating to the operability of the shovel 100, for example.
- a parameter relating to the operability of the excavator 100 is, for example, relative reactivity. Specifically, when the value of the relative reactivity is different from the initial value stored as the initial setting 3031, the controller 30 determines that the value of the relative reactivity as the parameter has been changed from the initial value. On the other hand, if the value of relative reactivity is the same as the initial value stored as initial setting 3031, controller 30 determines that the value of relative reactivity as a parameter has not been changed from the initial value.
- the controller 30 displays the home screen (step ST5).
- the controller 30 displays the home screen shown in FIG. In other words, the information about the custom setting is not displayed when the current setting regarding the operability of the control lever is the initial setting.
- the controller 30 displays information on custom settings (step ST2).
- the controller 30 displays the information image 550 shown in FIG. 9 in the area 41r shown in FIG. In this way, information about custom settings is displayed simultaneously with at least one of setting status information, operating status information, and captured images.
- Information image 550 contains a text message indicating that the parameter has been changed from its initial value.
- the text message (“MULTI FUNCTION SETTING ACTIVE”) in FIG. 9 indicates that the relative reactivity setting is active, that is, the relative reactivity value has been changed from the initial value. Also, the text message (“ADDITIONAL PUMP FLOW ACTIVE”) in FIG.
- the information image 550 may be a graphic image such as an icon indicating that the parameter has been changed from its initial value, or may be a combination of a graphic image and a text message.
- the information on custom settings displayed on the display device 40 may include more detailed information. More detailed information is, for example, the current setting value regarding the operability of the control lever, or the information included in the setting target composite operation selection screen 300 shown in FIG. 6, or the relative reactivity setting screen 400 shown in FIG. is.
- the controller 30 determines whether or not a switch operation has been performed (step ST3).
- the controller 30 determines whether or not the tab 555 shown in FIG. 9 has been touch-operated. A home icon is displayed on the tab 555 .
- step ST3 When it is determined that a switch operation has been performed (YES in step ST3), the controller 30 displays the home screen (step ST5).
- step ST5 In the example shown in FIG. 8 , when a touch operation is performed on tab 555 displaying a home icon, controller 30 displays the home screen shown in FIG. 5 on display device 40 .
- controller 30 may be configured to display the home screen on the display device 40 when it detects that the operation lever has been operated after displaying the information about the custom setting.
- controller 30 displays the home screen on the display device 40 when it detects that the state of the gate lock lever D4 has been switched from the locked state to the unlocked state after displaying the information about the custom setting.
- step ST4 determines whether or not a certain period of time has elapsed. In the example shown in FIG. 8, the controller 30 determines whether or not the elapsed time from the time when the information about the custom setting was displayed while the tab 555 was not being touched has exceeded a predetermined time.
- step ST4 If it is determined that the fixed time has not passed (NO in step ST4), the controller 30 returns to step ST3. That is, the controller 30 repeats the determination of step ST3 and the determination of step ST4 until a certain period of time elapses. In the example shown in FIG. 8, the controller 30 repeatedly determines whether or not the tab 555 has been touch-operated, and determines whether or not the elapsed time since the information regarding the custom setting was displayed has exceeded the predetermined time. .
- the controller 30 displays the home screen (step ST5).
- the controller 30 displays the home screen shown in FIG. 5 when the elapsed time from the time when the information on the custom setting is displayed exceeds a predetermined time before the tab 555 is touched.
- Display on device 40 the controller 30 changes the image display area 41n in the image display section 41 of the display device 40 when the elapsed time from the time when the information on the custom setting is displayed without the tab 555 being touch-operated exceeds the predetermined time. Clear information about custom settings from . This is to allow other information to be displayed.
- the controller 30 automatically displays information about the custom setting without forcing the operator to perform complicated manual operations when, for example, the parameters regarding the operability of the excavator 100 have been changed from the initial values. 40.
- the operator can easily check whether or not the operability of the excavator 100 has been customized before starting the operation of the excavator 100 without performing complicated manual operations.
- Complicated manual operation can be performed, for example, by pressing one or more of the tabs 41p1 to 41p7 shown in FIG. It is a manual operation such as displaying.
- the controller 30 can prevent the operator from operating the excavator 100 while maintaining operability that does not suit the operator's taste. This is because the operator can notice that the operability of the excavator 100 has been customized by viewing the information on the custom settings displayed on the display device 40 .
- the operator can easily confirm how the operability of the excavator 100 is customized, and the custom settings are displayed. This is because it is possible to easily confirm whether or not the desired custom setting is achieved.
- the operator can easily recognize which parameter values should be changed, and the desired custom settings can be obtained with the minimum necessary manual operations. This is because
- the controller 30 may cause the boom 4 to rise too much, the arm 5 to close too much, the upper swing structure 3 to swing too much, the boom 4 to move too quickly, the arm 5 to move too quickly, or It is possible to prevent the excavator 100 from moving unintended by the operator, such as the upper revolving body 3 suddenly revolving, and thus to improve the safety of workers working around the excavator 100. .
- the controller 30 may display information about custom settings on the display device 40 before the excavator 100 starts operating regardless of whether the parameters have been changed from the initial values. For example, the controller 30 displays information about custom settings when the key switch D5 is turned to the ACC position, or when the state of the gate lock lever D4 is switched from the locked state to the unlocked state. It may be displayed on device 40 . In this case, when the parameter has not been changed from the initial value, a text message or the like indicating that the parameter has the initial value may be displayed as the information regarding the custom setting. In this way, information about custom settings may be displayed in a secure manner.
- the state in which safety is ensured is, for example, a state in which the excavator does not move even if the operating lever is moved.
- FIG. 10 is a diagram showing an example of an excavator/operator selection screen displayed on the display device 40 (excavator/operator selection screen 600).
- the excavator/operator selection screen 600 includes a list 601 of a plurality of selectable excavators 100 and a list 602 of a plurality of selectable operators.
- the user can operate the excavator 100 such as relative reactivity stored in association with the selected excavator or operator. Custom gender settings are available. Then, the display content of the display device 40 transitions from the excavator/operator selection screen 600 to the setting target composite operation selection screen.
- the excavator 100 includes a lower traveling body 1, an upper revolving body 3 mounted rotatably on the lower traveling body 1, and an operator's cab mounted on the upper revolving body 3. and a display device 40 arranged in the cabin 10 .
- the excavator 100 is configured to display information about custom settings on the display device 40 before starting operation.
- Before driving means, for example, when the key switch D5 is turned to the ACC position, the ON position, or the START position, when the gate lock lever D4 is in the locked state, and after the engine is started and the gate lock lever D4 is locked. is in the locked state, the operating lever is in the neutral position, or the operating lever is in the neutral position after the engine has started.
- Information about custom settings may be displayed, for example, when the engine is started, or may be displayed when the gate lock lever is in the locked state.
- the excavator 100 automatically transmits the information regarding the custom setting when the key switch D5 is turned to the ACC position.
- the information is displayed on the display device 40 without manual operation such as switch operation by the operator.
- the excavator 100 can perform the custom setting before the operation of the excavator 100 is started. can be automatically displayed on the display device 40. Therefore, the operator can confirm, for example, whether or not the parameters relating to the operability of the excavator 100 have been customized without performing complicated manual operations.
- the information regarding the custom setting may be, for example, information regarding the operability of the control lever.
- the information about the operability of the operating lever may be information about the movement of the hydraulic actuator when the operating lever is operated, that is, when the operating lever is tilted (when moved from the neutral position).
- the information about the operability of the control lever is the operation content of the control lever (for example, operation amount, operation speed, or operation acceleration) and the operation content of the hydraulic actuator (for example, when the conditions regarding the engine 11 are equal). , motion amount, motion speed, motion acceleration, etc.).
- the information regarding the operability of the control lever may be information regarding distribution of the flow rate of the hydraulic oil supplied to each of the plurality of hydraulic cylinders when the compound manipulation is performed.
- the information regarding the rotational speed of the engine 11 displayed in the rotational speed level display area 41i, the engine control state display area 41e, or the like is not included in the information regarding the operability of the control lever.
- the information about the custom setting may be, for example, information notifying that the current setting regarding the operability of the control lever is different from the initial setting.
- the information about the custom settings may include the current settings about the operability of the control lever.
- the current setting regarding the operability of the control lever is, for example, the value of the current setting 3030 of relative reactivity.
- the information on the operability of the control lever may be the operation content of the single control lever (for example, the operation lever when the conditions regarding the engine 11 are equalized in the case where a single operation for moving a single hydraulic actuator is performed). information about the relative responsiveness of a single hydraulic actuator to a quantity, actuation speed or actuation acceleration, etc.). Specifically, when such a single operation is performed, information regarding the operability of the control lever is supplied to the hydraulic actuator for the operation content of the single control lever when the conditions regarding the engine 11 are made equal. Information about the amount of hydraulic oil may be used. Alternatively, when such a single operation is performed, the information on the operability of the control lever is the direction control valve (control valves 171, 172 , 173, 174, 175L, 175R, 176L, 176R).
- the information on the operability of the control levers may be the operation details (for example, the amount of operation, It may also be information about the relative responsiveness of a plurality of hydraulic actuators to operation speed, operation acceleration, etc.).
- the information regarding the operability of the control lever may be information regarding the distribution of the amount of hydraulic oil supplied to the plurality of hydraulic actuators when the conditions regarding the engine 11 are made equal.
- the information about the operability of the operation lever is the directional control valves (control valves 171, 172, 173, 174, 175L, 175R, 176L, 176R).
- the controller 30 conveys information about custom settings to the operator by displaying an information image 550 as shown in FIG.
- the controller 30 outputs a sound such as a buzzer sound or voice guidance to inform the operator of the information about the custom setting.
- the controller 30 may be configured to display an image 41s as shown in FIG. 11 instead of displaying the information image 550 in the area 41r shown in FIG.
- FIG. 11 is a diagram showing another configuration example of the image display section 41 and the operation section 42 of the display device 40, and corresponds to FIG. The information displayed on the image display section 41 shown in FIG.
- the 11 differs from the information displayed on the image display section 41 shown in FIG. 5 in that an image 41s is included.
- the image 41 s is an icon representing that there is information to be conveyed to the operator of the excavator 100 .
- the display of the image 41s may be omitted when there is no information to be conveyed to the operator of the excavator 100 at the present time.
- Information that should be communicated to the operator of the excavator 100 is, for example, that the parameters have been changed from their initial values. In this case, the operator viewing the image 41s can easily recognize that there is information to be confirmed (for example, that the parameter has been changed from the initial value).
- the operator can display detailed information regarding information to be confirmed by the operator by performing a touch operation on a portion where the image 41s is displayed.
- the detailed information is, for example, information included in the setting target composite operation selection screen 300 shown in FIG. 6, the relative reactivity setting screen 400 shown in FIG.
- the image 41s may be an icon or a text message indicating that the parameters relating to operability have been changed from the initial values. Also, the image 41s may be displayed blinking, or may be highlighted in another manner.
- the excavator 100 may be a remote-controlled excavator.
- an operator in the remote control room exchanges information between the excavator 100 and the remote control room through the communication device 44 mounted on the excavator 100 .
- the operator operates a key switch installed in the remote control room to start the excavator 100 .
- the control device installed in the remote control room transmits a start command to the excavator 100 .
- the excavator 100 starts when a start command is received through the communication device 44, and transmits a warning command to the remote control room when the parameters have been changed from the initial values.
- the control device in the remote control room that has received the alert command causes the display device to display information about the custom setting.
- This display device is another example of the excavator display device, and is installed in the remote control room so that the operator can use it when operating the excavator 100 .
- This display device may be, for example, a display installed so as to surround the operator.
- the position on the display where the information about the custom setting is displayed may be the position corresponding to the position of the display device 40 inside the cabin 10 (for example, the position obliquely forward right of the operator). In this case, the operator in the remote control room can feel as if he were watching the display device 40 inside the cabin 10 .
- Alarm device 50 ... Driver's seat side operation section 70 ... Storage battery 74 ... Engine control unit 75 ... Dial 76 ... ECO button 80... Imaging device 80B... Rear camera 80L... Left camera 80R... Right camera 100... Excavator 171-174, 175L, 175R, 176L, 176R... Control valve 301... Operation Screen display processing part 302... Composite operation setting part 303... Storage part 3030... Current settings 3031... Initial settings 3032... Custom settings BG... Back image C1L, C1R... Center Bypass oil passage C2L, C2R...Parallel oil passage D4...Gate lock lever D5...Key switch GC1, GC2...Image RG...Right image
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Abstract
Description
Claims (14)
- 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、
前記上部旋回体に搭載される運転室と、
前記運転室に配置される表示装置と、を有するショベルであって、
運転開始前に前記表示装置にカスタム設定に関する情報を表示する、
ショベル。 - 前記カスタム設定に関する情報は、エンジン始動時に表示され、或いは、ゲートロックレバーがロック状態のときに表示される、
請求項1に記載のショベル。 - 前記カスタム設定に関する情報は、操作レバーの操作性に関する情報である、
請求項1に記載のショベル。 - 前記カスタム設定に関する情報は、操作レバーの操作性に関する現在の設定が初期設定とは異なることを知らせる情報である、
請求項1に記載のショベル。 - 前記カスタム設定に関する情報は、操作レバーの操作性に関する現在の設定内容を含む、
請求項1に記載のショベル。 - 前記カスタム設定に関する情報を音で出力する、
請求項1に記載のショベル。 - 前記カスタム設定に関する情報は、操作レバーの操作性に関する現在の設定が初期設定である場合には表示されない、
請求項1に記載のショベル。 - 前記カスタム設定に関する情報は、設定状態情報と同時に表示される、
請求項1に記載のショベル。 - 前記カスタム設定に関する情報は、稼動状態情報と同時に表示される、
請求項1に記載のショベル。 - 前記カスタム設定に関する情報は、撮像画像と同時に表示される、
請求項1に記載のショベル。 - 前記カスタム設定に関する情報は、安全が確保されている状態で表示される、
請求項1に記載のショベル。 - 前記安全が確保されている状態とは、操作レバーを動かしてもショベルが動かない状態である、
請求項11に記載のショベル。 - 前記操作レバーの操作性に関する現在の設定が初期設定とは異なることを知らせる情報は、テキスト情報又はアイコンで表示される、
請求項4に記載のショベル。 - 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、を有するショベルの設定に利用されるショベル用表示装置であって、
前記ショベルの運転開始前にカスタム設定に関する情報を表示する、
ショベル用表示装置。
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CN202280026351.2A CN117098897A (zh) | 2021-03-31 | 2022-03-29 | 挖土机及挖土机用显示装置 |
KR1020237030224A KR20230162929A (ko) | 2021-03-31 | 2022-03-29 | 쇼벨 및 쇼벨용 표시장치 |
EP22780873.0A EP4317603A1 (en) | 2021-03-31 | 2022-03-29 | Excavator and display device for excavator |
JP2023511349A JPWO2022210662A1 (ja) | 2021-03-31 | 2022-03-29 | |
US18/476,727 US20240018749A1 (en) | 2021-03-31 | 2023-09-28 | Shovel and display device for shovel |
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JP2005264613A (ja) * | 2004-03-19 | 2005-09-29 | Hitachi Constr Mach Co Ltd | 建設機械の操作パターン切換装置及び建設機械の操作パターン切換システム |
JP2018048530A (ja) * | 2016-09-23 | 2018-03-29 | 株式会社日立建機ティエラ | 小型建設機械 |
WO2018164152A1 (ja) * | 2017-03-07 | 2018-09-13 | 住友建機株式会社 | ショベル |
WO2019093103A1 (ja) * | 2017-11-10 | 2019-05-16 | 住友建機株式会社 | ショベル |
WO2019187519A1 (ja) | 2018-03-30 | 2019-10-03 | 住友建機株式会社 | ショベル、情報処理装置 |
JP2021062429A (ja) | 2019-10-11 | 2021-04-22 | 株式会社ハル技術研究所 | ボーリング用刃具、ボーリング用加工機及びボーリング方法 |
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JP2005264613A (ja) * | 2004-03-19 | 2005-09-29 | Hitachi Constr Mach Co Ltd | 建設機械の操作パターン切換装置及び建設機械の操作パターン切換システム |
JP2018048530A (ja) * | 2016-09-23 | 2018-03-29 | 株式会社日立建機ティエラ | 小型建設機械 |
WO2018164152A1 (ja) * | 2017-03-07 | 2018-09-13 | 住友建機株式会社 | ショベル |
WO2019093103A1 (ja) * | 2017-11-10 | 2019-05-16 | 住友建機株式会社 | ショベル |
WO2019187519A1 (ja) | 2018-03-30 | 2019-10-03 | 住友建機株式会社 | ショベル、情報処理装置 |
JP2021062429A (ja) | 2019-10-11 | 2021-04-22 | 株式会社ハル技術研究所 | ボーリング用刃具、ボーリング用加工機及びボーリング方法 |
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WO2024009619A1 (ja) * | 2022-07-08 | 2024-01-11 | 株式会社小松製作所 | 油圧バルブ装置 |
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US20240018749A1 (en) | 2024-01-18 |
JPWO2022210662A1 (ja) | 2022-10-06 |
KR20230162929A (ko) | 2023-11-29 |
CN117098897A (zh) | 2023-11-21 |
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