Display device for a shovel and shovel

Abstract

The present invention relates to a display device for a shovel and a shovel. The display device for a shovel displays a first screen including an image represented by image data captured by a camera provided to the shovel and an icon image corresponding to a correction instruction of a reference value used in a calculation of a weight of a load carried by a terminal attachment of the shovel.

Description

Technical Field

[0001] This invention relates to a display device for an excavator and an excavator. Background Technology

[0002] In previous excavators, there was a known technique for comparing the weight of the bucket when empty with the weight of the bucket after excavation, and calculating the weight of sand, soil, etc. loaded in the bucket.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Publication No. 6-89550 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] The aforementioned prior art does not describe a method for setting the weight of the empty bucket that needs to be subtracted from the weight of the bucket after excavation.

[0008] Therefore, in view of the above, the object of the present invention is to enable easy setting of the weight during empty transport.

[0009] Methods for solving problems

[0010] The display device of the excavator according to the embodiments of the present invention displays a first screen, the first screen including an image represented by image data captured by the camera device of the excavator, and an icon image corresponding to a correction indication of a reference value used in calculating the weight of the conveyed object transported by the end attachment of the excavator.

[0011] The excavator according to the embodiments of the present invention includes: an upper rotating body; a lower traveling body; an end attachment; and a control unit that calculates the weight of a conveyed object transported through the end attachment, and the control unit determines the time for correction of the reference value used in the calculation of the weight of the conveyed object.

[0012] The effects of the invention

[0013] It allows you to easily set the weight when moving the load empty. Attached Figure Description

[0014] Figure 1 This is a side view of the excavator according to this embodiment.

[0015] Figure 2 This is a diagram that schematically illustrates an example of the structure of the excavator involved in this embodiment.

[0016] Figure 3This is a diagram that schematically illustrates an example of the structure of the hydraulic system of the excavator according to this embodiment.

[0017] Figure 4A This is a diagram of a part of the hydraulic system related to the operation of the boom cylinder.

[0018] Figure 4B This is a diagram of a part of the hydraulic system associated with the boom cylinder.

[0019] Figure 4C This is a diagram of a part of the hydraulic system associated with the bucket cylinder.

[0020] Figure 4D This is a diagram of a part of a hydraulic system associated with a rotary hydraulic motor.

[0021] Figure 5 This is a diagram that schematically illustrates an example of a structural component in an excavator according to this embodiment that is related to the sand weight detection function.

[0022] Figure 6 This is a diagram that illustrates the baseline values.

[0023] Figure 7 This is a flowchart explaining the processing of the display control unit.

[0024] Figure 8 This is an example of a main screen.

[0025] Figure 9 This is an example of a loading screen. Detailed Implementation

[0026] The following description, with reference to the accompanying drawings, illustrates the methods for carrying out the invention.

[0027] First, refer to Figure 1 An overview of the excavator 100 involved in this embodiment will be described. Figure 1 This is a side view of the excavator 100, which is the excavator involved in this embodiment.

[0028] In addition, Figure 1 The text also includes an example of an excavator 100, the uphill slope ES of the object being excavated, and the target track BS described later.

[0029] The excavator 100 according to this embodiment includes: a lower traveling body 1; an upper rotating body 3 that is rotatably mounted on the lower traveling body 1 via a rotating mechanism 2; a boom 4, a stick 5 and a bucket 6 constituting auxiliary devices; and an operator's cab 10.

[0030] The lower traveling body 1 is connected by traveling hydraulic motors 1L and 1R (see below) Figure 2The excavator 100 moves by hydraulically driving a pair of left and right tracks respectively. That is, a pair of travel hydraulic motors 1L and 1R (an example of travel motors) drive the lower traveling body 1 (tracks) as the driven part.

[0031] The upper rotating body 3 is powered by a rotary hydraulic motor 2A (see below). Figure 2 Driven by the upper rotating body 3, the upper rotating body 3 is rotated relative to the lower traveling body 1. That is, the rotary hydraulic motor 2A drives the upper rotating body 3 as the driven part, and can change the orientation of the upper rotating body 3.

[0032] Alternatively, the upper rotating body 3 can be electrically driven by an electric motor (hereinafter referred to as "rotation electric motor") instead of the rotary hydraulic motor 2A. That is, similar to the rotary hydraulic motor 2A, the rotation electric motor is a rotation drive unit that drives the upper rotating body 3, which is a non-drive unit, and can change the orientation of the upper rotating body 3.

[0033] The boom 4 is pivotally mounted at the front center of the upper slewing body 3, and the stick 5 is pivotally mounted at the front end of the boom 4, allowing it to rotate up and down. The bucket 6, serving as an end attachment, is pivotally mounted at the front end of the stick 5, allowing it to rotate up and down. The boom 4, stick 5, and bucket 6 are hydraulically driven by the boom cylinder 7, stick cylinder 8, and bucket cylinder 9, respectively, which are hydraulic actuators.

[0034] In addition, the bucket 6 is an example of an end-connection accessory. Depending on the work content, another end-connection accessory, such as a slope bucket, a dredging bucket, or a breaker, can be installed at the front end of the boom 5 instead of the bucket 6.

[0035] The control room 10 is the driver's cab for the operator and is located on the front left side of the upper rotating body 3.

[0036] Next, refer to Figure 2 The specific structure of the excavator 100 involved in this embodiment will be described.

[0037] Figure 2 This is a diagram that schematically illustrates an example of the structure of the excavator 100 according to this embodiment.

[0038] In addition, Figure 2 In the diagram, the mechanical power system, working oil pipeline, pilot line, and electrical control system are represented by double lines, solid lines, dashed lines, and dotted lines, respectively.

[0039] The drive system of the excavator 100 according to this embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve 17. Furthermore, as described above, the hydraulic drive system of the excavator 100 according to this embodiment includes hydraulic actuators such as travel hydraulic motors 1L and 1R, a swing hydraulic motor 2A, a boom cylinder 7, a stick cylinder 8, and a bucket cylinder 9, which respectively hydraulically drive the lower traveling body 1, the upper slewing body 3, the boom 4, the stick 5, and the bucket 6.

[0040] Engine 11 is the main power source in the hydraulic drive system, for example, mounted at the rear of the upper rotating body 3. Specifically, under the direct or indirect control of the controller 30 (control unit) described later, engine 11 rotates at a constant target speed set in advance, and drives the main pump 14 and the pilot pump 15. Engine 11 is, for example, a diesel engine that uses light oil as fuel.

[0041] Regulator 13 controls the discharge volume of main pump 14. For example, regulator 13 adjusts the angle (deflection angle) of the ramp of main pump 14 according to control commands from controller 30. As described later, regulator 13 includes, for example, regulators 13L and 13R.

[0042] The main pump 14, for example, is mounted at the rear of the upper rotating body 3, similar to the engine 11, and supplies working oil to the control valve 17 via a high-pressure hydraulic line. As described later, the main pump 14 is driven by the engine 11. The main pump 14 is, for example, a variable-capacity hydraulic pump, which, as described above, adjusts the piston stroke length by adjusting the deflection angle of the swashplate via the adjuster 13 under the control of the controller 30, and controls the discharge flow rate (discharge pressure). As described later, the main pump 14 includes, for example, main pumps 14L and 14R.

[0043] The control valve 17, for example, is mounted in the center of the upper rotating body 3 and is a hydraulic control device that controls the hydraulic drive system according to the operator's operation of the operating device 26. As described above, the control valve 17 is connected to the main pump 14 via a high-pressure hydraulic line and selectively supplies working oil from the main pump 14 to the hydraulic actuators (travel hydraulic motors 1L and 1R, swing hydraulic motor 2A, boom cylinder 7, stick cylinder 8, and bucket cylinder 9) according to the operating state of the operating device 26.

[0044] Specifically, control valve 17 includes control valves 171 to 176 that control the flow rate and direction of the working oil supplied from the main pump 14 to each hydraulic actuator. More specifically, control valve 171 corresponds to the travel hydraulic motor 1L, control valve 172 corresponds to the travel hydraulic motor 1R, and control valve 173 corresponds to the rotary hydraulic motor 2A.

[0045] Furthermore, control valve 174 corresponds to bucket cylinder 9, control valve 175 corresponds to boom cylinder 7, and control valve 176 corresponds to stick cylinder 8. As will be described later, control valve 175 includes, for example, control valves 175L and 175R, and as will be described later, control valve 176 includes, for example, control valves 176L and 176R. Detailed information about control valves 171 to 176 will be described later.

[0046] The operating system of the excavator 100 according to this embodiment includes a pilot pump 15 and an operating device 26. Furthermore, the operating system of the excavator 100 includes a reciprocating valve 32 as a structure related to equipment control functions performed by the controller 30 described later.

[0047] The pilot pump 15 is mounted, for example, at the rear of the upper rotating body 3, and supplies pilot pressure to the operating device 26 via pilot lines. The pilot pump 15 is, for example, a fixed-capacity hydraulic pump, as described above, driven by the engine 11.

[0048] The operating device 26 is located near the operator's seat in the control room 10. It is the operating input component used by the operator to perform various actions (lower traveling body 1, upper rotating body 3, boom 4, stick 5 and bucket 6, etc.).

[0049] In other words, the operating device 26 is an operating input component used by the operator to operate the hydraulic actuators (i.e., travel hydraulic motors 1L and 1R, swing hydraulic motor 2A, boom cylinder 7, stick cylinder 8, bucket cylinder 9, etc.) that drive various motion components.

[0050] The operating device 26 is directly connected to the control valve 17 via its secondary side pilot line, or indirectly connected to the control valve 17 via the reciprocating valve 32 (described later) provided on the secondary side pilot line. Thus, the control valve 17 can be supplied with pilot pressure corresponding to the operating states of the lower traveling body 1, upper slewing body 3, boom 4, stick 5, and bucket 6.

[0051] Therefore, the control valve 17 can drive each hydraulic actuator according to the operating state in the operating device 26. The operating device 26 includes, for example, a joystick device for operating the stick 5 (stick cylinder 8). Furthermore, the operating device 26 includes, for example, joystick devices 26A to 26C (refer to FIG. 4) for operating the boom 4 (boom cylinder 7), the bucket 6 (bucket cylinder 9), and the upper slewing body 3 (slewing hydraulic motor 2A). Additionally, the operating device 26 includes, for example, joystick devices and pedal devices for operating the left and right pairs of tracks (travel hydraulic motors 1L and 1R) of the lower traveling body 1.

[0052] The reciprocating valve 32 has two inlet ports and one outlet port, and outputs working oil with the higher of the pilot pressures input to the two inlet ports to the outlet port. One of the two inlet ports of the reciprocating valve 32 is connected to the operating device 26, and the other port is connected to the proportional valve 31.

[0053] The outlet port of reciprocating valve 32 is connected to the pilot port of the corresponding control valve in control valve 17 via a pilot line (see Figure 4 for details). Therefore, reciprocating valve 32 enables the higher of the pilot pressure generated by operating device 26 and pilot pressure generated by proportional valve 31 to act on the pilot port of the corresponding control valve.

[0054] That is, the controller 30, described later, outputs a pilot pressure from the proportional valve 31 that is higher than the pilot pressure output from the secondary side of the operating device 26. This allows the controller to control the corresponding control valve without relying on the operator's operation of the operating device 26, thus enabling control of the actions of each actuating element. As described later, the reciprocating valve 32 includes, for example, reciprocating valves 32AL, 32AR, 32BL, 32BR, 32CL, and 32CR.

[0055] In addition, the operating devices 26 (left operating lever, right operating lever, left travel control lever and right travel control lever) can also be electrical type that outputs electrical signals, rather than hydraulic pilot type that outputs pilot pressure.

[0056] At this time, an electrical signal from the operating device 26 is input to the controller 30. The controller 30 controls each control valve 171 to 176 in the control valve 17 according to the input electrical signal, thereby realizing the action of various hydraulic actuators corresponding to the operation of the operating device 26.

[0057] For example, control valves 171 to 176 within control valve 17 may be solenoid solenoid spool valves driven by commands from controller 30. Furthermore, for example, solenoid valves that operate according to electrical signals from controller 30 may be configured between pilot pump 15 and the pilot port of each control valve 171 to 176.

[0058] At this time, if manual operation using the electric operating device 26 is performed, the controller 30 controls the solenoid valve and increases or decreases the pilot pressure according to the electrical signal corresponding to its operation amount (e.g., the operation amount of the joystick), thereby enabling each control valve 171 to 176 to operate according to the operation content of the operating device 26.

[0059] The control system of the excavator 100 involved in this embodiment includes a controller 30, an exhaust pressure sensor 28, an operating pressure sensor 29, a proportional valve 31, a display device 40, an input device 42, a sound output device 43, a storage device 57, a boom angle sensor S1, a stick angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, a slewing state sensor S5, a camera device S6, a positioning device PS, and a communication device T1.

[0060] The controller 30 (an example of a control device) is, for example, located in the operator's cab 10 and performs drive control of the excavator 100. The controller 30 can implement its functions through any hardware, software, or a combination thereof. For example, the controller 30 is configured around a microcomputer including a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), non-volatile auxiliary storage devices, and various input / output interfaces. The controller 30 implements various functions, for example, by executing various programs stored in ROM and non-volatile auxiliary storage devices on the CPU.

[0061] For example, the controller 30 sets a target speed based on a pre-set operating mode or the specified operation by the operator, and performs drive control to keep the engine 11 rotating at a constant speed.

[0062] Furthermore, for example, the controller 30 outputs control commands to the regulator 13 as needed, and causes the discharge volume of the main pump 14 to change.

[0063] Furthermore, for example, controller 30 performs control related to equipment guidance functions that guide manual operations performed by an operator on excavator 100 via operating device 26. Also, controller 30 performs control related to equipment control functions that automatically support manual operations performed by an operator on excavator 100 via operating device 26.

[0064] That is, the controller 30 includes the equipment guidance unit 50 as a functional unit related to the equipment guidance function and the equipment control function. Furthermore, the controller 30 includes the sand and soil weight processing unit 60, which will be described later.

[0065] Furthermore, some of the functions of controller 30 can also be implemented by other controllers (control devices). That is, the functions of controller 30 can also be implemented in a distributed manner by multiple controllers. For example, equipment guidance functions and equipment control functions can also be implemented by dedicated controllers (control devices).

[0066] Discharge pressure sensor 28 detects the discharge pressure of the main pump 14. A detection signal corresponding to the discharge pressure detected by discharge pressure sensor 28 is input to controller 30. As described later, discharge pressure sensor 28 includes, for example, discharge pressure sensors 28L and 28R.

[0067] As described above, the operating pressure sensor 29 detects the pilot pressure on the secondary side of the operating device 26, that is, the pilot pressure in the operating device 26 corresponding to the operating state (e.g., operating direction, operating amount, etc.) related to each actuating element (i.e., hydraulic actuator).

[0068] The pilot pressure detection signal, which is detected by the operating pressure sensor 29 and corresponds to the operating state of the lower traveling body 1, upper slewing body 3, boom 4, stick 5, and bucket 6, is input to the controller 30. As described later, the operating pressure sensor 29 includes, for example, operating pressure sensors 29A to 29C.

[0069] Alternatively, in place of the operating pressure sensor 29, other sensors capable of detecting the operating status of each action element in the operating device 26 may be provided, such as encoders or potentiometers capable of detecting the operating amount (tilting amount) of the joystick devices 26A to 26C, the tilting direction, etc.

[0070] The proportional valve 31 is installed in the pilot line connecting the pilot pump 15 and the reciprocating valve 32, and is configured to change its flow area (the cross-sectional area through which the working oil can flow). The proportional valve 31 operates according to the control command input from the controller 30.

[0071] Therefore, even when the operator does not operate the operating device 26 (specifically, the joystick devices 26A to 26C), the controller 30 can supply the working oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the proportional valve 31 and the reciprocating valve 32. As described later, the proportional valve 31 includes, for example, proportional valves 31AL, 31AR, 31BL, 31BR, 31CL, and 31CR.

[0072] The display device 40 is positioned within the control room 10 in a location easily visible to the operator. Under the control of the controller 30, it displays various information images. The display device 40 can be connected to the controller 30 via an in-vehicle network such as CAN (Controller Area Network), or via a dedicated one-to-one line.

[0073] The input device 42 is located within reach of the operator seated in the control room 10, accepts various operational inputs from the operator, and outputs signals corresponding to the operational inputs to the controller 30. The input device 42 includes a touch panel mounted on the display of the display device 40, which displays various information images; a rotary switch located at the front end of the joystick portion of the joystick devices 26A-26C; button switches, joysticks, toggle keys, and rotary dials located around the display device 40. Signals corresponding to the operations performed on the input device 42 are input to the controller 30.

[0074] The sound output device 43 is installed, for example, inside the control room 10 and connected to the controller 30, and outputs sound under the control of the controller 30. The sound output device 43 is, for example, a speaker or a buzzer. The sound output device 43 outputs various information based on the sound output commands from the controller 30.

[0075] Storage device 57 is installed, for example, inside the control room 10, and stores various information under the control of controller 30. Storage device 57 is, for example, a non-volatile storage medium such as semiconductor memory. Storage device 57 can store information output by various devices during the operation of excavator 100, and can also store information acquired by various devices before excavator 100 starts operating.

[0076] Storage device 57 may also store, for example, data related to the target construction surface acquired via communication device T1 or set via input device 42. The target construction surface may be set (saved) by the operator of excavator 100 or by construction manager or the like.

[0077] A boom angle sensor S1 is mounted on the boom 4 to detect the pitch angle of the boom 4 relative to the upper rotating body 3 (hereinafter referred to as the "boom angle"). For example, it detects the angle formed by the straight line connecting the two ends of the boom 4 to the plane of rotation of the upper rotating body 3 when viewed from the side. The boom angle sensor S1 may include, for example, a rotary encoder, an accelerometer, a six-axis sensor, an IMU (Inertial Measurement Unit), etc.

[0078] Furthermore, the boom angle sensor S1 may also include a potentiometer utilizing a variable resistor, or a stroke sensor that detects the stroke of the hydraulic cylinder (boom cylinder 7) corresponding to the boom angle. The same applies to the stick angle sensor S2 and the bucket angle sensor S3 below. The detection signal corresponding to the boom angle detected by the boom angle sensor S1 is input to the controller 30.

[0079] The stick angle sensor S2 is installed on the stick 5 to detect the rotation angle of the stick 5 relative to the boom 4 (hereinafter referred to as the "stick angle"). For example, it detects the angle formed by the straight line connecting the two ends of the stick 5 to the straight line connecting the two ends of the boom 4 when viewed from the side. The detection signal corresponding to the stick angle detected by the stick angle sensor S2 is input to the controller 30.

[0080] A bucket angle sensor S3 is installed on the bucket 6 to detect the rotation angle of the bucket 6 relative to the stick 5 (hereinafter referred to as the "bucket angle"). For example, it detects the angle formed by the straight line connecting the fulcrum of the bucket 6 and the front end (tip) relative to the straight line connecting the fulcrums at both ends of the stick 5 when viewed from the side. The detection signal corresponding to the bucket angle detected by the bucket angle sensor S3 is input to the controller 30.

[0081] The body tilt sensor S4 detects the tilt state of the body (upper rotating body 3 or lower traveling body 1) relative to the horizontal plane. For example, the body tilt sensor S4 is installed on the upper rotating body 3 to detect the tilt angle of the excavator 100 (i.e., the upper rotating body 3) around two axes in the front-back direction and the left-right direction (hereinafter referred to as "front-back tilt angle" and "left-right tilt angle").

[0082] The body tilt sensor S4 may include, for example, a rotary encoder, an accelerometer, a six-axis sensor, and an IMU. The detection signal corresponding to the tilt angle (forward and backward tilt angle and left and right tilt angle) detected by the body tilt sensor S4 is input to the controller 30.

[0083] The rotation state sensor S5 outputs detection information related to the rotation state of the upper rotating body 3. The rotation state sensor S5, for example, detects the rotation angular velocity and rotation angle of the upper rotating body 3. The rotation state sensor S5 may include, for example, a gyroscope sensor, a resolver, and a rotary encoder. The detection signal corresponding to the rotation angle or rotation angular velocity of the upper rotating body 3 detected by the rotation state sensor S5 is input to the controller 30.

[0084] The camera device S6, acting as a spatial recognition device, captures images of the periphery of the excavator 100. The camera device S6 includes a camera S6F that captures images of the front of the excavator 100, a camera S6L that captures images of the left side of the excavator 100, a camera S6R that captures images of the right side of the excavator 100, and a camera S6B that captures images of the rear of the excavator 100. The camera device S6 may also include an auxiliary camera mounted on an accessory device.

[0085] Camera S6F is installed, for example, in the ceiling of the operator's cab 10, i.e., inside the operator's cab 10. Furthermore, camera S6F can be installed on the roof of the operator's cab 10, the side of the boom 4, or on the exterior of the operator's cab 10. Camera S6L is installed on the left end of the upper surface of the upper rotating body 3, camera S6R is installed on the right end of the upper surface of the upper rotating body 3, and camera S6B is installed on the rear end of the upper surface of the upper rotating body 3.

[0086] The imaging device S6 (cameras S6F, S6B, S6L, S6R) is, for example, a single-lens wide-angle camera with a very wide field of view. Furthermore, the imaging device S6 can also be a stereo camera, a distance imaging camera, etc. The images captured by the imaging device S6 are input to the controller 30 via the display device 40.

[0087] The camera device S6, serving as a spatial recognition device, can also function as an object detection device. In this case, the camera device S6 can detect objects present around the excavator 100. Detected objects may include, for example, people (helmets, safety vests), animals, vehicles (dump trucks, etc.), construction machinery, buildings, holes, etc. Furthermore, the camera device S6 can also calculate the distance from the camera device S6 or the excavator 100 to the detected object. The camera device S6, as an object detection device, may include, for example, a stereo camera, a distance image sensor, etc. The camera device S6, as a spatial recognition device, can also be configured to recognize at least one of the types, positions, and shapes of objects around the excavator.

[0088] Furthermore, the spatial recognition device can be, for example, a monocular camera with imaging elements such as CCD or CMOS, which outputs the captured images to the display device 40. The spatial recognition device can also be configured to calculate the distance from the spatial recognition device or the excavator 100 to the identified object. In addition to the camera device S6, other object detection devices such as ultrasonic sensors, millimeter-wave radar, LiDAR, and infrared sensors can also be used as the spatial recognition device.

[0089] When using millimeter-wave radar, ultrasonic sensors, or lidar as a spatial identification device, multiple signals (laser beams, etc.) can be sent to the object and its reflected signals can be received. The distance and direction of the object can then be detected based on the reflected signals. When an object detection device is provided, the camera device S6 can be omitted.

[0090] In addition, the camera device S6 can also be directly and communicatively connected to the controller 30.

[0091] A boom rod pressure sensor S7R and a boom underpressure sensor S7B are installed in boom cylinder 7. A stick rod pressure sensor S8R and a stick underpressure sensor S8B are installed in stick cylinder 8.

[0092] A bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B are installed in the bucket cylinder 9. The boom rod pressure sensor S7R, boom bottom pressure sensor S7B, stick pressure sensor S8R, stick bottom pressure sensor S8B, bucket rod pressure sensor S9R, and bucket bottom pressure sensor S9B are collectively referred to as "cylinder pressure sensors".

[0093] The boom rod pressure sensor S7R detects the pressure in the rod-side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure"), and the boom bottom pressure sensor S7B detects the pressure in the bottom-side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom bottom pressure").

[0094] The boom pressure sensor S8R detects the pressure in the boom side oil chamber of the boom cylinder 8 (hereinafter referred to as "boom pressure"), and the boom bottom pressure sensor S8B detects the pressure in the bottom oil chamber of the boom cylinder 8 (hereinafter referred to as "boom bottom pressure").

[0095] The bucket rod pressure sensor S9R detects the pressure in the rod-side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket rod pressure"), and the bucket bottom pressure sensor S9B detects the pressure in the bottom-side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket bottom pressure").

[0096] The positioning device PS determines the position and orientation of the upper rotating body 3. The positioning device PS, for example, is a GNSS (Global Navigation Satellite System) compass, which detects the position and orientation of the upper rotating body 3, and the detection signal corresponding to the position and orientation of the upper rotating body 3 is input to the controller 30. Furthermore, the function of detecting the orientation of the upper rotating body 3 in the positioning device PS can also be replaced by an azimuth sensor installed on the upper rotating body 3.

[0097] The communication device T1 communicates with external devices such as the support device 200 of the excavator 100 via a defined network, including mobile communication networks with base stations as terminals, satellite communication networks, and the Internet. The support device 200 of the excavator 100 can be used, for example, by a manager at the work site who oversees the operation of the excavator 100, or by the operator of the excavator 100. Furthermore, the support device 200 can be, for example, a smartphone or a tablet-type terminal device.

[0098] The communication device T1 is, for example, a mobile communication module corresponding to mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), or a satellite communication module used to connect to a satellite communication network.

[0099] The equipment guidance unit 50, for example, performs control of the excavator 100 related to the equipment guidance function. The equipment guidance unit 50, for example, transmits work information such as the distance between the target construction surface and the working part of the auxiliary device, specifically the end attachment, through a display device 40 or a sound output device 43 to the operator.

[0100] As described above, data related to the target construction surface is, for example, pre-stored in storage device 57. This data is expressed, for example, in a reference coordinate system. The reference coordinate system is, for example, the World Geodetic System. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with the origin placed at the Earth's center of gravity, the X-axis taken in the direction of the intersection of the Greenwich Meridian and the equator, the Y-axis taken in the direction of 90 degrees east longitude, and the Z-axis taken in the direction of the North Pole.

[0101] The operator can set any point on the construction site as a reference point and, through the input device 42, set a target track in the area to be excavated based on the relative positional relationship with the reference point. The set target track is an excavation target track set at a position lower than the ground. The working parts of the bucket 6 include, for example, the tip of the bucket 6 and the back of the bucket 6. Here, the target track is calculated based on the shape of the ground or the shape of the temporarily placed fill (the shape of the excavation object) in the area to be excavated before excavation. The shape of the excavation object before excavation is obtained by a spatial recognition device. Furthermore, the shape of the excavation object before excavation can also be obtained based on the trajectory of the tip of the bucket 6 during the last excavation. Moreover, the controller 30 generates the target track to be excavated for this excavation based on the obtained shape of the excavation object before excavation and the preparation procedures for the excavation operation. Thus, the controller 30 updates the target track to be excavated each time a loading operation is performed. Furthermore, the controller 30 can also generate a target track based on the target weight.

[0102] Furthermore, as an end-connection accessory, when a grab hook or magnetic lift is used instead of the bucket 6, the front end of the grab hook or the bottom surface of the magnetic lift corresponds to the working part. The equipment guidance unit 50 notifies the operator of work information through the display device 40, the sound output device 43, etc., and guides the operator to operate the excavator 100 through the operating device 26.

[0103] Furthermore, the equipment guide unit 50, for example, performs control of the excavator 100 related to equipment control functions. For instance, when the operator performs excavation operations manually, the equipment guide unit 50 can automatically move at least one of the boom 4, stick 5, and bucket 6 to align the target track with the front end position of the bucket 6.

[0104] The equipment guidance unit 50 acquires information from the boom angle sensor S1, stick angle sensor S2, bucket angle sensor S3, body tilt sensor S4, slewing status sensor S5, camera device S6, positioning device PS, communication device T1, and input device 42.

[0105] Furthermore, the equipment guide unit 50 can automatically control the operation of the auxiliary device based on the acquired information, so that the front end of the auxiliary device (specifically, the working part such as the tip or back of the bucket 6) is aligned with the target track.

[0106] The equipment guidance unit 50 includes a position calculation unit 51, a distance calculation unit 52, an information transmission unit 53, an automatic control unit 54, a rotation angle calculation unit 55, and a relative angle calculation unit 56, which are detailed functional structures related to the equipment guidance function and the equipment control function.

[0107] The position calculation unit 51 calculates the position of the specified measuring object. For example, the position calculation unit 51 calculates the coordinate points in the reference coordinate system of the working parts such as the tip or back of the bucket 6 at the front end of the auxiliary device. Specifically, the position calculation unit 51 calculates the coordinate points of the working parts of the bucket 6 from the pitch angles (boom angle, stick angle, and bucket angle) of the boom 4, stick 5, and bucket 6.

[0108] The distance calculation unit 52 calculates the distance between two measuring objects. For example, the distance calculation unit 52 calculates the distance between the working part of the auxiliary device, specifically the tip or back of the bucket 6, and the target track. Furthermore, the distance calculation unit 52 can also calculate the angle (relative angle) between the back of the bucket 6, which is the working part, and the target track.

[0109] The information transmission unit 53 transmits (notifies) various information to the operator of the excavator 100 through designated notification components such as the display device 40 and the sound output device 43. The information transmission unit 53 notifies the operator of the excavator 100 of the magnitude (degree) of various distances, etc., calculated by the distance calculation unit 52.

[0110] For example, the distance (size) between the front end of the bucket 6 and the target track can be transmitted to the operator using at least one of the visual information displayed by the display device 40 and the auditory information output by the sound output device 43. Furthermore, the information transmission unit 53 can also transmit the relative angle (size) between the back of the bucket 6 (as the working part) and the target track to the operator using at least one of the visual information displayed by the display device 40 and the auditory information output by the sound output device 43.

[0111] Furthermore, the information transmission unit 53 can also display working information such as the distance between the front end of the auxiliary device, specifically the working part of the bucket 6 and the target track, and the relative angle between the back of the bucket 6 and the target track, on the display device 40. Under the control of the controller 30, the display device 40 can, for example, simultaneously display image data received from the camera device S6 and working information received from the information transmission unit 53. The information transmission unit 53 can also use, for example, an image from an analog device or a barcode scanner to transmit the vertical distance to the operator.

[0112] The automatic control unit 54 automatically supports manual operation of the excavator 100 by the operator through the operating device 26 by causing the actuator to operate automatically.

[0113] Specifically, as described later, the automatic control unit 54 can individually and automatically adjust the pilot pressure of the control valves (specifically, control valves 173, 175L, 175R, and 174) corresponding to the multiple hydraulic actuators (specifically, the swing hydraulic motor 2A, the boom cylinder 7, and the bucket cylinder 9). Thus, the automatic control unit 54 can automatically operate each hydraulic actuator.

[0114] For example, controls related to equipment control functions performed by the automatic control unit 54 can be executed when a predetermined switch included in the input device 42 is pressed. This predetermined switch is, for example, an equipment control switch (hereinafter referred to as the "MC (Machine Control) switch"), and may also be a rotary switch located at the front end of the handle of the operating device 26 (e.g., a joystick device corresponding to the operation of the boom 5) held by the operator. The following description assumes that the equipment control function is active when the MC switch is pressed.

[0115] For example, when the MC switch or the like is pressed, the automatic control unit 54 responds to the action of the boom cylinder 8 in order to support the digging or shaping work, causing at least one of the boom cylinder 7 and bucket cylinder 9 to automatically extend or retract.

[0116] Specifically, when the operator manually performs the stick 5 closing operation (hereinafter referred to as "stick closing operation"), the automatic control unit 54 automatically extends or retracts at least one of the boom cylinder 7 and bucket cylinder 9 to align the target working surface with the working part such as the tip or back of the bucket 6. At this time, the operator can close the stick 5 simultaneously by performing the stick closing operation only on the control lever device corresponding to the operation of the stick 5, for example, so that the tip of the bucket 6 and other parts are aligned with the target track.

[0117] Furthermore, when the MC switch or the like is pressed, the automatic control unit 54 can also automatically rotate the rotary hydraulic motor 2A (an example of an actuator) so that the upper rotary body 3 is aligned with the area of ​​the excavation object with the target track set.

[0118] Hereinafter, the control performed by the controller 30 (automatic control unit 54) to align the upper rotating body 3 with the excavation target area will be referred to as "alignment control". Thus, operators can align the upper rotating body 3 with the excavation target area simply by pressing a designated switch, or by operating the joystick device 26C (described later) corresponding to the rotation operation while the switch is pressed. Furthermore, operators can align the upper rotating body 3 with the excavation target area and begin equipment control functions related to the excavation work in the aforementioned excavation target area simply by pressing the MC switch.

[0119] Specifically, if the joystick device 26C corresponding to the rotation operation is operated while the specified switch such as the MC switch is pressed, it is determined whether the joystick device 26C was operated in the direction that makes the upper rotating body 3 face the excavation target area.

[0120] For example, when the joystick 26C is operated in a direction away from the excavation target area by the tip of the bucket 6, the automatic control unit 54 does not perform orientation control. On the other hand, when the slewing joystick is operated in a direction closer to the excavation target area by the tip of the bucket 6, the automatic control unit 54 performs orientation control.

[0121] As a result, the automatic control unit 54 can activate the rotary hydraulic motor 2A to reduce the distance (or rotation angle) between the tip of the bucket 6 and the area to be excavated. Then, if the difference becomes below a predetermined value or zero, the automatic control unit 54 stops the rotary hydraulic motor 2A.

[0122] Furthermore, the automatic control unit 54 can also set a target angle where the difference is below a predetermined value or zero, and control the operation of the rotary hydraulic motor 2A in such a way that the angle difference between the target angle and the current rotary angle (specifically, the detection value based on the detection signal detected by the rotary state sensor S5) is zero. At this time, the rotary angle is, for example, the angle of the front and rear shafts of the upper rotary body 3 relative to the reference direction.

[0123] Furthermore, as will be described later, when a rotary electric motor is mounted on the excavator 100 instead of the rotary hydraulic motor 2A, the automatic control unit 54 sets the rotary electric motor (an example of an actuator) as the controlled object and performs direct control.

[0124] The rotation angle calculation unit 55 calculates the rotation angle of the upper rotating body 3. As a result, the controller 30 can determine the current orientation of the upper rotating body 3. For example, the rotation angle calculation unit 55 calculates the angle between the front and rear axes of the upper rotating body 3 and the reference direction as the rotation angle based on the output signal of the GNSS compass included in the positioning device PS.

[0125] Furthermore, the rotation angle calculation unit 55 can also calculate the rotation angle based on the detection signal from the rotation state sensor S5. Moreover, when a reference point is set at the construction site, the rotation angle calculation unit 55 can also set the direction from which the reference point is observed from the rotation axis as the reference direction.

[0126] The rotation angle represents the direction in which the operating surface of the auxiliary device extends relative to the reference direction. The operating surface of the auxiliary device is, for example, an imaginary plane that longitudinally bisects the auxiliary device and is arranged perpendicular to the rotation plane. The rotation plane is, for example, an imaginary plane including the bottom surface of the rotating frame perpendicular to the rotation axis. For example, when it is determined that the operating surface of the auxiliary device coincides with the excavation target area or the target track, the controller 30 (equipment guide unit 50) determines that the upper rotating body 3 is facing the target construction surface.

[0127] The relative angle calculation unit 56 calculates the rotation angle (relative angle) required to make the upper rotating body 3 face the excavation target area. The relative angle is, for example, the angle between the direction of the front-rear axis of the upper rotating body 3 when it faces the excavation target area and the current direction of the front-rear axis of the upper rotating body 3. The relative angle calculation unit 56 calculates the relative angle, for example, based on data related to the excavation target area stored in the storage device 57 and the rotation angle calculated by the rotation angle calculation unit 55.

[0128] If the joystick device 26C corresponding to the rotation operation is operated while the specified switch such as the MC switch is pressed, the automatic control unit 54 determines whether a rotation operation has been performed in the direction that makes the upper rotating body 3 face the excavation target area.

[0129] When it is determined that a rotation operation has been performed in the direction that the upper rotating body 3 is facing the excavation target area, the automatic control unit 54 sets the relative angle calculated by the relative angle calculation unit 56 as the target angle. Furthermore, when the change in rotation angle after operating the joystick device 26C reaches the target angle, the automatic control unit 54 can determine that the upper rotating body 3 is facing the excavation target area and stop the operation of the rotation hydraulic motor 2A.

[0130] Therefore, the automatic control unit 54 Figure 2 The structure shown assumes that the upper rotating body 3 is directly facing the area to be excavated. In the above-described embodiment of the facing control, an example of facing control of the area to be excavated is shown, but it is not limited to this.

[0131] For example, during the digging operation of loading temporarily placed sand into a dump truck, the rotational movement can be controlled so that the auxiliary device faces the dump truck. In this case, the digging track changes each time a digging operation is performed. Therefore, after discharging into the dump truck, the newly changed digging track is controlled for alignment.

[0132] Furthermore, the rotary hydraulic motor 2A has a first port 2A1 and a second port 2A2. Hydraulic sensor 21 detects the pressure of the working oil at the first port 2A1 of the rotary hydraulic motor 2A. Hydraulic sensor 22 detects the pressure of the working oil at the second port 2A2 of the rotary hydraulic motor 2A. The detection signal corresponding to the discharge pressure detected by hydraulic sensors 21 and 22 is input to the controller 30.

[0133] Furthermore, port 2A1 is connected to the working oil tank via safety valve 23. Safety valve 23 opens when the pressure at port 2A1 reaches the specified safety pressure, discharging the working oil from port 2A1 into the working oil tank. Similarly, port 2A2 is connected to the working oil tank via safety valve 24. Safety valve 24 opens when the pressure at port 2A2 reaches the specified safety pressure, discharging the working oil from port 2A2 into the working oil tank. Moreover, it is not always necessary to perform orientation control using equipment guidance or control functions. Orientation and digging actions can also be performed manually by the operator.

[0134] Next, refer to Figure 3 The hydraulic system of the excavator 100 according to this embodiment will be described.

[0135] Figure 3 This is a diagram that schematically illustrates an example of the structure of the hydraulic system of the excavator 100 according to this embodiment.

[0136] In addition, with Figure 2 Similarly, in the case of... Figure 3 In the diagram, the mechanical power system, working oil pipeline, pilot line, and electrical control system are represented by double lines, solid lines, dashed lines, and dotted lines, respectively.

[0137] The hydraulic system, implemented through this hydraulic circuit, circulates working oil from the main pumps 14L and 14R driven by the engine 11 through the central bypass oil lines C1L and C1R, and the parallel oil lines C2L and C2R to the working oil tank.

[0138] The central bypass oil circuit C1L starts from the main pump 14L and passes through the control valves 171, 173, 175L and 176L arranged in the control valve 17 in sequence, and reaches the working oil tank.

[0139] The central bypass oil circuit C1R starts from the main pump 14R, passes through control valves 172, 174, 175R, and 176R arranged in control valve 17, and reaches the working oil tank.

[0140] Control valve 171 is a slide valve that supplies working oil discharged from main pump 14L to travel hydraulic motor 1L and discharges working oil discharged from travel hydraulic motor 1L to working oil tank.

[0141] Control valve 172 is a slide valve that supplies working oil discharged from main pump 14R to travel hydraulic motor 1R and discharges working oil discharged from travel hydraulic motor 1R to working oil tank.

[0142] Control valve 173 is a slide valve that supplies working oil discharged from main pump 14L to rotary hydraulic motor 2A and discharges working oil discharged from rotary hydraulic motor 2A to working oil tank.

[0143] Control valve 174 is a slide valve that supplies working oil discharged from main pump 14R to bucket cylinder 9 and discharges working oil in bucket cylinder 9 to working oil tank.

[0144] Control valves 175L and 175R are slide valves that supply working oil discharged by the main pumps 14L and 14R to the boom cylinder 7 and discharge the working oil in the boom cylinder 7 to the working oil tank, respectively.

[0145] Control valves 176L and 176R supply working oil discharged by main pumps 14L and 14R to boom cylinder 8 and discharge the working oil in boom cylinder 8 to the working oil tank.

[0146] Control valves 171, 172, 173, 174, 175L, 175R, 176L, and 176R adjust the flow rate of the working oil supplied to the hydraulic actuator or switch the flow direction according to the pilot pressure acting on the pilot port.

[0147] Parallel oil circuit C2L and central bypass oil circuit C1L supply working oil to control valves 171, 173, 175L and 176L in parallel to the main pump 14L.

[0148] Specifically, the parallel oil passage C2L is configured to branch off from the central bypass oil passage C1L upstream of control valve 171, and can supply working oil to the main pump 14L in parallel with control valves 171, 173, 175L, and 176R. Thus, when the flow of working oil through the central bypass oil passage C1L is restricted or cut off due to one of the control valves 171, 173, or 175L, the parallel oil passage C2L can supply working oil to the control valves further downstream.

[0149] Parallel oil passage C2R, in parallel with the center bypass oil passage C1R, supplies working oil to the main pump 14R to control valves 172, 174, 175R, and 176R. Specifically, parallel oil passage C2R is configured to branch off from the center bypass oil passage C1R upstream of control valve 172, and can supply working oil to the main pump 14R in parallel with control valves 172, 174, 175R, and 176R. When the flow of working oil through the center bypass oil passage C1R is restricted or cut off due to one of the control valves 172, 174, and 175R, parallel oil passage C2R can supply working oil to a more downstream control valve.

[0150] Under the control of the controller 30, the regulators 13L and 13R adjust the deflection angle of the swashplates of the main pumps 14L and 14R, thereby adjusting the discharge volume of the main pumps 14L and 14R.

[0151] Discharge pressure sensor 28L detects the discharge pressure of main pump 14L, and the detection signal corresponding to the detected discharge pressure is input to controller 30. The same applies to discharge pressure sensor 28R. Thus, controller 30 can control regulators 13L and 13R based on the discharge pressures of main pumps 14L and 14R.

[0152] In the central bypass oil circuits C1L and C1R, throttle valves 18L and 18R are installed between each of the downstream control valves 176L and 176R and the working oil tank. This restricts the flow of working oil discharged from the main pumps 14L and 14R by the throttle valves 18L and 18R. Furthermore, the throttle valves 18L and 18R generate control pressures for controlling the regulators 13L and 13R.

[0153] The control pressure sensors 19L and 19R detect the control pressure, and the detection signal corresponding to the detected control pressure is input to the controller 30.

[0154] The controller 30 can control the regulators 13L and 13R and adjust the discharge volume of the main pumps 14L and 14R based on the discharge pressure detected by the discharge pressure sensors 28L and 28R. For example, the controller 30 can control the regulator 13L and adjust the swashplate deflection angle of the main pump 14L based on an increase in the discharge pressure of the main pump 14L, thereby reducing the discharge volume. The same applies to the regulator 13R. Thus, the controller 30 can control the total horsepower of the main pumps 14L and 14R in such a way that the absorbed horsepower of the main pumps 14L and 14R, expressed as the product of the discharge pressure and the discharge volume, does not exceed the output horsepower of the engine 11.

[0155] Furthermore, the controller 30 can control the regulators 13L and 13R based on the control pressure detected by the control pressure sensors 19L and 19R, thereby adjusting the discharge volume of the main pumps 14L and 14R. For example, the controller 30 controls the discharge volume of the main pumps 14L and 14R as follows: the higher the control pressure, the lower the discharge volume of the main pumps 14L and 14R; the lower the control pressure, the higher the discharge volume of the main pumps 14L and 14R.

[0156] Specifically, when the hydraulic actuator in the excavator 100 is in a standby state without any operation ( Figure 3 In the state shown, the working oil discharged from the main pumps 14L and 14R reaches the throttle valves 18L and 18R through the central bypass oil passages C1L and C1R. Then, the flow of the working oil discharged from the main pumps 14L and 14R increases the control pressure generated upstream of the throttle valves 18L and 18R. As a result, the controller 30 reduces the discharge volume of the main pumps 14L and 14R to the minimum permissible discharge volume, suppressing pressure loss (pump suction loss) as the discharged working oil passes through the central bypass oil passages C1L and C1R.

[0157] On the other hand, when a hydraulic actuator is operated by the operating device 26, the working oil discharged from the main pumps 14L and 14R flows into the hydraulic actuator of the target through the control valve corresponding to the hydraulic actuator of the target.

[0158] Then, the flow of working oil discharged from the main pumps 14L and 14R reduces or eliminates the amount reaching the throttle valves 18L and 18R, lowering the control pressure upstream of the throttle valves 18L and 18R. As a result, the controller 30 increases the discharge of the main pumps 14L and 14R, allowing the working oil to circulate sufficiently in the hydraulic actuator of the operated object, thereby reliably driving the hydraulic actuator of the operated object.

[0159] Next, refer to Figures 4A to 4D The structure of the controller 30 for causing the actuator to operate through the device control function will be described. Figures 4A to 4D This is a diagram showing a portion of the hydraulic system that has been extracted. Specifically, Figure 4A The diagram shows the hydraulic system components related to the operation of the boom cylinder 8. Figure 4B The diagram shows the hydraulic system components related to the operation of boom cylinder 7. Figure 4C The diagram shows the hydraulic system components related to the operation of the bucket cylinder 9. Figure 4D The diagram shows the hydraulic system components related to the operation of the rotary hydraulic motor 2A.

[0160] like Figures 4A to 4D As shown, the hydraulic system includes a proportional valve 31. The proportional valve 31 includes proportional valves 31AL to 31DL and 31AR to 31DR.

[0161] The proportional valve 31 functions as a control valve for equipment control. The proportional valve 31 is located in the pipeline connecting the pilot pump 15 and the pilot port of the corresponding control valve within the control valve unit 17, and is configured to change the flow area of ​​this pipeline. In this embodiment, the proportional valve 31 operates according to the control commands output by the controller 30.

[0162] Therefore, the controller 30 can supply the working oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via the proportional valve 31, independent of the operation of the operating device 26 by the operator. Furthermore, the controller 30 can cause the pilot pressure generated by the proportional valve 31 to act on the pilot port of the corresponding control valve.

[0163] According to this structure, the controller 30 can activate the hydraulic actuator corresponding to the specific operating device 26 even when no operation is performed on the specific operating device 26. Furthermore, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to the specific operating device 26 even when operation on the specific operating device 26 is in progress.

[0164] For example, such as Figure 4A As shown, the left operating lever 26L is used to operate the boom 5. Specifically, the left operating lever 26L utilizes the working oil discharged by the pilot pump 15 and applies a pilot pressure corresponding to the forward and backward operation to the pilot port of the control valve 176.

[0165] More specifically, when the stick is operated in the closing direction (rearward direction), the left operating lever 26L applies a pilot pressure corresponding to the operating amount to the right pilot port of control valve 176L and the left pilot port of control valve 176R. Furthermore, when the stick is operated in the opening direction (forward direction), the left operating lever 26L applies a pilot pressure corresponding to the operating amount to the left pilot port of control valve 176L and the right pilot port of control valve 176R.

[0166] A switch NS is provided in the left operating lever 26L. In this embodiment, the switch NS is a push-button switch located at the front end of the left operating lever 26L. The operator can operate the left operating lever 26L while pressing the switch NS. The switch NS can also be located on the right operating lever 26R, or in other positions within the control room 10.

[0167] The operation sensor 29LA detects the operator's forward and backward movements on the left operating lever 26L and outputs the detected value to the controller 30.

[0168] The proportional valve 31AL operates according to the control command (current command) output by the controller 30. Furthermore, it adjusts the pilot pressure generated by the working oil introduced from the pilot pump 15 via the proportional valve 31AL to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R.

[0169] The proportional valve 31AR operates according to the control command (current command) output by the controller 30. Furthermore, it adjusts the pilot pressure generated by the working oil introduced from the pilot pump 15 through the proportional valve 31AR to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R. The proportional valve 31AR can adjust the pilot pressure in a manner that allows the control valves 176L and 176R to be stopped at any valve position. Similarly, the proportional valve 31AR can adjust the pilot pressure in a manner that allows the control valves 176L and 176R to be stopped at any valve position.

[0170] According to this structure, the controller 30, based on the stick closing operation performed by the operator, can supply the working oil discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL. Furthermore, the controller 30 can supply the working oil discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL, regardless of the stick closing operation performed by the operator. That is, the controller 30 can close the stick 5 either based on the stick closing operation performed by the operator or regardless of the stick closing operation performed by the operator.

[0171] Furthermore, the controller 30, based on the boom opening operation performed by the operator, can supply the working oil discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR. Also, regardless of the boom opening operation performed by the operator, the controller 30 can supply the working oil discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR. In other words, the controller 30 can open the boom 5 either based on the boom opening operation performed by the operator or regardless of the boom opening operation performed by the operator.

[0172] Furthermore, according to this structure, even when the operator is performing a boom closing operation, the controller 30 can, as needed, reduce the pilot pressure acting on the closed side of the control valve 176 (the left pilot port of control valve 176L and the right pilot port of control valve 176R) and forcibly stop the boom 5 closing action. The same applies to the situation where the operator is performing a boom opening operation and the opening action of the boom 5 is forcibly stopped.

[0173] Alternatively, even when the operator is performing a boom closing operation, the controller 30 can, as needed, control the proportional valve 31AR to increase the pilot pressure acting on the pilot port of the open side of the control valve 176 (the right pilot port of control valve 176L and the left pilot port of control valve 176R), located opposite to the pilot port of the closed side of control valve 176, and forcibly stop the boom 5 closing operation by forcibly returning control valve 176 to the neutral position. The same applies to the case where the boom 5 opening operation is forcibly stopped when the operator is performing a boom opening operation.

[0174] Furthermore, references are omitted below. Figures 4B to 4D The same applies to situations where the boom 4 is forcibly stopped when the operator is raising or lowering the boom, the bucket 6 is forcibly stopped when the operator is closing or opening the bucket, and the upper slewing body 3 is forcibly stopped when the operator is slewing. The same also applies to situations where the lower traveling body 1 is forcibly stopped when the operator is traveling.

[0175] And, as Figure 4B As shown, the right operating lever 26R is used to operate the boom 4. Specifically, the right operating lever 26R utilizes the working oil discharged by the pilot pump 15 and applies a pilot pressure corresponding to the forward and backward operation to the pilot port of the control valve 175.

[0176] More specifically, when the boom is moved upward (rearward), the right operating lever 26R applies a pilot pressure corresponding to the amount of operation to the right pilot port of control valve 175L and the left pilot port of control valve 175R. Furthermore, when the boom is moved downward (forward), the right operating lever 26R applies a pilot pressure corresponding to the amount of operation to the right pilot port of control valve 175R.

[0177] The operation sensor 29RA detects the operator's forward and backward movements on the right operating lever 26R and outputs the detected value to the controller 30.

[0178] The proportional valve 31BL operates according to the control command (current command) output by the controller 30. Furthermore, it adjusts the pilot pressure generated by the working oil introduced from the pilot pump 15 through the proportional valve 31BL to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. The proportional valve 31BR operates according to the control command (current command) output by the controller 30.

[0179] Furthermore, the pilot pressure generated by the working oil introduced from the pilot pump 15 through the proportional valve 31BR to the right pilot port of the control valve 175R is adjusted. The proportional valve 31BL can adjust the pilot pressure in a manner that allows the control valves 175L and 175R to be stopped at any valve position. Similarly, the proportional valve 31BR can adjust the pilot pressure in a manner that allows the control valve 175R to be stopped at any valve position.

[0180] According to this structure, the controller 30, based on the boom raising operation performed by the operator, can supply the working oil discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31BL. Furthermore, regardless of the boom raising operation performed by the operator, the controller 30 can supply the working oil discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31BL. That is, the controller 30 can raise the boom 4 based on the boom raising operation performed by the operator or independently of the boom raising operation performed by the operator.

[0181] Furthermore, based on the boom lowering operation performed by the operator, the controller 30 can supply the working oil discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR. Also, regardless of the boom lowering operation performed by the operator, the controller 30 can supply the working oil discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR. In other words, the controller 30 can lower the boom 4 based on or without the boom lowering operation performed by the operator.

[0182] And, as Figure 4C As shown, the right operating lever 26R is used to operate the bucket 6. Specifically, the right operating lever 26R utilizes the working oil discharged by the pilot pump 15 and applies a pilot pressure corresponding to the operation in the left or right direction to the pilot port of the control valve 174. More specifically, when operated in the bucket closing direction (left direction), the right operating lever 26R applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 174. And, when operated in the bucket opening direction (right direction), the right operating lever 26R applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 174.

[0183] The operation sensor 29RB detects the operator's left and right movements on the right operating lever 26R and outputs the detected value to the controller 30.

[0184] Proportional valve 31CL operates according to the control command (current command) output by controller 30. Furthermore, it adjusts the pilot pressure generated by the working oil introduced from pilot pump 15 through proportional valve 31CL to the left pilot port of control valve 174. Proportional valve 31CR operates according to the control command (current command) output by controller 30. Furthermore, it adjusts the pilot pressure generated by the working oil introduced from pilot pump 15 through proportional valve 31CR to the right pilot port of control valve 174.

[0185] The proportional valve 31CL can adjust the pilot pressure in a manner that allows the control valve 174 to be stopped at any valve position. Similarly, the proportional valve 31CR can adjust the pilot pressure in a manner that allows the control valve 174 to be stopped at any valve position.

[0186] According to this structure, the controller 30 can supply the working oil discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL based on the bucket closing operation performed by the operator. Furthermore, the controller 30 can supply the working oil discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL, regardless of the bucket closing operation performed by the operator. That is, the controller 30 can close the bucket 6 based on the bucket closing operation performed by the operator or regardless of the bucket closing operation performed by the operator.

[0187] Furthermore, the controller 30 can supply the working oil discharged by the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR, based on the bucket opening operation performed by the operator. Also, the controller 30 can supply the working oil discharged by the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR, regardless of the bucket opening operation performed by the operator. In other words, the controller 30 can open the bucket 6 either based on the bucket opening operation performed by the operator or regardless of the bucket opening operation performed by the operator.

[0188] And, as Figure 4D As shown, the left operating lever 26L is used to operate the rotary mechanism 2. Specifically, the left operating lever 26L utilizes the working oil discharged by the pilot pump 15 and applies a pilot pressure corresponding to the operation in the left or right direction to the pilot port of the control valve 173. More specifically, when the operation is performed in the left rotary direction (leftward direction), the left operating lever 26L applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 173. And, when the operation is performed in the right rotary direction (rightward direction), the left operating lever 26L applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 173.

[0189] The operation sensor 29LB detects the operator's left and right movements on the left control lever 26L and outputs the detected value to the controller 30.

[0190] The proportional valve 31DL operates according to the control command (current command) output by the controller 30. Furthermore, it can adjust the pilot pressure generated by the working oil introduced from the pilot pump 15 through the proportional valve 31DL to the left pilot port of the control valve 173.

[0191] The proportional valve 31DR operates according to the control command (current command) output by the controller 30. Furthermore, it adjusts the pilot pressure generated by the working oil introduced from the pilot pump 15 through the proportional valve 31DR to the right pilot port of the control valve 173. The proportional valve 31DR can adjust the pilot pressure in a manner that allows the control valve 173 to be stopped at any valve position. Similarly, the proportional valve 31DR can adjust the pilot pressure in a manner that allows the control valve 173 to be stopped at any valve position.

[0192] According to this structure, the controller 30 can supply the working oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL based on the left-hand rotation operation performed by the operator. Furthermore, the controller 30 can supply the working oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL, regardless of the left-hand rotation operation performed by the operator. That is, the controller 30 can cause the slewing mechanism 2 to rotate leftward based on the left-hand rotation operation performed by the operator or independently of the left-hand rotation operation performed by the operator.

[0193] Furthermore, the controller 30 can supply the working oil discharged by the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR, based on the right turn operation performed by the operator. Also, the controller 30 can supply the working oil discharged by the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR, regardless of the right turn operation performed by the operator. In other words, the controller 30 can cause the slewing mechanism 2 to rotate to the right, either based on the right turn operation performed by the operator or regardless of the right turn operation performed by the operator.

[0194] The excavator 100 may also have a structure that enables the lower traveling body 1 to move forward and backward automatically. In this case, the hydraulic system components related to the operation of the left traveling hydraulic motor 2ML and the hydraulic system components related to the operation of the right traveling hydraulic motor 2MR may be configured to be the same as the hydraulic system components related to the operation of the boom cylinder 7.

[0195] Furthermore, the excavator 100 may also have a structure that enables the bucket tilting mechanism to operate automatically. In this case, the hydraulic system related to the bucket tilting cylinder constituting the bucket tilting mechanism may also be configured to be the same as the hydraulic system related to the operation of the boom cylinder 7.

[0196] Furthermore, while the description of the operating device 26 pertains to an electric operating lever, a hydraulic operating lever can also be used instead of an electric one. In this case, the operating amount of the hydraulic operating lever can be detected by a pressure sensor and input to the controller 30 in the form of pressure. Additionally, a solenoid valve can be installed between the operating device 26 (which is a hydraulic operating lever) and the pilot port of each control valve.

[0197] The solenoid valves are configured to operate based on electrical signals from the controller 30. With this configuration, if manual operation is performed using the operating device 26, which is a hydraulic lever, the operating device 26 increases or decreases the pilot pressure according to the lever's actuation amount, thereby enabling the movement of each control valve. Furthermore, each control valve can also be configured as a solenoid spool valve. In this case, the solenoid spool valve operates based on electrical signals from the controller 30 corresponding to the lever actuation amount of the electric operating lever.

[0198] Next, refer to Figure 5 The details of the structure related to the sand and soil weight detection function of the excavator 100 involved in this embodiment will be described. Figure 5 This is a diagram that schematically illustrates an example of a structural component in the excavator 100 according to this embodiment that is related to the sand weight detection function.

[0199] According to Figure 3 As described above, the controller 30 is a functional unit related to the function of detecting the weight of the sand excavated by the bucket 6 (sand weight), and includes a sand weight processing unit 60.

[0200] The sand and soil weight processing unit 60 includes a weight calculation unit 61, a maximum load detection unit 62, a load calculation unit 63, a remaining load calculation unit 64, a center of gravity calculation unit 65, a display control unit 66, and a reference value correction unit 67.

[0201] Here, an example of the operation of loading sand (load) into a dump truck by the excavator 100 according to this embodiment will be described.

[0202] First, the excavator 100 controls the auxiliary device in the digging position to dig sand and soil through the bucket 6 (digging action). Next, the excavator 100 rotates the upper slewing body 3, causing the bucket 6 to move from the digging position to the discharge position (slewing action).

[0203] The dump truck bed is located below the discharge position. Next, the excavator 100 controls the auxiliary device at the discharge position to discharge the sand and soil in the bucket 6, thereby loading the sand and soil in the bucket 6 into the dump truck bed (discharge action).

[0204] Next, the excavator 100 rotates its upper slewing body 3 and moves its bucket 6 from the discharge position to the digging position (slewing action). By repeating these actions, the excavator 100 loads the excavated sand into the dump truck's cargo box.

[0205] The weight calculation unit 61 calculates the weight of the sand (load) inside the bucket 6. The weight calculation unit 61 calculates the weight of the sand based on the thrust of the boom cylinder 7.

[0206] For example, the weight calculation unit 61 calculates the weight of the sand based on the thrust of the boom cylinder 7, the distance from the pin connecting the upper rotating body 3 and the boom 4 to the center of gravity of the sand, and the torque around the pin connecting the upper rotating body 3 and the boom 4.

[0207] Furthermore, the weight calculation unit 61 calculates the weight of the load inside the bucket 6 by subtracting the weight of the bucket 6 when it is determined to be empty from the calculated weight of the entire bucket 6.

[0208] In the following description, the weight of the bucket 6 when it is determined to be empty is sometimes expressed as a reference value used for subtraction when the weight calculation unit 61 calculates the load. This reference value includes both the initial value representing the weight of the bucket 6 stored in the controller 30 when the excavator 100 leaves the factory and the past reference value set in past loading operations. A detailed description of the reference value will be given later.

[0209] Furthermore, in this embodiment, the example of loading sand (the load) into the bucket 6 is used, but in other words, the load in this embodiment can also be an object conveyed by the end attachment of the excavator 100. Therefore, sand can be considered as a conveyed object conveyed by the end attachment of the excavator 100.

[0210] In this embodiment, the moment when the bucket 6 is determined to be empty is used as the time for calibration and is communicated to the operator of the excavator 100. Therefore, in this embodiment, the operator does not need to confirm whether the bucket 6 is empty. In this embodiment, the operator can accurately determine the timing for calibration of the reference value.

[0211] The maximum load detection unit 62 detects the maximum load of the dump truck carrying sand. For example, the maximum load detection unit 62 determines the dump truck carrying sand based on images captured by the camera device S6. "Based on images captured by the camera device S6" means, for example, information obtained by performing one or more image processing operations on the images captured by the camera device S6. The maximum load of the dump truck can also be manually entered by the operator.

[0212] Next, the maximum load capacity detection unit 62 detects the maximum load capacity of the dump truck based on the determined image of the dump truck. For example, the maximum load capacity detection unit 62 determines the type (size, etc.) of the dump truck based on the determined image of the dump truck.

[0213] Specifically, for example, the maximum load capacity detection unit 62 may have a data table that establishes a correspondence between vehicle type and maximum load capacity, and calculate the maximum load capacity of the dump truck based on the vehicle type determined from the image and the data table. Alternatively, the maximum load capacity and vehicle type of the dump truck may be input through the input device 42, and the maximum load capacity detection unit 62 may calculate the maximum load capacity of the dump truck based on the input information from the input device 42.

[0214] The loading capacity calculation unit 63 calculates the weight of the sand loaded onto the dump truck. Specifically, each time sand is discharged from the bucket 6 into the dump truck's cargo compartment, the loading capacity calculation unit 63 adds the weight of the sand in the bucket 6 calculated by the weight calculation unit 61 to calculate the total weight of the sand loaded into the dump truck's cargo compartment, i.e., the loading capacity (total weight). Furthermore, when the dump truck carrying the sand becomes a new dump truck, the loading capacity is reset.

[0215] The remaining load calculation unit 64 calculates the difference between the maximum load of the dump truck detected by the maximum load detection unit 62 and the current load calculated by the load calculation unit 63, and uses this difference as the remaining load. The remaining load is the remaining weight of sand that can be loaded onto the dump truck.

[0216] The center of gravity calculation unit 65 calculates the center of gravity of the sand (load) inside the bucket 6. Furthermore, the method for calculating the center of gravity of the sand will be described later.

[0217] The display control unit 66 displays an icon image on the main screen (second screen) of the display device 40 to guide the transition to the loading screen (first screen). Detailed descriptions of the main screen and the loading screen will be provided later.

[0218] Furthermore, when the display device 40 receives a selection from the input device 42 corresponding to the icon image, the display control unit 66 transitions the main screen to the loading operation screen. In this embodiment, the loading operation screen displays an icon image that is associated with the input device 42 used to correct (update) the reference value when the weight calculation unit 61 calculates the weight of the load. In the following description, this icon image will sometimes be referred to as a correction icon image.

[0219] Furthermore, the display control unit 66 can also display on the display device 40 the weight of the sand in the bucket 6 calculated by the weight calculation unit 61, the maximum load of the dump truck detected by the maximum load detection unit 62, the load of the dump truck calculated by the load calculation unit 63 (the total weight of the sand loaded in the truck bed), and the remaining load of the dump truck calculated by the remaining load calculation unit 64 (the remaining weight of the sand that can be loaded).

[0220] Furthermore, when the load exceeds the maximum load capacity, the display control unit 66 can also display a warning on the display device 40. Additionally, when the calculated weight of the sand in the bucket 6 exceeds the remaining load capacity, the display control unit 66 can also display a warning on the display device 40. Moreover, the warning is not limited to being displayed on the display device 40; it can also be a sound output by the sound output device 43. Therefore, it is possible to prevent the dump truck from loading sand beyond its maximum load capacity.

[0221] Furthermore, the display control unit 66 changes the display mode of the calibration icon image displayed on the loading screen when it determines that the bucket 6 is empty. In this embodiment, the operator is notified of the time to perform reference value calibration by changing the display mode of the calibration icon image.

[0222] The reference value correction unit 67 corrects the reference value used by the weight calculation unit 61 when calculating the weight of the load. The reference value correction unit 67 compares the weight of the bucket 6 calculated by the weight calculation unit 61 with the currently set reference value. When the difference between the two is greater than a predetermined threshold, the state of the bucket 6 is determined to be the state after excavation, containing sand or other materials. At this time, the reference value correction unit 67 prevents the weight calculation unit 61 from correcting the reference value.

[0223] Specifically, the reference value correction unit 67, through the display control unit 66, sets the calibration icon image in the loading screen to a display mode that indicates the selection of the corresponding input device 42 is invalid, thus prohibiting the selection of the input device 42 corresponding to the calibration icon image. Details of the display mode of the calibration icon image will be described later.

[0224] Furthermore, when the difference between the two is below a predetermined threshold, the reference value correction unit 67 determines the state of the bucket 6 as an empty state after discharge and allows the correction of the reference value.

[0225] Specifically, the reference value correction unit 67 sets the correction icon image on the loading screen to a display mode that indicates that the corresponding input device 42 can be selected, and allows the selection of the input device 42 corresponding to the correction icon image, through the display control unit 66.

[0226] Furthermore, when the input device 42 corresponding to the calibration icon image is selected, the reference value calibration unit 67 sets the weight of the bucket 6 at that time as a new reference value. In other words, the reference value calibration unit 67 updates the initial value stored in the controller 30 at the factory or the reference value set in past loading operations.

[0227] The following is for reference. Figure 6 The reference values ​​for this embodiment will be explained. Figure 6 This is a diagram illustrating the baseline values. In Figure 6 In the diagram, the vertical axis represents weight, and the horizontal axis represents time.

[0228] exist Figure 6 The example illustrates the change in weight of the bucket 6 during the loading operation of the excavator 100. Figure 6 The image shows the excavation of the bucket 6 after digging, at time T1, where the sand loaded in the bucket 6 is discharged. At this time, an initial value is set in the excavator 100 as a reference value to be subtracted from the weight of the bucket 6.

[0229] Furthermore, in Figure 6 In this process, weight W1 is set as the initial value, and the difference between weight W3 and weight W1 is set as the specified threshold TH1 used to determine whether bucket 6 is empty.

[0230] exist Figure 6 In the state prior to time T1, the weight of bucket 6 is W4, and the difference between weight W4 and weight W1 is greater than the predetermined threshold TH1. Therefore, the reference value correction unit 67 determines that the state of bucket 6 is filled with sand and prohibits the correction of the reference value.

[0231] Furthermore, at time T2, which follows time T1, the state is that sand has been discharged from bucket 6. At this time, the difference TH2 between the weight W2 and the weight W1 of bucket 6 is below the prescribed threshold TH1.

[0232] At this time, the reference value correction unit 67 determines that the state of the bucket 6 is empty and allows the correction of the reference value. Specifically, the reference value correction unit 67 sets the weight W2 of the bucket 6 at the moment when it is determined that the bucket 6 is empty as the reference value to be referenced in the next weight calculation unit 61 process.

[0233] In other words, the reference value correction unit 67 sets the value obtained by adding the difference TH2 between the weight W2 and the weight W1 of the bucket 6 to the reference value W1 after the last discharge as the reference value.

[0234] The difference TH2 between the weight W2 and the weight W1 of the bucket 6 is, for example, the weight of sand that adheres to the inside of the bucket 6 and is not discharged during the discharge process. During loading operations, depending on factors such as the soil type and the temperature of the excavator oil, sand may sometimes adhere to the tip of the bucket 6, resulting in a small amount of sand remaining inside the bucket 6.

[0235] At this time, when the initial value at the factory is set as the reference value and the weight of the load in bucket 6 is calculated, the weight of the sand that remains in bucket 6 and is not discharged into the dump truck's compartment is also included in the weight of the load discharged into the dump truck's compartment. In the above embodiment, the initial value is used as the set reference value, but the reference value set in past loading operations can also be used as the reference value for calculating the difference.

[0236] In this embodiment, by performing a correction based on the weight of the bucket 6 after the load is discharged from the bucket 6, the weight of the load, excluding the weight of sand and soil remaining in the bucket 6 that has not been discharged, can be calculated.

[0237] In this embodiment, by correcting the reference value subtracted from the total weight of the bucket 6 when calculating the weight of the load inside the bucket 6, the accuracy of calculating the weight of the load inside the bucket 6 can be improved. In the above embodiment, when the difference between the weight calculated by the controller 30 and the reference value is below a predetermined threshold TH1, it is determined that the reference value needs to be corrected, but this determination method is not limited to this method.

[0238] For example, when the weight calculated by the weight calculation unit 61 is below a predetermined value, the controller 30 can also determine the time for reference value correction (when the bucket 6 is empty). Furthermore, the controller 30 can also determine the time for reference value correction (when the bucket 6 is empty) based on the output of the space recognition device.

[0239] Next, refer to Figure 7 The operation of the sand and soil weight processing unit 60 in this embodiment will be explained. Figure 7 This is a flowchart illustrating the operation of the sand and soil weight processing unit.

[0240] In the sand and soil weight processing unit 60 of this embodiment, the display control unit 66 causes the display device 40 to display the main screen (step S701). For example, when the engine 11 of the excavator 100 is started, the display control unit 66 displays the main screen on the display device 40.

[0241] Next, the display control unit 66 determines whether the input device 42 corresponding to the loading screen has been selected (step S702). Specifically, the display control unit 66 determines whether the input device 42 corresponding to the icon image guiding the transition to the loading screen has been operated.

[0242] In step S702, when no corresponding input device 42 is selected, the display control unit 66 returns to step S701.

[0243] In step S702, when the corresponding input device 42 is selected, the display control unit 66 transitions the main screen to the loading screen. In other words, the display control unit 66 displays the loading screen on the display device 40 (step S703). The loading screen displayed here shows a calibration icon image that is associated with the input device 42 used for updating the reference value.

[0244] Next, the sand and soil weight processing unit 60 calculates the weight inside the bucket 6 using the weight calculation unit 61 (step S704). Then, the sand and soil weight processing unit 60 determines, using the reference value correction unit 67, whether the difference between the weight of the load calculated in step S704 and the reference value is below the prescribed threshold TH1 (step S705).

[0245] In step S705, when the difference is not below the specified threshold, that is, when the bucket 6 is loaded with sand or other loads, the sand weight processing unit 60 returns to step S704.

[0246] In step S705, when the difference is below a predetermined threshold, that is, when the bucket 6 is in an empty state after discharge, the reference value correction unit 67 is set to accept the operation of the input device 42 (switch) corresponding to the correction icon image (step S706).

[0247] Specifically, the reference value correction unit 67 changes the display mode of the correction icon image through the display control unit 66, allowing the selection of the input device 42 corresponding to the correction icon image.

[0248] Next, the sand weight processing unit 60 determines whether the input device 42 (switch) corresponding to the calibration icon image has been selected (step S707). In step S707, if the corresponding input device 42 is not selected, the sand weight processing unit 60 returns to step S704.

[0249] In step S707, when the corresponding input device 42 is selected, the reference value correction unit 67 performs correction by setting the weight of the bucket 6 calculated by the weight calculation unit 61 in step S704 as the reference value (step S708). Therefore, the correction icon image of this embodiment can be said to be an icon image corresponding to the correction indication of the reference value used in the calculation of the weight of the load loaded in the bucket 6.

[0250] Next, the sand and soil weight processing unit 60 determines whether the loading work is completed (step S709). Specifically, the sand and soil weight processing unit 60 may also determine that the loading work is completed when the loading work screen transitions to the main screen.

[0251] In step S709, if the loading work is not yet completed, the sand and soil weight processing unit 60 returns to step S704. In step S709, if the loading work is completed, the sand and soil weight processing unit 60 ends the processing performed by the reference value correction unit 67.

[0252] Next, a display example of the display device 40 in this embodiment will be described. Figure 8 This is an example of a main screen.

[0253] Figure 8 The display device 40 shown includes an image display unit 41 and an input device 42. The image display unit 41 displays a screen for various images. Figure 8 The main screen is displayed on the image display unit 41. The input device 42 includes various menu switches.

[0254] First, the image display unit 41 will be described. For example... Figure 8 As shown, the image display unit 41 includes a date and time display area 41a, a driving mode display area 41b, an auxiliary device display area 41c, a fuel consumption display area 41d, an engine control status display area 41e, an engine running time display area 41f, a coolant temperature display area 41g, a fuel balance display area 41h, a speed mode display area 41i, a urea water balance display area 41j, an operating oil temperature display area 41k, an air conditioning operation status display area 41m, an image display area 41n, and a menu display area 41p.

[0255] The walking mode display area 41b, auxiliary device display area 41c, engine control status display area 41e, speed mode display area 41i, and air conditioning operation status display area 41m are areas that display information related to the setting status of the excavator 100, i.e., setting status information. The fuel consumption display area 41d, engine running time display area 41f, coolant temperature display area 41g, fuel balance display area 41h, urea / water balance display area 41j, and working oil temperature display area 41k are areas that display information related to the operating status of the excavator 100, i.e., operating status information.

[0256] Specifically, the date and time display area 41a displays the current date and time. The driving mode display area 41b displays the current driving mode. The auxiliary device display area 41c displays an image representing the currently installed auxiliary device. The fuel consumption display area 41d displays fuel consumption information calculated by the controller 30. The fuel consumption display area 41d includes an average fuel consumption display area 41d1 that displays the total average fuel consumption or the interval average fuel consumption, and an instantaneous fuel consumption display area 41d2 that displays the instantaneous fuel consumption.

[0257] The engine control status display area 41e displays the control status of the engine 11. The engine running time display area 41f displays the cumulative running time of the engine 11. The coolant temperature display area 41g displays the current temperature of the engine coolant. The fuel level display area 41h displays the remaining fuel level in the fuel tank.

[0258] The engine speed mode display area 41i displays the current engine speed mode set via the engine speed adjustment dial 75 graphically. The urea water level display area 41j displays the remaining urea water level in the urea water tank graphically. The working oil temperature display area 41k displays the temperature of the working oil in the working oil reservoir.

[0259] The air conditioner operation status display area 41m includes an air outlet display area 41m1 that displays the current air outlet position, an operation mode display area 41m2 that displays the current operation mode, a temperature display area 41m3 that displays the current set temperature, and an air volume display area 41m4 that displays the current set air volume.

[0260] The image display area 41n is the area for displaying images captured by the camera device S6. In the example of Figure 4, the image display area 41n displays a top-down image FV and a rear image CBT. The top-down image FV is, for example, a virtual viewpoint image generated by the display control unit 66, based on images acquired by the rear camera S6B, the left camera S6L, and the right camera S6R.

[0261] Furthermore, an excavator graphic GE corresponding to the excavator 100 is positioned in the center of the overhead view FV. This is to allow the operator to intuitively grasp the positional relationship between the excavator 100 and objects existing around the excavator 100. The rear view CBT is an image showing the space behind the excavator 100, including the image GC of the counterweight. The rear view CBT is an actual viewpoint image generated by the control unit 40a, based on the image acquired by the rear camera S6B.

[0262] Furthermore, the image display area 41n has a first image display area 41n1 located above and a second image display area 41n2 located below. Figure 8 In the example, the overhead view FV is configured in the first image display area 41n1, and the rear view CBT is configured in the second image display area 41n2. However, the image display area 41n can also have the overhead view FV configured in the second image display area 41n2, and the rear view CBT configured in the first image display area 41n1.

[0263] Furthermore, in Figure 8 In the example, the top-down image (FV) and the rear image (CBT) are configured vertically adjacent, but they can also be configured with an interval between them. Furthermore, in Figure 8 In the example, the image display area 41n is a vertically elongated area, but the image display area 41n can also be a horizontally elongated area.

[0264] When the image display area 41n is a horizontally elongated area, it can be configured with a top-view image FV on the left as the first image display area 41n1, and a rear image CBT on the right as the second image display area 41n2. In this case, the left and right sides can be arranged with an interval, or the positions of the top-view image FV and the rear image CBT can be swapped.

[0265] Furthermore, in this embodiment, icon images 41x are displayed in the first image display area 41n1 and the second image display area 41n2, respectively. Icon images 41x are images showing the relative relationship between the position of the camera device S6 and the orientation of the auxiliary device of the upper rotating body 3.

[0266] The icon image 41x in this embodiment includes an image 41xM representing the excavator 100, an image 41xF representing the front of the excavator 100, and an image 41xB representing the rear of the excavator 100. Furthermore, the icon image 41x includes an image 41xL representing the left side of the excavator 100, an image 41xR representing the right side of the excavator 100, and an image 41xI representing the interior of the operator's cab 10.

[0267] Images 41xF, 41xB, 41xL, 41xR, and 41xI correspond to the camera S6F (viewing the front of the excavator 100), the camera S6B (viewing the rear of the excavator 100), the camera S6L (viewing the left side of the excavator 100), and the camera S6R (viewing the right side of the excavator 100), respectively. Furthermore, image 41xI corresponds to the camera inside the control room 10.

[0268] In this embodiment, when an image associated with each camera is selected in the icon image 41x, the image data captured by the camera corresponding to the selected image is displayed in the image display area 41n.

[0269] exist Figure 8 In the example, in the first image display area 41n1, the display methods of images 41xB, 41xL, and 41xR are different from those of images 41xF and 41xI. Therefore, it can be seen that the first image display area 41n1 displays an overhead image represented by image data synthesized from image data captured by cameras S6B, S6L, and S6R corresponding to images 41xB, 41xL, and 41xR, respectively.

[0270] Furthermore, in the second image display area 41n2, the display method of image 41xB is different from that of images 41xF, 41xL, 41xR, and 41xI. Therefore, it can be seen that the second image display area 41n2 displays an image represented by image data captured by the camera S6B corresponding to image 41xB.

[0271] The menu display area 41p has labels 41p1 to 41p7. Figure 8 In the example shown, at the bottom of the image display section 41, labels 41p1 to 41p7 are arranged on the left and right sides with intervals between them. Icon images for displaying various information are displayed in labels 41p1 to 41p7.

[0272] Label 41p1 displays menu detail item icon images used to show menu detail items. If the operator selects label 41p1, the icon images displayed on labels 41p2 to 41p7 switch to icon images associated with the menu detail items.

[0273] Label 41p4 displays icon images used to show information related to the digital level. If the operator selects label 41p4, the background image CBT switches to a screen displaying information related to the digital level. However, the screen displaying information related to the digital level can also be overlaid on or reduced in size from the background image CBT.

[0274] Furthermore, the overhead view (FV) can be switched to display a screen showing information related to the digital level, or it can be overlaid on the overhead view (FV) or zoomed out of the overhead view (FV) to display a screen showing information related to the digital level.

[0275] Label 41p5 displays an icon image used to transition the main screen of the image display unit 41 to the loading screen. If the operator selects the input device 42 corresponding to label 41p5 (described later), the main screen of the image display unit 41 transitions to the loading screen. Meanwhile, the image display area 41n continues to display, and the menu display area 41p switches to displaying information related to the loading process.

[0276] Label 41p6 displays icon images for showing information related to information-based construction. If the operator selects label 41p6, the background image CBT switches to display information related to information-based construction. However, the background image CBT can also be overlaid or reduced in size to display information related to information-based construction. Furthermore, the overhead view FV can switch to display information related to information-based construction, or it can be overlaid or reduced in size to display information related to the digital level.

[0277] Label 41p7 displays icon images for showing information related to crane mode. If the operator selects label 41p7, the rear image CBT switches to a screen displaying information related to crane mode. However, the screen displaying information related to crane mode can also be overlaid on or reduced in size to display the same information. Furthermore, the overhead view FV can switch to a screen displaying information related to crane mode, and can also be overlaid on or reduced in size to display the same information.

[0278] No icon images are displayed on labels 41p2 and 41p3. Therefore, even if an operator manipulates labels 41p2 and 41p3, the image displayed on the image display unit 41 will not change.

[0279] In addition, the icon images displayed on labels 41p1 to 41p7 are not limited to the examples above, and icon images used to display other information may also be displayed.

[0280] Next, the input device 42 will be described. For example... Figure 8 As shown, the input device 42 consists of one or more push-button switches for operators to select labels 41p1 to 41p7, set inputs, etc.

[0281] exist Figure 8In this example, the input device 42 includes seven switches 42a1 to 42a7 disposed in the upper section and seven switches 42b1 to 42b7 disposed in the lower section. Switches 42b1 to 42b7 are respectively disposed below switches 42a1 to 42a7.

[0282] However, the number, method, and configuration of the switches in the input device 42 are not limited to the examples described above. For instance, the functions of multiple push-button switches can be combined into one using a jog wheel, a jog switch, or the like. Furthermore, the input device 42 can be separate from the display device 40. Also, the labels 41p1 to 41p7 can be directly operated via a touch panel that integrates the image display unit 41 with the input device 42.

[0283] Switches 42a1 to 42a7 are respectively arranged below labels 41p1 to 41p7 and correspond to labels 41p1 to 41p7, and function as switches to select each label 41p1 to 41p7.

[0284] Switches 42a1 to 42a7 are respectively configured below labels 41p1 to 41p7, corresponding to labels 41p1 to 41p7, so that operators can intuitively select labels 41p1 to 41p7.

[0285] exist Figure 8 For example, if switch 42a1 is operated, label 41p1 is selected, and the menu display area 41p changes from a single-segment display to a two-segment display, with the icon image corresponding to the first menu displayed on labels 41p2 to 41p7. Furthermore, corresponding to the change in the menu display area 41p from a single-segment display to a two-segment display, the size of the rear image CBT is reduced. At this time, the size of the overhead image FV remains unchanged, so the visual visibility when the operator checks the area around the excavator 100 does not deteriorate.

[0286] Furthermore, if switch 42a5 is operated, the display control unit 66 considers label 41p5 to be selected and transitions the main screen to [the selected screen]. Figure 8 The loading screen shown.

[0287] Specifically, if switch 42a5 is operated, the display control unit 66 maintains the image display area 41n unchanged and sets the menu display area 41p to a work information display area that displays information related to the loading work.

[0288] Thus, in this embodiment, the camera image is also displayed in the image display area 41n in the loading work screen, so the visual recognition of the operator when confirming the area around the excavator 100 will not be worse.

[0289] Switch 42b1 is a switch for switching the camera image displayed in image display area 41n. It is configured such that each time switch 42b1 is operated, the camera image displayed in the first image display area 41n1 of image display area 41n switches between, for example, a rear image, a left image, a right image, and a top-down image.

[0290] Furthermore, it can also be configured such that, each time the switch 42b1 is operated, the camera image displayed in the second image display area 41n2 of the image display area 41n is switched between, for example, a rear image, a left image, a right image, and a top-down image.

[0291] Furthermore, the display control unit 66 can also change the display mode of images 41xF, 41xB, 41xL, 41xR, and 41xI in the icon image 41x according to the operation of the switch 42b1.

[0292] Furthermore, it can also be configured such that, each time the switch 42b1 is operated, the camera image displayed in the first image display area 41n1 and the camera image displayed in the second image display area 41n2 are swapped.

[0293] Thus, the switch 42b1, which serves as the input device 42, can switch the image displayed in the first image display area 41n1 or the second image display area 41n2, or it can switch the image displayed in both the first image display area 41n1 and the second image display area 41n2. Furthermore, a separate switch can be provided for switching the image displayed in the second image display area 41n2.

[0294] Switches 42b2 and 42b3 are for adjusting the air conditioner's fan speed. Figure 8 In the example shown, the configuration is such that if switch 42b2 is operated, the air volume of the air conditioner decreases, and if switch 42b3 is operated, the air volume of the air conditioner increases.

[0295] Switch 42b4 is a switch that toggles the "on" and "off" functions for cooling and heating. Figure 8 In the example shown, the "on" and "off" functions of cooling and heating are switched each time the switch 42b4 is operated.

[0296] Switches 42b5 and 42b6 are used to adjust the set temperature of the air conditioner. Figure 8 In the example shown, the setting is configured such that if switch 42b5 is operated, the set temperature decreases, and if switch 42b6 is operated, the set temperature increases.

[0297] Switch 42b7 is a switch that allows switching of the display of engine running time display area 41f.

[0298] Furthermore, switches 42a2-42a6 and 42b2-42b6 are configured to input numbers displayed on or near the switches. Also, switches 42a3, 42a4, 42a5, and 42b4 are configured to allow the cursor to be moved left, up, right, and down respectively when a cursor is displayed in the menu screen.

[0299] In addition, the functions assigned to switches 42a1-42a7 and 42b1-42b7 are one example, and they can also be configured to perform other functions.

[0300] As explained above, when the overhead view (FV) and rear view (CBT) are displayed in the image display area 41n, selecting tab 41p1 will display the detailed items of the first menu in tabs 41p2 to 41p7 while the overhead view (FV) and rear view (CBT) are displayed. Therefore, the operator can confirm the detailed items of the first menu while simultaneously confirming the overhead view (FV) and rear view (CBT).

[0301] Furthermore, in the image display area 41n, the overhead image FV is displayed such that its size does not change before and after the label 41p1 is selected. The operator confirms that visual visibility around the excavator 100 does not deteriorate.

[0302] The following is for reference. Figure 9 The loading screen of this embodiment will be described. Figure 9 This is an example of a loading screen. Figure 9 The loading screen, for example, in Figure 7 The step S703 is displayed on the display device 40. Furthermore, Figure 9 The loading screen shown is a transition screen that allows you to navigate to various settings screens during the loading process; in other words, it is the main interface for the loading process.

[0303] exist Figure 9 In this example, a loading screen is displayed on the image display unit 41. The loading screen includes an image display area 41n and a work information display area 43n.

[0304] The work information display area 43n displays the loading capacity image 43a, the remaining loading capacity 43b, the loading capacity 43c, the icon image 43d of the bucket 6, and the weight 43e of the sand in the bucket 6. Furthermore, icon images 44a1 to 44a7 are displayed in the work information display area 43n.

[0305] The loading capacity image 43a includes a side view of the dump truck and a bar chart representing the loading capacity of the dump truck's cargo compartment. The bar chart represents the ratio of the amount of sand loaded in the dump truck's cargo compartment to the dump truck's maximum loading capacity.

[0306] Furthermore, the bar chart-like image of the loading amount image 43a in this embodiment is supplemented with multiple scales, and it is shown that the larger the ratio of the loading amount to the maximum loading amount, the greater the variation in the ratio of the spacing between the scales.

[0307] Therefore, in this embodiment, the larger the ratio of the load capacity to the maximum load capacity, the more detailed the display of the load capacity changes.

[0308] The remaining load capacity 43b is a value representing the difference between the maximum load capacity and the current load capacity. In other words, the remaining load capacity 43b is the remaining weight of sand that can be loaded onto the dump truck.

[0309] Loading capacity 43c is a numerical value representing the amount of cargo already loaded into the dump truck's cargo compartment.

[0310] Icon image 43d includes image 43d1 of the load inside bucket 6, indicating whether there is a load inside bucket 6. Figure 9 As can be seen from the example, icon image 43d includes image 43d1 and is in a state before the load is discharged from the bucket 6.

[0311] Furthermore, when the load (sand) inside the bucket 6 is discharged into the dump truck's cargo compartment, the icon image 43d can also be set to include only the image of the bucket 6, excluding image 43d1. Additionally, the display control unit 66 can change the shape of image 43d1 according to the weight of the load inside the bucket 6.

[0312] The weight 43e of the sand in bucket 6 is a numerical value representing the weight of the load in bucket 6. That is, the weight 43e is the weight of the sand that will be discharged into the dump truck.

[0313] For example, if the weight 43e exceeds the remaining load 43b, that is, if it would result in overloading when the sand and soil in the bucket 6 are discharged, the display control unit 66 of this embodiment can also change the display mode of the load image 43a, the remaining load 43b, the load 43c, etc. Specifically, the display control unit 66 can also set the display color of the load image 43a, the remaining load 43b, the load 43c, etc. to red, etc.

[0314] Furthermore, when it is not considered overloaded even if the sand and soil in the bucket 6 are discharged, the display control unit 66 can set the background color of the loading amount image 43a, the remaining loading amount 43b, the loading amount 43c, etc. to green, etc.

[0315] Furthermore, when the loading capacity of the dump truck's cargo compartment exceeds the maximum loading capacity, the display control unit 66 can also display information on the display device 40 instructing the operator to scoop sand from the cargo compartment.

[0316] Icon images 44a1 to 44a7 are used to display various input fields, etc., in the work information display area 43n. Icon images 44a1 to 44a7 can also be displayed in a corresponding association with switches 42a1 to 42a7.

[0317] For example, when the switch 42a1 corresponding to the icon image 44a1 is operated, the display control unit 66 can also transition the display of the image display unit 41 from the loading screen to the main screen. Furthermore, when the switch 42a2 corresponding to the icon image 44a2 is operated, the display control unit 66 can also display various setting screens in the work information display area 43n.

[0318] Furthermore, when the switch 42a3 corresponding to the icon image 44a3 is operated, the display control unit 66 can also display the input field of the target value of the loading amount in the loading operation in the work information display area 43n.

[0319] Furthermore, icon image 44a5 is a calibration icon image for the reference value and corresponds to switch 42a5. When switch 42a5 is selected in the loading operation screen, the reference value calibration unit 67 of this embodiment calibrates the reference value used when calculating the weight of the load in the bucket 6. In other words, when switch 42a5 is selected, the reference value calibration unit 67 performs... Figure 7 The processing of step S708.

[0320] Thus, in this embodiment, the image data captured by the camera device S6 and the calibration icon image are displayed together on the main interface of the loading operation. The calibration icon image is associated with a switch that corresponds to the calibration of the reference value in the calculation of the weight of the load in the bucket 6.

[0321] Furthermore, in this embodiment, the display method of the calibration icon image is changed only when the state of the bucket 6 is determined to be empty, and the operator is notified of the time of the calibration reference value.

[0322] Specifically, when the state of bucket 6 is not determined to be empty, that is, when the state of bucket 6 is determined to be after excavation (before discharge), icon image 44a5 can also be displayed in gray. In addition, at this time, the display mode of icon image 44a5 is not limited to gray display, as long as it is different from the display mode of the corresponding icon images of other icon images 44a1 to 44a7 where the switch selection is valid.

[0323] Furthermore, when the bucket 6 is determined to be empty, the icon image 44a5 changes from a gray display to a display indicating that the selection of switch 42a5 is valid. Specifically, the icon image 44a5 can be displayed as a color image, or it can be displayed in the same way as the icon images 44a1 to 44a7 indicating that the selection of the corresponding switches is valid.

[0324] Thus, in this embodiment, in the main interface of the loading operation, an icon image 44a5 (correction icon image) corresponding to the switch 42a5 that indicates the reference value used in the calculation of the weight of the load in the bucket 6 is displayed along with the image data acquired by the camera device S6.

[0325] Furthermore, in this embodiment, when it is determined that the bucket 6 is empty, the display mode of the calibration icon image 44a5 is changed, and the operator of the excavator 100 is notified that it is time to perform the calibration of the reference value.

[0326] When the display mode of the calibration icon image 44a5 changes, the operator can perform the reference value calibration simply by selecting switch 42a5. In other words, when the display mode of the calibration icon image 44a5 changes, the operator can set the weight of the bucket 6 when empty by simply selecting switch 42a5. Therefore, according to this embodiment, the weight when empty can be easily set.

[0327] Furthermore, the timing for calibration of the reference value can be communicated to the operator through methods other than changing the display mode of the calibration icon image 44a5. For example, the timing for calibration can be communicated by sound or by displaying information indicating the calibration reference value. In this case, the display device 40 may also have an output unit that outputs a notification indicating the timing for calibration of the reference value through methods other than display.

[0328] Furthermore, for example, in the above embodiment, the controller 30 is mounted on the excavator 100, but it can also be located externally to the excavator 100. In this case, the controller 30 can also be a control device located in a remote control room. Furthermore, the display device 40 can be located in the remote control room. The display device 40 can also be connected to the control device located in the remote control room. The control device located in the remote control room receives output signals from various sensors mounted on the excavator 100, calculates the weight of the load, or determines the timing of correction of the reference value used in calculating the weight of the load. Furthermore, for example, in the above embodiment, the display device 40 can also function as a display unit in the support device 200. In this case, the support device 200 can also be connected to the controller 30 of the excavator 100 or a controller located in the remote control room.

[0329] Furthermore, in the above embodiments, an excavator 100 equipped with a bucket as an end-connecting attachment was described as an example, but it is not limited to an excavator 100 equipped with a bucket. The excavator of this application invention also includes construction machinery with a grappling hook, magnetic hoist, etc., equipped as end-connecting attachments at the front end of the auxiliary device.

[0330] The embodiments described above have been illustrated with reference to specific examples. However, the present invention is not limited to these specific examples. Any design modifications made appropriately to these specific examples by those skilled in the art, provided they possess the features of the present invention, are also included within the scope of the present invention. The elements, their configurations, conditions, and shapes, etc., of the aforementioned specific examples are not limited to those illustrated and can be appropriately modified. Regarding the elements of the aforementioned specific examples, appropriate combinations are permissible as long as no technical contradictions arise.

[0331] Furthermore, this international application claims priority based on Japanese Patent Application No. 2021-055151, filed on March 29, 2021, and incorporates the entire contents of Japanese Patent Application No. 2021-055151 into this international application.

[0332] Symbol Explanation

[0333] 30-Controller, 40-Display device, 60-Sand and soil weight processing unit, 61-Weight calculation unit, 62-Maximum load detection unit, 63-Load calculation unit, 64-Remaining load calculation unit, 65-Center of gravity calculation unit, 66-Display control unit, 67-Reference value correction unit, 100-Excavator.

Claims

1. A display device for an excavator, wherein, The display shows a first screen, which includes an image represented by image data captured by the camera device of the excavator, and an icon image corresponding to a correction indicator for a reference value used in calculating the weight of the transported material conveyed through the end attachment of the excavator. When the state of the termination accessory meets the specified conditions, the display mode of the icon image changes to a display mode that indicates that the operation of correcting the reference value is allowed, and it becomes a state that can accept the selection operation of the input device that establishes a corresponding association with the icon image. When the state of the termination accessory does not meet the specified conditions, the icon image is displayed in a way that indicates that the operation of correcting the reference value is invalid, and the selection operation of the input device that establishes a corresponding association with the icon image is prohibited.

2. The display device for the excavator according to claim 1, wherein, The specified condition refers to the condition that the termination accessory is determined to be in an unloaded state.

3. The display device for the excavator according to claim 2, wherein, The specified condition refers to the difference between the weight of the termination accessory and the reference value being below a specified threshold.

4. The display device for the excavator according to claim 3, wherein, Setting the baseline value involves selecting an input device that establishes a corresponding association with the icon image. When the operation is performed, the weight of the termination accessory when the specified conditions are met is set as the reference value.

5. The display device for an excavator according to claim 4, wherein, The first screen is a view showing the loading and transport of goods from the termination attachment into the compartment of the transport vehicle.

6. The display device for an excavator according to claim 5, wherein, The second screen is displayed, which includes image data captured by the camera device and icon images for displaying the first screen. When an input device corresponding to the icon image used to display the first screen is selected, the second screen transitions to the first screen.

7. An excavator, comprising: Upper rotating body; Lower walking body; Termination accessories; The control unit calculates the weight of the conveyed item transported via the termination attachment; and The display device displays icon images corresponding to correction indications for reference values ​​used in calculating the weight of the transported item conveyed via the termination accessory. The control unit is, When it is determined that the state of the termination accessory meets the specified conditions, the display mode of the icon image is set to indicate that the operation of correcting the reference value is allowed, and it is configured to accept the selection operation of an input device that establishes a corresponding association with the icon image. When it is determined that the state of the termination accessory does not meet the specified conditions, the display mode of the icon image is set to a display mode that indicates that the operation of correcting the reference value is invalid, and the selection operation of the input device that establishes a corresponding association with the icon image is prohibited.

8. The display device for an excavator according to any one of claims 1 to 6, wherein, The first screen includes an image display area that displays image data captured by the camera device, and a work information display area that displays information related to the loading process.

9. The display device for an excavator according to claim 8, wherein, The work information display area displays an image of the load, the remaining load, the load, an icon image of the termination attachment, and the weight of the sand in the termination attachment.

10. The display device for an excavator according to claim 9, wherein, The loading capacity image includes a side view of the dump truck and a bar chart representing the loading capacity of the dump truck's cargo compartment, wherein the bar chart represents the ratio of the amount of sand loaded in the dump truck's cargo compartment to the dump truck's maximum loading capacity.

11. The display device for an excavator according to claim 6, wherein, The first screen is the loading screen. The second screen is the main screen. The icon image used to display the first screen is the same icon image used to transition the main screen to the loading screen. The input device corresponding to the icon image used to display the first screen is an input device corresponding to a label that displays an icon image used to transition the main screen to the loading screen.

Images