Rotating work vehicle

Abstract

To provide a swivel work vehicle that provides useful information for supporting construction operations such as digging a side ditch. [Solution] A swivel work vehicle equipped with a display device, the screen of which displays the swivel work vehicle in a plan view, and displays the bucket of the work machine, reflecting the moving position due to the rotational movement of the upper rotating body of the swivel work vehicle and the rotational movement of the work machine in front of the upper rotating body, together with the planned excavation area.

Description

[Technical Field]

[0001] The present invention relates to a slewing work vehicle. [Background technology]

[0002] In a rotating work vehicle such as a backhoe, detecting the position of the working end of the work machine enables highly accurate control, which can be useful for automating work and ensuring safety in the surrounding area.Patent Documents 1 to 3 describe hydraulic excavators as a rotating work vehicle equipped with means for detecting the position of the working end of a work machine having a bucket (i.e., the cutting edge of the bucket).

[0003] Furthermore, in particular with mini excavators, in order to improve workability in narrow spaces, some excavators are equipped with a function that enables the working machine to be offset in the horizontal direction relative to the upper rotating body. In one aspect, the offsetting of the working machine is achieved by swinging the working machine left and right relative to the upper rotating body, and in another aspect, it is achieved by moving the working machine in parallel left and right relative to the upper rotating body.

[0004] Patent Document 1 describes a technology for detecting the position of a construction end based on the outputs from multiple position sensors installed on the work equipment and position information from two GPS antennas installed on the construction machine body. However, when this technology is applied to a slewing work vehicle that can offset the work equipment horizontally as described above, the relative relationship between the outputs from the position sensors and the position information from the antennas changes depending on the offset of the work equipment, making it impossible to detect the position of the construction end.

[0005] Patent Document 2 describes a technology that detects the position of the center of rotation of an arm based on position information from a GPS antenna installed at the construction end of the arm and position information from a GPS antenna installed on the construction machine body, and further detects the position of the construction end based on outputs from multiple position sensors. However, since it is necessary to install an antenna at the construction end, which is subjected to large vibrations and impacts during work, it is inconvenient for highly accurate detection of the position of the construction end.

[0006] Patent Document 3 describes a technology that displays on a screen target swing information determined so that the bucket cutting edge is directly facing the target surface. However, when applied to a swing work vehicle that can offset the work implement horizontally as described above, the bucket position information that changes due to the offset cannot be reflected. Furthermore, while it is necessary to align the sides of the bucket with the side edges of the area to be excavated in construction work such as trench digging, this technology does not take into account the offset of the work implement or the sides of the bucket, and requires a high level of skill from the operator. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Japanese Patent Application Laid-Open No. 2002-181538 [Patent Document 2] Japanese Patent Application Laid-Open No. 2002-181539 [Patent Document 3] International Publication No. 2015 / 173936 Summary of the Invention [Problem to be solved by the invention]

[0008] The present invention has been made in view of the above circumstances, and its object is to provide a slewing work vehicle that provides information useful for supporting construction operations such as digging a side ditch. [Means for solving the problem]

[0009] The slewing work vehicle according to the present invention is a slewing work vehicle equipped with a display device. The screen of the display device displays the slewing work vehicle in a plan view, and also displays the bucket of the work implement, which reflects the movement of the bucket due to the rotation of the upper rotating body of the slewing work vehicle and the rotation of the work implement in front of the upper rotating body, together with the planned excavation area. [Brief explanation of the drawings]

[0010] [Figure 1]FIG. 1 is a perspective view showing an example of a slewing work vehicle according to the present invention. [Figure 2] Right side view of the rotating work vehicle in Figure 1 [Figure 3] Block diagram showing the control system of a rotating work vehicle [Figure 4] Left side view conceptually showing the coordinate system and the swivel work vehicle [Figure 5] A conceptual plan view of the coordinate system and the rotating work vehicle [Figure 6] A conceptual plan view of the coordinate system and the rotating work vehicle [Figure 7] Flowchart showing an example of operation guidance during construction [Figure 8] FIG. 10 is a diagram showing an example of a screen of a display device during construction of a side ditch. [Figure 9] FIG. 10 is a diagram showing an example of a screen of a display device during construction of a side ditch. [Figure 10] FIG. 10 is a diagram showing an example of a screen of a display device during construction of a side ditch. DETAILED DESCRIPTION OF THE INVENTION

[0011] An embodiment of the present invention will be described with reference to the drawings.

[0012] [Overview of the rotating work vehicle] As shown in Figures 1 and 2, the swivel work vehicle 1 comprises a lower traveling body 2, an upper rotating body 3 that is rotatably provided above the lower traveling body 2, and a work implement 5 that can be offset horizontally relative to the upper rotating body 3. In this embodiment, the swivel work vehicle 1 is configured as an excavator (backhoe) with a boom swing function, and the work implement 5 is offset by swinging the work implement 5 left and right relative to the upper rotating body 3. Generally, a boom swing function is equipped on mini excavators that are required to be able to work in narrow spaces.

[0013] The lower traveling body 2 is driven by power from the engine 30 and causes the rotating work vehicle 1 to travel and rotate. The lower traveling body 2 is equipped with a pair of left and right crawlers 21, 21 and a pair of left and right traveling motors 22, 22 that drive the crawlers. A base 23 that supports the upper rotating body 3 so that it can rotate freely is provided between the pair of crawlers 21, 21. The lower traveling body 2 is also provided with a pair of blade arms 24, 24, a blade 25 that serves as a blade extending in the left-right direction between the tips of the blade arms 24, 24, and a blade cylinder 26 that rotates the blade 25 up and down.

[0014] The upper rotating body 3 is configured to be able to rotate around an axis extending in the vertical direction at its center. In Figures 1 and 2, a Z-axis coinciding with this axis is depicted. The upper rotating body 3 is formed in a generally circular plate shape in a plan view so that it can rotate within the width of the lower traveling body 2 (the distance between the outer edge of the left crawler 21 and the outer edge of the right crawler 21). The upper rotating body 3 is equipped with an engine 30, a counterweight 31, a cabin 32, and the like. The driver's section surrounded by the cabin 32 is equipped with a driver's seat (not shown) for an operator to sit in, an operating device 33 (see Figure 3) for the operator to operate, a display device 37 (see Figure 3) for displaying various information, and the like.

[0015] The swivel work vehicle 1 is equipped with a boom bracket 4, which is a swinging body supported on an upper rotating body 3 so as to be able to swing horizontally. The boom bracket 4 is attached to the front end of the upper rotating body 3 via a stay 33. A pivot pin 40 is provided on the stay 33, with its axis a (see Figure 4) facing in the vertical direction. The boom bracket 4 is supported so as to be able to swing horizontally (i.e., swing left and right) around the pivot pin 40. The boom bracket 4 rotates on a horizontal plane (for example, the XY plane shown in Figure 5) perpendicular to the axis a. A swing cylinder 41 that extends and retracts in the front-to-rear direction is provided between the upper rotating body 3 and the boom bracket 4. The horizontal rotation of the boom bracket 4 operates in response to the extension and contraction of the swing cylinder 41.

[0016] The work implement 5 is driven by power from the engine 30 and performs work such as excavating earth and sand in response to operations at the driver's section. The work implement 5 is supported by the boom bracket 4 so that it can rotate up and down. The boom bracket 4 is provided with a pivot pin 60 whose axis is oriented horizontally. The base end of the work implement 5 (the base end of a boom 6 described below) is supported so that it can rotate up and down around the pivot pin 60. The work implement 5 rotates on a vertical plane (for example, the XZ plane shown in FIG. 4 ) that is perpendicular to the axis of the pivot pin 60. The work implement 5 swings in conjunction with the horizontal rotation of the boom bracket 4, thereby moving horizontally relative to the upper rotating body 3 (offset in the horizontal direction).

[0017] The work implement 5 has a boom 6, an arm 7, and a bucket 8 which is an excavation attachment. The boom 6 is attached to the boom bracket 4 so as to be able to rotate up and down. The boom 6 extends in the vertical direction from a base end supported by the boom bracket 4 and is bent so as to form a boomerang shape in a side view. A boom cylinder 6a which is movable and telescopic is provided between the boom bracket 4 and a midpoint of the boom 6. The boom 6 rotates up and down relative to the boom bracket 4 in response to the extension and contraction of the boom cylinder 6a.

[0018] The arm 7 is attached to the boom 6 so as to be able to rotate up and down. A pivot pin 70 with its axis oriented horizontally is provided at the tip of the boom 6. The base end of the arm 7 is supported so as to be able to rotate up and down (forward and backward) around the pivot pin 70. An arm cylinder 7a that is movable and telescopic is provided between the midpoint of the boom 6 and the base end of the arm 7. The arm 7 rotates up and down relative to the boom 6 in response to the extension and contraction of the arm cylinder 7a.

[0019] The bucket 8 is attached to the arm 7 so that it can rotate up and down. A pivot pin 80 with its axis oriented horizontally is provided at the tip of the arm 7. The base end of the bucket 8 is supported so that it can rotate up and down (front and back) around the pivot pin 80. A bucket link 81 is interposed between the tip of the arm 7 and the bucket 8. The bucket link 81 is configured as a link that transmits driving force to the bucket 8. A bucket cylinder 8a that can move telescopically is provided between the bucket link 81 and the base end of the arm 7. The bucket 8 rotates up and down relative to the arm 7 in accordance with the extension and contraction of the bucket cylinder 8a. The bucket 8 includes a cutting edge 8E that forms the working end, and a side portion 8S formed by a side plate.

[0020] [Control system for a rotating work vehicle] An example of a control system provided in the swivel work vehicle 1 will be briefly described below. As shown in Fig. 3, the swivel work vehicle 1 is provided with an operation device 33, a main machine controller 34 which is a vehicle control device, a work implement control device 35, a display controller 36 which is a display control device, and a display device 37. The operation device 33 includes levers, switches, pedals, an operation panel, etc. The operation panel may also function as the display device 37. The main machine controller 34 controls the traveling operation of the lower traveling body 2 and the swinging operation of the upper swing body 3 based on control signals from the operation device 33. The main machine controller 34 also controls the work implement control device 35 and the display controller 36 based on control signals from the operation device 33.

[0021] The work implement control device 35 controls the operation of the work implement 5. This operation includes not only the up and down rotation of the boom 6, arm 7, and bucket 8, but also the swing operation (offset) of the work implement 5 due to the horizontal rotation of the boom bracket 4. The display controller 36 includes a storage device 36a, a computing device 36b, and a safety device 36c. The storage device 36a is composed of RAM, ROM, etc., and stores various data described below. The computing device 36b executes predetermined arithmetic processing based on the data stored in the storage device 36a and detection signals from the position detection devices 11 and 12, etc. The display controller 36 can display the results of this arithmetic processing on the screen of the display device 37.

[0022] Display system 50 is used in a slewing work vehicle 1 that can offset work implement 5 with bucket 8 horizontally relative to the upper rotating structure 1, and provides the operator with information useful for supporting construction operations in excavation work such as digging a side trench. Display system 50 is equipped with the above-mentioned computing device 36b and display device 37. Computing device 36b calculates the position of bucket 8 based on the detection results from position detection devices 11, 12 installed on the slewing work vehicle 1, and calculates the required amount of rotation of the upper rotating structure 3 and the required offset amount of work implement 5 that are necessary to align side section 8S of bucket 8 with the side edge of planned excavation area 90 (see Figure 8). Display device 37 displays the positional relationship between bucket 8 and planned excavation area 90.

[0023] [Bucket position detection] Next, a method for detecting the position of bucket 8 will be described. Strictly speaking, the position of cutting edge 8E of bucket 8 is detected, and the position of side section 8S is calculated based on that. As shown in FIG. 3, revolving work vehicle 1 is equipped with position detection device 11 (first position detection device) and position detection device 12 (second position detection device). Position detection device 11 detects the horizontal position of boom bracket 4 relative to upper rotating structure 3. Position detection device 12 detects the vertical position of work implement 5 relative to upper rotating structure 3. Based on the detection results from position detection devices 11 and 12, calculation device 36b calculates the position of cutting edge 8E.

[0024] In this embodiment, the position detection device 11 is configured with a position sensor installed on the boom bracket 4 as shown in FIG. 2. The position sensor detects movement on the movable surface of the boom bracket 4, more specifically, movement on a horizontal plane perpendicular to the axis a of the pivot pin 40. By installing such a position sensor on the boom bracket 4, it is possible to relatively easily detect the horizontal position of the boom bracket 4 relative to the upper rotating structure 3. In this embodiment, an acceleration sensor is used as the position sensor constituting the position detection device 11, and an example is shown in which the swing angle θ2 of the boom bracket 4 relative to the upper rotating structure 3 is detected.

[0025] The position sensor constituting the position detection device 11 can also be installed on the swing cylinder 41. As described above, an inertial sensor such as an acceleration sensor can be used as the position sensor, but the present invention is not limited to this and other sensors such as a gyro sensor, angle sensor (inclination sensor), or cylinder sensor (stroke sensor) can also be used. When a cylinder sensor is used, the swing angle θ2 can be detected based on the amount of extension and contraction (stroke amount) of the swing cylinder 41, and the horizontal position of the boom bracket 4 relative to the upper rotating body 3 can be detected.

[0026] In this embodiment, the position detection device 12 has a position sensor 12a installed on the boom 6, a position sensor 12b installed on the arm 7, and a position sensor 12c installed on the bucket link 81, as shown in FIG. 1. The position sensors 12a to 12c each detect movement on a movable surface of the work implement 5, more specifically, movement on a vertical plane including the axis a of the pivot pin 40. In this embodiment, acceleration sensors are used as the position sensors 12a to 12c, and an example is shown in which angles α, β, and γ, which will be described later, are detected. As with the position detection device 11, the position sensors that make up the position detection device 12 are not limited to inertial sensors such as acceleration sensors.

[0027] FIG. 4 is a left side view conceptually showing a coordinate system and the slewing work vehicle 1. This coordinate system is an orthogonal coordinate system defined by a horizontal X-axis extending left and right in FIG. 4, a horizontal Y-axis (see FIG. 5) perpendicular to the plane of FIG. 4, and a vertical Z-axis extending up and down in FIG. 4. The X-axis extends in the front-to-rear direction of the lower track body 2, and the Y-axis extends in the left-to-right direction (width direction) of the lower track body 2. The Z-axis coincides with the axis that is the center of rotation of the upper swing body 3. The XY plane containing the origin O is located at the height of the axis of the pivot pin 60, and the axis a of the pivot pin 40 is perpendicular to this XY plane.

[0028] FIG. 5 is a plan view conceptually showing a coordinate system and the rotating work vehicle 1. The position of the work implement 5 shown in FIG. 4 is indicated by a chain line in FIG. 5. In FIGS. 4 and 5, the axis a of the pivot pin 40 is located on the X-axis. The rotation angle θ1 (see FIG. 6) of the upper rotating body 3 relative to the lower traveling body 2 is based on this state, and the rotation angle θ1 is zero in FIGS. 4 and 5. Also, in FIG. 4, the work implement 5 is located on a vertical plane (XZ plane) that includes the axis a of the pivot pin 40 and the Z-axis. The swing angle θ2 of the boom bracket 4 relative to the upper rotating body 3 is based on this state, and the swing angle θ2 is zero in FIG.

[0029] In Figure 4, the work implement 5 is movable on the XZ plane, meaning that the boom 6, arm 7, and bucket 8 can each rotate up and down (rotate back and forth) on the XZ plane. Angle α is the tilt angle (rotation angle) of the boom 6 based on the axis a of the pivot pin 40. Angle β is the tilt angle (rotation angle) of the arm 7 based on the extension direction of the boom 6 (direction of length L1). Angle γ is the tilt angle (rotation angle) of the bucket 8 based on the extension direction of the arm 7 (direction of length L2). As described above, these angles α, β, and γ can be detected by position sensors 12a to 12c that make up the position detection device 12.

[0030] Length L1 is the length from the base end to the tip end of boom 6, and more specifically, corresponds to the linear distance from the axis of pivot pin 60 to the axis of pivot pin 70. Length L2 is the length from the base end to the tip end of arm 7, and more specifically, corresponds to the linear distance from the axis of pivot pin 70 to the axis of pivot pin 80. Length L3 is the length from the base end to the tip end of bucket 8, and more specifically, corresponds to the linear distance from the axis of pivot pin 80 to cutting edge 8E. Data on lengths L1 to L3 is stored in advance in storage device 36a.

[0031] The swivel work vehicle 1 of this embodiment is equipped with two GPS antennas 9, 9. Three-dimensional position information from the antennas 9, 9 is received by a receiving device 19 (see FIG. 3). The antennas 9, 9 are fixed to predetermined positions on the swivel work vehicle 1. In this embodiment, the antennas 9, 9 are arranged on a horizontal plane parallel to the XY plane. The relative positions of the axis (i.e., Z axis) that is the center of rotation of the upper rotating body 3 with respect to the antennas 9, 9, and therefore the relative position of the origin O (global coordinates), are known in advance based on the specifications of the swivel work vehicle 1 or based on prior measurement, and this data is stored in a storage device 36a.

[0032] Like FIG. 5, FIG. 6 is a plan view conceptually showing the coordinate system and the swivel work vehicle 1, but differs from FIG. 5 in that the upper swivel structure 3 is swiveling. In FIG. 6, the position of the work implement 5 when the swing angle θ2 is zero is shown by a chain line. The swivel radius r of the axis a can be known in advance, and this data is stored in the storage device 36a. The swivel angle θ1 of the upper swivel structure 3 relative to the undercarriage 2 can be calculated based on the three-dimensional position information of the antennas 9, 9 and the data stored in the storage device 36a, and this processing is performed by the calculation device 36b. As long as the information necessary to calculate the swivel angle θ1 can be obtained, there are no particular restrictions on the locations where the antennas 9, 9 are installed on the swivel work vehicle 1.

[0033] First, as shown by the dotted lines in Figures 4 and 5, when the upper rotating body 3 is not rotating and the work machine 5 is not swinging (i.e., θ1 = 0, θ2 = 0), if the three-dimensional coordinates of the cutting edge 8E are (Xa, Ya, Za) with the position of the axis a on the XY plane as the base point, the coordinates (Xa, Ya, Za) can be calculated using the following equations. Xa=L1sinα+L2sin(α+β)+L3sin(α+β+γ) Ya=0 Za=L1cosα+L2cos(α+β)+L3cos(α+β+γ)

[0034] Next, in a state where the work implement 5 is swung without rotating the upper rotating body 3 (θ1 = 0, θ2 ≠ 0) as shown by the solid line in Figure 5, when the three-dimensional coordinates of the cutting edge 8E are (Xa1, Ya1, Za1) with the position of the axis a on the XY plane as the base point, the coordinates (Xa1, Ya1, Za1) can be calculated using the following equation. Xa1=Xa·cosθ2 ={L1sinα+L2sin(α+β)+L3sin(α+β+γ)}cosθ2 Ya1=Xa·sinθ2 ={L1sinα+L2sin(α+β)+L3sin(α+β+γ)}sinθ2 Za1=Za =L1cosα+L2cos(α+β)+L3cos(α+β+γ)

[0035] Furthermore, when the upper rotating body 3 is rotated (θ1≠0) as shown in FIG. 6, the three-dimensional coordinates of axis a starting from origin O on the XY plane are (Xo0, Yo0, Zo0), and the turning radius of axis a is r, the coordinates (Xo0, Yo0, Zo0) can be calculated by the following equation. Xo0=r·cosθ1 Yo0=r·sinθ1 Zo0=0

[0036] Then, when the upper rotating body 3 is rotated but the work implement 5 is not swung (θ1≠0, θ2=0) as shown by the dotted line in Figure 6, if the three-dimensional coordinates of the cutting edge 8E starting from the origin O on the XY plane are (Xo1, Yo1, Zo1), the coordinates (Xo1, Yo1, Zo1) can be calculated using the following equations. Xo1=Xa·cosθ1+Xo0 ={L1sinα+L2sin(α+β)+L3sin(α+β+γ)}cosθ1+r·cosθ1 Yo1=Xa·sinθ1+Yo0 ={L1sinα+L2sin(α+β)+L3sin(α+β+γ)}sinθ1+r·sinθ1 Zo1=Za+Zo0 =L1cosα+L2cos(α+β)+L3cos(α+β+γ)

[0037] Furthermore, in the state where the upper rotating body 3 is rotated and the work machine 5 is swung (θ1 ≠ 0, θ2 ≠ 0) as shown by the solid line in Figure 6, when the three-dimensional coordinates of the cutting edge 8E starting from the origin O on the XY plane are (Xo2, Yo2, Zo2), the coordinates (Xo2, Yo2, Zo2) can be calculated using the following equations. Xo2=Xa·cos(θ1+θ2)+Xo0 ={L1sinα+L2sin(α+β)+L3sin(α+β+γ)}cos(θ1+θ2)+r·cosθ1 Yo2=Xa·sin(θ1+θ2)+Yo0 ={L1sinα+L2sin(α+β)+L3sin(α+β+γ)}sin(θ1+θ2)+r·sinθ1 Zo2=Za+Zo0 =L1cosα+L2cos(α+β)+L3cos(α+β+γ)

[0038] Therefore, when the global coordinates of the origin O are (A, B, C), the global coordinates (Xg2, Yg2, Zg2) of the cutting edge 8E can be obtained by converting the three-dimensional coordinates (Xo2, Yo2, Zo2) of the cutting edge 8E using the following equation. Xg2=Xo2+A ={L1sinα+L2sin(α+β)+L3sin(α+β+γ)}cos(θ1+θ2)+r·cosθ1+A Yg2=Yo2+B ={L1sinα+L2sin(α+β)+L3sin(α+β+γ)}sin(θ1+θ2)+r·sinθ1+B Zo2=Zo2+C =L1cosα+L2cos(α+β)+L3cos(α+β+γ)+C

[0039] As described above, in this embodiment, the horizontal position of the boom bracket 4 relative to the upper rotating body 3 (and therefore the swing angle θ2) is detected by the position detection device 11, and the vertical position of the work implement 5 relative to the upper rotating body 3 (and therefore the angles α, β, and γ) is detected by the position detection device 12, and the position of the cutting edge 8E is calculated based on these detection results. This calculation process is executed by the calculation device 36b while appropriately referring to the data stored in the storage device 36a and the information transmitted from the receiving device 19. The calculation results can be notified to the operator by, for example, displaying them on the display device 37.

[0040] As described above, according to this embodiment, in a rotating work vehicle 1 with a boom swing function, the position of the cutting edge 8E, which is the working end of the work implement 5, can be detected with high accuracy. Then, based on the detected position of the cutting edge 8E and the relative positional relationship between the cutting edge 8E and the side portion 8S, the position of the side portion 8S can be calculated by the calculation device 36b. The relative positional relationship between the cutting edge 8E and the side portion 8S is known in advance based on the specifications of the work implement 5 or based on prior measurement, and this data is stored in the memory device 36a.

[0041] [Operation guidance during construction] Next, the operational guidance during construction for ditch excavation will be described. Fig. 7 is a flowchart showing the operational guidance during construction. Figs. 8 to 10 each show the screen of the display device 37 during construction. On this screen, the upper rotating body 3, work implement 5, and bucket 8 are shown by icons 93, 95, and 98, respectively. In this embodiment, the left side of the screen is configured as a display field C1 showing the swivel work vehicle in a plan view. The swivel work vehicle is represented schematically by the upper rotating body 3 and work implement 5 including the bucket 8. The right side of the screen is configured as a display field C2 showing the upper rotating body 3 and work implement 5 in a separated plan view.

[0042] First, information about the current position and attitude of the rotating work vehicle 1 is obtained (step S1). This information can be obtained, for example, from three-dimensional position information of the antennas 9, 9 and the relative positional relationship between the antennas 9, 9 and the axis that is the center of rotation of the upper rotating body 3. Next, position information of the bucket 8, specifically, position information of the cutting edge 8E of the bucket 8, is obtained (step S2). As mentioned above, this information can be calculated by the computing device 36b based on the detection results of the position detection devices 11, 12 installed on the rotating work vehicle 1. Next, the planned excavation area 90 where the trench will be excavated is set (step S3). This setting is performed on a screen using, for example, the operation panel of the operating device 33.

[0043] Figure 8 shows the state before guidance is displayed. Display field C1 reflects the current position and attitude of the slewing work vehicle 1 determined in step S1, and the position of the bucket 8 determined in step S2. When performing excavation near a wall, it is preferable to display the wall surface W as shown in Figure 8. Information regarding the position and shape of the wall surface W is obtained or created in advance, and this data is stored in the storage device 36a. Alternatively, the wall surface W may be set on the screen using the operation panel. Display field C2 displays the upper rotating body 3 and work implement 5 in the initial state in which the planned excavation area 90 has been set, each facing upward on the screen.

[0044] The display field C1 displays the planned excavation area 90 set in step S3. In this embodiment, the side edges of the planned excavation area 90 are displayed by virtual lines VL extending in the extension direction of the planned excavation area 90 (the up and down direction in FIG. 8). This side edge refers to the side edge that is located on the outer side in the width direction of the rotating work vehicle 1, of the pair of side edges that define the planned excavation area 90. Displaying the side edges of the planned excavation area 90 in this manner can effectively support the operator's operation. However, this is not limited to this, and the center line of the planned excavation area 90 may also be displayed, or the planned excavation area 90 may be displayed as a strip-shaped area having a predetermined width.

[0045] As shown in Fig. 8, the display device 37 displays the positional relationship between the bucket 8 and the planned excavation area 90, and in this embodiment, this positional relationship is indicated by an icon 98 and a virtual line VL. To excavate a trench in the planned excavation area 90, the side section 8S of the bucket 8 must be aligned with the virtual line VL, which is the side edge of the planned excavation area 90 (hereinafter referred to as the "set state"), and then the work implement 5 must be operated to excavate. To transition from the initial state in Fig. 8 to the set state, the attitude of the rotating work vehicle must be changed by making full use of the rotational movement of the upper rotating body 3 and the swinging movement of the work implement 5, which requires the operator to have advanced operating skills.

[0046] Therefore, in this display system 50, to assist in the operation of construction, the arithmetic device 36b calculates the required amount of rotation of the upper rotating body 3 and the required amount of offset of the work implement 5 required to align the side section 8S of the bucket 8 with the side edge of the planned excavation area 90 (step S4). The required amount of rotation can be rephrased as the rotation angle of the upper rotating body 3 required to transition to the set state. In addition, in this embodiment, the required offset can be rephrased as the swing angle of the work implement 5 required to transition to the set state. In this way, the arithmetic device 36b calculates the rotation angle of the upper rotating body 3 and the swing angle of the work implement 5 that are suitable for digging a side trench.

[0047] The display device 37 displays information for instructing the operator on the amount of operation of the upper rotating body 3 corresponding to the required amount of rotation and the amount of operation of the work implement 5 corresponding to the required amount of offset (step S5). FIG. 9 is an example of a guidance screen displaying such information. In display field C1, icons 93s and 95s indicating the upper rotating body 3 and work implement 5 in the set state are displayed. In display field C2, an icon 93g of the upper rotating body 3 and an icon 95g of the work implement 5 are displayed, which instruct the operator on the rotation required to transition to the set state. In this example, the operator is instructed that the upper rotating body 3 needs to be rotated to the right and the work implement 5 needs to be swung to the left.

[0048] Icon 93g in display field C2 shown in FIG. 9 reflects the swing angle θ3, which is the amount of operation of the upper rotating body 3 corresponding to the calculated required swing amount, and icon 95g reflects the swing angle θ4, which is the amount of operation of the work implement 5 corresponding to the calculated required offset amount. The operator can visually recognize how far to the right the upper rotating body 3 should be rotated based on the positional relationship between icon 93 and icon 93g. Furthermore, the operator can visually recognize how far to the left the work implement 5 should be swung based on the positional relationship between icon 95 and icon 95g. The display of the numerical values ​​of the swing angle θ3 and swing angle θ4 and the arrows A3 and A4 may be omitted as appropriate. Furthermore, light may be used to enhance visual effects, and sound may be used to add acoustic effects.

[0049] When the operator rotates the upper rotating body 3 and / or swings the work implement 5, position information of the bucket 8 (cutting edge 8E) corresponding to that movement is obtained (step S6), and it is determined whether the bucket 8 has come into contact with the imaginary line VL (step S7). If the bucket 8 is not in contact with the imaginary line VL, the positions of the upper rotating body 3 and the work implement 5 are displayed on the screen (in display field C1) (step S8), and the position information of the bucket 8 is subsequently obtained. If the bucket 8 has come into contact with the imaginary line VL, further rotation of the upper rotating body 3 is prohibited (step S9).

[0050] FIG. 10 shows an example of a screen displayed when the bucket 8 has contacted the virtual line VL. If the upper rotating body 3 were to swing to the right from this state, the bucket 8 would collide with the wall W. Therefore, the rightward rotation of the upper rotating body 3 is restricted to prevent this. For the same reason, the swinging motion of the work implement 5 to the right can also be restricted (see FIG. 3). The display system 50 includes a safety device 36c that restricts the rotation of the upper rotating body 3 and the offset (swing in this embodiment) of the work implement 5 so that the bucket 8 does not exceed the side edge of the planned excavation area 90. The safety device 36c sends a signal to the machine controller 34 when the bucket 8 has contacted the virtual line VL, causing the machine controller 34 to restrict the rotation and offset as described above. In addition to prohibiting the swinging motion, the operator may be notified that the bucket 8 is in contact with the virtual line VL by flashing the screen or emitting a sound effect.

[0051] When the bucket 8 comes into contact with the imaginary line VL, the display device 37 displays information indicating that the rotation of the upper rotating body 3 is restricted and for instructing the swing angle of the work implement 5 required for transitioning to a set state, as shown in FIG. 10 (step S10). By operating the upper rotating body 3 and the work implement 5 in accordance with the instructions on the screen, the bucket 8 can be set with the side portion 8S of the bucket 8 aligned with the imaginary line VL without colliding with the wall surface W. As described above, the display system 50 displays information indicating in which direction and by how much the upper rotating body 3 is rotated and the work implement 5. It provides the operator with useful information for trench excavation, such as how far and in which direction the machine should be swung.

[0052] In this embodiment, the display device 37 displays the upper rotating body 3 and the work implement 5 extending from the front end of the upper rotating body 3, but this is not limiting and other screen configurations can be adopted. However, it is preferable that the display device 37 displays at least the bucket 8 and the planned excavation area 90 in a plan view. This plan view may be seen from above along the axial direction of the central axis of rotation of the upper rotating body 3. Furthermore, the display of the planned excavation area 90 may show only its side edges.

[0053] In this embodiment, an example has been shown in which the offset of the work implement is performed by swinging the work implement left and right relative to the upper rotating body, but this is not limited thereto and the offset may also be performed by moving the work implement (the arm or boom) in parallel left and right relative to the upper rotating body. Such a revolving work vehicle is disclosed, for example, in Japanese Patent Application Laid-Open Nos. 8-326086 and 2011-184965 filed by the present applicant. In such a case, the bucket position and the required offset amount of the work implement can be calculated based on the amount of operation of an actuator that moves the work implement in parallel left and right (for example, the amount of extension and contraction of a cylinder) instead of the swing angle of the work implement (swing angle of the boom bracket) described above.

[0054] In this embodiment, an example has been shown in which the three-dimensional position of the bucket cutting edge is calculated, but this is not limiting, and two-dimensional positions may also be calculated. For example, the position of the bucket cutting edge when the planned excavation area is set may be used as the work start point, and the required swing amount and required offset amount as described above may be calculated based on the relative position of the cutting edge and the planned excavation area. In this case, global coordinates do not need to be used, and a GPS antenna can be omitted. In such a case, the swing angle of the upper rotating body relative to the lower traveling body may be detected by a position sensor (e.g., an angle sensor) installed on the upper rotating body.

[0055] The display system for a swivel work vehicle according to this embodiment is used in a swivel work vehicle that can offset a work implement having a bucket horizontally relative to a rotating upper body, and includes a computing device that calculates the position of the bucket based on the detection results of a position detection device installed on the swivel work vehicle, and calculates the required amount of rotation of the rotating upper body and the required amount of offset of the work implement necessary to align the side of the bucket with the side edge of the planned excavation area, and a display device that displays the positional relationship between the bucket and the planned excavation area. This configuration contributes to operational support for construction work such as digging a side trench in a swivel work vehicle that can offset the work implement horizontally.

[0056] The display device preferably displays information for instructing the operator on the amount of operation of the upper rotating body corresponding to the required amount of rotation and the amount of operation of the work implement corresponding to the required amount of offset, thereby providing operational guidance to the operator regarding the rotation of the upper rotating body and the offset of the work implement in order to align the side portions of the bucket with the side edges of the planned excavation area.

[0057] It is preferable to provide a safety device that restricts the rotation of the upper rotating body and the offset of the work machine so that the bucket does not exceed the side edge of the planned excavation area. This makes it possible to prevent the bucket from colliding with a wall surface when excavating next to a wall.

[0058] The offsetting of the work implement may be performed by swinging the work implement left and right relative to the upper rotating body.

[0059] It is preferable that the display device displays at least the bucket and the planned excavation area in a plan view, thereby accurately conveying to the operator the positional relationship between the bucket and the planned excavation area, which is useful for aligning the side portions of the bucket with the side edges of the planned excavation area.

[0060] Preferably, the display device displays the side edges of the planned excavation area by virtual lines extending in the extension direction of the planned excavation area. By displaying the positions of the side edges of the planned excavation area, the operator's operation can be effectively supported.

[0061] A swivel work vehicle according to the present invention comprises the above-mentioned display system for a swivel work vehicle, a lower traveling body, the upper rotating body that is rotatably mounted above the lower traveling body, and the work implement that can be offset horizontally relative to the upper rotating body. The inclusion of the above-mentioned display system in such a swivel work vehicle contributes to operational support for construction work such as digging a side ditch.

[0062] The display method for a swivel work vehicle according to the present invention is used in a swivel work vehicle in which a work implement having a bucket can be offset horizontally relative to an upper rotating body, and calculates the position of the bucket based on the detection results of a position detection device installed on the swivel work vehicle, calculates the amount of rotation of the upper rotating body and the amount of offset of the work implement required to align the side portions of the bucket with the side edges of the area to be excavated, and displays the positional relationship between the bucket and the area to be excavated on the screen of a display device. This method is useful for supporting construction operations such as digging trenches in a swivel work vehicle in which the work implement can be offset horizontally.

[0063] The present invention is not limited to the above-described embodiment, and any other modifications may be made without departing from the spirit of the present invention. Various improvements and modifications are possible within the scope of the present invention. [Explanation of symbols]

[0064] 1 Swing work vehicle 2 Undercarriage 3 Upper rotating body 4 Boom bracket 5 Work equipment 6. Boom 7 Arm 8 buckets 8a Bucket cylinder 8E cutting edge 8S Lateral part 11 Position detection device 12 Position detection device 36 Display Controller 36a Storage device 36b Arithmetic unit 36c safety equipment 37 Display device 50 Display System 90 Planned excavation area C1 display field (first display field) C2 display field (second display field) VL Virtual Line

Claims

1. A slewing work vehicle equipped with a display device, The screen of the display device is A swivel work vehicle and a virtual line extending in the vertical direction beside the swivel work vehicle are displayed side by side in a plan view, a bucket of the work machine, in which a moving position due to the rotational movement of the upper rotating body of the rotating work vehicle and the rotational movement of the work machine in front of the upper rotating body is reflected in accordance with the operation amount of the rotational movement and the rotational movement, is displayed together with the virtual line on the side of the bucket; The screen displays the slewing work vehicle with the slewing center of the upper slewing body fixed from the initial state where it has been set.

2. 2. A swivel work vehicle according to claim 1, wherein the work implement is displayed on the screen facing upward.

Images