Display system of an excavator and excavator

Abstract

Display system (28) of an excavating machine comprising a working tool (2) with a bucket (8) and a main body part to which the working tool (2) is attached, comprising: a display device a detector (19) for the condition of the working device (2) which is configured to detect information regarding a current position of the excavating machine, information regarding a position of the main body part and information regarding a position of a tip of the bucket (8); a storage unit (43) configured to store positional information regarding a design surface (45, 70, 435) that specifies a design terrain shape, and information regarding an outer shape of the bucket (8); and a processing unit (44) configured to determine, based on information regarding the current position of the excavator, the position of the main body part, the position of the tip of the bucket (8) and the outer shape of the bucket (8), a measurement reference point that is closest to the design surface (45, 70, 435) from a plurality of measurement reference points defined for measuring a position including at least the tip of the bucket (8) along an outer shape of a rear region of the bucket (8), wherein the processing unit (44) determines a distance between the measuring reference point and the design surface (45, 70, 435) in a normal direction of the design surface (45, 70, 435) as a design surface distance and displays on a screen (42P) of the display device information corresponding to a minimum value of the design surface distance as a shortest distance.

Description

[0001] The present invention relates to a display system of an excavation machine and an excavation machine containing the display system.

[0002] An operator typically operates a control lever on an excavating machine, such as an excavator, thereby controlling a working attachment fitted with a bucket to work a surface that forms a work object. For example, JP 2006-214246A describes a method for displaying a difference between a design and the bucket shape on a screen. This is necessary when performing work with a backhoe excavator that requires accuracy, such as finishing a slope. JP 2001-132021A describes a technology for a construction machine display system. In this system, a bucket symbol is displayed that corresponds to the bucket type currently in use on the machine, enabling the excavator work to be carried out accurately. State of the art documents

[0003] JP 2006- 214 246 A, JP 2001- 132 021 A, DE 100 21 675 A1, US 2011 / 0 311 342 A1, WO 2012 / 114 873 A1, WO 2012 / 128 200 A1.

[0004] From the above-mentioned prior art, a display system for an excavating machine is known, comprising: a display device, a detector for the state of the working equipment configured to detect information regarding the current position of the excavating machine, information regarding the position of the main body part, and information regarding the position of the tip of the bucket; and a storage unit for storing position information of a design surface, which specifies a design terrain shape, and information regarding the outer shape of the bucket. Technical problem

[0005] When working a terrain that forms a work object with an excavator, for example, while part of a design area is defined as the target area, the operator of the excavator requires, in particular, distance information near the design area. In the procedures described in JP 2006-214 246 A and JP 2001-132 021 A, the bucket shape is displayed. Therefore, an operator must look at the screen of a display device while working and control the work through visual observation or monitoring. However, if part of a design area representing a work object is a target area, the information regarding the shortest distance between the target area and the bucket cannot be determined using the procedures described in JP 2006-214 246 A and JP 2001-132 021 A, and it can happen that, in particular, the terrain beyond the design area is worked with the rear portion of the bucket.

[0006] The object of the invention is to provide an operator of an excavating machine with understandable information regarding the shortest distance between the design surface and the bucket in relation to the work result when the operator works in accordance with the design surface. Problem solving

[0007] According to a first aspect of the present invention, a display system of an excavator comprising a working tool with a bucket and a main body part to which the working tool is attached comprises: a display device, a detector for the state of the working tool configured to detect information regarding a current position of the excavator, information regarding a position of the main body part, and information regarding a position of a tip of the bucket; a storage unit configured to store position information of a design surface specifying a design terrain shape, and information regarding the outer shape of the bucket;and a processing unit configured to determine, from a plurality of measurement reference points defined for measuring a position including at least the tip of the bucket along an outer shape of a rear portion of the bucket, based on information regarding the current position of the excavator, the position of the main body part, the position of the tip of the bucket, and the outer shape of the bucket, a measurement reference point closest to the design surface. The processing unit determines a distance between the measurement reference point and the design surface in a normal direction to the design surface as a design surface distance and displays on a screen of the display device information corresponding to a minimum value of the design surface distance as the shortest distance.

[0008] According to a second aspect of the present invention, a display system of an excavator comprising a working tool with a bucket and a main body part to which the working tool is attached comprises: a display device, a detector for the state of the working tool configured to detect information regarding a current position of the excavator, information regarding a position of the main body part, and information regarding a position of a tip of the bucket; a storage unit configured to store position information of a design surface specifying a design terrain shape, and information regarding the outer shape of the bucket;and a processing unit configured to determine, from a plurality of measurement reference points defined for measuring a position including at least the tip of the bucket along an outer shape of a rear region of the bucket, a measurement reference point closest to the design surface, based on information regarding the current position of the excavator, the position of the main body part, the position of the tip of the bucket, and the outer shape of the bucket. Furthermore, the processing unit displays on the screen of the display device an image specifying a measurement reference point closest to the design surface.

[0009] According to the invention, it is preferred that the plurality of measuring reference points are specified along a cross-section obtained by cutting the outer shape of the spoon with a plane parallel to a direction of movement of the spoon and along a width direction of the spoon, and that the processing unit determines a distance between the measuring reference point and the design surface in a normal direction of the design surface as a design surface distance and displays information corresponding to a minimum value of the design surface distance as the shortest distance on a screen of a display device.

[0010] According to the invention, it is preferred that, if a measurement reference point is present which is the same for a plurality of normal directions of the design surface, the processing unit determines a plurality of design surface distances for the same measurement reference point.

[0011] According to the invention, it is preferred that the processing unit issues an alarm based on the shortest distance.

[0012] According to the invention, it is preferred that the processing unit changes a mode of outputting a sound as an alarm in accordance with the shortest distance.

[0013] According to the invention, it is preferred that the processing unit displays an image on the screen of the display device that specifies a measurement reference point that is closest to the design surface.

[0014] According to the invention, it is preferred that the figure specifying the measurement reference point closest to the design surface is a figure indicating the normal line of the design surface.

[0015] According to the present invention, a display system of an excavating machine comprising a working tool with a bucket and a main body part to which the working tool is attached includes: a detector for the state of the working tool, configured to detect information regarding a current position of the excavating machine, information regarding a position of the main body part, and information regarding a position of a tip of the bucket; a storage unit configured to store position information regarding a design surface, which specifies a design terrain shape, and information regarding an outer shape of the bucket;and a processing unit configured to determine, from a plurality of measurement reference points defined for measuring a position including at least the tip of the bucket along an outer shape of a rear region of the bucket, based on information regarding the current position of the excavator, information regarding the position of the main body part, information regarding the position of the tip of the bucket and information regarding the outer shape of the bucket, a measurement reference point that is closest to the design surface and a distance between the measurement reference point that is closest to the design surface and the design surface in a normal direction to the design surface as a design surface distance;and a display device configured to display at least the design surface distance and / or a figure indicating the normal line of the design surface passing through the measurement reference point nearest to the design surface.

[0016] According to the invention, an excavation machine comprises the display system of an excavation machine.

[0017] The present invention can provide an operator of an excavating machine with information regarding the shortest distance between the design surface and the bucket in an understandable manner, when the operator works in accordance with the design surface. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a perspective view of an excavator 100 according to the present embodiment; Fig. Figure 2 is a side view of the excavator 100; Fig. Figure 3 is a rear view of the excavator 100; Fig. Figure 4 is a block diagram illustrating a control system contained in the excavator 100; Fig. Figure 5 shows a design terrain shape represented using design terrain shape data; Fig. Figure 6 shows an example of a guide screen; Fig. Figure 7 shows an example of the guidance screen; Fig. Section 8 describes an example of a method for determining the current position of a cutting tip P3 of a spoon 8; Fig. 9 describes an example of the procedure for determining the current position of the cutting tip P3 of the spoon 8; Fig. Figure 10 is a flowchart illustrating an example of determining the shortest distance between the spoon 8 and a design surface; Fig. 11 is a flowchart illustrating the process of storing information regarding the outer shape of the spoon 8; Fig. Figure 12 shows in a diagram an example of the information regarding the outer shape of the spoon 8; Fig. Figure 13 is a graphical representation of an example of information regarding the outer shape of the spoon 8; Fig. Figure 14 describes in a diagram the shortest distance between a design surface 45 and the cutting edge P3 of the spoon 8 when viewing the cutting edge P3 of the spoon 8 from above; Fig. Figure 15 describes in a diagram the shortest distance between a design surface 45 and a rear area 8C of the spoon 8 when viewing the outer shape of the spoon 8 from above; Fig. Figure 16 describes in a diagram the shortest distance between the design surface 45 and the spoon 8 when viewing the spoon 8 from the side; Fig. Figure 17 describes in a diagram the collision between the spoon 8 and a design surface 70; Fig. Figure 18 shows in a diagram an example of a display of the shortest distance between the spoon 8 and the design surface; Fig. Figure 19 shows in a diagram another example of a display of the shortest distance between the spoon 8 and the design surface. DESCRIPTION OF EXECUTION FORMS

[0018] One embodiment of the present invention is described below with reference to the drawings. The present invention is not limited by the description of the following embodiment. In the following embodiment, an excavator is described as an example of an excavating machine, wherein the excavating machine is not limited to the excavator, as long as the excavating machine is a construction machine that operates with an attachment such as a bucket. This embodiment is applicable, for example, to a backhoe excavator as a construction machine. <Gesamtkonfiguration der Baumaschine>

[0019] Fig. Figure 1 shows a perspective view of an excavator 100 according to the present embodiment. Fig. Figure 2 is a side view of the excavator 100. Fig. Figure 3 is a rear view of the excavator 100. Fig. Figure 4 is a block diagram showing a control system included in the Excavator 100. Fig. Figure 5 shows a design terrain shape represented by design terrain shape data. In the present embodiment, the excavator 100, as an excavating machine, comprises a vehicle body 1 as the main body part and a working attachment 2. The vehicle body 1 includes an upper rotating body 3 and a drive unit 5. Devices such as a power generator and a hydraulic pump (not shown) are housed in a drive unit compartment 3EG within the upper rotating body 3. The drive unit compartment 3EG is located at one end of the upper rotating body 3.

[0020] In the excavator 100 of the present embodiment, an internal combustion engine, for example a diesel engine, is used as the power generator. However, the excavator 100 is not limited to this. The excavator 100 can, for example, have a power generator of the so-called hybrid type, in which an internal combustion engine, a generator motor and a storage battery are combined.

[0021] The upper rotating body 3 contains a driver's compartment 4. The driver's compartment 4 is located at the other end of the upper rotating body 3. That is, the driver's compartment 4 is located on the opposite side of the drive unit compartment 3EG. A display input unit 38 and an operating device 25 are arranged in the driver's compartment 4, as shown in Fig. Figure 4 shows the display input unit 38 and the control device 25, which are described later. The drive unit 5 has crawler tracks 5a and 5b. The drive unit 5 moves by means of the drive of a hydraulic motor (not shown) and the rotation of the crawler tracks 5a and 5b, which enables the excavator 100 to move. The work attachment 2 is attached to the upper rotating body 3 on one side of the operator's compartment 4. Instead of the crawler tracks 5a and 5b, the excavator 100 can have tires and a drive unit that can move by transmitting a drive force from the diesel engine (not shown) to the wheels via a gearbox. For example, a wheeled excavator can be used as the excavator 100. The excavator 100 can, for example, be a backhoe excavator that has such a drive unit with tires and a work attachment attached to the main body of the vehicle, but no upper rotating body or an upper rotating body slewing mechanism as shown. Fig. Figure 1 shows this. That is, in the case of the backhoe excavator, the working attachment is mounted on the main body of the vehicle, and the drive unit is part of the main body of the vehicle.

[0022] One side of the upper rotating body 3, on which the working tool 2 and the operator's compartment 4 are located, is the front. One side, on which the drive unit compartment 3EG is located, is the rear. The left side in the forward direction is the left side of the upper rotating body 3. The right side in the forward direction is the right side of the upper rotating body 3. For the excavator 100 or the vehicle main body 1, the side of the drive unit 5, relative to the rotating carriage 3, is the underside, and the side of the upper rotating body 3, relative to the drive unit 5, is the top side. When the excavator 100 is on a horizontal plane, the downward direction is a vertical direction, i.e., a direction in which gravity acts, and the upward direction is the opposite direction to the vertical direction.

[0023] The working device 2 has a boom 6, a stick 7, a bucket 8, a boom cylinder 10, a stick cylinder 11, and a bucket cylinder 12. A lower end of the boom 6 is pivotally attached to the front of the vehicle body 1 via a boom bolt 13. A lower end of the stick 7 is pivotally attached to a tip of the boom 6 via a stick bolt 14. The bucket 8 is pivotally attached to a tip of the stick 7 via a bucket bolt 15.

[0024] As in Fig. As shown in Figure 2, the length of the boom 6, i.e., the length from the center of the boom bolt 13 to the handle bolt 14, is equal to L1. The length of the handle 7, i.e., the length from the center of the handle bolt 14 to the center of the spoon bolt 15, is equal to L2. The length of the spoon 8, i.e., the length from the center of the spoon bolt 15 to the cutting edge tip P3 of the spoon 8, is equal to L3. The cutting edge tip P3 is the tip of a cutting edge 8B, which is attached to the spoon 8 on the opposite side from the spoon bolt 15. The tip of the cutting edge 8B is a point on the spoon 8 where a digging force of the working tool 2 is generated. An outer form of the spoon 8 from the spoon bolt 15 to the cutting edge tip P3 is normally projecting and is referred to as the rear section 8C.

[0025] The boom cylinder 10, the stick cylinder 11 and the bucket cylinder 12, which are in Fig. The cylinders shown in Figure 1 are hydraulic cylinders driven by hydraulic oil pressure (hereinafter referred to as oil pressure). The boom cylinder 10 drives the boom 6 to raise and lower the boom 6. The stick cylinder 11 drives the stick 7 to pivot the stick 7 about the stick pin 14. The bucket cylinder 12 drives the bucket 8 to pivot the bucket 8 about the bucket pin 15. A proportional control valve 37, which is located in Fig. As shown in Figure 4, a hydraulic control system is connected between the hydraulic cylinders, such as the boom cylinder 10, the stick cylinder 11, and the bucket cylinder 12, and the hydraulic pump (not shown). An electronic control device 26 for the implement, described later, controls the proportional control valve 37 and thus the flow rate of the hydraulic oil supplied to the boom cylinder 10, the stick cylinder 11, and the bucket cylinder 12. This controls the respective operation of the boom cylinder 10, the stick cylinder 11, and the bucket cylinder 12.

[0026] As in Fig. As shown in Figure 2, the boom 6, stick 7, and bucket 8 are each equipped with a first stroke sensor 16, a second stroke sensor 17, and a third stroke sensor 18. The first stroke sensor 16 detects a stroke length of the boom cylinder 10. A display control device 39 (see Figure 2) Fig. 4), which will be described later, calculates an inclination angle θ1 of the boom 6 with respect to a Za-axis in a vehicle body coordinate system, which will be described later, using the stroke length of the boom cylinder 10, which is detected by the first stroke sensor 16. The second stroke sensor 17 detects a stroke length of the stick cylinder 11. The display control device 39 calculates an inclination angle θ2 of the stick 7 with respect to the boom 6, using the stroke length of the stick cylinder 11, which is detected by the second stroke sensor 17. The third stroke sensor 18 detects a stroke length of the bucket cylinder 12. The display control device 39 calculates an inclination angle θ3 of the bucket 8 with respect to the stick 7, using the stroke length of the bucket cylinder 12, which is detected by the third stroke sensor 18.

[0027] The vehicle body 1 contains a work tool condition detector 19. The work tool condition detector 19 detects a current position of the excavator 100, a position of the vehicle body 1 and a current position of the cutting tip P3. The work device status detector 19 includes two antennas 21 and 22 of a real-time kinematics-based global navigation satellite system (RTK-GNSS) (hereinafter referred to as GNSS antennas 21 and 22), a three-dimensional position sensor 23, a tilt angle sensor 24, the first lift sensor 16, the second lift sensor 17, and the third lift sensor 18. The GNSS antennas 21 and 22 are provided on the vehicle body 1, more precisely on the upper rotating body 3. In the present embodiment, the GNSS antennas 21 and 22 are arranged at a fixed distance along a Ya-axis in the vehicle body coordinate system, which will be described later.The GNSS antennas 21 and 22 can be arranged at a fixed distance along an Xa axis in the vehicle body coordinate system. Alternatively, the GNSS antennas 21 and 22 can be arranged at a fixed distance in a plane defined by the Xa and Ya axes in the vehicle body coordinate system. Preferably, the GNSS antennas 21 and 22 are arranged laterally along the excavator at its two ends on the upper rotating body 3, spaced apart from each other. The GNSS antennas 21 and 22 can be located on a counterweight (the rear end of the upper rotating body 3) (not shown) or in a rear area of ​​the operator's compartment 4 on the upper rotating body 3. In any case, the accuracy of detecting the current position of the excavator 100 is greater when the GNSS antennas 21 and 22 are as far apart as possible. The GNSS antennas 21 and 22 are arranged in positions that restrict the operator's field of vision as little as possible.The detector 19 for the condition of the working equipment can detect a vehicle condition, for example the current position or a position of the excavating machine (the excavator 100 in the present embodiment).

[0028] Signals corresponding to GNSS radio waves received by the GNSS antennas 21 and 22 are fed into the three-dimensional position sensor 23. The three-dimensional position sensor 23 detects the setting positions P1 and P2 of the GNSS antennas 21 and 22. As shown in Fig. As shown in Figure 3, the tilt angle sensor 24 detects a tilt angle θ4 (hereinafter referred to as roll angle θ4) in a lateral direction of the vehicle body 1 with respect to the direction in which gravity acts, i.e., with respect to a vertical direction Ng. In the present embodiment, the lateral direction indicates a lateral direction of the bucket 8 and coincides with a lateral direction, i.e., a side direction, of the upper rotating body 3. However, if a tipping bucket is attached to the working device 2, the lateral direction of the bucket may not coincide with the lateral direction of the upper rotating body 3.

[0029] The excavator 100 includes the operating device 25, the electronic implement control device 26, an implement control device 27, and a display system for the excavator (hereinafter referred to as the display system) 28. The operating device 25 comprises an implement control element 31, a unit 32 for detecting the operation of the implement, a travel control element 33, and a unit 34 for detecting the operation of the travel control element. The implement control element 31 is an element that enables the operator to operate the implement 2 and is, for example, a joystick or a control lever. The unit 32 for detecting the operation of the implement detects the content of the operation by the implement control element 31 and sends the content as a detection signal to the electronic implement control device 26.The drive control element 33 is an element that enables the operator to control the drive operation of the excavator 100 and is, for example, a control stick or a control lever. The drive operation detection unit 34 detects the input of the drive control element 33 and sends the input as a detection signal to the electronic implement control device 26.

[0030] The electronic work tool control device 26 includes a work tool-side memory unit 35 with random access memory (RAM) and / or read-only memory (ROM) and a processing unit 36, such as a central processing unit (CPU). The electronic work tool control device 26 primarily controls the work tool 2. The electronic work tool control device 26 generates a control signal that causes the work tool 2 to be actuated according to the operation of the work tool control element 31 and outputs the signal to the work tool control device 27. The work tool control device 27 includes the proportional control valve 37, and the proportional control valve 37 is controlled based on the control signal from the electronic work tool control device 26.Hydraulic oil is discharged by the proportional control valve 37 at a flow rate corresponding to the control signal from the electronic implement control device 26 and supplied to at least one of the boom cylinders 10, stick cylinder 11, and bucket cylinder 12. The boom cylinder 10, stick cylinder 11, and bucket cylinder 12, which are located in... Fig. The components shown in 1 are then controlled according to the hydraulic oil from the proportional control valve 37, causing the working device 2 to operate. <displaysystem>

[0031] The display system 28 is a system that provides the operator with information to enable them to work the terrain within a work area with the excavator in such a way that the terrain takes on the shape of a design surface. In addition to the first lift sensor 16, the second lift sensor 17, the third lift sensor 18, the three-dimensional position sensor 23, and the tilt angle sensor 24 described above, the display input system 28 includes the display input unit 38 as a display device, the display control device 39, and a sound generation device 46, for example, a loudspeaker, for alarm output.

[0032] The display input device 38 comprises an input unit 41 in the form of a touch panel and a display unit 42, such as a liquid crystal display (LCD). The display input device 38 displays a guidance screen with information for terrain operation. A variety of buttons are displayed on the guidance screen. An operator (a service technician, if the excavator 100 is being inspected or repaired) can access a variety of functions of the display system 28 by touching the various buttons on the guidance screen. The guidance screen will be explained in detail later.

[0033] The display control device 39 performs the various functions of the display system 28. The display control device 39 is an electronic control device with a memory unit 43, which contains RAM and / or ROM, and with a processing unit 44, such as a CPU. The memory unit 43 stores data of the working tool. The working tool data includes the length L1 of the boom 6, the length L2 of the stick 7, and the length L3 of the bucket 8, as described above. The working tool data also includes a minimum and a maximum value for the tilt angle θ1 of the boom, the tilt angle θ2 of the stick 7, and the tilt angle θ3 of the bucket 8.

[0034] The display control device 39 and the electronic work tool control device 26 can communicate with each other wirelessly or via a wired connection. The storage unit 43 of the display control device 39 stores pre-generated design terrain data. The design terrain data is / are information about the shape and position of a three-dimensional design terrain. The design terrain shape specifies a target shape of the terrain as a work object. The display control device 39 causes the display input device 38 to display a guide screen based on information such as design terrain shape data and detection results from the various sensors described above. As shown in particular in Fig. As shown in Figure 5, the design terrain shape contains a multitude of design surfaces 45, each of which is represented as a triangular polygon. Fig. Design area 5 is just one of the multiple design areas designated with reference 45. The reference tags for the remaining design areas have been omitted. One or more of the design areas 45 are used as the target work object(s). An operator selects one or more of the design areas 45 as the target area(s). Design area 70 is an area that is processed or excavated by the multiple design areas 45 as the target area. The display control device 39 causes the display input device 38 to display a guide screen to inform an operator about the position of design area 70. <Führungsbildschirm>

[0035] The Fig. 6 and Fig. Figure 7 shows examples of the guidance screen. The guidance screen specifies a positional relationship between the design surface 70 and the cutting edge P3 of the bucket 8. The guidance screen is a screen for guiding the working tool 2 of the excavator 100 in such a way that the shape of the terrain as the work object is adapted to the shape of the design surface 70. As shown in the Fig. 6 and Fig. As shown in Figure 7, the guide screen includes a guide screen in a roughing mode (hereinafter referred to as roughing screen 53) and a guide screen in a fineing mode (hereinafter referred to as fineing screen 54). (Rough editing screen)

[0036] The in Fig. The roughing screen 53 shown in Figure 6 is displayed on a screen 42P of the display unit 42. The roughing screen 53 contains a top view 53a, which indicates a design terrain shape of the work area and the current position of the excavator 100, and a side view 53b, which indicates a positional relationship between the design surface 70 and the excavator 100. The top view 53a of the roughing screen 53 shows a design terrain shape represented by a plurality of triangular polygons. In particular, the top view 53a indicates the design terrain shape, while a tilt plane of the excavator 100 serves as the projection surface. The top view 53a is therefore a bird's-eye view when the excavator 100 is viewed from the upper right. If the excavator 100 tilts, the design surface tilts accordingly.

[0037] Design area 70, which is selected as the target work object from the multitude of design areas 45, is displayed in a different color than the design areas 45. In Fig. The current position of excavator 100 is indicated by a symbol 61 of excavator 100 in plan view, but can also be indicated by another symbol. Plan view 53a contains information used to position excavator 100 relative to the design surface 70. This information is displayed as a target surface alignment compass 73. The target surface alignment compass 73 is, for example, a symbol indicating a direction pointing directly towards design surface 70 and a direction in which excavator 100 should swing. This is indicated by the rotation of an arrow-shaped pointer 731 in the direction of an arrow R. Using the target surface alignment compass 73, an operator can check the degree to which the excavator is facing the design surface.

[0038] Side view 53b of the roughing screen 53 contains a figure that shows a positional relationship between the design surface 70 and the cutting tip P3 of the bucket 8, and distance information that indicates a distance between the design surface 70 and the cutting tip P3 of the bucket 8. In particular, side view 53b contains a line 74 indicating a profile of a design surface, a line 79 indicating a profile of a design surface, and a symbol 75 of the excavator 100 in side view. Line 74 indicating a profile of a design surface shows the profile of one of the design surfaces 45, except for design surface 70. Line 79 indicating a profile of a design surface shows a profile of design surface 70. As in Fig. As shown in Figure 5, line 74, which specifies a profile of the design surface, and line 79, which specifies a profile of the design surface, are determined by calculating an intersection point 80 between a plane 77, which passes through the current position of the cutting tip P3 of the bucket 8, and the design surface 45. The processing unit 44 of the display control device 39 determines the intersection point 80. A method for determining the current position of the cutting tip P3 of the bucket 8 is described later.

[0039] In side view 53b, line 79, which indicates a profile of the design surface, is displayed in a different color than line 74, which also indicates a profile of the design surface. Fig. In Figure 6, line 79, which indicates a profile of the design surface, and line 74, which indicates a profile of the design surface, are represented by different line types. In side view 53b, an area on the underground side of line 79, which indicates a profile of the design surface, and line 74, which indicates a profile of the design surface, is shown in a different color than the area on the above-ground side of these lines. Fig. 6 is the area on the underground side of line 79, which indicates a profile of the design area, and line 74, which indicates a profile of the design area, hatched to express the different color.

[0040] The distance information, which specifies the distance between the design surface 70 and the cutting edge P3 of the spoon 8, contains numerical information 83 and graphical information 84. The numerical information 83 provides a numerical value for the shortest distance between the design surface 70 and the cutting edge P3 of the spoon 8. The graphical information 84 graphically indicates the distance between the design surface 70 and the cutting edge P3 of the spoon 8. The graphical information serves as a guide to indicate the position of the cutting edge P3 of the spoon 8. Specifically, the graphical information 84 includes indicator bars 84a and an indicator mark 84b, which, below indicator bars 84a, shows a position where the distance between the design surface 70 and the cutting edge P3 of the spoon 8 is zero.The indicator bars 84a light up in accordance with the shortest distance between the design surface 70 and the cutting edge P3 of the bucket 8. The display of the graphic information 84 can be switched on and off by the operator of the excavator 100 making an input via the input unit 41.

[0041] As described above, the roughing screen 53 displays a relative positional relationship between line 79, which specifies a profile of the design surface, and the excavator 100, and shows numerical values ​​indicating the shortest distance between the cutting tip P3 of the bucket 8 and line 79, which represents a profile of the design surface. An operator of the excavator 100 can easily work the terrain with the excavator so that the current terrain takes on the shape of the design terrain by moving the cutting tip P3 of the bucket 8 along line 79, which specifies a profile of the design surface. A screen toggle button 65 for switching the guide screen is displayed on the roughing screen 53. The operator can switch from the roughing screen 53 to the fine-tuning screen 54 by pressing the screen toggle button 65. (Fine editing screen 54)

[0042] The in Fig. The fine-tuning screen 54 shown in Figure 7 is displayed on screen 42P of display unit 42. The fine-tuning screen 54 indicates a positional relationship between the design surface 70 and the excavator 100 in greater detail than the rough-tuning screen 53. That is, the fine-tuning screen 54 shows a positional relationship between the design surface 70 and the cutting edge P3 of the bucket 8 in greater detail than the rough-tuning screen 53. The fine-tuning screen 54 includes a front view 54a showing the design surface 70 and the bucket 8, and a side view 54b showing the design surface 70 and the bucket 8. The front view 54a of the fine-tuning screen 54 includes a symbol 89 representing the bucket 8 in a front view and a line 78 representing a profile of the design surface 70 in a front view. From the front (front view), viewing the spoon means 8 in the Fig. 1 and Fig. 2 from the side of the vehicle body 1 and parallel to the Ya-axis in the vehicle body coordinate system described later.

[0043] The side view 54b of the fine-tuning screen 54 contains a symbol 90 representing the bucket 8 in side view, line 74 indicating a profile of the design surface, and line 79 indicating a profile of the design surface. The front view 54a and the side view 54b of the fine-tuning screen 54 each display information indicating a positional relationship between the design surface 70 and the bucket 8. Viewing from the side (side view) means considering a direction of extension (a direction of the central pivot axis of the bucket 8) of the bucket bolt 15, which is located in the Fig. 1 and Fig. 2 is shown, and the consideration parallel to the Xa-axis in the vehicle body coordinate system described later.

[0044] In the front view 54a, the information(s) indicating the positional relationship between the design surface 70 and the bucket 8 include distance information 86a and angle information 86b. The distance information 86a indicates the distance between the cutting edge P3 of the bucket 8 and the design surface 70 in the za-direction. This distance is the distance between the design surface 70 and the position of the cutting edge P3 of the bucket 8 closest to the design surface 70 in the latitude direction. In the front view 54a, a marker 86c indicating the nearest position is shown, which covers the symbol 89 in the front view of the bucket 8. The angle information 86b indicates the angle between the design surface 70 and the bucket 8.In particular, angle information 86b specifies an angle between a virtual segment passing through the cutting tip P3 of the spoon 8 and line 78, which specifies a profile of the design surface.

[0045] In side view 54b, the information(s) specifying the positional relationship between the design surface 70 and the bucket 8 include distance information 87a and angle information 87b. The distance information 87a specifies the shortest distance between the bucket 8 and the design surface 70, i.e., a distance between the bucket 8 and the design surface 70 in a normal direction to the design surface 70 (for example, a distance between the cutting edge P3 of the bucket 8 and the design surface 70). The angle information 87b specifies an angle between the design surface 70 and the bucket 8. In particular, the angle information shown in side view 54b specifies an angle between the bottom surface of the bucket 8 and the line 79, which defines a profile of the design surface.

[0046] The fine-tuning screen 54 contains the graphic information 84 described above, which graphically represents the distance between the cutting tip P3 of the bucket 8 and the design surface 70. The graphic information 84 includes indicator bars 84a and an indicator marker 84b, just like the graphic information 84 of the rough-tuning screen 53. As described above, the fine-tuning screen 54 displays a detailed relative positional relationship between each of the lines 78 and 79, which define a profile of the design surface, and the cutting tip P3 of the bucket 8. The operator of the excavator 100 can thus much more easily shape the current terrain into the form of the three-dimensional design terrain by moving the cutting tip P3 of the bucket 8 along the lines 78 and 79, each defining a profile of the design surface.The screen switch button 65 is displayed on the fine machining screen 54, in the same way as on the rough machining screen 53. The operator can switch from the fine machining screen 54 to the rough machining screen 53 by pressing the screen switch button 65. <Verfahren zum Bestimmen der aktuellen Position der Schneidenspitze P3 des Löffels 8>

[0047] Line 79, which indicates a profile of the design surface, is calculated from the current position of the cutting tip P3 of the bucket 8. The display control device 39 determines the current position of the cutting tip P3 of the bucket 8 in a global coordinate system {X, Y, Z} based on the detection results of the three-dimensional position sensor 23, the first to third stroke sensors 16 to 18, the tilt angle sensor 24, and the like. In the present embodiment, the current position of the cutting tip P3 is determined as follows.

[0048] The Fig. 8 and Fig. 9 describe an example of the procedure for determining the current position of the cutting tip P3 of the spoon 8. Fig. Figure 8 is a side view of the excavator 100. To determine the current position of the cutting edge P3 of the bucket 8, as shown in Fig. As shown in Figure 8, the display control device 39 defines a vehicle body coordinate system {Xa, Ya, Za} in which the setting position P1 of the GNSS antenna 21 described above is the origin. In the present embodiment, it is assumed that the forward-backward direction of the excavator 100, i.e., the Ya-axis direction in the coordinate system of the main vehicle body 1 (vehicle body coordinate system) COM, is inclined with respect to the Y-axis direction in the global coordinate system COG. The coordinates of the boom bolt 13 in the vehicle body coordinate system COM are (0, Lb1, -Lb2) and are pre-stored in the memory unit 43 of the display control device 39.

[0049] The three-dimensional position sensor 23, which is located in the Fig. 2 and Fig. Figure 4 shows the detection of the setting positions P1 and P2 of the GNSS antennas 21 and 22. A unit vector in the Ya-axis direction is calculated from the coordinate positions of the detected setting positions P1 and P2 according to formula (1).

[0050] If, as in Fig. Figure 8 shows a vector Z' passing through a plane defined by the two vectors Ya and Z, and perpendicular to Ya. When this vector is introduced, formulas (2) and (3) are obtained. In formula (3), c is a constant. Z' in formulas (2) and (3) is given by formula (4). If X' is defined as a vector perpendicular to Ya and Z', X' is given by formula (5).

[0051] As in Fig. As shown in Figure 9, the vehicle body coordinate system COM is created by rotating the coordinate system specified in formula (5) around the Ya-axis under the roll angle θ4 described above and by formula (6).

[0052] The current tilt angles θ1, θ2, and θ3 of the boom 6, stick 7, and bucket 8 described above are each calculated from the detection results of the first to third lift sensors 16 to 18. The coordinates (xat, yat, zat) of the cutting edge P3 of the bucket 8 in the vehicle body coordinate system COM can be calculated according to formulas (7) to (9), taking into account the tilt angles θ1, θ2, and θ3 and the length L1 of the boom 6, the length L2 of the stick 7, and the length L3 of the bucket 8. It is assumed that the cutting edge P3 of the bucket 8 moves in the Ya-Za plane in the vehicle body coordinate system COM. The coordinates of the cutting edge P3 of the bucket 8 in the global coordinate system COG can be determined according to formula (10). The coordinates of the cutting tip P3 in the global coordinate system COG specify the position of the cutting tip P3.

[0053] As in Fig. As shown in Figure 5, the display control device 39 calculates the intersection line 80 between the three-dimensional design terrain and the Ya-Za plane 77, which passes through the cutting tip P3 of the bucket 8, based on the current position of the cutting tip P3 of the bucket 8, calculated as described above, and the design terrain data stored in the memory unit 43. The display control device 39 displays a portion of the intersection line 80, which passes through the design surface 70, as line 79, indicating a profile of the design surface described above, on the guide screen. Next, an example is described in which the Fig. 4 Display control device 39 shown on the screen 42P of the display unit 42 of the display input device 38 shows a movement path of the cutting tip P3 when the bucket 8 excavates the terrain as a work object. <Berechnung der kürzesten Entfernung zur Entwurfsfläche>

[0054] Fig. Figure 10 is a flowchart that illustrates an example of determining the shortest distance between spoon 8 and a design surface. To display spoon 8 on screen 42P, in Fig. In the display unit 42 shown in Figure 4, the display control device 39, in particular the processing unit 44, measures the size of the spoon. With the working device 2, the spoon 8 can be detached from the handle 7 and replaced with another spoon, which is mounted on the handle 7. The storage unit 43 of the display control device 39, which is located in Fig. Figure 4 shows that it stores information regarding the outer shape of the spoon, which is read by the input unit 41 and specifies the size of the spoon 8.

[0055] The processes for storing information regarding the external shape of the spoon in storage unit 43 are described with reference to the Fig. Described in sections 11 to 13. Fig. Figure 11 is a flowchart that illustrates the process of storing information regarding the outer shape of the spoon 8. Fig. Figure 12 shows in a diagram the information regarding the outer shape of the spoon 8. Fig. Figure 13 shows a graphic as an example of the information regarding the outer shape of spoon 8. As in Fig. As shown in Figure 11, the input unit 41 of the display input device 38 waits for an input. As shown in step S11, the input device 38 receives a selected bucket type. The processing unit 44 stores information regarding the selected bucket type, received from the display input unit 38, in the memory unit 43.

[0056] For example, processing unit 44 stores a type of identification code 1 as a standard spoon, such as the spoon 8 described above, in conjunction with a registration identification code that is in Fig. Figure 12 is shown. The processing unit 44 stores a type of identification code 2 as a tipping bucket, which is later described in conjunction with the registration identification code. Subsequently, the display input device receives in step S2, which is shown in Fig. Figure 11 shows the spoon information, and the processing unit 44 stores the spoon information read into the display input device 38 in the memory unit 43. This spoon information includes, for example, information where the rear areas A to E of the spoon 8 serve as measurement reference points, in addition to the spoon width, spoon length, spoon depth, spoon height of the spoon 8, and the like. As shown in Fig. As shown in Figure 13, a multitude of measurement reference points Pen (n is a natural number, for example, n = 1, 2, 3, 4, 5) are predefined at various points along the outer shape of the rear region 8C of the spoon 8. As shown in Fig. As shown in Figure 12, the bucket information contains, as the respective lengths of the rear sections A to E of the bucket 8, a length between a central axis of rotation AX1 and the measuring reference point Pen, when viewed from the extension direction of the bucket bolt 15 (direction of the central axis of rotation AX1 of the bucket 8), which is located in the Fig. 1 and Fig. 2 is shown. The bucket information also includes, as the respective angle of the rear areas A to E of the bucket 8, an angle between a straight line connecting the central axis of rotation AX1 and the measuring reference point Pen, and a straight line connecting the central axis of rotation AX1 and the cutting edge tip P3 of the bucket 8, when viewed from the extension direction of the bucket bolt 15.

[0057] Subsequently, in step S13, processing unit 44 calculates and generates a form of the graphical data 8GA as a graphic of a symbol of the spoon 8, which is in Fig. 13 is shown, for example, based on information regarding the external shape of the in Fig. 12 specified spoons. Subsequently, in step S14, the processing unit 44 stores the graphical data of the symbol of spoon 8 generated in step S13 in the storage unit 43. As described above, in step S1, the processing unit 44 then reads the spoon information and the graphical data 8GA of the symbol stored in the storage unit, based on the input from the input unit 41, to specify the size of the spoon.

[0058] The processing unit 44 then detects in the Fig. In step S2, shown in Figure 10, the current position of the excavator 100 and the position of the vehicle body 1 are displayed. The display control device 39 detects the current position of the vehicle body 1 based on the detection signal from the three-dimensional position sensor 23. As described above, the working attachment 2 of the excavator 100, the boom 6, the stick 7, and the bucket 8 are controlled by the boom cylinder 10, the stick cylinder 11, and the bucket cylinder 12 along the Ya-Za plane in the vehicle body coordinate system COM. When the boom cylinder 10, the stick cylinder 11, and the bucket cylinder 12 are controlled, the stick 7 moves along the Ya-Za plane, which is determined according to the position (inclination) of the vehicle body 1, in the vehicle body coordinate system COM, such that the bucket 8 moves.The processing unit 44 then detects the position of the working device 2 based on the detection results of the three-dimensional position sensor 23, the first to third stroke sensors 16 to 18, the tilt angle sensor 24 and the like.

[0059] Subsequently, in step S3, the processing unit 44 determines a current position of the measuring reference point Pen on the outer periphery of the spoon 8, including the cutting tip P3 of the spoon 8. The display control device 39 can determine the current position of the cutting tip of the spoon 8, which is calculated according to the formula (10) above. By using the above-described current inclination angles θ1, θ2 and θ3 of the boom 6, stick 7 and bucket 8, the coordinates (xaen, yaen, zaen) of the measurement reference point Pen (for example n = 1, 2, 3, 4, 5) of the bucket 8 in the vehicle body coordinate system COM can be determined according to formulas (11) to (13) by using the inclination angles θ1, θ2 and θ3, the length L1 of the boom 6, the length L2 of the stick 7, the length L3 of the bucket 8 and bucket information (length: En, angle: Φn, where n is a natural number, e.g. n = 1, 2, 3, 4, 5).Assume that the measurement reference point Pen of the bucket 8 moves in the Ya-Za plane in the vehicle body coordinate system COM. The coordinates of the cutting edge tip P3 of the bucket 8 in the global coordinate system COG can be determined according to formula (14). Each set of coordinates of the measurement reference point Pen in the global coordinate system COG specifies a position of the measurement reference point Pen of the bucket 8.

[0060] As in Fig. As shown in Figure 5, the display control device 39 calculates the intersection line 80 between the three-dimensional design terrain shape and the Ya-Za plane 77, which passes through the measurement reference point Pen of the bucket 8, based on the current position of the measurement reference point Pen of the bucket 8 calculated as described above and the design terrain data stored in the memory unit 43. The display control device 39 displays the portion of the intersection line 80 that passes through the design surface 70 as line 79, which indicates a profile of the design surface, and line 74, which indicates a profile of the design surface described above, on the guidance screen.

[0061] Subsequently, in step S4, the processing unit 44 determines a distance between the spoon 8 and the design surface (design surface distance) in order to determine the measuring reference point Pen of the cutting tip P3 of the spoon 8 at which the design surface distance is shortest among the measuring reference points Pen of the spoon 8, including the cutting tip P3.

[0062] In this case, the processing unit 44 can increase the accuracy of the distance between the bucket 8 and the design surface by considering a large number of measurement reference points in the width direction of the bucket 8 (a direction parallel to the Xa axis). Fig. Figure 14 schematically describes the shortest distance between a design surface 435 and the cutting edge P3 of the spoon 8 when the outer shape of the spoon 8 is viewed from above. As in Fig. As shown in Figure 14, the processing unit 44 calculates a virtual segment LS1 that passes through the tips of a plurality of cutting edges 8B of the spoon 8 and has a size equal to the width of the spoon 8. It should be noted that the processing unit 44 calculates the virtual segment LS1 by reading the width of the spoon 8 from the information about the spoon's outer shape specified in step S1.

[0063] For example, processing unit 44 divides the virtual segment LS1 evenly into a plurality of areas (e.g., four areas). Five points representing the boundaries at both ends of the areas are designated as Ci, which are defined as a first measurement reference point C1, a second measurement reference point C2, a third measurement reference point C3, a fourth measurement reference point C4, and a fifth measurement reference point C5. The division number i is a natural number and is 1, 2, 3, 4, or 5 in this example. That is, the first measurement reference point C1, the second measurement reference point C2, the third measurement reference point C3, the fourth measurement reference point C4, and the fifth measurement reference point C5 specify a plurality of specified positions of the cutting tip P3 of the bucket 8 in the lateral direction.The processing unit 44 calculates the current positions of the first measurement reference point C1, the second measurement reference point C2, the third measurement reference point C3, the fourth measurement reference point C4, and the fifth measurement reference point C5 based on the current position of the excavator 100, which was detected in step S2. In particular, the processing unit 44 calculates the current position of the third measurement reference point C3 in the middle using the method described above for calculating the current position of the cutting tip P3 of the bucket 8.The processing unit 44 then calculates the current positions of the first measurement reference point C1, the second measurement reference point C2, the third measurement reference point C3, the fourth measurement reference point C4 and the fifth measurement reference point C5 using the current position of the third measurement reference point C3 in the middle, the size of the spoon 8 in the width direction and the extension direction of the virtual segment LS1.

[0064] The representation in Fig. Figure 15 describes the shortest distance between the design surface 45 and the rear region 8C of the spoon 8 when the outer shape of the spoon 8 is viewed from above. As in Fig. As shown in Figure 15, the processing unit 44 calculates a virtual segment LSen that passes through the measuring reference point Pen of the spoon 8 and has a size of the spoon 8 in the width direction. It should be noted that the processing unit 44 calculates the virtual segment LSen by reading the size of the spoon 8 in the width direction from the information regarding the outer shape of the spoon 8, which was specified in step S1.

[0065] For example, processing unit 44 divides the virtual segment LSen evenly into a multitude of areas (e.g., four areas). Five points representing the boundaries and both ends of the areas are designated as Ceni, which are defined as a first measurement reference point Cen1, a second measurement reference point Cen2, a third measurement reference point Cen3, a fourth measurement reference point Cen4, and a fifth measurement reference point Cen5. The division number i is a natural number and is the same value as the previously mentioned value i. For this reason, a comparison with the cutting edge P3 can be readily made. That is, the first measurement reference point Cen1, the second measurement reference point Cen2, the third measurement reference point Cen3, the fourth measurement reference point Cen4 and the fifth measurement reference point Cen5 specify a multitude of specified positions of the measurement reference point Pen of the spoon 8 in the lateral direction.The processing unit 44 then calculates the current positions of the first measurement reference point Cen1, the second measurement reference point Cen2, the third measurement reference point Cen3, the fourth measurement reference point Cen4, and the fifth measurement reference point Cen5 based on the information regarding the current position of the measurement reference point Pen of the spoon 8, which is detected in step S3. In particular, the processing unit 44 calculates the current position of the third measurement reference point Cen3 in the middle. The processing unit 44 then calculates the current positions of the first measurement reference point Cen1, the second measurement reference point Cen2, the fourth measurement reference point Cen4 and the fifth measurement reference point Cen5 using the current position of the third measurement reference point Cen3 in the middle, the size of the spoon 8 in the width direction and the extension direction of the virtual element LSen.As described above, the multitude of measurement reference points along a cross-section is predetermined, which is obtained by intersecting the outer shape of the spoon 8 with a plane parallel to a direction of movement of the spoon 8, i.e. a plane parallel to the aforementioned Ya-Za plane and width direction of the spoon 8.

[0066] Fig. Figure 16 is a diagram describing the shortest distance between the design surface 45 and the spoon 8 when the spoon 8 is viewed from the side. If a line of intersection between the design surface 45 and the Ya-Za plane passing through the i-th measurement reference point Ci is called Ceni, then the processing unit 44 calculates in step S4 a distance between each of the intersection points MAi, MBi, and MCi contained in the line of intersection Mi and the i-th measurement reference point Ci, Ceni. Here, a perpendicular to each of the intersection points MAi, MBi, and MCi contained in the line of intersection Mi passing through the i-th measurement reference point Ci, Ceni is calculated, and the distance between each of the intersection points MAi, MBi, and MCi and the i-th measurement reference point Ci, Ceni is calculated. As, for example, in the Fig. As shown in Figures 14 to 16, the perpendicular of the intersection point MAi, which passes through the i-th measurement reference point Ci, which lies within a target area A1 of the target areas A1 to A3, is calculated, and a design surface distance DAi, Deni between the i-th measurement reference point Ci, Ceni and the intersection point MAi is calculated. As shown in the Fig. As shown in Figures 14 to 16, the perpendicular of the intersection point MCi, which passes through the i-th measurement reference point Ci, Ceni located in a target area A1 from the target areas A1 to A3, is calculated, and a design surface distance DAic, Denic between the i-th measurement reference point Ci, Ceni and the intersection point MCi is calculated. In this way, processing unit 44 determines the shortest distance as the minimum distance from the points shown in Figures 14 to 16. Fig. The calculable distances shown are 14 to 16. If the same measuring reference point Pe1 and the same cutting edge tip P3 exist for a multitude of normal directions of the intersection points MAi and MCi, the processing unit 44 determines a multitude of design surface distances De1i, DAi for the measuring reference point Pe1 and the cutting edge tip P3. This allows the shortest distance to be determined as the minimum distance by taking into account the multitude of design surfaces. The bucket 8 can therefore be moved based on one of the design surfaces (intersection point MAi), thus avoiding an unintended collision between the bucket 8 and the other design surface (intersection point MCi).

[0067] Subsequently, in step S5, processing unit 44 displays information corresponding to the shortest distance determined in step S4, as numerical information 83, which is in Fig. 6 is shown, or as distance information 87a, which is in Fig. Figure 7 is shown, as described above. Processing unit 44 displays a graphical representation SD1 or SD2, as described later. Processing unit 44 can display information corresponding to the shortest distance determined in step S4 by illuminating indicator bar 84a.

[0068] Fig. Figure 17 schematically describes a collision between the spoon 8 and a design surface. Fig. Figure 18 is a diagram illustrating an example of how to display the shortest distance between the bucket 8 and the design surface. If an operator controls the working tool 2, for example, solely based on the distance between the cutting tip P3 of the bucket 8 and the design surface, the operator cannot determine that the rear section 8C is closer to the design surface than the cutting tip 8B of the bucket 8. As shown in Figure 18, the shortest distance between the bucket 8 and the design surface is determined by the distance between the bucket 8 and the design surface. Fig. As shown in Figure 17, it is possible that the operator may dig with the rear portion of the bucket 8 beyond line 79, which indicates a profile of the design surface. Therefore, in the present embodiment, the processing unit 44 displays Figure SD1 together with the symbol 90 of the bucket 8 in the side view 54b of the finishing screen described above, as shown in Figure 17. Fig. Figure 18 shows the figure SD1, which is a map of a normal line 79 that specifies a profile of the design surface. Figure SD1 passes through the measurement reference point Pen or the cutting edge tip P3 (for example, Pe3) of the bucket 8, where the design surface distance determined in step S4 is shortest. This allows the operator to identify the shortest distance between the design surface and the bucket 8, including the rear section 8C, by viewing Figure SD1 in side view 54b. This reduces the likelihood of working the terrain beyond the design surface with the rear section 8C of the bucket 8.

[0069] It should be noted that Figure SD1 is not limited to the diagram represented by the dashed line. Figure SD1 can be represented by a virtual line, such as a solid line, a wavy line, a dash-dot line, or a double-dash-column line. In Figure SD1, patterns containing dots, letters, and line drawings are either continuous or irregularly distributed. Figure SD1 includes a symbol that allows the position of the measurement reference point Pen or the cutting edge tip P3, where the design surface distance is shortest, to be determined at a glance. Fig. Figure 19, for example, shows another example in a diagram of the display of the shortest distance between spoon 8 and the design surface. As in Fig. As shown in Figure 19, in the present embodiment, the processing unit 44 displays, for example, Figure SD2 together with the side view symbol 90 of the bucket 8 in the side view in side view 54b of the finishing screen. Figure SD2 contains a triangle symbol that specifies the measuring reference point Pen or the cutting edge tip P3 (for example, Pe3) of the bucket 8, at which the design surface distance determined in step S4 is the shortest distance. Figure SD2 contains this triangle symbol and a triangle symbol in the normal direction to line 79, which specifies a profile of the design surface, that is in contact with line 79, which specifies a profile of the design surface. The distance between these triangle symbols can specify the shortest distance between the bucket 8 and the design surface 70.For this reason, the operator can determine the shortest distance between the design surface and the bucket 8, including the rear section 8C of the bucket, between the triangle symbols in Figure SD2 by viewing Figure SD2 in side view 54b. This reduces the probability that the terrain will be excavated beyond the design surface by the rear section 8C of the bucket 8.

[0070] By examining Figures SD1 or SD2, the operator can readily identify the measurement reference point Pen or the cutting edge tip P3 that is closest to the design surface. By adjusting the boom cylinder 10, stick cylinder 11, and bucket cylinder 12, the operator can minimize the likelihood of accidentally excavating the design surface with the rear section 8C of the bucket 8 or similar components.

[0071] In the present embodiment, the display control device 39 sends a tone as an alarm based on the shortest distance between the bucket 8 and the design surface determined in step S4. This allows the operator to recognize that there is a probability of a collision between the bucket 8 and the design surface. For example, if the shortest distance between the bucket 8 and the design surface determined in step S4 exceeds a predetermined threshold (Yes in step S6), the processing unit 44 determines that an alarm must be issued. The display control device 39 then causes the noise generation device 46, which is located in step S6, to sound the alarm. Fig. As shown in step 4, an alarm tone is sent (step S7).

[0072] By changing the alarm output mode in this case based on the distance between the bucket 8 and the design surface, the processing unit 44 can inform the operator of the excavator 100 that the bucket 8 is too close to the design surface. One example of a change in the alarm output mode is that the frequency of the alarm tone increases as the distance between the bucket 8 and the design surface decreases. Another example is that the volume of the tone increases as the distance between the bucket 8 and the design surface decreases. Yet another example is that the cycle of the discontinuous rattle decreases as the distance between the bucket 8 and the design surface decreases.By adjusting the boom cylinder 10, the stick cylinder 11, and the bucket cylinder 12, the operator, who has identified a probability of collision between the bucket 8 and the design surface, can reduce the probability of unintentionally excavating the design surface with the bucket 8. If the shortest distance between the bucket 8 and the design surface, determined in step S4, does not exceed the predefined threshold (No in step S6), the processing unit 44 proceeds to step S8.

[0073] If bucket 8 has not finished its work in step S8 (No in step S8), processing unit 44 returns to step S2 to detect the current position of excavator 100 and the position of the vehicle main body 1. If bucket 8 has finished its work (Yes in step S8), processing unit 44 terminates processing.

[0074] As described above, the display system 28 of the excavator is a system for actuating the working tool 2, which carries the bucket 8, such that a digging force is generated by the cutting tip P3 and the vehicle body 1, to which the working tool 2 is attached. The display system 28 of the excavator includes the working tool status detector 19, the memory unit 43, and the processing unit 44. The working tool status detector 19 detects the current position of the excavator 100, the position of the vehicle body 1, and the current position of the cutting tip P3. The memory unit 43 stores position information regarding the design surface, which specifies a target shape of the working object, and information regarding the external shape of the bucket 8.

[0075] The processing unit 44 determines a position of the measuring reference point that is closest to the design surface from the multitude of measuring reference points Pen that have been predefined along the outer shape of the rear curved part 8C of the bucket 8, in order to measure a position that includes at least the cutting tip P3 of the bucket 8, based on the information regarding the current position of the excavator 100, the position of the vehicle main body 1, the current position of the cutting tip P3 and the information regarding the outer shape of the bucket 8.

[0076] If the operator controls the working tool 2 solely based on the distance between the cutting tip P3 of the bucket 8 and the design surface, the operator may not be able to determine that the rear section 8C is closer to the design surface than the tip of the cutting edge 8B of the bucket 8. The display system 28 of the excavator in the present embodiment allows the operator to identify the shortest distance between the design surface and the bucket 8, including the rear section 8C of the bucket. This reduces the likelihood that the area will be excavated beyond the design surface with the rear section 8C of the bucket 8.

[0077] The processing unit 44 determines the distance between the measuring reference point Pen and the design surface in a direction perpendicular to the design surface as the design surface distance. The processing unit 44 displays information on screen 42P corresponding to the minimum value of the design surface distance, as the shortest distance. In this way, the processing unit 44 can provide the operator with easily understandable information regarding the shortest distance between the design surface and the bucket 8 for a given work result, provided the operator performs the work in accordance with the design surface. The processing unit 44 also determines the distance between the measuring reference point Pen and the design surface in the direction normal to the design surface as the design surface distance.Based on information corresponding to the minimum value of the design area distance, processing unit 44 reduces the speed at which bucket 8 approaches the design area. Processing unit 44 stops the working tool 2, based on information corresponding to the minimum value of the design area distance, if the predefined threshold distance between bucket 8 and the design area is exceeded. Processing unit 44 can therefore reduce the probability of excavating beyond the design area.

[0078] Based on information regarding the current position of the excavator 100, the position of the vehicle body 1, the current position of the cutting tip P3, and information regarding the outer shape of the bucket, the processing unit 44 determines a position of the measurement reference point that is closest to the design surface among the plurality of measurement reference points Pen that were previously defined along the outer shape of the rear area 8C of the bucket 8, including at least the cutting tip P3 of the bucket 8. The processing unit 44 then determines a distance between the measurement reference point Pen that is closest to the design surface and the design surface in the normal direction of the design surface as the shortest design surface distance.The display input device 38 displays on the display unit 42 the determined shortest design surface distance and / or the figure SD1, which indicates the normal line passing through the measurement reference point Pen that is closest to the design surface.

[0079] The display system 28 of the excavator in the present embodiment ensures that the operator sees the figure SD1 and thereby recognizes the shortest distance between the design surface and the bucket 8, including the rear section 8C of the bucket 8. This reduces the probability that the terrain will be excavated beyond the design surface with the rear section 8C of the bucket 8.

[0080] In the present embodiment, for example, the side view displayed on the fine-processing screen 54 described above has been described. However, side view 54b can also be displayed on the rough-processing screen 53. According to the present embodiment, the processing unit 44 displays the front view 54a and side view 54b described above as a front view (view when viewed parallel to the Ya-axis) and a side view (view when viewed parallel to the Xa-axis) in the vehicle body coordinate system COM. The processing unit 44 can display at least one of the front view 54a and side view 54b as a top view (view when viewed parallel to the Y-axis) or a side view (view when viewed parallel to the X-axis) in the global coordinate system.

[0081] The invention has been described with reference to the foregoing embodiment, but is not limited to this embodiment. The components described above may include components that are readily conceivable to a person skilled in the art and components that are essentially identical to those described above. Furthermore, the components described above may be combined with one another in a suitable manner. Additionally, components may be omitted, replaced by others, or modified in various ways without departing from the basic concept of the present embodiment.

[0082] For example, the content of the respective guidance screen is not limited to the content described above and can be modified as needed. The functions of the display control device 39 can be performed partially or completely by a computer outside the excavator 100. The target work object is not limited to a plane, as described above, but can also be a point, a line, or a three-dimensional object. The input unit 41 of the display input device 38 is not limited to a touch panel, but can include a control element such as a button or a switch.

[0083] In the embodiment described above, the working device 2 comprises the boom 6, the stick 7, and the bucket 8. However, the working device 2 is not limited to this configuration. It is sufficient if the working device 2 is equipped with at least the bucket 8. In the embodiment described above, the tilt angles of the boom 6, the stick 7, and the bucket 8 are each detected by the first to third stroke sensors 16 to 18. However, a method for detecting the tilt angle is not limited to the method in which these stroke sensors are used. For example, an angle sensor can be provided for detecting the tilt angles of the boom 6, the stick 7, and the bucket 8.

[0084] In the embodiment described above, the bucket 8 is provided. However, the bucket is not limited to bucket 8. The working implement 2 can also carry another attachment, for example, a tilting bucket or a ditching bucket. The tilting bucket is a bucket that has a tilting cylinder and can shape and level both inclined and flat surfaces by tilting the bucket from side to side, even when the excavator is on a slope. The bucket can also perform a rolling operation with a base plate. The ditching bucket is a bucket with a flat bottom and is suitable for leveling terrain on level ground or on a slope.< / displaysystem>

Claims

[1] Display system (28) of an excavating machine comprising a working tool (2) with a bucket (8) and a main body part to which the working tool (2) is attached, comprising: a display device, a detector (19) for the condition of the working device (2) which is configured to detect information regarding a current position of the excavating machine, information regarding a position of the main body part and information regarding a position of a tip of the bucket (8); a storage unit (43) configured to store positional information regarding a design surface (45, 70, 435) that specifies a design terrain shape, and information regarding an outer shape of the bucket (8); and a processing unit (44) configured to determine, based on information regarding the current position of the excavator, the position of the main body part, the position of the tip of the bucket (8) and the outer shape of the bucket (8), a measurement reference point that is closest to the design surface (45, 70, 435) from a plurality of measurement reference points defined for measuring a position including at least the tip of the bucket (8) along an outer shape of a rear region of the bucket (8), wherein the processing unit (44) determines a distance between the measuring reference point and the design surface (45, 70, 435) in a normal direction of the design surface (45, 70, 435) as a design surface distance and displays on a screen (42P) of the display device information corresponding to a minimum value of the design surface distance as a shortest distance. [2] Display system (28) of an excavating machine comprising a working tool (2) with a bucket (8) and a main body part to which the working tool (2) is attached, comprising: a display device, a detector (19) for the condition of the working device (2) which is configured to detect information regarding a current position of the excavating machine, information regarding a position of the main body part and information regarding a position of a tip of the bucket (8); a storage unit (43) configured to store positional information regarding a design surface (45, 70, 435) that specifies a design terrain shape, and information regarding an outer shape of the bucket (8); and a processing unit (44) configured to determine, based on information regarding the current position of the excavator, the position of the main body part, the position of the tip of the bucket (8) and the outer shape of the bucket (8), a measurement reference point that is closest to the design surface (45, 70, 435) from a plurality of measurement reference points defined for measuring a position including at least the tip of the bucket (8) along an outer shape of a rear region of the bucket (8), wherein the processing unit (44) displays an image on a screen (42P) of the display device which specifies a measurement reference point located closest to the design surface (45, 70, 435). [3] Display system (28) of an excavating machine according to claim 1, wherein the plurality of measuring reference points is specified along a cross-section obtained by cutting the outer shape of the bucket (8) with a plane (77) parallel to a direction of movement of the bucket (8) and along a width direction of the bucket (8). [4] Display system (28) of an excavation machine according to one of claims 1 to 3, wherein the processing unit (44) determines a plurality of design surface distances for the same measurement reference point when a plurality of normal directions of the design surfaces (45) are present. [5] Display system (28) of an excavation machine according to one of claims 1 to 4, wherein the processing unit (44) issues an alarm based on the shortest distance. [6] Display system (28) of an excavation machine according to claim 5, wherein the processing unit (44) changes a mode of outputting a sound as an alarm in accordance with the shortest distance. [7] Display system (28) of an excavation machine according to one of claims 1 or 3 or 4 to 6, unless related back to claim 2, wherein the processing unit (44) displays on the screen of the display device an image that specifies a measurement reference point located closest to the design surface (45, 70, 435). [8] Display system (28) of an excavation machine according to claim 7, wherein the figure specifying the measurement reference point nearest to the design surface (45, 70, 435) is a figure indicating the normal line (79) of the design surface (45, 70, 435). [9] Display system (28) of an excavating machine comprising a working tool (2) with a bucket (8) and a main body part to which the working tool (2) is attached, comprising: a detector (19) for the condition of the working device (2) which is configured to detect information regarding a current position of the excavating machine, information regarding a position of the main body part and information regarding a position of a tip of the bucket (8); a storage unit (43) configured to store position information regarding a design surface (45, 70, 435) that specifies a design terrain shape, and information regarding an outer shape of the bucket (8); a processing unit (44) configured to determine, from a plurality of measurement reference points defined for measuring a position including at least the tip of the bucket (8) along an outer shape of a rear region of the bucket (8), based on information regarding the current position of the excavator, the position of the main body part, the position of the tip of the bucket (8) and the outer shape of the bucket (8), a measurement reference point located nearest to the design surface (45, 70, 435) and a distance between the measurement reference point located nearest to the design surface (45, 70, 435) and the design surface (45, 70, 435) in a normal direction to the design surface (45, 70, 435) as a design surface distance; and a display device configured to display at least the design surface distance and / or an image indicating the normal line (79) of the design surface (45, 70, 435) passing through the measurement reference point nearest to the design surface (45, 70, 435). [10] Excavation machine comprising the display system (28) of an excavation machine according to any one of claims 1 to 9.

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