WO2023063131A1 - 作業機械のための表示システムおよび表示方法 - Google Patents
作業機械のための表示システムおよび表示方法 Download PDFInfo
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- WO2023063131A1 WO2023063131A1 PCT/JP2022/036895 JP2022036895W WO2023063131A1 WO 2023063131 A1 WO2023063131 A1 WO 2023063131A1 JP 2022036895 W JP2022036895 W JP 2022036895W WO 2023063131 A1 WO2023063131 A1 WO 2023063131A1
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- image
- machine
- display
- controller
- guide
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- 238000000034 method Methods 0.000 title claims description 15
- 238000000926 separation method Methods 0.000 claims abstract description 16
- 238000010586 diagram Methods 0.000 description 24
- 238000013461 design Methods 0.000 description 15
- 238000012545 processing Methods 0.000 description 7
- 239000003086 colorant Substances 0.000 description 6
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012876 topography Methods 0.000 description 4
- 230000015654 memory Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
-
- 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
-
- 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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
-
- 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
-
- 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
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
Definitions
- the present invention relates to display systems and display methods for working machines.
- Patent Document 1 A display system that assists alignment between a working machine and a target position is disclosed in Patent Document 1, for example.
- the working machine is a hydraulic excavator including a revolving body and a working machine.
- the target position is the centerline of the groove formed in the ground.
- This display system causes the display to display a guide display for aligning the working machine of the hydraulic excavator with the center line of the groove.
- the guide display includes a center guideline and index marks.
- the center guideline indicates the position of the centerline of the groove.
- the index mark indicates the position of the swing axis of the swing body and the position of the working point of the work machine.
- the working point is located, for example, at the center of the cutting edge of the working machine.
- the operator refers to the guide display and causes the hydraulic excavator to travel so that the index mark on the turning axis matches the center guideline. Thereby, the center line of the groove and the pivot axis of the hydraulic excavator are aligned. Then, the operator rotates the rotating body so that the index mark of the work point is positioned on the center guideline. The implement is thereby aligned with the centerline of the groove.
- the pivot axis is positioned on the work plane extending in the front-rear direction of the work machine through the work point of the work machine. Therefore, as described above, by operating the hydraulic excavator so that the index mark of the turning axis and the index mark of the work point are positioned on the center guideline, the work plane is positioned on the center line of the groove. , the working machine is precisely aligned.
- An object of the present invention is to facilitate an operation for aligning a working machine of a working machine with a target position.
- the working machine includes a traveling body, a revolving body, and a working machine.
- the revolving body is supported by the traveling body so as to be able to revolve around the revolving axis.
- the work machine is connected to the revolving body.
- the display system includes a display and a controller.
- a controller is communicatively connected to the display.
- the controller obtains machine position data indicating the position of the work machine.
- the controller acquires the separation distance in the width direction of the revolving structure between the work point of the work machine and the revolving shaft.
- the working point is located widthwise away from the pivot axis.
- the controller acquires target position data indicating the target position of the work implement.
- the controller Based on the machine position data and the target position data, the controller causes the display to display a guide screen including a guideline indicating the target position and a guide image indicating the position of the working machine.
- a guide image includes a first image and a second image. The first image shows the position of the pivot axis. The second image shows a position separated by a separation distance from the pivot axis.
- the working machine includes a traveling body, a revolving body, and a working machine.
- the revolving body is supported by the traveling body so as to be able to revolve around the revolving axis.
- the work machine is connected to the revolving body.
- the display method is to acquire machine position data indicating the position of the work machine, and to measure the distance between the work point of the work machine, which is located apart from the pivot in the width direction of the swing body, and the pivot in the width direction.
- a guide image includes a first image and a second image. The first image shows the position of the pivot axis. The second image shows a position separated by a separation distance from the pivot axis.
- the operator of the work machine can easily grasp the positional relationship between the work plane passing through the work point and the pivot axis by referring to the first image and the second image on the display. can. Therefore, even if the work machine has a work point located away from the pivot in the width direction of the revolving body, the operation for aligning the work machine with the target position is facilitated.
- FIG. 10 is a diagram showing a work method with reference to a guide screen;
- FIG. 8 is an enlarged view of FIG. 7;
- FIG. 10 is a diagram showing a work method with reference to a guide screen;
- FIG. 10 is a diagram showing a work method with reference to a guide screen;
- FIG. 10 is a diagram showing a work method with reference to a guide screen;
- FIG. 10 is a diagram showing a work method with reference to a guide screen;
- FIG. 10 is a diagram showing a work method with reference to a guide screen;
- FIG. 10 is a diagram showing a work method with reference to a guide screen;
- FIG. 10 is a diagram showing a work method with reference to a guide screen;
- FIG. 10 is a diagram showing a work method with reference to a guide screen;
- FIG. 10 is a diagram showing a work method with reference to a guide screen;
- FIG. 10 is a diagram showing a work method with reference to a guide screen
- FIG. 10 is a diagram showing a first guide image according to a first modified example
- FIG. 11 is a diagram showing a first guide image according to a second modified example
- FIG. 11 is a diagram illustrating highlighting of the first guide image according to the first modified example
- FIG. 11 is a diagram illustrating highlighting of the first guide image according to the first modified example
- FIG. 11 is a diagram illustrating highlighting of the first guide image according to the first modified example
- FIG. 11 is a diagram illustrating highlighting of a first guide image according to a second modified example
- FIG. 11 is a diagram illustrating highlighting of a first guide image according to a second modified example
- FIG. 11 is a diagram illustrating highlighting of a first guide image according to a second modified example
- FIG. 11 is a diagram illustrating highlighting of a first guide image according to a second modified example
- FIG. 11 is a diagram illustrating highlighting of a first guide image according to a second modified example
- FIG. 11 is a diagram
- FIG. 11 is a diagram showing a first guide image according to another modified example;
- FIG. 11 is a diagram showing a first guide image according to another modified example;
- FIG. 11 is a diagram showing a first guide image according to another modified example;
- FIG. 11 is a diagram showing a first guide image according to another modified example;
- FIG. 11 is a diagram showing a first guide image according to another modified example;
- FIG. 11 is a diagram showing a first guide image according to another modified example;
- Fig. 10 shows a scaled first guide image;
- Fig. 10 shows a scaled first guide image;
- Fig. 10 shows a scaled first guide image;
- Fig. 10 shows a scaled first guide image;
- FIG. 1 is a perspective view of a working machine 1 according to an embodiment.
- FIG. 2 is a top view of the work machine 1.
- the working machine 1 is a hydraulic excavator.
- the working machine 1 has a machine body 2 and a working machine 3 .
- the machine body 2 includes a traveling body 4 and a revolving body 5 .
- the revolving body 5 is supported by the traveling body 4 . As shown in FIG. 2 , the revolving body 5 is supported by the traveling body 4 so as to be rotatable about a revolving shaft 8 .
- the pivot 8 extends in the vertical direction of the work machine 1 .
- An operator's cab 6 is arranged in the revolving body 5 .
- the traveling body 4 causes the work machine 1 to travel.
- the running body 4 includes crawler belts 7a and 7b.
- the work machine 1 travels by rotating the crawler belts 7a and 7b.
- the traveling body 4 may have tires instead of the crawler belts 7a and 7b.
- the working machine 3 is attached to the revolving body 5 .
- the work machine 3 extends forward from the revolving body 5 .
- Work implement 3 includes boom 11 , arm 12 , and work implement 13 .
- the boom 11 is rotatably attached to the revolving body 5 .
- Arm 12 is rotatably attached to boom 11 .
- a work tool 13 is rotatably attached to the arm 12 .
- the working machine 3 includes a plurality of actuators 14-16.
- the work machine 3 is operated by the actuators 14-16.
- Actuators 14-16 are, for example, hydraulic cylinders.
- the work machine 3 is operated by the expansion and contraction of the actuators 14 to 16 .
- the work machine 1 has a swing motor 17 .
- the turning motor 17 turns the turning body 5 with respect to the traveling body 4 .
- the swing motor 17 is, for example, a hydraulic motor. Alternatively, the swing motor 17 may be an electric motor.
- the front-rear direction of the work machine 3 and the front-rear direction of the revolving body 5 mean the directions in which the work machine 3 extends when the work machine 1 is viewed from above.
- the direction in which the work implement 3 is arranged with respect to the revolving body 5 is the front side, and the opposite direction is the rear side.
- the width direction of the revolving body 5 means a direction perpendicular to the longitudinal direction of the revolving body 5 on the horizontal plane.
- the front-rear direction of the running body 4 means the straight traveling direction of the running body 4 .
- the front-rear direction of the work machine 1 means the front-rear direction of the traveling body 4 .
- FIG. 3 is a block diagram showing the configuration of the control system of the working machine 1.
- the working machine 1 includes a controller 20 , a display 21 , an operating device 22 and an input device 23 .
- the display 21 displays images corresponding to image signals input from the controller 20 .
- the operating device 22 can be operated by an operator.
- the operator operates the operation device 22 to operate the work machine 3 , swing the revolving body 5 , and travel the traveling body 4 .
- the operating device 22 includes, for example, levers, pedals, or switches.
- the operation device 22 outputs an operation signal to the controller 20 according to the operation by the operator.
- the input device 23 can be operated by an operator.
- the operator uses the input device 23 to input control settings for the work machine 1 .
- the input device 23 is, for example, a touch screen integrated with the display 21 .
- input device 23 may include a switch, keyboard, or pointing device.
- the input device 23 outputs an operation signal to the controller 20 according to the operation by the operator.
- the controller 20 is communicably connected to the display 21, the operating device 22, and the input device 23.
- Controller 20 includes processor 24 and storage device 25 .
- the processor 24 is, for example, a CPU (Central Processing Unit), but may be another type of processor.
- the storage device 25 includes memories such as RAM (Random Access Memory) and ROM (Read Only Memory).
- the storage device 25 may include a storage such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive).
- the storage device 25 is an example of a non-transitory computer-readable recording medium.
- the storage device 25 records programs and data for controlling the work machine 1 .
- the processor 24 executes processing for controlling the work machine 1 according to programs and data.
- the controller 20 controls the actuators 14 to 16 to operate the working machine 3 according to the operation signal from the operation device 22 .
- the controller 20 operates the work implement 3 such that the work implement 13 is raised or lowered according to operation signals from the operation device 22 and the input device 23 .
- the controller 20 controls the turning motor 17 to turn the turning body 5 according to the operation signal from the operating device 22 .
- the controller 20 causes the work machine 1 to travel by rotating the crawler belts 7 a and 7 b in response to an operation signal from the operation device 22 .
- the work machine 1 includes a position sensor 26, a first direction sensor 27, and a second direction sensor 28.
- Position sensor 26 detects the position of work machine 1 .
- Position sensor 26 outputs machine position data indicating the position of work machine 1 .
- the position sensor 26 includes, for example, a GNSS (Global Navigation Satellite System) sensor such as a GPS (Global Positioning System).
- GNSS Global Navigation Satellite System
- GPS Global Positioning System
- the position sensor 26 is arranged on the machine body 2 .
- the machine position data indicates the position of the machine body 2 .
- the position of the machine body 2 is the position of the reference point included in the machine body 2 .
- the controller 20 receives machine position data.
- the controller 20 acquires the position of the machine body 2 from the machine position data.
- the controller 20 obtains the position of the pivot 8 from the machine position data.
- the controller 20 calculates the position of the pivot 8 from the position of the reference point of the machine body 2 .
- the controller 20 may directly acquire the position of the pivot shaft 8 using a sensor that detects the position of the pivot shaft 8 .
- the controller 20 acquires the position of the working point P1 of the working machine 3 from the machine position data.
- the work point P1 is located on the work implement 13.
- the controller 20 acquires the position of the working point P1 from the machine position data.
- the controller 20 calculates the position of the working point P1 from the position of the reference point of the machine main body 2 .
- the controller 20 may directly acquire the position of the working point P1 using a sensor that detects the position of the working point P1.
- the work plane A1 is arranged apart from the pivot 8 in the width direction of the pivot 5. As shown in FIG. The work plane A1 is parallel to the pivot shaft 8 and extends in the front-rear direction of the work implement 3 through the work point P1.
- the controller 20 stores the distance between the work plane A1 and the swing shaft 8 in the width direction of the swing body 5 as the distance D1 between the work points P1.
- the separation distance D1 may be stored in the storage device 25 of the controller 20 in advance.
- the controller 20 may acquire the separation distance D1 by operating the input device 23 by the operator.
- the controller 20 may acquire the separation distance D1 from an external computer.
- the first direction sensor 27 detects the direction of the revolving body 5.
- the first direction sensor 27 outputs first direction data indicating the direction of the revolving superstructure 5 .
- the direction of the revolving body 5 is the direction in which the front of the revolving body 5 faces.
- the first direction data is indicated, for example, by an angle relative to a reference direction such as magnetic north.
- the first orientation sensor 27 may be, for example, a GNSS sensor, an IMU, or a combination thereof.
- the second direction sensor 28 detects the direction of the traveling body 4.
- the second direction sensor 28 outputs second direction data indicating the direction of the traveling body 4 .
- the direction of the running body 4 is the direction in which the front of the running body 4 faces.
- the second direction data is indicated in angles relative to a reference direction, such as magnetic north.
- the second orientation sensor 28 may be, for example, a GNSS sensor, an IMU, or a combination thereof.
- One of the first direction sensor 27 and the second direction sensor 28 may be a sensor that detects the turning angle of the turning body 5 with respect to the traveling body 4 .
- the direction of the traveling body 4 may be calculated from the direction of the revolving body 5 and the turning angle.
- the direction of the revolving body 5 may be calculated from the direction of the traveling body 4 and the revolving angle.
- FIG. 4 is a diagram showing an example of the guide screen 30.
- the guide screen 30 is represented by a top view showing the work machine 1 and the worksite 200 around the work machine 1 .
- Guide screen 30 includes guideline 31 , machine image 32 , first guide image 33 , and second guide image 34 .
- the guideline 31 indicates the target position for work by the work machine 1. As shown in FIG. 5 , the work machine 1 performs work to form a design terrain 100 at a worksite 200 . In this embodiment, the design terrain 100 has a groove-like shape. The work machine 1 excavates the ground at a work site 200 to form a trench-shaped design topography 100 . The guideline 31 corresponds to the target groove centerline 101 .
- the controller 20 acquires target position data indicating the position of the guideline 31.
- the target position data includes coordinates of multiple points on the groove centerline 101 .
- the controller 20 displays a guideline 31 on the guide screen 30 based on the target position data.
- the controller 20 acquires design data.
- the design data includes coordinates and altitudes of a plurality of points that indicate the shape of the designed terrain 100 .
- the controller 20 calculates the position of the center line 101 of the groove from the design data and acquires it as target position data.
- the controller 20 may acquire target position data from an external computer or from an operation signal from the input device 23 .
- the controller 20 may cause the guide screen 30 to display a designed terrain line 35 that indicates the shape of the designed terrain 100 .
- the controller 20 may obtain the position of the designed terrain line 35 from the design data.
- the left and right edges of the groove-shaped design landform 100 are displayed on the guide screen 30 as the design landform line 35 .
- the machine image 32 indicates the position and orientation of the work machine 1. As shown in FIG. 4 , the machine image 32 is represented by an icon having the shape of the working machine 1 .
- the machine image 32 includes a revolving body image 36 and a traveling body image 37 .
- the revolving body image 36 has the shapes of the revolving body 5 and the working machine 3 .
- the revolving body image 36 indicates the position and direction of the revolving body 5 .
- the running body image 37 has the shape of the running body 4 .
- the moving object image 37 indicates the position and direction of the moving object 4 .
- the controller 20 displays the rotating body image 36 in a direction different from that of the traveling body image 37 .
- the first guide image 33 indicates the position of the work machine 1.
- the first guide image 33 is displayed overlapping the machine image 32 .
- the first guide image 33 indicates the position of the pivot axis 8 .
- the controller 20 causes the first guide image 33 to be displayed at a position on the guide screen 30 corresponding to the position of the pivot 8 .
- the first guide image 33 will be described later in detail.
- the second guide image 34 indicates the position of the work point P1.
- a second guide image 34 is displayed on the work point of the machine image 32 .
- the controller 20 causes the second guide image 34 to be displayed at a position on the guide screen 30 corresponding to the position of the work point P1.
- the second guide image 34 is indicated, for example, by crosshairs.
- the second guide image 34 may have other shapes such as points, circles, polygons, and the like.
- FIG. 6 is an enlarged view of the machine image 32 and the first guide image 33.
- first guide image 33 includes first image 41 and second image 42 .
- a first image 41 shows the position of the pivot axis 8 .
- the first image 41 has a crosshair shape.
- the first image 41 includes a first straight line 43 and a second straight line 44 .
- the first straight line 43 is displayed parallel to the longitudinal direction of the traveling body 4 through the position of the turning shaft 8 .
- the first straight line 43 extends in the longitudinal direction of the traveling body 4 .
- the second straight line 44 perpendicularly intersects the first straight line 43 at the position of the pivot 8 .
- the intersection of the first straight line 43 and the second straight line 44 indicates the position of the pivot shaft 8 .
- the second straight line 44 extends in the lateral direction of the traveling body 4 .
- the controller 20 displays the first guide image 33 according to the orientation of the traveling body 4 when the orientation of the traveling body 4 differs from the orientation of the work implement 3 .
- the second image 42 shows a position separated from the turning axis 8 by the separation distance D1.
- the second image 42 includes an arc centered at a position corresponding to the pivot axis 8 and having a radius R1 corresponding to the separation distance D1.
- At least part of the arc is arranged on the work point P1 side with respect to the first image 41 in the width direction of the revolving body 5 .
- at least part of the arc is arranged on the work plane A1 side with respect to the first image 41 .
- FIG. 7 the operator moves the work machine 1 so as to approach the guideline 31.
- 8 is an enlarged view of FIG. 7.
- FIG. 8 the operator moves the work machine 1 so that the first straight line 43 of the first image 41 is substantially parallel to the guideline 31 and the second image 42 is aligned with the guideline 31. move. That is, the operator moves the work machine 1 such that the first straight line 43 of the first image 41 is substantially parallel to the guideline 31 and the arc of the second image 42 is in contact with the guideline 31 .
- the operator rotates the rotating body 5 so that the second guide image 34 matches the guideline 31, as shown in FIG.
- the work plane A1 of the work machine 1 coincides with the center line 101 of the design topography 100, and the work machine 3 and the design topography 100 are aligned.
- the operator lowers the work tool 13 to excavate the ground.
- the operator After excavation, the operator raises the work tool 13 and rotates the rotating body 5 as shown in FIG. The operator then discharges the excavated soil from the work implement 13 . Then, the revolving body 5 is revolved so that the second guide image 34 coincides with the guideline 31 again. After that, the above operation is repeated.
- the operator causes the work machine 1 to move backward along the guideline 31 as shown in FIG. Then, the above operation is repeated until the groove with the depth and length specified in the design landform data is completed.
- the operator of the work machine 1 can refer to the first image 41 and the second image 42 on the display 21 to control the rotation axis 8, It is possible to easily grasp the positional relationship with the work plane A1 passing through the work point P1. Therefore, even if the work machine 1 has the work point P1 spaced apart from the turning shaft 8 in the width direction of the revolving body 5, the operation for aligning the work machine 3 with the target position is facilitated. be done.
- the work machine 1 is not limited to the hydraulic excavator described above, and may be another excavator such as an electric excavator.
- the number of rotating shafts of work machine 3 is not limited to three, and may be less than three or more than three.
- the work implement 13 is not limited to a bucket, and may be a breaker, a compactor, or other work implement such as a blade. In that case, the work point P1 may be positioned on a portion of the work implement 13 that comes into contact with the work target, such as the ground. The working point P1 may be located at a position different from the center of the cutting edge of the bucket.
- the work machine 1 may be a remotely controllable vehicle. In that case, part of the control system of work machine 1 may be located outside of work machine 1 .
- the controller 20 may be arranged outside the work machine 1 .
- the controller 20 may control the working machine 1 by wireless communication.
- the display 21 , the operating device 22 and the input device 23 may be arranged outside the work machine 1 .
- the cab 6 may be omitted.
- the controller 20 may include a plurality of controllers separate from each other. The processing by the controller 20 described above may be distributed to and executed by a plurality of controllers. Controller 20 may include multiple processors. The processing by the controller 20 described above may be distributed to and executed by a plurality of processors.
- the processing by the controller 20 is not limited to the above embodiment, and may be modified. A part of the processing described above may be omitted. Alternatively, part of the processing described above may be changed.
- the guide screen 30 is not limited to the one in the above embodiment, and may be changed. For example, the guide screen 30 may be a perspective view.
- the first guide image 33 is not limited to that of the above embodiment, and may be changed.
- FIG. 12 is a diagram showing a first guide image 33 according to the first modified example.
- first guide image 33 may further include third image 45 .
- a third image 45 indicates the direction of the traveling body 4 . That is, the third image 45 shows the front of the traveling body 4 .
- the third image 45 has a tapered shape, and may be displayed on the guide screen 30 so as to indicate the direction of the traveling body 4 .
- the third image 45 is, for example, a triangle and may be connected to the rear end of the first straight line 43 .
- FIG. 13 is a diagram showing the first guide image 33 according to the second modified example.
- the third image 45 may include third straight lines 46 and fourth straight lines 47 .
- the third straight line 46 and the fourth straight line 47 may be connected to the left and right ends of the second straight line 44, respectively.
- the third straight line 46 and the fourth straight line 47 may extend in the longitudinal direction of the traveling body 4 .
- the third straight line 46 and the fourth straight line 47 each have a tapered tip, and may be displayed on the guide screen 30 so as to indicate the direction of the traveling body 4 .
- the controller 20 may highlight the first guide image 33 according to the positional relationship between the work machine 1 and the designed terrain 100.
- the first guide image 33 may be highlighted.
- the first guide image 33 may be emphasized and taught.
- the first guide image 33 according to the first modified example shown in FIG. 12 may be displayed on the guide screen 30 in normal times.
- the second image 42 matches the guideline 31, for example, as shown in FIG. 14A, the first image 41 and the second image 42 may be displayed in colors different from normal. In the drawings, different colors are expressed depending on the type of hatching.
- the controller 20 may highlight the third image 45 when the front-rear direction of the traveling object 4 becomes parallel to the guideline 31 .
- the first image 41, the second image 42, and the third image 45 may be displayed in colors different from normal.
- the controller 20 may start automatic control of the work machine 1 when the conditions for starting automatic control are satisfied.
- the starting condition may include that the second image 42 matches the guideline 31 and that the longitudinal direction of the traveling body 4 is parallel to the guideline 31 .
- the controller 20 may assist the travel of the work machine 1 so that the position of the work machine 1 does not deviate from the guideline 31 during travel operation of the work machine 1 by the operator.
- controller 20 may highlight first guide image 33 . For example, as shown in FIG. 14C, the third image 45 may be displayed in a different color than the first and second images 41,42.
- the first guide image 33 according to the second modification may also be highlighted according to the positional relationship between the work machine 1 and the designed terrain 100.
- the first image 41 and the second image 42 may be displayed in colors different from normal.
- the first image 41, the second image 42, and the third image 45 may be displayed in colors different from those normally used. good.
- the third image 45 may be displayed in a different color than the first and second images 41, 42, as shown in FIG. 15C.
- the highlighting is not limited to different colors, and may be expressed by other methods such as blinking.
- the first image 41 is not limited to crosshairs, and may have other shapes.
- the second image 42 is not limited to an arc, and may have other shapes.
- FIGS. 16A to 16D, 17A and 17B are diagrams showing first guide images 33 according to other modifications. As shown in FIG. 16A, the first image 41 and the second image 42 may each be points. As shown in FIG. 16B, the first image 41 may be a point and the second image 42 may be a straight line extending in the front-rear direction.
- the first image 41 may be a combination of points and straight lines extending in the horizontal direction, and the second image 42 may be points.
- the first image 41 may be a combination of points and straight lines extending in the left-right direction, and the second image 42 may be straight lines extending in the front-rear direction.
- the first image 41 may be a point and the second image 42 may be an arc.
- the first image 41 may be a combination of points and straight lines extending in the horizontal direction, and the second image 42 may be an arc.
- the size of the second image 42 may be changeable.
- the controller 20 enlarges and reduces the guide screen 30 according to the operation of the input device 23 by the operator.
- the controller 20 may scale the second image 42 according to the scale of the guide screen 30 . That is, controller 20 may scale second image 42 in accordance with scaling of machine image 32 . In this case, as shown in FIGS. 18A to 18C, only the second image 42 may be enlarged or reduced while the size of the first image 41 remains unchanged.
- the guide screen facilitates the operation for aligning the working machine of the working machine with the target position.
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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- Operation Control Of Excavators (AREA)
Abstract
Description
4:走行体
5:旋回体
8:旋回軸
21:ディスプレイ
20:コントローラ
30:ガイド画面
31:ガイドライン
33:第1ガイドイメージ
41:第1イメージ
42:第2イメージ
45:第3イメージ
Claims (15)
- 走行体と、旋回軸回りに旋回可能に前記走行体に支持される旋回体と、前記旋回体に接続される作業機と、を含む作業機械の表示システムであって、
ディスプレイと、
前記ディスプレイと通信可能に接続されるコントローラと、
を備え、
前記コントローラは、
前記作業機械の位置を示す機械位置データを取得し、
前記旋回体の幅方向において前記旋回軸から離れて配置される前記作業機の作業点と、前記旋回軸との間の前記幅方向における離間距離を取得し、
前記作業機の目標位置を示す目標位置データを取得し、
前記機械位置データと前記目標位置データとに基づいて、前記目標位置を示すガイドラインと、前記作業機械の位置を示すガイドイメージとを含むガイド画面を前記ディスプレイに表示させ、
前記ガイドイメージは、
前記旋回軸の位置を示す第1イメージと、
前記旋回軸から前記離間距離だけ離れた位置を示す第2イメージと、
を含む、
表示システム。 - 前記第2イメージは、前記旋回軸の位置を中心とし前記離間距離に相当する半径を有する円弧を含む、
請求項1に記載の表示システム。 - 前記第1イメージは、
前記旋回軸を通り、前記走行体の前後方向に平行な第1直線と、
前記旋回軸において前記第1直線と交差する第2直線とを含む、
請求項1又は2に記載の表示システム。 - 前記コントローラは、前記第2イメージが前記ガイドラインとの所定の位置関係を満たしたときには、前記ガイドイメージを強調表示する、
請求項1から3のいずれかに記載の表示システム。
- 前記ガイドイメージは、前記走行体の向きを示す第3イメージをさらに含む、
請求項1から4のいずれかに記載の表示システム。 - 前記コントローラは、前記走行体の前後方向が前記ガイドラインと平行になったときには、前記第3イメージを強調表示する、
請求項5に記載の表示システム。 - 前記コントローラは、前記走行体の向きと前記作業機の向きとが異なるときには、前記走行体の向きに応じて、前記ガイドイメージを表示する、
請求項1から6のいずれかに記載の表示システム。 - 前記コントローラは、自動制御の開始条件が満たされたときに、前記作業機械の自動制御を開始し、
前記開始条件は、前記第2イメージが前記ガイドラインと一致することと、前記走行体の前後方向が前記ガイドラインと平行であることを含む、
請求項1から7のいずれかに記載の表示システム。 - 前記コントローラは、前記自動制御中には、前記ガイドイメージを強調表示する、
請求項8に記載の表示システム。 - オペレータによって操作可能な入力装置をさらに備え、
前記コントローラは、
前記入力装置の操作に応じて、前記ガイド画面を拡大又は縮小し、
前記ガイド画面の拡大又は縮小に応じて、前記第2イメージを拡大又は縮小する、
請求項1から9のいずれかに記載の表示システム。 - 前記コントローラは、前記ガイド画面の拡大又は縮小に応じて、前記第1イメージに対して前記第2イメージのみを拡大又は縮小する、
請求項10に記載の表示システム。 - 走行体と、旋回軸回りに旋回可能に前記走行体に支持される旋回体と、前記旋回体に接続される作業機と、を含む作業機械のための表示方法であって、
前記作業機械の位置を示す機械位置データを取得することと、
前記旋回体の幅方向において前記旋回軸から離れて配置される前記作業機の作業点と、前記旋回軸との間の前記幅方向における離間距離を取得することと、
前記作業機の目標位置を示す目標位置データを取得することと、
前記機械位置データと前記目標位置データとに基づいて、前記目標位置を示すガイドラインと、前記作業機械の位置を示すガイドイメージとを含むガイド画面をディスプレイに表示させること、
を備え、
前記ガイドイメージは、
前記旋回軸の位置を示す第1イメージと、
前記旋回軸から前記離間距離だけ離れた位置を示す第2イメージと、
を含む、
表示方法。 - 前記第2イメージは、前記旋回軸の位置を中心とし前記離間距離に相当する半径を有する円弧を含む、
請求項12に記載の表示方法。 - 前記第1イメージは、
前記旋回軸を通り、前記走行体の前後方向に平行な第1直線と、
前記旋回軸において前記第1直線と交差する第2直線とを含む、
請求項12又は13に記載の表示方法。 - 前記ガイドイメージは、前記走行体の向きを示す第3イメージをさらに含む、
請求項12から14のいずれかに記載の表示方法。
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JP2001098585A (ja) * | 1999-10-01 | 2001-04-10 | Komatsu Ltd | 建設機械の掘削作業ガイダンス装置および掘削制御装置 |
JP2004107925A (ja) * | 2002-09-17 | 2004-04-08 | Hitachi Constr Mach Co Ltd | 建設機械の掘削作業教示装置 |
JP2004107926A (ja) * | 2002-09-17 | 2004-04-08 | Hitachi Constr Mach Co Ltd | 建設機械の掘削作業教示装置 |
WO2019189935A1 (ja) * | 2018-03-31 | 2019-10-03 | 住友建機株式会社 | ショベル |
WO2020080538A1 (ja) * | 2018-10-19 | 2020-04-23 | 住友建機株式会社 | ショベル |
JP2020159192A (ja) * | 2015-07-15 | 2020-10-01 | 株式会社小松製作所 | 表示システム、建設機械、及び表示方法 |
JP2021056816A (ja) * | 2019-09-30 | 2021-04-08 | 株式会社小松製作所 | 制御装置、作業機械および制御方法 |
-
2021
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2022
- 2022-10-03 WO PCT/JP2022/036895 patent/WO2023063131A1/ja active Application Filing
- 2022-10-03 KR KR1020237044641A patent/KR20240011809A/ko unknown
- 2022-10-03 CN CN202280048068.XA patent/CN117730184A/zh active Pending
- 2022-10-03 DE DE112022003242.1T patent/DE112022003242T5/de active Pending
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JP2001098585A (ja) * | 1999-10-01 | 2001-04-10 | Komatsu Ltd | 建設機械の掘削作業ガイダンス装置および掘削制御装置 |
JP2004107925A (ja) * | 2002-09-17 | 2004-04-08 | Hitachi Constr Mach Co Ltd | 建設機械の掘削作業教示装置 |
JP2004107926A (ja) * | 2002-09-17 | 2004-04-08 | Hitachi Constr Mach Co Ltd | 建設機械の掘削作業教示装置 |
JP2020159192A (ja) * | 2015-07-15 | 2020-10-01 | 株式会社小松製作所 | 表示システム、建設機械、及び表示方法 |
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JP2021056816A (ja) * | 2019-09-30 | 2021-04-08 | 株式会社小松製作所 | 制御装置、作業機械および制御方法 |
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CN117730184A (zh) | 2024-03-19 |
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