Excavator

Abstract

This excavator has a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, a sensor that detects the tilt of the machine body with respect to the horizontal, and a display device that is located inside a cabin provided in the upper rotating body. The excavator is provided with a control device that causes the display device to display information pertaining to the tilt of the machine body when an operation mode is switched to crane mode.

Description

Excavator

[0001] The present disclosure relates to a shovel.

[0002] Conventionally, there is known a shovel that has a hook attached to an attachment and switches its operation mode to a crane mode based on information acquired by an object monitoring device.

[0003] International Publication No. 2019 / 139102

[0004] In the conventional technology described above, when the operation mode is switched to the crane mode, the operator cannot grasp the inclination of the excavator body.

[0005] The present disclosure aims to allow an operator to understand the tilt of the aircraft body.

[0006] A shovel according to an embodiment of the present invention is an shovel having a lower running body, an upper rotating body rotatably mounted on the lower running body, a sensor for detecting the inclination of the machine body relative to the horizontal, a display device arranged inside a cabin provided on the upper rotating body, and a control device for causing the display device to display information regarding the inclination of the machine body when the operating mode is switched to crane mode.

[0007] This allows the operator to understand the tilt of the aircraft.

[0008] FIG. 1 is a side view of a shovel 100 as an excavator according to an embodiment of the present invention. FIG. 2 is a block diagram showing an example of the configuration of a drive system of the shovel. FIG. 3 is a flowchart illustrating the operation of the shovel. FIG. 4 is a first diagram showing an example of a display on a display device. FIG. 5 is a second diagram showing an example of a display on a display device. FIG. 6 is a diagram illustrating an icon image showing the inclination state of the machine body.

[0009] An embodiment will be described below with reference to the drawings. Fig. 1 is a side view of a shovel 100 as an excavator according to an embodiment of the present invention. In the accompanying drawings, the X-axis, Y-axis, and Z-axis are axes that are perpendicular to one another. Specifically, the X-axis extends along the front-rear axis of the shovel 100, the Y-axis extends along the left-right axis of the shovel 100, and the Z-axis extends along the swing axis of the shovel 100. In this embodiment, the X-axis and Y-axis extend horizontally, and the Z-axis extends vertically.

[0010] An upper rotating body 3 is rotatably mounted on a lower traveling body 1 of the excavator 100 via a rotating mechanism 2. A boom 4 is attached to the upper rotating body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5 as an end attachment.

[0011] The boom 4, arm 5, and bucket 6 constitute an excavation attachment, which is an example of an attachment, and are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

[0012] The boom angle sensor S1 is an example of an attitude detection device, and detects the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor, and can detect the rotation angle of the boom 4 relative to the upper rotating body 3 (hereinafter referred to as the "boom angle"). For example, the boom angle is at its minimum when the boom 4 is lowered to the lowest position, and increases as the boom 4 is raised.

[0013] The arm angle sensor S2 is an example of a posture detection device, and detects the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor, and can detect the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as the "arm angle"). For example, the arm angle is at its smallest when the arm 5 is fully closed, and increases as the arm 5 opens.

[0014] The bucket angle sensor S3 is an example of an attitude detection device, and detects the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor, and can detect the rotation angle of the bucket 6 relative to the arm 5 (hereinafter referred to as the "bucket angle"). For example, the bucket angle is at its smallest when the bucket 6 is fully closed, and increases as the bucket 6 opens.

[0015] The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may each be an IMU (Inertial Measurement Unit).Furthermore, the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may each be a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, a rotary encoder that detects the rotation angle around the connecting pin, a gyro sensor, a combination of an acceleration sensor and a gyro sensor, or the like.

[0016] In this embodiment, the bucket 6 is connected to the tip of the bucket cylinder 9 via a bucket link 6L. The bucket link 6L is provided with a storage section 20S for storing a hook 20 used in crane work. The hook 20 is stored in the storage section 20S when excavation work is performed, and is pulled out from the storage section 20S when crane work is performed, as shown in FIG.

[0017] The upper rotating body 3 is provided with a cabin 10 serving as a driver's compartment, and is equipped with a power source such as an engine 11. The upper rotating body 3 is also equipped with a controller 30, a display device 40, an input device 42, an audio output device 43, a storage device 47, a positioning device P1, a vehicle tilt sensor S4, an object monitoring device S6, and a communication device T1.

[0018] The controller 30 functions as a main control unit that controls the drive of the shovel 100. In this embodiment, the controller 30 is configured by a computer including a CPU, RAM, ROM, etc. The various functions of the controller 30 are realized, for example, by the CPU executing programs stored in the ROM. The various functions include, for example, a machine guidance function that guides the operator in manually operating the shovel 100, and a machine control function that automatically assists the operator in manually operating the shovel 100. A machine guidance device 50 included in the controller 30 executes the machine guidance function and the machine control function.

[0019] The display device 40 displays various types of information. The display device 40 may be connected to the controller 30 via a communication network such as a CAN, or may be connected to the controller 30 via a dedicated line.

[0020] The input device 42 allows the operator to input various information to the controller 30. The input device 42 includes a touch panel, a knob switch, a membrane switch, etc., which are installed inside the cabin 10.

[0021] The input device 42 of the present embodiment may be provided in the display device 40. The input device 42 may include, for example, a switch for operating an air conditioner provided in the cabin 10.

[0022] The audio output device 43 is a device that outputs audio. The audio output device 43 may be, for example, an in-vehicle speaker connected to the controller 30, or an alarm such as a buzzer. In this embodiment, the audio output device 43 outputs various types of information by audio in response to an audio output command from the controller 30.

[0023] The storage device 47 is a device for storing various types of information. The storage device 47 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices while the shovel 100 is in operation, or may store information acquired via various devices before the operation of the shovel 100 is started. The storage device 47 may store, for example, data related to a target construction surface acquired via the communication device T1 or the like. The target construction surface may be set by the operator of the shovel 100, or may be set by a construction manager or the like.

[0024] The positioning device P1 measures the position and orientation of the upper rotating body 3. The positioning device P1 is, for example, a GNSS compass, detects the position and orientation of the upper rotating body 3, and outputs the detected values ​​to the controller 30. Therefore, the positioning device P1 can function as an orientation detection device that detects the orientation of the upper rotating body 3. The orientation detection device may be a direction sensor attached to the upper rotating body 3.

[0025] The machine body tilt sensor S4 detects the tilt of the upper rotating body 3 with respect to a horizontal plane. In this embodiment, the machine body tilt sensor S4 is an acceleration sensor that detects the tilt angle (roll angle) about the longitudinal axis and the tilt angle (pitch angle) about the lateral axis of the upper rotating body 3. The longitudinal axis and lateral axis of the upper rotating body 3 are orthogonal to each other at, for example, the shovel center point, which is a point on the rotation axis of the shovel 100. Furthermore, the machine body tilt sensor S4 in this embodiment may be an IMU (Inertial Measurement Unit). Note that the machine body tilt sensor S4 in this embodiment is an example of a digital level.

[0026] The object monitoring device S6 acquires information about the periphery of the shovel 100. In this embodiment, the object monitoring device S6 includes a front camera S6F that captures an image of the space in front of the shovel 100, a left camera S6L that captures an image of the space to the left of the shovel 100, a right camera S6R that captures an image of the space to the right of the shovel 100, and a rear camera S6B that captures an image of the space behind the shovel 100.

[0027] The object monitoring device S6 is, for example, an imaging device such as a monocular camera having an imaging element such as a CCD or CMOS, and outputs the captured image to the display device 40. The imaging device may be a stereo camera, a distance imaging camera, or the like. The object monitoring device S6 may also be a combination of two different types of imaging devices. For example, a stereo camera, a distance imaging camera, or the like may be provided in addition to a monocular camera. The object monitoring device S6 may also be a millimeter-wave radar, a laser range sensor, a lidar, or the like, or a combination of an imaging device and a millimeter-wave radar, a laser range sensor, a lidar, or the like.

[0028] The front camera S6F is attached, for example, to the ceiling of the cabin 10, i.e., inside the cabin 10. It may also be attached to the roof of the cabin 10, i.e., outside the cabin 10. The left camera S6L is attached to the left end of the top surface of the upper rotating body 3, the right camera S6R is attached to the right end of the top surface of the upper rotating body 3, and the rear camera S6B is attached to the rear end of the top surface of the upper rotating body 3.

[0029] The communication device T1 controls communication with external devices outside the shovel 100. In this embodiment, the communication device T1 controls communication with external devices via a satellite communication network, a mobile phone communication network, the Internet network, or the like.

[0030] FIG. 2 is a block diagram showing an example of the configuration of a drive system of a shovel, in which a mechanical power system, a hydraulic oil line, a pilot line, and an electrical control system are indicated by double lines, solid lines, dashed lines, and dotted lines, respectively.

[0031] The drive system of the excavator mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, a discharge pressure sensor 28, an operating pressure sensor 29, a controller 30, a proportional valve 31, and the like.

[0032] The engine 11 is a driving source of the excavator. In this embodiment, the engine 11 is, for example, a diesel engine that operates to maintain a predetermined rotation speed. The output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15.

[0033] The main pump 14 supplies hydraulic oil to the control valve 17 via a hydraulic oil line. In this embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

[0034] The regulator 13 controls the discharge rate of the main pump 14. In this embodiment, the regulator 13 controls the discharge rate of the main pump 14 by adjusting the tilt angle of the swash plate of the main pump 14 in response to a control command from the controller 30. For example, the controller 30 receives outputs from the operating pressure sensor 29 and the like, and outputs a control command to the regulator 13 as necessary to change the discharge rate of the main pump 14.

[0035] The pilot pump 15 supplies hydraulic oil via a pilot line to various hydraulic control devices including the operating device 26 and the proportional valve 31. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump.

[0036] The control valve 17 is a hydraulic control device that controls the hydraulic system of the excavator. The control valve 17 includes control valves 171 to 176. The control valve 17 can selectively supply hydraulic oil discharged by the main pump 14 to one or more hydraulic actuators via the control valves 171 to 176. The control valves 171 to 176 control the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuators and the flow rate of hydraulic oil flowing from the hydraulic actuators to the hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left-side traveling hydraulic motor 1L, a right-side traveling hydraulic motor 1R, and a swing hydraulic motor 2A. The swing hydraulic motor 2A may be a swing motor-generator serving as an electric actuator.

[0037] The operating devices 26 are devices used by an operator to operate the actuators. The actuators include at least one of hydraulic actuators and electric actuators. In this embodiment, the operating devices 26 supply hydraulic oil discharged from the pilot pump 15 to pilot ports of corresponding control valves in the control valves 17 via pilot lines. The pressure of the hydraulic oil supplied to each pilot port (pilot pressure) is, in principle, a pressure that corresponds to the operation direction and operation amount of the operating devices 26 corresponding to each hydraulic actuator. At least one of the operating devices 26 is configured to supply hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via a pilot line and a shuttle valve 32.

[0038] The discharge pressure sensor 28 detects the discharge pressure of the main pump 14. In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0039] The operation pressure sensor 29 detects the operation content of the operator using the operation device 26. In this embodiment, the operation pressure sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each actuator in the form of pressure, and outputs the detected value to the controller 30. The operation content of the operation device 26 may be detected using a sensor other than the operation pressure sensor.

[0040] The proportional valve 31 is disposed in a pipe connecting the pilot pump 15 and the shuttle valve 32, and is configured to be able to change the flow path area of ​​the pipe. In this embodiment, the proportional valve 31 operates in response to a control command output by the controller 30. Therefore, the controller 30 can supply the hydraulic oil discharged by 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 shuttle valve 32, regardless of the operation of the operating device 26 by the operator.

[0041] The shuttle valve 32 has two inlet ports and one outlet port. One of the two inlet ports is connected to the operating device 26, and the other is connected to the proportional valve 31. The outlet port is connected to the pilot port of the corresponding control valve in the control valve 17. Therefore, the shuttle valve 32 can apply the higher of the pilot pressure generated by the operating device 26 or the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve.

[0042] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation is being performed on that specific operating device 26.

[0043] Next, the machine guidance device 50 included in the controller 30 will be described. The machine guidance device 50 is configured to execute, for example, a machine guidance function. In this embodiment, the machine guidance device 50 conveys work information to the operator, such as the distance between the target construction surface and the working portion of the attachment, and the distance between the center of gravity of the load LD (see FIG. 1) and the suspension position of the hook 20. Data related to the target construction surface is pre-stored in, for example, the storage device 47. The data related to the target construction surface is expressed, for example, in a reference coordinate system. The reference coordinate system is, for example, the World Geodetic System.

[0044] The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with its origin at the center of gravity of the Earth, its X axis pointing toward the intersection of the Greenwich Meridian and the equator, its Y axis pointing toward 90 degrees east longitude, and its Z axis pointing toward the North Pole. The operator may set any point on the construction site as a reference point and set the target construction surface based on its relative position relative to that reference point. The working part of the attachment is, for example, the tip of the bucket 6 or the back of the bucket 6. The suspended load LD is, for example, an object that interferes with excavation work, an object to be buried, or an object that was buried, such as a clay pipe, lumber, a bag of soil, or a tetrapod. The machine guidance device 50 guides the operation of the excavator 100 by conveying work information to the operator via the display device 40, the audio output device 43, etc.

[0045] The machine guidance device 50 may execute a machine control function to automatically assist the operator in manually operating the excavator. For example, the machine guidance device 50 may automatically operate at least one of the boom 4, the arm 5, and the bucket 6 so that the tip position of the bucket 6 coincides with the target construction surface while the operator is manually performing an excavation operation.

[0046] In this embodiment, the machine guidance device 50 is incorporated into the controller 30, but it may also be a control device provided separately from the controller 30. In this case, the machine guidance device 50 is configured, for example, as a computer including a CPU and internal memory, similar to the controller 30. The various functions of the machine guidance device 50 are realized by the CPU executing programs stored in the internal memory. The machine guidance device 50 and the controller 30 are connected to each other so as to be able to communicate with each other via a communication network such as a CAN.

[0047] Specifically, the machine guidance device 50 acquires information from the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine body inclination sensor S4, object monitoring device S6, positioning device P1, communication device T1, input device 42, etc. Then, the machine guidance device 50 calculates the vertical distance between the bucket 6 and the target construction surface based on the acquired information, and communicates the magnitude of the vertical distance between the bucket 6 and the target construction surface to the excavator operator by voice and image display.

[0048] The machine guidance device 50 may also be configured to calculate the horizontal distance between the suspension position of the hook 20 and the center of gravity of the load LD, and communicate the horizontal distance between the suspension position and the center of gravity to the excavator operator by audio and visual display. The suspension position is, for example, the position where the wire WR is attached. The machine guidance device 50 may also be configured to communicate the vertical distance between the suspension position of the hook 20 and a target suspension position to the excavator operator. The target suspension position is a position set directly above the center of gravity of the load LD, and its height is determined based on the length of the wire WR. In this case, the length of the wire WR may be input in advance via the input device 42.

[0049] Furthermore, when the crane mode is selected as the operation mode of the shovel 100, the machine guidance device 50 of this embodiment causes the display device 40 to display information regarding the inclination of the shovel 100's body based on the value output from the body inclination sensor S4. In this embodiment, the information regarding the inclination of the body is, in other words, information output from the digital level, and can be said to be information regarding the digital level. In this embodiment, this control allows the operator to grasp the inclination of the shovel 100's body when the operation mode of the shovel 100 is switched to the crane mode.

[0050] Furthermore, when the operation mode of the shovel 100 is switched from the crane mode to an operation mode other than the crane mode, the machine guidance device 50 of this embodiment hides the information about the inclination of the machine body that is displayed on the display device 40. The operation mode other than the crane mode may be, for example, the shovel mode described below.

[0051] In this embodiment, this control makes it possible to prevent information unrelated to the operation mode of the shovel 100 from being displayed on the display device 40 .

[0052] To realize the above-described functions, the machine guidance device 50 includes, for example, an operation reception unit 51, an automatic control unit 52, and a display control unit 53.

[0053] The operation reception unit 51 receives input of operations for the shovel 100 via the operation device 26, the input device 42, etc.

[0054] The automatic control unit 52 automatically assists the operator in manually operating the excavator by automatically operating the actuators. For example, when the operator is manually closing the arm, the automatic control unit 52 may automatically extend and retract at least one of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 so that the position of the toe of the bucket 6 coincides with the target construction surface. In this case, the operator can close the arm 5 while aligning the toe of the bucket 6 with the target construction surface, simply by operating the arm operation lever in the closing direction, for example. This automatic control may be configured to be executed when a predetermined switch, which is one of the input devices 42, is pressed. The predetermined switch may be, for example, a machine control switch (hereinafter referred to as an "MC switch"), and may be arranged as a knob switch at the tip of the arm operation lever.

[0055] In this embodiment, the automatic control unit 52 automatically operates each actuator by individually and automatically adjusting the pilot pressure acting on the control valve corresponding to each actuator.

[0056] When the crane mode is selected as the operation mode, the automatic control unit 52 may automatically operate at least one of the actuators to move the lifting position of the hook 20 to directly above the center of gravity of the load LD. For example, the swing hydraulic motor 2A may be automatically rotated to swing the upper swing body 3, or the boom cylinder 7 and arm cylinder 8 may be automatically extended and retracted to extend and retract the attachment.

[0057] The operation modes include, for example, a crane mode and a shovel mode. The operator of the shovel 100 can switch the operation mode by operating a predetermined switch arranged in the cabin 10. The predetermined switch is, for example, a mode switch as a push button switch arranged near the display device 40. The predetermined switch may also be a mode switch as a software button displayed on the display device 40 including a touch panel.

[0058] In this embodiment, the operation mode may be switched to the crane mode based on information acquired by the object monitoring device S6. Furthermore, in this embodiment, the operation mode may be switched to the crane mode when it is determined that the attachment is in a predetermined posture based on the output of the posture detection device.

[0059] In the crane mode, the operating speed of the actuator is limited compared to the shovel mode. For example, the rotation speed of the upper rotating body 3 when the rotation operation lever 26C is operated in the crane mode is limited to be smaller than the rotation speed of the upper rotating body 3 when the rotation operation lever 26C is operated by the same amount in the shovel mode.

[0060] The same applies to the operating speeds of the left-side traveling hydraulic motor 1L, the right-side traveling hydraulic motor 1R, the boom 4, the arm 5, and the bucket 6. Speed ​​limitations are achieved, for example, by reducing the spool stroke amount of the control valve relative to the amount of operation of the operating device 26, by reducing the discharge rate of the main pump 14, by reducing the engine speed, etc. However, in this embodiment, power is not limited in the crane mode. In other words, the maximum load that can be lifted is not limited.

[0061] The display control unit 53 controls the display on the display device 40. Specifically, when the operation mode of the shovel 100 is switched from the shovel mode to the crane mode, the display control unit 53 switches the display on the display device 40 to a display for the crane mode. Specifically, when the operation mode of the shovel 100 is switched from the shovel mode to the crane mode, the display control unit 53 causes the display device 40 to display information indicating that the operation mode has been switched and information regarding the inclination of the body of the shovel 100.

[0062] In addition, when the operating mode of the shovel 100 is switched from shovel mode to crane mode, the display control unit 53 switches the information to be displayed in a specific display area on the display device 40 from the information displayed in shovel mode to information regarding the inclination of the machine body.

[0063] In this embodiment, by controlling the display in this manner, there is no need to provide a dedicated display area for displaying information about the inclination of the aircraft in the display area of ​​the display device 40, and the display area can be used effectively.

[0064] Furthermore, even when the shovel 100 is operating in crane mode, when the display control unit 53 receives an operation to change the content of the information displayed in a specific display area in shovel mode, the display in the specific display area may be switched from information regarding the inclination of the machine to information displayed in shovel mode.

[0065] In this embodiment, by controlling the display in this manner, the operator can perform the same operations in the crane mode as when operating in the shovel mode.

[0066] Furthermore, when the display control unit 53 receives an operation to change the content of the information displayed in the specific display area and then receives an operation to move the body of the shovel 100, it causes the information regarding the inclination of the body to be displayed again in the specific display area. The operation to move the body of the shovel 100 may be, in other words, a lever operation.

[0067] In this embodiment, by controlling the display in this manner, when the operator returns to work in crane mode, information regarding the inclination of the machine can be automatically displayed, eliminating the need for any operation to display information regarding the inclination of the machine.

[0068] Furthermore, if a certain period of time has passed without any operation to move the aircraft after receiving an operation to change the content of the information displayed in a specific display area, the display control unit 53 causes information regarding the inclination of the aircraft to be displayed again in the specific display area.

[0069] In this embodiment, by controlling the display in this manner, when the operation mode of the excavator 100 is the crane mode, information relating to the inclination of the machine body can be always displayed on the display device 40.

[0070] Furthermore, the specific display area in this embodiment may be an area displaying information that does not change in response to the operation of the shovel 100. In other words, the specific display area is an area displaying information that does not change due to the operation of the shovel 100. Specifically, for example, the specific display area may be a display area that displays the operating status of an air conditioner provided in the shovel 100.

[0071] In this embodiment, by determining a specific display area in this manner, it is possible to suppress the influence of hiding the display of information.

[0072] The operation of the shovel 100 of this embodiment will be described below with reference to Fig. 3. Fig. 3 is a flowchart illustrating the operation of the shovel.

[0073] 3, the specific area is a display area that displays the operating status of the air conditioner of the excavator 100. The display area that displays the operating status of the air conditioner may display, for example, the set temperature that is set for the air conditioner.

[0074] When the controller 30 of this embodiment detects the start of the shovel 100 (step S301), it displays information indicating the operating state of the air conditioner in a specific display area of ​​the display device 40 (step S302).

[0075] Next, the controller 30 determines whether or not the crane mode has been selected as the operation mode of the excavator 100 (step S303).

[0076] Specifically, the controller 30 determines whether or not a predetermined switch arranged in the cabin 10 has been operated by the operator of the excavator 100. Furthermore, the controller 30 may determine whether or not to select the crane mode based on information acquired by the object monitoring device S6 or the attitude of the attachment detected by the attitude detection device.

[0077] In step S303, if the crane mode is not selected, the controller 30 waits until the crane mode is selected.

[0078] If the crane mode is selected in step S303, the controller 30 erases the information indicating the operating status of the air conditioner that was displayed in a specific display area, and displays information regarding the inclination of the excavator 100 body (step S304).

[0079] In other words, the controller 30 causes the display control unit 53 to display information about the inclination of the machine body in the display area where the information indicating the operating status of the air conditioner was displayed. Here, the information indicating the operating status of the air conditioner is the information that was displayed in a specific display area on the display device 40 before the operation mode of the excavator 100 was switched to the crane mode.

[0080] Next, the controller 30 determines whether the air conditioner has been operated (step S305). Specifically, the controller 30 determines whether the air conditioner has been operated by the operator via the input device 42.

[0081] If the air conditioner is not being operated in step S305, the controller 30 waits until the air conditioner is operated.

[0082] If the air conditioner is operated in step S305, the controller 30 switches the display in the specific display area from information relating to the tilt of the aircraft to information indicating the operating status of the air conditioner (step S306).

[0083] In other words, the controller 30 causes the display control unit 53 to erase information relating to the tilt of the aircraft from a specific display area and instead display information indicating the operating status of the air conditioner.

[0084] Next, the controller 30 determines whether or not an operation to move the body of the shovel 100 has been performed (step S307).

[0085] In step S307, if an operation to move the machine body is performed, the controller 30 proceeds to step S309, which will be described later.

[0086] In step S307, if no operation to move the machine body is performed, the controller 30 determines whether or not a certain time has elapsed (step S308). In step S308, if the certain time has not elapsed, the controller 30 waits until the certain time has elapsed.

[0087] In step S308, if a certain period of time has elapsed, the controller 30 switches the display in the specific display area from information indicating the operating state of the air conditioner to information regarding the inclination of the aircraft (step S309). In other words, the controller 30 causes the specific display area to again display information regarding the inclination of the aircraft.

[0088] Next, when the controller 30 detects that the operation of the shovel 100 has stopped (step S310), the controller 30 ends the processing.

[0089] A display example of the display device 40 of this embodiment will be described below with reference to Fig. 4. Fig. 4 is a first diagram showing a display example of the display device.

[0090] The display example shown in Fig. 4 is an example of a screen displayed on the display device 40 in, for example, step S302 in Fig. 3. In other words, the display example shown in Fig. 4 is an example of a screen displayed on the display device 40 when the operation mode of the shovel 100 is the shovel mode.

[0091] First, a description will be given of the image display unit 41. As shown in Fig. 4, the image display unit 41 includes a date and time display area 41a, a driving mode display area 41b, an attachment display area 41c, a fuel efficiency display area 41d, an engine control status display area 41e, an engine operating time display area 41f, a coolant temperature display area 41g, a remaining fuel amount display area 41h, a rotation speed mode display area 41i, a urea water remaining amount display area 41j, a hydraulic oil temperature display area 41k, an air conditioner operation status display area 41m, an image display area 41n, and a menu display area 41p.

[0092] The travel mode display area 41b, the attachment display area 41c, the engine control state display area 41e, the rotation speed mode display area 41i, and the air conditioner operation state display area 41m are areas that display setting state information, which is information about the setting state of the excavator 100. The fuel consumption display area 41d, the engine operation time display area 41f, the coolant temperature display area 41g, the remaining fuel amount display area 41h, the remaining urea water amount display area 41j, and the hydraulic oil temperature display area 41k are areas that display operating state information, which is information about the operating state of the excavator 100.

[0093] 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, and the attachment display area 41c displays an image representing the currently attached end attachment.

[0094] The fuel efficiency display area 41d is an area that displays fuel efficiency information calculated by the controller 30. The fuel efficiency display area 41d includes an average fuel efficiency display area 41d1 that displays lifetime average fuel efficiency or section average fuel efficiency, and an instantaneous fuel efficiency display area 41d2 that displays instantaneous fuel efficiency.

[0095] The engine control status display area 41e is an area that displays the control status of the engine 11. The engine operating time display area 41f is an area that displays the cumulative operating time of the engine 11. The coolant temperature display area 41g is an area that displays the current temperature state of the engine coolant. The remaining fuel amount display area 41h is an area that displays the remaining amount of fuel stored in the fuel tank. The rotation speed mode display area 41i is an area that displays, as an image, the current rotation speed mode set by the engine rotation speed adjustment dial. In FIG. 4, an icon image indicating "SP mode" is displayed in the rotation speed mode display area 41i. The SP mode is an rotation speed mode that is selected when prioritizing the amount of work, and is the rotation speed mode that has the highest engine rotation speed.

[0096] The urea water remaining amount display area 41j is an area that displays the remaining amount of urea water stored in the urea water tank using an image. The hydraulic oil temperature display area 41k is an area that displays the temperature of the hydraulic oil in the hydraulic oil tank.

[0097] The air conditioner operation status display area 41m is a display area where information indicating the operation status of the air conditioner is displayed. Furthermore, when the crane mode is selected as the operation mode of the excavator 100, the air conditioner operation status display area 41m is a specific display area where information indicating the inclination of the machine body (information related to a digital level) is displayed instead of information indicating the operation status of the air conditioner.

[0098] 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.

[0099] The image display area 41n is an area that displays images captured by the object monitoring device S6 as an imaging device. In the example of Fig. 4, the image display area 41n displays an overhead image FV, a rear image CBT, and a right image CRT. The overhead image FV is a virtual viewpoint image generated by a control unit of the display device 40, and is generated based on images captured by the rear camera S6B, the left camera S6L, and the right camera S6R. In addition, an shovel graphic GE corresponding to the shovel 100 is placed in the center of the overhead image FV. This is to allow the operator to intuitively grasp the positional relationship between the shovel 100 and objects present around the shovel 100.

[0100] The rear image CBT is an image that shows the space behind the shovel 100 and includes the image GC of the counterweight. The rear image CBT is a real viewpoint image generated by a control unit of the display device 40 and is generated based on an image acquired by the rear camera S6B. The right image CRT is an image that shows the space to the right of the shovel 100 and is generated based on an image acquired by the right camera S6R.

[0101] The image display area 41n has a first image display area 41n1 located above and a second image display area 41n2 and a third image display area 41n3 located below. In the example of Fig. 4, the overhead image FV is arranged in the first image display area 41n1, the rearward image CBT is arranged in the second image display area 41n2, and the right-hand image CRT is arranged in the third image display area 41n3. However, the image display area 41n may also arrange the overhead image FV in the second image display area 41n2 and the rearward image CBT in the first image display area 41n1.

[0102] 4, the overhead image FV, the rearward image CBT, and the rightward image CRT are arranged adjacent to each other vertically, but they may be arranged with a gap therebetween. Also, in the example of FIG. 4, the image display area 41n is a vertically elongated area, but the image display area 41n may be a horizontally elongated area. When the image display area 41n is a horizontally elongated area, the overhead image FV may be arranged on the left side as the first image display area 41n1, and the rearward image CBT and the rightward image CRT may be arranged on the right side as the second image display area 41n2. In this case, the overhead image FV and the rearward image CBT may be arranged with a gap therebetween, or the positions of the overhead image FV and the rearward image CBT may be interchanged.

[0103] Furthermore, in this embodiment, an icon image 41x is displayed in each of the first image display area 41n1, the second image display area 41n2, and the third image display area 41n3. The icon image 41x is an image that represents the relative relationship between the position of the object monitoring device S6 as an imaging device and the orientation of the attachment of the upper rotating body 3.

[0104] The icon image 41x of this embodiment includes an image 41xM of the shovel 100, an image 41xF showing the front of the shovel 100, and an image 41xB showing the rear of the shovel 100. The icon image 41x also includes an image 41xL showing the left side of the shovel 100 and an image 41xR showing the right side of the shovel 100.

[0105] Images 41xF, 41xB, 41xL, and 41xR correspond to the front camera S6F that captures images in front of the shovel 100, the rear camera S6B that captures images behind the shovel 100, the left camera S6L that captures images to the left of the shovel 100, and the right camera S6R that captures images to the right of the shovel 100, respectively.

[0106] In this embodiment, when an image associated with a camera is selected from the icon image 41x, image data captured by the camera corresponding to the selected image is displayed in the image display area 41n.

[0107] 4, in the first image display area 41n1, the display manner of images 41xB, 41xL, and 41xR is different from the display manner of image 41xF. 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 the rear camera S6B, left camera S6L, and right camera S6R corresponding to images 41xB, 41xL, and 41xR, respectively.

[0108] Furthermore, in the second image display area 41n2, the display mode of image 41xB is different from the display modes of images 41xF, 41xL, and 41xR. Therefore, it can be seen that the image represented by the image data captured by the rear camera S6B corresponding to image 41xB is displayed in the second image display area 41n2. Furthermore, in the third image display area 41n3, the display mode of image 41xR is different from the display modes of images 41xF, 41xL, and 41xB. Therefore, it can be seen that the image represented by the image data captured by the right camera S6R corresponding to image 41xR is displayed in the third image display area 41n3.

[0109] The menu display area 41p has tabs 41p1 to 41p7. In the example of Fig. 4, the tabs 41p1 to 41p7 are arranged at intervals from each other on the left and right at the bottom of the image display section 41. Icons for displaying various types of information are displayed on the tabs 41p1 to 41p7.

[0110] Tab 41p1 displays menu detail item icons for displaying menu detail items. When tab 41p1 is selected by the operator, the icons displayed on tabs 41p2 to 41p7 are switched to icons associated with the menu detail items.

[0111] Tab 41p4 displays an icon for displaying information about the digital level. When tab 41p4 is selected by the operator, the rear image CBT is switched to a screen showing information about the digital level. However, the screen showing information about the digital level may be displayed by superimposing the information on the rear image CBT or by reducing the rear image CBT. Furthermore, the overhead image FV may be switched to a screen showing information about the digital level, or the screen showing information about the digital level may be displayed by superimposing the information on the overhead image FV or by reducing the overhead image FV.

[0112] An icon for displaying information related to information-based construction is displayed on tab 41p6. When tab 41p6 is selected by the operator, the rear image CBT is switched to a screen showing information related to information-based construction. However, a screen showing information related to information-based construction may be displayed by superimposing the information on the rear image CBT or by reducing the rear image CBT. Furthermore, the overhead image FV may be switched to a screen showing information related to information-based construction, or a screen showing information related to information-based construction may be displayed by superimposing the information on the overhead image FV or by reducing the overhead image FV.

[0113] Tab 41p7 displays an icon for displaying information about the crane mode. When tab 41p7 is selected by the operator, the rear image CBT is switched to a screen showing information about the crane mode. However, the screen showing information about the crane mode may be displayed by superimposing the information on the rear image CBT or by reducing the rear image CBT. Furthermore, the overhead-view image FV may be switched to a screen showing information about the crane mode, or the screen showing information about the crane mode may be displayed by superimposing the information on the overhead-view image FV or by reducing the overhead-view image FV.

[0114] No icons are displayed on the tabs 41p2, 41p3, and 41p5, so even if the operator operates the tabs 41p2, 41p3, and 41p5, the image displayed on the image display unit 41 does not change.

[0115] The icons displayed on the tabs 41p1 to 41p7 are not limited to the examples described above, and icons for displaying other information may be displayed.

[0116] Next, the input device 42 will be described. As shown in FIG. 4, the input device 42 is a switch panel and is configured with one or more button-type switches that allow the operator to select tabs 41p1 to 41p7, input settings, and the like. In the example of FIG. 4, the input device 42 includes seven switches 42a1 to 42a7 arranged in an upper row and seven switches 42b1 to 42b7 arranged in a lower row. The switches 42b1 to 42b7 are arranged below the switches 42a1 to 42a7, respectively. However, the number, shape, and arrangement of the switches of the input device 42 are not limited to the above example. For example, the functions of multiple button-type switches may be combined into one using a jog wheel, jog switch, or the like, or the input device 42 may be separate from the display device 40. Alternatively, the tabs 41p1 to 41p7 may be directly operated using a touch panel in which the image display unit 41 and the input device 42 are integrated.

[0117] The switches 42a1 to 42a7 are arranged below the tabs 41p1 to 41p7 in correspondence with the tabs 41p1 to 41p7, respectively, and function as switches for selecting the tabs 41p1 to 41p7. Because the switches 42a1 to 42a7 are arranged below the tabs 41p1 to 41p7 in correspondence with the tabs 41p1 to 41p7, respectively, the operator can intuitively select the tabs 41p1 to 41p7.

[0118] The switch 42b1 is a switch that switches the captured image displayed in the image display area 41n. Each time the switch 42b1 is operated, the captured image displayed in the first image display area 41n1 of the image display area 41n is switched, for example, among a rearward image, a leftward image, a rightward image, and an overhead image. Also, each time the switch 42b1 is operated, the captured image displayed in the second image display area 41n2 of the image display area 41n may be switched, for example, among a rearward image, a leftward image, a rightward image, and an overhead image.

[0119] In addition, the image display area 41n may be configured so that each time the switch 42b1 is operated, the captured image displayed in the first image display area 41n1, the captured image displayed in the second image display area 41n2, and the captured image displayed in the third image display area 41n3 are swapped.

[0120] In this way, the switch 42b1 serving as the input device 42 may switch between the screens displayed in the first image display area 41n1, the second image display area 41n2, and the third image display area 41n3. Alternatively, a separate switch may be provided for switching between the screens displayed in the second image display area 41n2 and the third image display area 41n3.

[0121] The switches 42b2 and 42b3 are switches for adjusting the air volume of the air conditioner. In the example of Fig. 4, when the switch 42b2 is operated, the air volume of the air conditioner decreases, and when the switch 42b3 is operated, the air volume of the air conditioner increases.

[0122] The switch 42b4 is a switch for switching the cooling and heating functions ON and OFF. In the example of Fig. 4, the switch 42b4 is configured to switch the cooling and heating functions ON and OFF every time the switch 42b4 is operated.

[0123] The switches 42b5 and 42b6 are switches for adjusting the set temperature of the air conditioner. In the example of Fig. 4, when the switch 42b5 is operated, the set temperature is lowered, and when the switch 42b6 is operated, the set temperature is raised.

[0124] In other words, switches 42b2, 42b3, 42b4, 42b5, and 42b6 are input devices that are operated to change the content of information displayed in a specific display area. When any of these switches is operated while the operation mode of excavator 100 is the crane mode, controller 30 causes information indicating the operation status of the air conditioner to be displayed in air conditioner operation status display area 41m.

[0125] The switch 42b7 is a switch that can switch the display of the engine operating time display area 41f.

[0126] Switches 42a2 to 42a6 and 42b2 to 42b6 are configured to allow the user to input numbers displayed on or near the switches, while switches 42a3, 42a4, 42a5, and 42b4 are configured to allow the user to move the cursor left, up, right, and down, respectively, when the cursor is displayed on the menu screen.

[0127] The functions given to the switches 42a1 to 42a7 and 42b1 to 42b7 are merely examples, and the switches may be configured to be able to perform other functions.

[0128] Furthermore, the image display area 41n displays the overhead image FV without changing its size before and after the tab 41p1 is selected. This prevents a decrease in visibility when the operator checks the surroundings of the excavator 100.

[0129] Fig. 5 is a second diagram showing a display example of the display device. The screen shown in Fig. 5 is an example of a screen displayed on the display device 40 when the operation mode of the excavator 100 is changed to the crane mode. In other words, the screen shown in Fig. 5 is an example of a screen displayed on the display device 40 in step S304 of Fig. 3.

[0130] In Figure 5, an icon image indicating that the attached end attachment is a hook-equipped end attachment with a hook attached is displayed in the attachment display area 41c, and it can be seen that the operating mode of the shovel 100 is crane mode.

[0131] 5, an icon image indicating "L mode" is displayed in the rotation speed mode display area 41i. The L mode is a rotation speed mode that is selected when it is desired to operate the excavator 100 with less noise by slowing down the acceleration and deceleration characteristics of the hydraulic actuator corresponding to the lever operation, thereby improving accurate operability and safety, and is a mode with a lower rotation speed than the SP mode.

[0132] The image display unit 41 shown in FIG. 5 also includes a message display area 41q and a crane information display area 41r.

[0133] The message display area 41q displays a message indicating that the crane mode has been selected as the operation mode of the shovel 100. When the operation of the shovel 100 is switched from the crane mode to the shovel mode, the message display area 41q may be erased from the image display unit 41. Furthermore, when the operation of the shovel 100 is switched from the crane mode to the shovel mode, the message display area 41q may be erased after displaying a message indicating that the shovel mode has been selected for a certain period of time.

[0134] The crane information display area 41r displays crane information. The crane information includes information indicating the rated load in crane mode and information indicating the actual load of the load LD. The crane information also includes information indicating the working radius in crane mode and information indicating the height of the target lifting position of the load.

[0135] The working radius is the horizontal distance from the center of rotation of the excavator 100 to the center of the hook 20. The target lifting position of the load is a position set directly above the center of gravity of the load LD, and the height of the lifting position is determined based on the length of the wire WR. In this case, the length of the wire WR may be input in advance via the input device 42. The height of the lifting position may also be the vertical distance from the ground to the center of the hook 20.

[0136] In addition, in FIG. 5, information indicating the inclination of the excavator 100 body is displayed in the air conditioner operation status display area 41m instead of information indicating the operation status of the air conditioner.

[0137] In other words, the air conditioner operation status display area 41m has the air outlet display area 41m1, the operation mode display area 41m2 that displays the current operation mode, the temperature display area 41m3 that displays the current set temperature, and the air volume display area 41m4 that displays the current set air volume erased, and instead becomes a display area that includes display areas 41t and 41u.

[0138] The display areas 41t and 41u display information relating to the inclination of the body of the shovel 100. The display area 41t displays information indicating the inclination of the body of the shovel 100 around the longitudinal axis of the body of the shovel 100. In other words, the display area 41t displays information relating to the pitch angle of the body of the shovel 100.

[0139] The display area 41u displays information indicating the tilt of the machine body around the left-right axis of the machine body of the shovel 100. In other words, the display area 41u displays information regarding the roll angle of the machine body of the shovel 100.

[0140] 5, the display area 41u displays an icon image indicating the state of inclination of the body of the shovel 100 about the longitudinal axis in association with the roll angle of the shovel 100. The display area 41t displays an icon image indicating the state of inclination of the body of the shovel 100 about the lateral axis in association with the pitch angle of the shovel 100.

[0141] In this embodiment, by displaying an icon image indicating the inclination state of the machine body together with the inclination angle of the shovel 100 machine body, the operator can visualize the state of the shovel 100 machine body while also understanding the specific inclination angle of the machine body.

[0142] Furthermore, in this embodiment, the crane information display area 41r is displayed together with the air conditioner operation status display area 41m, which displays information indicating the inclination of the excavator 100's body. Therefore, according to this embodiment, the operator can grasp the rated load and actual load in the crane mode as well as the inclination of the excavator 100's body. Furthermore, in the example of FIG. 5 , the crane information display area 41r is displayed adjacent to the air conditioner operation status display area 41m. Therefore, in this embodiment, when the operator visually confirms the inclination of the excavator 100's body, the operator can grasp the rated load and actual load in the crane mode without changing his or her line of sight.

[0143] In this embodiment, an icon image indicating the inclination state of the machine body and the inclination angle are displayed in each of the display areas 41t and 41u, but this is not limiting. For example, the display area 41u may display only an icon image indicating the inclination state of the machine body of the shovel 100 about the longitudinal axis, and the display area 41t may display only an icon image indicating the inclination state of the machine body of the shovel 100 about the lateral axis.

[0144] In this embodiment, by showing the state of inclination of the shovel 100's body using only an icon image, the space required for displaying information regarding the inclination of the shovel 100's body can be reduced, and the display area of ​​the image display unit 41 can be used effectively.

[0145] In addition, in this embodiment, the air conditioner operation status display area 41m is a specific display area, and when the crane mode is selected as the operation mode of the shovel 100, information regarding the inclination of the shovel 100's body is displayed in the air conditioner operation status display area 41m, but this is not limited to this.

[0146] In this embodiment, a display area other than the air conditioner operation status display area 41m may be set as a specific display area, and information regarding the inclination of the excavator 100 body may be displayed in the specific display area other than the air conditioner operation status display area 41m.

[0147] Specifically, for example, the date and time display area 41 a may be the specific display area. In this case, when the crane mode is selected as the operation mode of the shovel 100, the controller 30 may erase the information about the date and time displayed in the date and time display area 41 a and display information about the inclination of the body of the shovel 100.

[0148] Furthermore, in this embodiment, for example, when the crane mode is selected as the operation mode of the shovel 100, any one of the overhead image FV, the rearward image CBT, and the rightward image CRT may be reduced in size, and information regarding the inclination of the body of the shovel 100 may be displayed in the space created by the reduction. Furthermore, in this embodiment, for example, when the crane mode is selected as the operation mode of the shovel 100, information regarding the inclination of the body of the shovel 100 may be displayed superimposed on any one of the overhead image FV, the rearward image CBT, and the rightward image CRT.

[0149] Next, the icon image showing the state of inclination of the aircraft in this embodiment will be described with reference to Fig. 6. Fig. 6 is a diagram illustrating the icon image showing the state of inclination of the aircraft.

[0150] In Figure 6, the icon image indicating the state of inclination of the shovel 100 body around the front-to-back axis is described as an icon image corresponding to the roll angle of the shovel 100, and the icon image indicating the state of inclination of the shovel 100 body around the left-to-right axis is described as an icon image corresponding to the pitch angle of the shovel 100.

[0151] In this embodiment, the icon image displayed on the display device 40 differs depending on the roll angle and pitch angle of the shovel 100 .

[0152] The icon image 61a shown in FIG. 6(A) is an icon image that is displayed in the display region 41u when the body of the shovel 100 is tilted to the right when the roll angle is X. Specifically, the icon image 61a is an icon image that is displayed in the display region 41u when the roll angle is X≧K [deg]. K [deg] may be a preset threshold value. Furthermore, the icon image 61b shown in FIG. 6(A) is an icon image that is displayed in the display region 41t when the body of the shovel 100 is tilted backward when the pitch angle is X. Specifically, the icon image 61b is an icon image that is displayed in the display region 41t when the pitch angle is X≧K [deg].

[0153] Furthermore, the icon image 61a includes an image 61a1 and an image 61a2, and the icon image 61b includes an image 61b1 and an image 61b2.

[0154] Image 61a1 is an image showing the inclination of the body of the shovel 100 corresponding to the roll angle, and image 61a2 is an image showing the roll angle. Image 61b1 is an image showing the inclination of the body of the shovel 100 corresponding to the pitch angle, and image 61b2 is an image showing the pitch angle.

[0155] The icon image 62a shown in Fig. 6(B) is an icon image that is displayed in the display region 41u when the body of the shovel 100 is horizontal from side to side when the roll angle is X. Specifically, the icon image 62a is an icon image that is displayed in the display region 41u when the roll angle is K [deg] > X > -K [deg]. Furthermore, the icon image 62b shown in Fig. 6(B) is an icon image that is displayed in the display region 41t when the body of the shovel 100 is horizontal from front to back when the pitch angle is X. Specifically, the icon image 62b is an icon image that is displayed in the display region 41t when the pitch angle is K [deg] > X > -K [deg].

[0156] Furthermore, the icon image 62a includes an image 62a1 and an image 62a2, and the icon image 62b includes an image 62b1 and an image 62b2.

[0157] Image 62a1 is an image showing the inclination of the body of shovel 100 corresponding to the roll angle, image 62a2 is an image showing the roll angle, image 62b1 is an image showing the inclination of the body of shovel 100 corresponding to the pitch angle, and image 62b2 is an image showing the pitch angle.

[0158] The icon image 63a shown in Fig. 6(C) is an icon image that is displayed in the display region 41u when the body of the shovel 100 is tilted to the left when the roll angle is X. Specifically, the icon image 63a is an icon image that is displayed in the display region 41u when the roll angle is -K [deg] ≧ X. Furthermore, the icon image 63b shown in Fig. 6(C) is an icon image that is displayed in the display region 41t when the body of the shovel 100 is tilted forward when the pitch angle is X. Specifically, the icon image 63b is an icon image that is displayed in the display region 41t when the pitch angle is -K [deg] ≧ X.

[0159] Furthermore, the icon image 63a includes an image 63a1 and an image 63a2, and the icon image 63b includes an image 63b1 and an image 63b2.

[0160] Image 63a1 is an image showing the inclination of the body of the shovel 100 corresponding to the roll angle, image 63a2 is an image showing the roll angle, image 63b1 is an image showing the inclination of the body of the shovel 100 corresponding to the pitch angle, and image 63b2 is an image showing the pitch angle.

[0161] 6, when selecting icon images corresponding to the roll angle and pitch angle, a common threshold value K set for the roll angle and pitch angle is used, but this is not limiting. Different values ​​of the threshold value K may be set for each of the roll angle and pitch angle, and the icon images displayed in the display areas 41u and 41t may be selected based on the respective threshold values ​​K.

[0162] As described above, in this embodiment, the shape of the displayed icon image differs depending on the roll angle and pitch angle of the machine body of the shovel 100. Therefore, according to this embodiment, the operator can grasp the inclination of the machine body of the shovel 100 simply by displaying icon images having shapes corresponding to the roll angle and pitch angle, respectively, without displaying numerical values ​​indicating the roll angle and pitch angle.

[0163] The shapes of the icon images displayed according to the roll angle and pitch angle are not limited to those shown in Figures 5 and 6. The shapes of the icon images displayed according to the roll angle and pitch angle may be any shapes as long as they indicate that the body of the shovel 100 is tilted. Specifically, for example, the shapes of the icon images displayed according to the roll angle and pitch angle may be shapes that imitate a bubble-type level.

[0164] The preferred embodiments of the present invention have been described above in detail. However, the present invention is not limited to the above-described embodiments. Various modifications, substitutions, etc. may be applied to the above-described embodiments without departing from the scope of the present invention. Furthermore, features described separately may be combined unless technical contradictions arise.

[0165] For example, although the above-described embodiment employs a pilot pressure control valve, an electromagnetic control valve may be employed, in which case the operating device 26 may be an electric operating lever.

[0166] This international application claims priority based on Japanese Patent Application No. 2022-206318 filed on December 23, 2022, and the entire contents of Japanese Patent Application No. 2022-206318 are incorporated herein by reference.

[0167] 30 Controller 40 Display device 50 Machine guidance device 51 Operation reception unit 52 Automatic control unit 53 Display control unit 100 Excavator

Claims

1. a lower running body; an upper rotating body rotatably mounted on the lower traveling body; A sensor that detects the tilt of the aircraft; a display device disposed inside a cabin provided on the upper rotating body, a control device that, when the operation mode is switched to the crane mode, causes the display device to display an icon image that resembles the shape of the machine body as information related to the inclination of the machine body.

2. (delete)

3. The control device The shovel according to claim 1 , wherein the display device displays information indicating a rated load in the crane mode and information indicating an actual load, together with information regarding the inclination of the machine body.

4. The control device The shovel according to claim 3 , wherein when the operation mode is switched from the crane mode to another mode, the information relating to the inclination of the machine body displayed on the display device is hidden.

5. The shovel according to claim 1 , wherein the information relating to the inclination of the machine body includes an icon image that resembles the shape of the machine body and a numerical value that indicates the inclination of the machine body.

6. The control device 2. The shovel according to claim 1, wherein, when the operation mode is switched to the crane mode, the information displayed in a specific display area of ​​the display device is switched from the information displayed before the operation mode was switched to the crane mode to information regarding the inclination of the machine body.

7. The control device 7. The excavator according to claim 6, wherein, when an operation to change the content of the information displayed in the specific display area before the operation mode was switched to the crane mode is accepted while the excavator is operating in the crane mode, the display in the specific display area is switched from information regarding the inclination of the machine body to the information displayed before the operation mode was switched to the crane mode.

8. The control device The shovel according to claim 7, wherein, after accepting an operation to change the content of the information, when accepting an operation to move the shovel's body, information regarding the inclination of the body is displayed again in the specific display area.

9. The control device A shovel as described in claim 8, wherein if no operation to move the shovel's body is performed even after a certain time has elapsed since accepting an operation to change the content of the information, information regarding the inclination of the body is displayed again in the specific display area.

10. The shovel according to claim 6 , wherein the specific display area is an area in which information that does not change due to an operation to move the body of the shovel is displayed.

11. the sensor is an inertial measurement unit; The shovel according to claim 1 , wherein the control device displays an icon image that resembles the shape of the machine body at an angle based on the value output from the sensor.

12. The control device The shovel according to claim 1, wherein an icon image imitating the shape of the machine body and an image indicating the roll angle or pitch angle of the machine body are displayed in association with each other as information regarding the inclination of the machine body.