Display system for work machine and display method

Abstract

A display system includes a display and a controller. The controller acquires machine position data indicating a position of a work machine. The controller acquires a separation distance in a width direction of a rotating body between a work point of the work machine and an axis of rotation. The work point is disposed apart from the axis of rotation in the width direction. The controller acquires target position data indicating a target position of the work machine. The controller displays a guidance screen including a guide line indicating the target position and a guide image indicating the position of the work machine on the display based on the machine position data and the target position data. The guide image includes a first image and a second image. The first image indicates the position of the axis of rotation. The second image indicates a position separated from the axis of rotation by the separation distance.

Description

Technical Field

[0001] This invention relates to a display system and display method for working machinery. Background Technology

[0002] A display system for aligning the working machine of an auxiliary working machine with a target position is disclosed, for example, in Patent Document 1. In the display system of Patent Document 1, the working machine is a hydraulic excavator comprising a rotating body and a working machine. The target position is the centerline of a trench formed in the ground. In this display system, a guide display for aligning the working machine of the hydraulic excavator with the centerline of the trench is displayed on a monitor. The guide display includes a center guide line and indicator marks.

[0003] The center guide line indicates the position of the centerline of the trench. The indicator marks indicate the position of the rotating body's axis of rotation and the working point of the excavator. The working point is, for example, located at the center of the excavator's cutter tip. The operator refers to the guide display and moves the hydraulic excavator so that the indicator marks of the rotating axis are aligned with the center guide line. Thus, the centerline of the trench is aligned with the rotating axis of the hydraulic excavator. Furthermore, the operator rotates the rotating body so that the indicator marks of the working point are located on the center guide line. Thus, the excavator is aligned relative to the centerline of the trench.

[0004] Prior art literature

[0005] Patent documents

[0006] Patent Document 1: International Publication No. WO2017 / 010563 Summary of the Invention

[0007] The problem that the invention will solve

[0008] In the aforementioned display system, the rotating axis is located on a working plane that passes through the working point of the excavator and extends along the front-rear direction of the excavator. Therefore, as described above, by operating the hydraulic excavator with the index marks of the rotating axis and the index marks of the working point located on the center guide line, the excavator is precisely aligned so that the working plane is located on the center line of the trench.

[0009] However, in working machinery, the working point is sometimes positioned separately from the axis of rotation along the width of the rotating body. In this case, even if the working machinery is operated with the axis of rotation and the working point located on the center line of the groove, the working plane is not parallel to the center line of the groove. Therefore, considering the deviation between the position of the working point and the position of the axis of rotation, further alignment operations are required, which makes the operation cumbersome. The object of the present invention is to simplify the alignment operation of the working machine with the target position in working machinery.

[0010] Methods for solving problems

[0011] One aspect of the present invention is a display system for a work machinery. The work machinery includes a traveling body, a rotating body, and a working machine. The rotating body is rotatably supported on the traveling body about a rotation axis. The working machine is connected to the rotating body. The display system includes a display and a controller. The controller is communicatively connected to the display. The controller acquires mechanical position data indicating the position of the work machinery. The controller acquires the separation distance in the width direction of the rotating body between the working point of the working machine and the rotation axis. The working point is separated from the rotation axis in the width direction. The controller acquires target position data indicating the target position of the working machine. Based on the mechanical position data and the target position data, the controller displays a guide screen on the display, including a guide line indicating the target position and a guide image indicating the position of the work machinery. The guide image includes a first image and a second image. The first image indicates the position of the rotation axis. The second image indicates the position separated from the rotation axis by the separation distance.

[0012] Another aspect of the present invention is a display method for a work machinery. The work machinery includes a traveling body, a rotating body, and a work machine. The rotating body is rotatably supported on the traveling body about a rotation axis. The work machine is connected to the rotating body. The display method includes: acquiring mechanical position data indicating the position of the work machinery; acquiring a separation distance in the width direction between the work point of the work machine, which is separated from the rotation axis in the width direction of the rotating body, and the rotation axis; acquiring target position data indicating the target position of the work machine; and displaying a guide screen on a display screen based on the mechanical position data and the target position data, including a guide line indicating the target position and a guide image indicating the position of the work machinery. The guide image includes a first image and a second image. The first image indicates the position of the rotation axis. The second image indicates the position separated from the rotation axis by a separation distance.

[0013] Invention Effects

[0014] According to the present invention, the operator of the working machine can easily grasp the positional relationship between the working plane passing through the working point and the rotation axis by referring to the first and second images on the display. Therefore, even if the working point is offset from the rotation axis in the width direction of the rotating body, the alignment of the working machine with the target position can be simplified. Attached Figure Description

[0015] Figure 1 This is a perspective view of the operating machinery used in the implementation method.

[0016] Figure 2 This is a top view of the operating machinery.

[0017] Figure 3 It is a block diagram representing the control system of the operating machinery.

[0018] Figure 4This is an example of a guide screen.

[0019] Figure 5 This is a diagram illustrating an example of a designed terrain.

[0020] Figure 6 This is a magnified view of the guide image.

[0021] Figure 7 This diagram illustrates a method of operation that references the guide screen.

[0022] Figure 8 yes Figure 7 Enlarged image.

[0023] Figure 9 This diagram illustrates a method of operation that references the guide screen.

[0024] Figure 10 This diagram illustrates a method of operation that references the guide screen.

[0025] Figure 11 This diagram illustrates a method of operation that references the guide screen.

[0026] Figure 12 This is a diagram representing the first guiding image of the first variant.

[0027] Figure 13 This is a diagram representing the first guiding image of the second variation.

[0028] Figure 14A This is a diagram showing an emphasis display of the first guide image of the first variant.

[0029] Figure 14B This is a diagram showing an emphasis display of the first guide image of the first variant.

[0030] Figure 14C This is a diagram showing an emphasis display of the first guide image of the first variant.

[0031] Figure 15A This is a diagram showing an emphasis on the first guiding image of the second variation.

[0032] Figure 15B This is a diagram showing an emphasis on the first guiding image of the second variation.

[0033] Figure 15C This is a diagram showing an emphasis on the first guiding image of the second variation.

[0034] Figure 16A This is a diagram representing the first guiding image of other variations.

[0035] Figure 16BThis is a diagram representing the first guiding image of other variations.

[0036] Figure 16C This is a diagram representing the first guiding image of other variations.

[0037] Figure 16D This is a diagram representing the first guiding image of other variations.

[0038] Figure 17A This is a diagram representing the first guiding image of other variations.

[0039] Figure 17B This is a diagram representing the first guiding image of other variations.

[0040] Figure 18A This is a diagram representing the first guiding image when zoomed in or out.

[0041] Figure 18B This is a diagram representing the first guiding image when zoomed in or out.

[0042] Figure 18C This is a diagram representing the first guiding image when zoomed in or out. Detailed Implementation

[0043] The working machinery of the embodiment will be described below with reference to the accompanying drawings. Figure 1 This is a perspective view of the operating machinery 1 in the implementation method. Figure 2 This is a top view of the working machine 1. In this embodiment, the working machine 1 is a hydraulic excavator. The working machine 1 has a main body 2 and a working machine 3. The main body 2 includes a traveling body 4 and a rotating body 5.

[0044] The rotating body 5 is supported by the traveling body 4. For example... Figure 2 As shown, the rotating body 5 is rotatably supported on the traveling body 4 about a rotation axis 8. The rotation axis 8 extends vertically along the machine 1. A driver's cab 6 is disposed on the rotating body 5. The traveling body 4 drives the machine 1. The traveling body 4 includes tracks 7a and 7b. The machine 1 travels by rotating the tracks 7a and 7b. It should be noted that the traveling body 4 may also have tires instead of tracks 7a and 7b.

[0045] The work machine 3 is mounted on the rotating body 5. The work machine 3 extends forward from the rotating body 5. The work machine 3 includes: a boom 11, a forearm 12, and a working device 13. The boom 11 is rotatably mounted on the rotating body 5. The forearm 12 is rotatably mounted on the boom 11. The working device 13 is rotatably mounted on the forearm 12.

[0046] The working machine 3 includes multiple actuators 14-16. The working machine 3 is actuated by the actuators 14-16. The actuators 14-16 are, for example, hydraulic cylinders. The working machine 3 is actuated by extending or retracting the actuators 14-16. Figure 2 As shown, the working machine 1 includes a rotary motor 17. The rotary motor 17 rotates the rotating body 5 relative to the traveling body 4. The rotary motor 17 is, for example, a hydraulic motor. Alternatively, the rotary motor 17 may also be an electric motor.

[0047] It should be noted that, in the following description, the forward and backward directions of the working machine 3 and the rotating body 5 refer to the direction in which the working machine 3 extends when viewed from above by the working machine 1. The direction in which the working machine 3 is positioned relative to the rotating body 5 is forward, and the opposite direction is backward. The width direction of the rotating body 5 refers to the direction perpendicular to the forward and backward direction of the rotating body 5 in the horizontal plane. The forward and backward direction of the traveling body 4 refers to the straight-line forward direction of the traveling body 4. The forward and backward direction of the working machine 1 refers to the forward and backward direction of the traveling body 4.

[0048] Next, the control system of the operating machine 1 will be explained. Figure 3 This is a block diagram showing the configuration of the control system of the operating machine 1. For example... Figure 3 As shown, the working machine 1 includes a controller 20, a display 21, an operating device 22, and an input device 23. The display 21 displays an image corresponding to the image signal input from the controller 20.

[0049] The operating device 22 can be operated by an operator. The operator uses the operating device 22 to control the movement of the machine 3, the rotation of the rotating body 5, and the movement of the traveling body 4. The operating device 22 may include, for example, a lever, a pedal, or a switch. The operating device 22 outputs operation signals based on the operator's actions to the controller 20.

[0050] The input device 23 can be operated by an operator. The operator inputs control settings for the machine 1 via the input device 23. The input device 23 may be, for example, a touchscreen integrated with the display 21. Alternatively, the input device 23 may include a switch, keyboard, or buttons. The input device 23 outputs operation signals based on the operator's input to the controller 20.

[0051] The controller 20 is communicatively connected to the display 21, the operating device 22, and the input device 23. The controller 20 includes a processor 24 and a storage device 25. The processor 24 is, for example, a CPU (Central Processing Unit), but may also be other types of processors.

[0052] Storage device 25 includes memory such as RAM (Random Access Memory) and ROM (Read Only Memory). Storage device 25 may also include memory such as HDD (Hard Disk Drive) or SSD (Solid State Drive). Storage device 25 is an example of a recording medium that can be read by a non-transitory computer. Storage device 25 records programs and data for controlling the machine tool 1. Processor 24 executes processing for controlling the machine tool 1 based on the programs and data.

[0053] The controller 20 controls the actuators 14-16 to move the work machine 3 according to the operation signals from the operating device 22. For example, the controller 20 moves the work machine 3 by raising or lowering the work device 13 according to the operation signals from the operating device 22 and the input device 23. The controller 20 controls the rotary motor 17 to rotate the rotating body 5 according to the operation signals from the operating device 22. The controller 20 rotates the tracks 7a and 7b according to the operation signals from the operating device 22, thereby moving the work machine 1.

[0054] The operating machine 1 includes a position sensor 26, a first orientation sensor 27, and a second orientation sensor 28. The position sensor 26 detects the position of the operating machine 1. The position sensor 26 outputs mechanical position data representing the position of the operating machine 1. The position sensor 26 may include, for example, a GNSS (Global Navigation Satellite System) sensor such as GPS (Global Positioning System). Specifically, the position sensor 26 is disposed on the machine body 2. The mechanical position data represents the position of the machine body 2. The position of the machine body 2 is the position of the reference point contained within the machine body 2.

[0055] Controller 20 receives mechanical position data. Controller 20 obtains the position of the mechanical body 2 from the mechanical position data. Controller 20 also obtains the position of the rotating shaft 8 from the mechanical position data. For example, controller 20 calculates the position of the rotating shaft 8 based on the position of a reference point of the mechanical body 2. Alternatively, controller 20 can directly obtain the position of the rotating shaft 8 using a sensor that detects its position.

[0056] In addition, the controller 20 obtains the position of the working point P1 of the machine 3 based on the mechanical position data. For example... Figure 2As shown, the working point P1 is located on the working device 13. For example, if the working device 13 is a bucket, the working point P1 is located at the center of the bucket's blade tip in the width direction. The controller 20 obtains the position of the working point P1 based on the mechanical position data. For example, the controller 20 calculates the position of the working point P1 based on the position of the reference point of the mechanical body 2. Alternatively, the controller 20 can also directly obtain the position of the working point P1 using a sensor that detects the position of the working point P1.

[0057] like Figure 2 As shown, in the machine tool 1 of this embodiment, the working plane A1 is separated from the rotation axis 8 in the width direction of the rotating body 5. The working plane A1 is a plane parallel to the rotation axis 8, passing through the working point P1, and extending along the front-rear direction of the machine tool 3. The controller 20 stores the distance between the working plane A1 in the width direction of the rotating body 5 and the rotation axis 8 as the separation distance D1 of the working point P1. The separation distance D1 can also be pre-saved in the storage device 25 of the controller 20. The controller 20 can also obtain the separation distance D1 through the operation of the operator's input device 23. The controller 20 obtains the separation distance D1 from an external computer.

[0058] The first orientation sensor 27 detects the orientation of the rotating body 5. The first orientation sensor 27 outputs first orientation data representing the orientation of the rotating body 5. The orientation of the rotating body 5 is the direction in which its front faces. The first orientation data is expressed, for example, as an angle relative to a reference direction such as magnetic north. The first orientation sensor 27 can also be, for example, a GNSS sensor, an IMU, or a combination thereof.

[0059] The second orientation sensor 28 detects the orientation of the vehicle 4. The second orientation sensor 28 outputs second orientation data representing the orientation of the vehicle 4. The orientation of the vehicle 4 is the direction in which the front of the vehicle 4 is facing. The second orientation data is expressed, for example, as an angle relative to a reference direction such as magnetic north. The second orientation sensor 28 can also be, for example, a GNSS sensor, an IMU, or a combination thereof.

[0060] One of the first direction sensor 27 and the second direction sensor 28 can also be a sensor that detects the rotation angle of the rotating body 5 relative to the traveling body 4. In this case, the direction of the traveling body 4 can also be calculated based on the direction of the rotating body 5 and the rotation angle. Alternatively, the direction of the rotating body 5 can also be calculated based on the direction of the traveling body 4 and the rotation angle.

[0061] Next, the control of the display 21 of the controller 20 will be explained. The controller 20 displays a guidance screen 30 for assisting the operation of the working machine 1 on the display 21. Figure 4This is a diagram illustrating an example of a guide screen 30. The guide screen 30 is represented by a top view showing the operating machine 1 and the surrounding work area 200. The guide screen 30 includes guide lines 31, a machine image 32, a first guide image 33, and a second guide image 34.

[0062] Guide line 31 indicates the target position for the operation of machine 1. For example... Figure 5 As shown, the work machine 1 performs the operation of forming a designed terrain 100 in the work site 200. In this embodiment, the designed terrain 100 has a trough-shaped shape. The work machine 1 excavates the ground in the work site 200 to form the trough-shaped designed terrain 100. The guide line 31 corresponds to the center line 101 of the trough that becomes the target.

[0063] The controller 20 acquires target position data representing the position of the guide line 31. The target position data includes the coordinates of multiple locations on the center line 101 of the groove. Based on the target position data, the controller 20 displays the guide line 31 on the guide screen 30.

[0064] For example, controller 20 acquires design data. The design data includes the coordinates and elevations of multiple locations representing the shape of the designed terrain 100. Based on the design data, controller 20 calculates the position of the centerline 101 of the trench and acquires it as target position data. Alternatively, controller 20 may acquire target position data using an external computer or by means of an operation signal from input device 23.

[0065] It should be noted that, as Figure 4 As shown, the controller 20 can also display the design terrain line 35, representing the shape of the design terrain 100, on the guide screen 30. The controller 20 can also obtain the position of the design terrain line 35 based on the design data. Figure 4 In the middle, the left and right edges of the trough-shaped design terrain 100 are displayed as design terrain lines 35 on the guide screen 30.

[0066] Machine image 32 shows the position and orientation of the working machine 1. For example... Figure 4 As shown, the mechanical image 32 is represented by an icon with the shape of the working machine 1. The mechanical image 32 includes a rotating body image 36 and a traveling body image 37. The rotating body image 36 has the shape of the rotating body 5 and the working machine 3. The rotating body image 36 indicates the position and orientation of the rotating body 5. The traveling body image 37 has the shape of the traveling body 4. The traveling body image 37 indicates the position and orientation of the traveling body 4.

[0067] When the rotating body 5 is rotating relative to the traveling body 4, as Figure 4As shown, the controller 20 displays the rotating image 36 on the guide screen 30 in a state of rotation relative to the moving image 37. That is, the controller 20 displays the rotating image 36 in a different orientation than the moving image 37.

[0068] The first guide image 33 indicates the position of the operating machine 1. The first guide image 33 is displayed superimposed on the machine image 32. Specifically, the first guide image 33 indicates the position of the rotating shaft 8. The controller 20 displays the first guide image 33 on the guide screen 30 at the position corresponding to the position of the rotating shaft 8. The first guide image 33 will be described in detail later.

[0069] The second guide image 34 represents the position of the work point P1. The second guide image 34 is displayed on the work point of the machine image 32. The controller 20 displays the second guide image 34 on the guide screen 30 corresponding to the position of the work point P1. The second guide image 34 is represented, for example, by a crosshair. However, the second guide image 34 can also be other shapes such as a dot, a circle, or a polygon.

[0070] Figure 6 These are enlarged views of mechanical image 32 and the first guide image 33. (Example) Figure 6 As shown, the first guide image 33 includes a first image 41 and a second image 42. The first image 41 indicates the position of the rotation axis 8. The first image 41 has a crosshair shape. Specifically, the first image 41 includes a first straight line 43 and a second straight line 44. The first straight line 43 is displayed parallel to the front-rear direction of the vehicle 4, passing through the position of the rotation axis 8. The first straight line 43 extends along the front-rear direction of the vehicle 4.

[0071] The second straight line 44 intersects the first straight line 43 perpendicularly at the position of the rotation axis 8. The intersection of the first straight line 43 and the second straight line 44 indicates the position of the rotation axis 8. The second straight line 44 extends along the left-right direction of the traveling body 4. Figure 4 As shown, when the orientation of the traveling body 4 is different from that of the working machine 3, the controller 20 displays the first guide image 33 according to the orientation of the traveling body 4.

[0072] The second image 42 represents the position separated from the rotation axis 8 by a separation distance D1. The second image 42 includes an arc with a radius R1 corresponding to the separation distance D1, centered at the position corresponding to the rotation axis 8. At least a portion of the arc is positioned on the working point P1 side relative to the first image 41 in the width direction of the rotating body 5. In other words, at least a portion of the arc is positioned on the working surface A1 side relative to the first image 41.

[0073] Next, the operating method of the working machine 1, referring to the guide screen 30, will be explained. First, in the work site 200, the working machine 1 is located at a position separated from the designed terrain 100. In this case, as... Figure 4 As shown, in the guide screen 30, the mechanical image 32 separates from the guide line 31.

[0074] like Figure 7 As shown, the operator moves the working machine 1 by approaching the guide line 31. Figure 8 yes Figure 7 An enlarged image. For example... Figure 8 As shown, the operator moves the working machine 1 in a manner that the first straight line 43 of the first image 41 is approximately parallel to the guide line 31, and in a manner that the second image 42 is aligned with the guide line 31. That is, the operator moves the working machine 1 in a manner that the first straight line 43 of the first image 41 is approximately parallel to the guide line 31, and in a manner that the arc of the second image 42 is aligned with the guide line 31.

[0075] Next, as Figure 9 As shown, the operator rotates the rotating body 5 so that the second guide image 34 is aligned with the guide line 31. This aligns the working plane A1 of the working machine 1 with the center line 101 of the designed terrain 100, and the working machine 3 is aligned with the designed terrain 100. In this state, the operator lowers the working device 13 to excavate the ground.

[0076] After excavation, the operator raised the working device 13, and as... Figure 10 As shown, the rotating body 5 is rotated. Then, the operator discharges the excavated soil from the working device 13. Then, the rotating body 5 is rotated again so that the second guide image 34 is aligned with the guide line 31. Afterwards, the above operation is repeated. When the trench excavator is at the depth specified by the designed terrain data, as... Figure 11 As shown, the operator moves the work machine 1 backward along the guide line 31. Then, the above operation is repeated until the trench of the depth and length specified by the design terrain data is completed.

[0077] According to the control system of the machine tool 1 in this embodiment described above, the operator of the machine tool 1 can easily grasp the positional relationship between the rotating shaft 8 and the working plane A1 passing through the working point P1 by referring to the first image 41 and the second image 42 on the display 21. Therefore, even if the machine tool 1 is arranged with the working point P1 separated from the rotating shaft 8 in the width direction of the rotating body 5, it is easy to use to facilitate the alignment of the machine tool 3 with the target position.

[0078] The present invention has been described above as an embodiment of the invention, but the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the invention.

[0079] The working machine 1 is not limited to the hydraulic excavator mentioned above, but can also be other excavators such as electric excavators. The number of rotating shafts of the working machine 3 is not limited to three, but can be less than three or more. The working device 13 is not limited to a bucket, but can also be other working devices such as a crusher, compactor, or bulldozer blade. In this case, the working point P1 can also be located in the working device 13 on the part that contacts the work object such as the ground. The working point P1 can also be located at a position different from the center of the bucket's blade tip.

[0080] The work machinery 1 can also be a remotely operated vehicle. In this case, a portion of the control system of the work machinery 1 can also be located externally to the work machinery 1. For example, the controller 20 can also be located externally to the work machinery 1. The controller 20 can also control the work machinery 1 via wireless communication. The display 21, operating device 22, and input device 23 can also be located externally to the work machinery 1. The cab 6 can also be omitted.

[0081] Controller 20 may also comprise multiple independent controllers. The processing of controller 20 may also be distributed across multiple controllers. Controller 20 may also comprise multiple processors. The processing of controller 20 may also be distributed across multiple processors.

[0082] The processing of controller 20 is not limited to the above-described embodiment and can be modified. A portion of the above processing may be omitted. Alternatively, a portion of the above processing may be modified. The guide screen 30 is not limited to the above-described embodiment and can be modified. For example, the guide screen 30 may also be a perspective view.

[0083] The first guide image 33 is not limited to the above-described embodiment and can be modified. For example... Figure 12 This is a diagram representing the first guiding image 33 of the first variant example. (See diagram 33 for example.) Figure 12 As shown, the first guide image 33 may also include a third image 45. The third image 45 represents the orientation of the vehicle 4. That is, the third image 45 represents the front of the vehicle 4. The third image 45 may also have a narrow front end, displayed on the guide screen 30 in a way that points to the orientation of the vehicle 4. The third image 45 may also be, for example, a triangle, connected to the rear end of the first straight line 43.

[0084] Figure 13 This is a diagram representing the first guiding image 33 of the second variation. (See diagram 33.) Figure 13As shown, the third image 45 may also include a third straight line 46 and a fourth straight line 47. The third straight line 46 and the fourth straight line 47 may also be connected to the left and right ends of the second straight line 44, respectively. The third straight line 46 and the fourth straight line 47 may also extend along the front-rear direction of the vehicle 4. The third straight line 46 and the fourth straight line 47 may also each have a tapered front end and be displayed on the guide screen 30 in a direction pointing towards the vehicle 4.

[0085] The controller 20 can also emphasize the display of the first guide image 33 based on the positional relationship between the operating machinery 1 and the designed terrain 100. It can also emphasize the display of the first guide image 33 when the second image 42 satisfies the prescribed positional relationship with the guide line 31. For example, it can also emphasize the display of the first guide image 33 when the arc of the second image 42 connects with the guide line 31. In this case, normally... Figure 12 The first guide image 33 of the first variant shown can also be displayed on the guide screen 30. When the second image 42 coincides with the guide line 31, for example... Figure 14A As shown, the first image 41 and the second image 42 can also be displayed in colors different from the usual colors. It should be noted that in the accompanying drawings, the colors are represented differently depending on the type of cross-sectional line.

[0086] When the controller 20 is parallel to the guide line 31 in the forward and backward direction of the driving body 4, it can also emphasize the display of the third image 45. For example Figure 14B As shown, the first image 41, the second image 42, and the third image 45 can also be displayed in different colors than usual.

[0087] The controller 20 can also initiate automatic control of the working machine 1 when the start conditions for automatic control are met. The start conditions may include the second image 42 aligning with the guide line 31 and the forward / backward direction of the traveling body 4 being parallel to the guide line 31. In automatic control, the controller 20 can also assist the operator's movement of the working machine 1 by ensuring that the position of the working machine 1 does not deviate from the guide line 31. In automatic control, the controller 20 may also emphasize the display of the first guide image 33. For example... Figure 14C As shown, the third image 45 can also be displayed in a different color than the first and second images 41 and 42.

[0088] Regarding the first guide image 33 of the second variation, it can also be emphasized according to the positional relationship between the working machinery 1 and the designed terrain 100, similar to the first guide image 33 of the first variation. For example, it can also be emphasized when the second image 42 coincides with the guide line 31. Figure 15A As shown, the first image 41 and the second image 42 are displayed in colors different from the usual colors. When the driving body 4 is parallel to the guide line 31 in the forward and backward direction, as... Figure 15BAs shown, the first image 41, the second image 42, and the third image 45 can also be displayed in colors different from the usual colors. In automatic control, such as... Figure 15C As shown, the third image 45 can also be displayed in a different color than the first and second images 41 and 42. It should be noted that the emphasis is not limited to different colors; other methods such as blinking can also be used to represent the image.

[0089] The first image 41 is not limited to a crosshair; it can also be other shapes. The second image 42 is not limited to an arc; it can also be other shapes. For example... Figures 16A to 16D , Figure 17A , 17B This is a diagram representing the first guiding image 33 of other variations. For example... Figure 16A As shown, the first image 41 and the second image 42 can also be points, respectively. Figure 16B As shown, the first image 41 can also be a point, and the second image 42 is a straight line extending in the front-back direction.

[0090] like Figure 16C As shown, the first image 41 can also be a combination of a point and a straight line extending in the left-right direction, and the second image 42 can also be a point. Figure 16D As shown, the first image 41 can also be a combination of a point and a straight line extending in the left-right direction, and the second image 42 can also be a straight line extending in the front-back direction.

[0091] like Figure 17A As shown, the first image 41 can also be a point, and the second image 42 can also be an arc. Figure 17B As shown, the first image 41 can also be a combination of a point and a straight line extending in the left and right direction, and the second image 42 can also be an arc.

[0092] The size of the second image 42 can also be changed. For example, the controller 20 can enlarge and reduce the guide screen 30 according to the operator's input device 23. The controller 20 can also enlarge and reduce the second image 42 according to the enlargement and reduction of the guide screen 30. That is, the controller 20 can also enlarge and reduce the second image 42 according to the enlargement and reduction of the mechanical image 32. In this case, such as Figures 18A-18C As shown, the second image 42 can also be enlarged or reduced without changing the size of the first image 41.

[0093] Industrial availability

[0094] According to the present invention, the alignment operation of the work machine for the work machinery with the target position can be simplified by means of a guide screen.

[0095] Explanation of reference numerals in the attached figures

[0096] 3: Work machine

[0097] 4: Driving body

[0098] 5: Rotational body

[0099] 8: Rotation axis

[0100] 21: Monitor

[0101] 20: Controller

[0102] 30: Guide screen

[0103] 31: Guide line

[0104] 33: First guiding image

[0105] 41: First Image

[0106] 42: Second image

[0107] 45: Third Image

Claims

1. A display system comprising a working machine including a traveling body, a rotating body rotatably supported on the traveling body about a rotation axis, and a working machine connected to the rotating body, characterized in that, The display system includes: monitor; A controller capable of communicatively connecting to the display; The controller performs the following control: Obtain mechanical position data representing the position of the operating machinery; Obtain the separation distance in the width direction between the working point of the work machine, which is separated from the rotating axis in the width direction of the rotating body, and the rotating axis; Obtain target position data representing the target position of the work machine; Based on the machine position data and the target position data, a guide screen containing a guide line representing the target position and a guide image representing the position of the working machine is displayed on the monitor; The guide image includes: A first image showing the position of the rotation axis; A second image showing the position of the separation distance from the rotation axis.

2. The display system as described in claim 1, characterized in that, The second image is displayed on the work machine.

3. The display system as described in claim 1, characterized in that, The second image contains an arc centered on the position of the rotation axis and having a radius equivalent to the separation distance.

4. The display system as described in claim 1, characterized in that, The first image includes: A first straight line passing through the rotation axis and parallel to the front-rear direction of the traveling body; A second straight line that intersects the first straight line on the axis of rotation.

5. The display system as described in claim 1, characterized in that, The controller emphasizes the display of the guide image when the second image satisfies the prescribed positional relationship with the guide line.

6. The display system as described in claim 1, characterized in that, The guide image also includes a third image indicating the orientation of the vehicle.

7. The display system as described in claim 6, characterized in that, The controller emphasizes the display of the third image when the forward and backward direction of the vehicle is parallel to the guide line.

8. The display system as described in claim 1, characterized in that, When the orientation of the traveling body differs from the orientation of the working machine, the controller displays the guidance image according to the orientation of the traveling body.

9. The display system as described in claim 1, characterized in that, When the start conditions for automatic control are met, the controller initiates the automatic control of the operating machinery. The starting conditions include the second image being aligned with the guide line and the forward / backward direction of the vehicle being parallel to the guide line.

10. The display system as claimed in claim 9, characterized in that, The controller, in the automatic control, prominently displays the guide image.

11. The display system as claimed in any one of claims 1 to 10, characterized in that, It also has an input device that can be operated by an operator. The controller zooms in or out of the guide screen based on the operation of the input device. The controller zooms in or out of the second image based on the zooming in or out of the guide screen.

12. The display system as claimed in claim 11, characterized in that, The controller zooms in or out of the guide screen, and relative to the first image, only zooms in or out of the second image.

13. A display method for a working machine comprising a traveling body, a rotating body rotatably supported on the traveling body about a rotation axis, and a working machine connected to the rotating body, the display method being characterized by comprising: Obtain mechanical position data representing the position of the operating machinery; Obtain the separation distance in the width direction between the working point of the work machine, which is separated from the rotating axis in the width direction of the rotating body, and the rotating axis; Obtain target position data representing the target position of the work machine; Based on the machine position data and the target position data, a guide screen containing a guide line representing the target position and a guide image representing the position of the working machine is displayed on the monitor; The guide image includes: A first image showing the position of the rotation axis; A second image showing the position of the separation distance from the rotation axis.

14. The display method as described in claim 13, characterized in that, The second image contains an arc centered on the position of the rotation axis and having a radius equivalent to the separation distance.

15. The display method as described in claim 13, characterized in that, The first image includes: A first straight line passing through the rotation axis and parallel to the front-rear direction of the traveling body; A second straight line that intersects the first straight line on the axis of rotation.

16. The display method according to any one of claims 13 to 15, characterized in that, The guide image also includes a third image indicating the orientation of the vehicle.

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