Operating range setting system for excavator and control method thereof

Abstract

A system for setting the operating range of an excavator comprises an surrounding information acquisition unit for acquiring information on actual images surrounding the excavator, a user interface unit, and a controller that generates a surrounding image based on the information on actual images acquired by the surrounding information acquisition unit, and displays the surrounding image and a setting guidance image for setting a virtual wall that regulates the operating range of the excavator in the user interface unit.

Description

Technology Field

[0001] The present disclosure relates to setting the operating range of an excavator. Background Technology

[0002] Excavation machines such as hydraulic shovels or electric shovels need to prevent accidents caused by interference with surrounding obstacles due to the operation of the working mechanism or the swinging motion of the swinging body.

[0003] Conventionally, various methods have been proposed to limit the operation of a work tool by setting a predetermined height of the excavator as the operating range, or to limit the operation of a work tool by setting a predetermined range as the operating range to prevent interference with the driver's cab of the vehicle body (see Patent Documents 1 to 3). Prior art literature

[0004] Japanese Patent Publication No. 2011-52383, Japanese Patent Publication No. 2019-157409, International Publication No. 2021 / 060534 The problem to be solved

[0005] When setting the operating range of an excavator, if the distance between the excavator and surrounding objects is not accurately determined, there is a risk of setting an inappropriate operating range.

[0006] If the operating range is set to be excessively far between the excavator and the object, the work efficiency of the excavator may decrease.

[0007] The object of the present disclosure is to provide an operating range setting system for an excavator and a control method thereof, which can set the operating range of the excavator in a simple manner. means of solving the problem

[0008] A system for setting the operating range of an excavator according to one aspect of the present disclosure comprises: an surrounding information acquisition unit for acquiring information on an actual image surrounding the excavator; a user interface unit; and a controller that generates a surrounding image based on the information on the actual image acquired by the surrounding information acquisition unit, and displays the surrounding image and a setting guidance image for setting a virtual wall that regulates the operating range of the excavator on the user interface unit.

[0009] A control method for an operating range system of an excavator according to one aspect of the present disclosure comprises the steps of acquiring information on an actual image of the surroundings of the excavator, generating an surrounding image based on the acquired information on the actual image, and displaying the surrounding image and a setting guidance image for setting a virtual wall that regulates the operating range of the excavator to a user interface. Effects of the invention

[0010] The operating range setting system and control method of the excavator disclosed in the present disclosure can set the operating range of the excavator in a simple manner. Brief explanation of the drawing

[0011] Figure 1 is an external view of an excavator based on an embodiment. FIG. 2 is a schematic diagram illustrating an excavation machine (100) based on an embodiment. FIG. 3 is a schematic block diagram showing the configuration of the control system of an excavator (100) based on an embodiment. FIG. 4 is a block diagram showing the configuration of a controller (26) based on an embodiment. FIG. 5 is an example of a screen displayed on a display device (44) based on an embodiment. FIG. 6 is a drawing illustrating an example of a virtual wall setting screen (400) displayed on a display device (44) based on an embodiment. FIG. 7 is a drawing illustrating an example of a virtual wall setting screen (402) displayed on a display device (44) based on an embodiment. FIG. 8 is a drawing illustrating an example of a virtual wall setting screen (404) displayed on a display device (44) based on an embodiment. FIG. 9 is a drawing illustrating an example of a virtual wall setting confirmation screen (408) displayed on a display device (44) based on an embodiment. FIG. 10 is a flowchart illustrating the display control processing of a controller (26) based on an embodiment. FIG. 11 is a flowchart that explains in detail the virtual wall position setting process of the virtual wall setting unit (107) based on an embodiment. FIG. 12 is a drawing illustrating an operating range setting system for an excavator based on a modified example 2 of an embodiment. FIG. 13 is a drawing illustrating an operating range setting system for an excavator based on a modified example 3 of an embodiment. Specific details for implementing the invention

[0012] The embodiments will be described with reference to the drawings. Identical parts are given the same reference numerals. Their names and functions are identical. Detailed descriptions thereof will not be repeated.

[0013] <Overall components of the excavator>

[0014] FIG. 1 is an external view of an excavator based on an embodiment. As shown in FIG. 1, an example of an excavator to which the concept of the present disclosure can be applied is a hydraulic shovel equipped with a hydraulically operated working device (2).

[0015] The excavator machine (100) is equipped with a vehicle body (1) and a work device (2).

[0016] The vehicle body (1) has a turning body (3), a driver's cab (4), and a driving device (5).

[0017] The slewing body (3) is positioned on the driving device (5). The driving device (5) supports the slewing body (3). The slewing body (3) can rotate around a pivot axis AX. A driver's seat (4S) where an operator sits is installed in the driver's cabin (4). The operator operates the excavator (100) from the driver's cabin (4). The driving device (5) has a pair of crawlers (5Cr). The excavator (100) moves by the rotation of the crawlers (5Cr). The driving device (5) may be composed of wheels (tires).

[0018] The positional relationships of each part are explained based on the operator seated in the driver's seat (4S). The front-rear direction refers to the front-rear direction of the operator seated in the driver's seat (4S). The left-right direction refers to the left-right direction based on the operator seated in the driver's seat (4S). The left-right direction corresponds to the vehicle's width direction (vehicle width direction). The direction facing directly forward of the operator seated in the driver's seat (4S) is designated as the front direction, and the direction opposite to the front direction is designated as the rear direction. When the operator seated in the driver's seat (4S) faces directly forward, the right and left sides are designated as the right direction and left direction, respectively.

[0019] The slewing body (3) has an engine room (9) in which an engine is housed, and a counterweight CW installed at the rear of the slewing body (3). In the slewing body (3), a handrail (19) is installed in front of the engine room (9). An engine and a hydraulic pump, etc., are arranged in the engine room (9).

[0020] The workpiece (2) is supported on the slewing body (3). The workpiece (2) has a boom (6), an arm (7), a bucket (8), a boom cylinder (10), an arm cylinder (11), and a bucket cylinder (12).

[0021] The boom (6) is connected to the swivel body (3) through the boom pin (13). The arm (7) is connected to the boom (6) through the arm pin (14). The bucket (8) is connected to the arm (7) through the bucket pin (15). The boom cylinder (10) drives the boom (6). The arm cylinder (11) drives the arm (7). The bucket cylinder (12) drives the bucket (8). The base end (boom foot) of the boom (6) is connected to the swivel body (3). The front end (boom top) of the boom (6) is connected to the base end (arm foot) of the arm (7). The front end (arm top) of the arm (7) is connected to the base end of the bucket (8). The bucket (8) is connected to the bucket cylinder (12) through the bucket link BL. The boom cylinder (10), arm cylinder (11), and bucket cylinder (12) are all hydraulic cylinders driven by hydraulic fluid. In the embodiment of the present disclosure, a bucket (8) is shown as an attachment, but the attachment may be any other type of bucket, such as a breaker, a skeleton bucket, or a slope work bucket.

[0022] The boom (6) can be rotated about the pivot body (3) around the boom pin (13), which is the central axis. The arm (7) can be rotated about the boom (6) around the arm pin (14), which is the central axis parallel to the boom pin (13). The bucket (8) can be rotated about the arm (7) around the bucket pin (15), which is the central axis parallel to the boom pin (13) and the arm pin (14).

[0023] FIG. 2 is a schematic diagram illustrating an excavator (100) based on an embodiment. FIG. 2 (A) shows a side view of the excavator (100). FIG. 2 (B) shows a rear view of the excavator (100).

[0024] As shown in FIG. 2 (A) and FIG. 2 (B), the length LD1 of the boom (6) is the distance between the boom pin (13) and the arm pin (14). The length LD2 of the arm (7) is the distance between the arm pin (14) and the bucket pin (15). The length LD3 of the bucket (8) is the distance between the bucket pin (15) and the blade tip (8A) of the bucket (8). The bucket (8) has multiple blades, and the tip of the bucket (8) is referred to as the blade tip (8A). The bucket (8) does not have to have blades. The tip of the bucket (8) may be formed by a straight steel plate.

[0025] The excavator (100) has a boom cylinder stroke sensor (16), an arm cylinder stroke sensor (17), and a bucket cylinder stroke sensor (18). The boom cylinder stroke sensor (16) is placed in the boom cylinder (10). The arm cylinder stroke sensor (17) is placed in the arm cylinder (11). The bucket cylinder stroke sensor (18) is placed in the bucket cylinder (12). The boom cylinder stroke sensor (16), the arm cylinder stroke sensor (17), and the bucket cylinder stroke sensor (18) are collectively referred to as cylinder stroke sensors.

[0026] Based on the detection result of the boom cylinder stroke sensor (16), the stroke length of the boom cylinder (10) is determined. Based on the detection result of the arm cylinder stroke sensor (17), the stroke length of the arm cylinder (11) is determined. Based on the detection result of the bucket cylinder stroke sensor (18), the stroke length of the bucket cylinder (12) is determined.

[0027] The stroke lengths of the boom cylinder (10), arm cylinder (11), and bucket cylinder (12) are also referred to as the boom cylinder length, arm cylinder length, and bucket cylinder length, respectively. The boom cylinder length, arm cylinder length, and bucket cylinder length are collectively referred to as cylinder length data L. The stroke length is not limited to cylinder stroke sensors; for example, a rotation sensor or an angle sensor may be installed in the joints of the working device (2), such as the boom pin (13), arm pin (14), and bucket pin (15), and the stroke length may be detected from the obtained detection result. The stroke length is included in the posture information.

[0028] The excavator (100) is equipped with a positioning device (20) capable of detecting the position of the excavator (100). The positioning device (20) has an antenna (21) and a global coordinate calculation unit (23).

[0029] The antenna (21) is, for example, an antenna for GNSS (Global Navigation Satellite Systems). The antenna (21) is, for example, an antenna for RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems).

[0030] The antenna (21) is installed on the rotating body (3). The antenna (21) is installed on the railing (19) of the rotating body (3). The antenna (21) may also be installed in the rear direction of the engine room (9). The antenna (21) may also be installed on the counterweight of the rotating body (3). The antenna (21) outputs a signal corresponding to the received radio waves (GNSS radio waves) to the global coordinate calculation unit (23).

[0031] The global coordinate calculation unit (23) detects the installation position P1 of the antenna (21) in the global coordinate system. The global coordinate system is a three-dimensional coordinate system (Xg, Yg, Zg) based on a reference position Pr installed in the work area. The reference position Pr is the position of the tip of a reference pile set in the work area. The local coordinate system is a three-dimensional coordinate system represented by (X, Y, Z) based on the excavator (100). The reference position of the local coordinate system is data representing a reference position P2 located at the pivot axis (pivot center) AX of the pivot body (3). The antenna (21) has a first antenna (21A) and a second antenna (21B) installed on the pivot body (3) so as to be spaced apart from each other in the vehicle width direction. The global coordinate calculation unit (23) detects the installation position P1a of the first antenna (21A) and the installation position P1b of the second antenna (21B). The global coordinate calculation unit (23) acquires reference position data P, which is represented by global coordinates. Reference position data P is data representing a reference position P2 located at the pivot axis (pivot center) AX of the pivot body (3). Reference position data P may also be data representing an installation position P1. The global coordinate calculation unit (23) generates pivot body orientation data Q based on two installation positions P1a and P1b. The pivot body orientation data Q is determined based on the angle formed by the straight line determined by the installation positions P1a and P1b with respect to the reference orientation of the global coordinates (e.g., north). The pivot body orientation data Q represents the orientation toward which the pivot body (3) (working machine (2)) is facing. The global coordinate calculation unit (23) outputs the reference position data P and the pivot body orientation data Q to the controller (26) described later. The reference position data P and the pivot body orientation data Q are included in attitude information.

[0032] The excavator (100) is equipped with a vehicle body attitude detection sensor (32) capable of detecting the attitude of the vehicle body (1) of the excavator (100). The vehicle body attitude detection sensor (32) includes an IMU (Inertial Measurement Unit) (24). The IMU (24) is installed on the slewing body (3). The IMU (24) is positioned at the bottom of the driver's cab (4). In the slewing body (3), a high-rigidity frame is positioned at the bottom of the driver's cab (4). The IMU (24) is positioned on the frame. The IMU (24) may be positioned on the side (right or left) of the slewing axis AX (reference position P2) of the slewing body (3). The IMU (24) detects an angle of inclination θ4 that is inclined in the left-right direction of the vehicle body (1) and an angle of inclination θ5 that is inclined in the front-rear direction of the vehicle body (1).

[0033] The excavator (100) is equipped with a turning angle sensor (34).

[0034] The excavator (100) calculates the angle of inclination θ1 of the boom (6) with respect to the pivot axis AX of the pivot body (3) from the boom cylinder length obtained based on the detection result of the boom cylinder stroke sensor (16). The excavator (100) calculates the angle of inclination θ2 of the arm (7) with respect to the boom (6) from the arm cylinder length obtained based on the detection result of the arm cylinder stroke sensor (17). The excavator (100) calculates the angle of inclination θ3 of the blade tip (8A) of the bucket (8) with respect to the arm (7) from the bucket cylinder length obtained based on the detection result of the bucket cylinder stroke sensor (18). Based on the inclination angles θ1, θ2, and θ3 representing the posture of the work machine (2) as the above calculation result, the inclination angle θ4 representing the posture of the vehicle body (1) and the inclination angle θ5 representing the posture of the vehicle body (1) in the front-rear direction, reference position data P, and turning body orientation data Q, it is possible to determine the positions of the boom (6), arm (7), and bucket (8) of the excavator (100). The bucket tip position for setting a virtual wall that restricts the operating range of the excavator (100) can be determined, and its coordinates can be obtained.

[0035] The inclination angle θ1 of the boom (6), the inclination angle θ2 of the arm (7), and the inclination angle θ3 of the bucket (8) do not need to be detected by a cylinder stroke sensor. The inclination angle θ1 of the boom (6) may be detected by a rotation sensor such as a rotary encoder or an angle detector such as an angle sensor. The angle detector detects the bending angle of the boom (6) relative to the slewing body (3) to detect the inclination angle θ1. The inclination angle θ2 of the arm (7) may be detected by an angle detector mounted on the arm (7). The inclination angle θ3 of the bucket (8) may be detected by an angle detector mounted on the bucket (8). Attitude information may also be detected through an IMU (24) mounted on the work machine. Each inclination angle (θ1, θ2, θ3, θ4, θ5) is included in the attitude information.

[0036] FIG. 3 is a schematic block diagram showing the configuration of a control system of an excavator (100) based on an embodiment. As shown in FIG. 3, the excavator (100) includes a positioning device (20), a vehicle body attitude detection sensor (32), a turning angle sensor (34), a work tool attitude detection sensor (36), an surrounding monitoring sensor (38), a memory device (40) which is one of the memory units, an operating lever (42), a display device (44) which is one of the user interface units, an input device (46) which is one of the user interface units, an electromagnetic control valve (48) for a turning motor, a turning motor (62), an electromagnetic control valve (50) for a work tool, a hydraulic cylinder (10, 11, 12), an electromagnetic control valve (52) for a driving motor, a driving motor (56), an engine (54), a hydraulic pump (58), a hydraulic fluid tank (60), and a controller (26).

[0037] Dotted lines in the drawing indicate mechanical connections or connections via hydraulic piping. Solid lines indicate connections via signal lines.

[0038] The controller (26) is a device that controls the entire excavator machine (100) and is a CPU (Central Processing Unit).

[0039] The positioning device (20) includes an antenna (21) and a global coordinate calculation unit (23) and outputs reference position data P and turning body bearing data Q.

[0040] The vehicle body attitude detection sensor (32) includes an IMU (42) and detects an angle of inclination θ4 that is inclined in the left-right direction of the vehicle body (1) and an angle of inclination θ5 that is inclined in the front-rear direction of the vehicle body (1).

[0041] The turning angle sensor (34) detects the angle of the turning body (3) relative to the turning center AX of the excavator (100).

[0042] The workpiece posture detection sensor (36) includes a boom cylinder stroke sensor (16), an arm cylinder stroke sensor (17), and a bucket cylinder stroke sensor (18), and detects the boom cylinder length, arm cylinder length, and bucket cylinder length.

[0043] The surrounding monitoring sensor (38) includes at least one of a camera, an ultrasonic sensor, a radar, and a lidar (Light Detection and Ranging), and measures information about the surroundings of the excavator (100). The surrounding monitoring sensor (38) includes a plurality of cameras installed to capture images of the surroundings of the excavator (100), and acquires information about the actual images captured of the surroundings of the excavator (100). The surrounding monitoring sensor (38) may also measure position information of a point group of the actual image captured as actual image information by using a stereo camera. It is not limited to a stereo camera, and may measure position information of a point group of the actual image by combining a single-lens camera, an ultrasonic sensor, a radar, and a lidar.

[0044] The memory device (40) stores various programs and data. The memory device (40) is any memory device (memory medium) accessible by the controller (26). The memory device (40) may be a memory unit embedded in the controller (26), such as a hard disk or memory, for example, a removable memory medium, such as an optical disc or cartridge, or both of these memory units and memory media.

[0045] The operating lever (42) receives operation instructions from the operator for the excavator (100). The operating lever (42) includes a work lever for operating the work device (2), a swivel lever for swivel the swivel body (3), and a drive lever for operating the drive device (5). The operating lever (42) is installed near the driver's seat (4S).

[0046] A display device (44), which is one of the user interface parts, is a display and presents information to the operator. The display device (44) is composed of a liquid crystal monitor or an organic EL display, and is positioned near the driver's seat (4S).

[0047] An input device (46), which is one of the user interface components, includes a touch panel installed on the display device (44), a setting toggle switch, an input button, etc. The input device (46) and the display device (44) may be a single unit or separate units. If the input device (46) and the display device (44) are separate units, it is preferable that they be placed in close proximity. The input device (46) includes a right setting toggle switch (46A) for setting a virtual wall on the side (right) of the excavator (100) and a left setting toggle switch (46B) for setting a virtual wall on the side (left) of the excavator (100). As shown in FIG. 8, which will be described later, the input device (46) may also include a forward setting toggle switch (46C), an upward setting toggle switch (46D), a downward setting toggle switch (46E), a left turning setting toggle switch (46F), and a right turning setting toggle switch (46G) for setting a virtual wall in front of the excavator (100), as included in the setting guidance screen (430). Each setting toggle switch functions to select and determine whether or not to set a virtual wall.

[0048] FIG. 8 shows a state where all setting toggle switches are off. For example, by setting the forward setting toggle switch (46C) to ON, the position of the blade tip (8A) of the bucket (8) at that time (the position of the front end of the attachment) is calculated, and a forward virtual wall is set at a forward position based on the distance between the blade tip (8A) and a predetermined position of the swivel body (3). Here, instead of the predetermined position of the swivel body (3), a predetermined position of the driving device (5) may be used. Additionally, by setting either or both of the upward setting toggle switch (46D) and the downward setting toggle switch (46E) to ON, the position of the blade tip (8A) of the bucket (8) at that time (the position of the front end of the attachment) is calculated, and an upward virtual wall or a downward virtual wall is set at an upward or downward position based on the distance between the blade tip (8A) and a predetermined position of the swivel body (3). Here, instead of a predetermined position of the turning body (3), a predetermined position of the driving device (5) may be used. Also, when the downward setting toggle switch (46E) is turned on, the screen of the display device (44) may be changed so that a blank screen and a setting button are displayed, allowing numerical input of a depth below the ground. In this case, the operator inputs, for example, a value of 1.5 and presses the setting button (412) as shown in FIGS. 6 and 7, thereby setting a downward virtual wall at a depth of 1.5m below the bottom surface of the driving device (5). When the left setting toggle switch (46A) and the right setting toggle switch (46B) are turned on, the virtual wall is not set by that operation alone. Detailed methods for setting the left virtual wall and the right virtual wall will be described later.

[0049] By turning on either or both of the left turn setting toggle switch (46F) and the right turn setting toggle switch (46G), the relative angle between the driving device (5) and the turning body (3) based on the turning angle of the turning body (3) at that time is determined, and the operating range in which the excavator (100) can turn is restricted. The turning angle can be obtained by the turning angle sensor (34). For example, when the turning body (3) is turned 30 degrees counterclockwise from the forward-facing position, if the left turn setting toggle switch (46F) is turned on, the turning body (3) can only turn up to 30 degrees counterclockwise from the forward-facing position. Additionally, for example, when the right-turn setting toggle switch (46G) is turned on while the rotating body (3) is rotated 30 degrees clockwise from the forward-facing position, the rotating body (3) can only rotate up to 30 degrees clockwise from the forward-facing position.

[0050] The operator can set a virtual wall (right virtual wall) on the side of the excavator (100) by turning on the right setting toggle switch (46A). The operator can set a virtual wall (left virtual wall) on the side of the excavator (100) by turning on the left setting toggle switch (46B). As described above, when setting the right virtual wall and the left virtual wall, the setting of the virtual wall is not completed by turning on each toggle switch (46A, 46B).

[0051] Meanwhile, the operator can complete the setting of a virtual wall in front of the excavator (100) at that point by turning on the front setting toggle switch (46C) as described above.

[0052] The electronic control valve (48) for the slewing motor receives hydraulic fluid from the hydraulic pump (58) and adjusts the amount of hydraulic fluid supplied to the slewing motor (62) according to the instructions of the controller (26).

[0053] The slewing motor (62) rotates along the hydraulic fluid supplied through the electronic control valve (48) for the slewing motor and performs the slewing operation of the slewing body (3).

[0054] The electronic control valve (50) for the workpiece receives hydraulic fluid from the hydraulic pump (58) and, according to the instructions of the controller (26), adjusts the amount of hydraulic fluid supplied to the boom cylinder (10), arm cylinder (11), and bucket cylinder (12), which are hydraulic cylinders.

[0055] The electronic control valve (52) for the driving motor receives hydraulic fluid from the hydraulic pump (58) and adjusts the amount of hydraulic fluid supplied to the driving motor (56) according to the instructions of the controller (26).

[0056] The driving motor (56) rotates along the hydraulic fluid supplied through the electronic control valve (52) for the driving motor and performs the driving operation of the driving device (5).

[0057] The hydraulic pump (58) is driven using the driving force of the engine (54) and supplies hydraulic fluid to each part.

[0058] The hydraulic fluid tank (60) is a tank that stores hydraulic fluid and recovers hydraulic fluid discharged from the slewing motor (62), boom cylinder (10), arm cylinder (11), bucket cylinder (12), and driving motor (56), and also supplies hydraulic fluid to the hydraulic pump (58).

[0059] In the embodiment, the configuration including a setting toggle switch by a software button is described as the input device (46), but it is not limited to a setting toggle switch by a software button; other switches or buttons including mechanical ones may be used to enable setting of the virtual wall. For example, as a setting toggle switch by a software button, the virtual wall may be enabled by an operator selecting a software button displayed on the touch panel of the display device (44).

[0060] Controller Configuration

[0061] FIG. 4 is a block diagram showing the configuration of a controller (26) based on an embodiment.

[0062] An excavator (100) based on an embodiment performs a process of setting the operating range of the excavator by means of a controller (26). The controller (26) sets a virtual wall that regulates the operating range as a setting of the operating range of the excavator. The controller (26) realizes various function blocks by executing a program stored in a memory device (40). The program stored in the memory device (40) may be a program that is stored in advance, or a program downloaded through a server connected to a network not shown.

[0063] As shown in FIG. 4, the controller (26) includes an attitude information acquisition unit (102), an surrounding information acquisition unit (104), a setting input reception unit (106), a display control unit (110), a virtual wall setting unit (107), and an excavation control unit (108).

[0064] The attitude information acquisition unit (102) acquires attitude information of the excavator (100). The attitude information acquisition unit (102) acquires, as attitude information of the excavator (100), angles of inclination θ1, θ2, and θ3 representing the attitude of the working machine (2), angles of inclination θ4 representing the attitude of the vehicle body (1) and the angles of inclination θ5 representing the attitude of the vehicle body (1) and the angle of the turning body (3).

[0065] The surrounding information acquisition unit (104) acquires information on actual images of the surroundings of the excavator (100). The surrounding information acquisition unit (104) acquires information on actual images of the surroundings of the excavator (100).

[0066] The setting input receiving unit (106) receives input for the setting of the surrounding wall of the excavator (100) by an operator. The setting input receiving unit (106) receives input for the ON of the right setting toggle switch (46A) and the left setting toggle switch (46B) by an operator, respectively. The setting input receiving unit (106) receives input by an operator for the touch panel installed on the display device (44).

[0067] The display control unit (110) performs display control for the display device (44). The virtual wall setting unit (107) performs the setting process of a virtual wall that regulates the operating range of the excavator (100).

[0068] The excavation control unit (108) controls the work machine (2) to execute an excavation operation in which soil or other materials to be excavated are excavated using a bucket (8). When a virtual wall is set, the excavation control unit (108) may control the work machine (2) by applying a restriction to its operating range so that the work machine (2) does not operate beyond the position where the virtual wall is set. For example, when the work machine (2) intends to operate beyond the position where the virtual wall is set, the excavation control unit (108) may calculate the relative position relationship between the current position of the blade tip (8A) of the work machine (2) and the virtual wall, and control the work machine (2) by applying a restriction such as slowing down or stopping its operation according to the calculated relative distance. In addition, along with the control that applies a restriction to the work machine (2), the control may also be used to notify the operator of a warning by an alarm device, which is not shown.

[0069] The display control unit (110) includes a model image generation unit (112), a surrounding image generation unit (114), a setting guidance image generation unit (116), and a synthesis unit (118).

[0070] The model image generation unit (112) generates an upper surface model image of the excavator (100). In an embodiment of the present disclosure, the upper surface model image is a single graphic data representing an upper view of the excavator (100) facing forward, which is stored in a memory device (40), and the model image generation unit (112) reads the upper surface model image from the memory device (40) to generate an upper surface model image of the excavator (100).

[0071] The model image generation unit (112) may generate a modified upper surface model image of the excavator (100) sequentially based on the posture information of the excavator (100) acquired by the posture information acquisition unit (102). Alternatively, the model image generation unit (112) may generate an upper surface model image (320) of the excavator (100) by reading a plurality of graphic data previously stored in a memory device (40) based on the posture information of the excavator (100) and determining one graphic data corresponding to the posture information. In this case, the plurality of graphic data may be stored in the memory device (40) based on a combination of the posture of the working machine (2) and the turning angle of the turning body (3). The model image generation unit (112) may generate a three-dimensional model that is similar in size to the excavator (100) based on the posture information of the excavator (100) and generate an upper surface model image when the three-dimensional model is viewed from the top surface.

[0072] The surrounding image generation unit (114) generates a surrounding image of the excavator (100). The surrounding image generation unit (114) generates a surrounding image based on information of an actual image acquired by the surrounding information acquisition unit (104). The surrounding image generation unit (114) can generate a surrounding image of the excavator (100) viewed from above by acquiring actual image data from a plurality of cameras installed to capture the surroundings of the excavator (100) and performing image editing processing on the plurality of actual image data. The surrounding image is generated as an image viewed from above the excavator (100).

[0073] The setting guidance image generation unit (116) generates a setting guidance image for setting a virtual wall. The setting guidance image generation unit (116) generates a setting guidance image for setting a corresponding virtual wall according to the setting of the ON input of either the right setting toggle switch (46A) or the left setting toggle switch (46B). For example, when the right setting toggle switch (46A) is ON, the setting guidance image generation unit (116) generates a setting guidance image for setting a right virtual wall. When the left setting toggle switch (46B) is ON, the setting guidance image generation unit (116) generates a setting guidance image for setting a left virtual wall.

[0074] The synthesis unit (118) synthesizes the top surface model image, the surrounding image, and the setting guidance image and displays them on the display device (44). Instead of the surrounding image, the synthesis unit (118) synthesizes a partial surrounding image, which is a portion of the surroundings of the excavator (100) captured by the surrounding monitoring sensor (38), and displays it on the display device (44). Additionally, the synthesis unit (118) may synthesize the partial surrounding image instead of the setting guidance image and display it on the display device (44). Furthermore, the synthesis unit (118) may not synthesize the top surface model image, but only synthesize the surrounding image and the setting guidance image and display them on the display device (44). Alternatively, the synthesis unit (118) may not synthesize the top surface model image, but only synthesize the partial surrounding image and the setting guidance image and display them on the display device (44). In normal circumstances where virtual walls are not set, the upper surface model image and surrounding image are composited and displayed in the upper area of ​​the display device (44), and the partial surrounding image is composited and displayed in the lower area of ​​the display device (44). When virtual walls are set, the upper surface model image and surrounding image are composited and displayed in the upper area of ​​the display device (44), and the setting guidance image is composited and displayed in the lower area of ​​the display device (44).

[0075] FIG. 5 is an example of a screen displayed on a display device (44) based on an embodiment. FIG. 5 shows a screen (300) displayed on the display device (44) during normal operation. The screen (300) is a normal screen in which no virtual wall is set.

[0076] The display device (44) displays a screen (300) divided into an upper area UA and a lower area LA. The display device (44) can display the upper area UA and the lower area LA simultaneously.

[0077] In the upper area UA of the screen (300), an image of the excavator (100) viewed from above (upper model image (320)) is displayed. The upper model image (320) of the excavator (100) is an image viewed from above the excavator (100). In the lower area LA of the screen (300), a front image (single image (330)) captured by a camera installed on the front side of the work machine (2) is displayed as a partial peripheral image. In the lower area LA, a front image converted to the operator's view of the excavator (100) may also be displayed as a partial peripheral image. Thus, the partial peripheral image may be an image captured by a camera installed on the ceiling of the driver's cabin (4) of the slewing body (3) so as to face the front side of the work machine (2), for example, or a front image created by image editing processing of images captured by multiple cameras to become the operator's view. In addition, the partial surrounding image may be captured by a camera installed in a location capable of capturing a direction different from the front side.

[0078] In the upper area UA of the screen (300), the upper surface model image (320) of the excavator (100) and the surrounding image (310) of the excavator (100) are displayed in a composite state.

[0079] In the embodiment of the present disclosure, the upper surface model image (320) is not an image actually captured from above the excavator (100), and as described above, the upper surface model image (320) is an image displayed based on a single graphic data representing the upper surface view of the excavator (100) facing forward. The upper surface model image (320) is a model image displayed in a shape similar to the size of the actual excavator.

[0080] Virtual lines L1 to L3 are displayed on the screen (300). Virtual lines L1 to L3 are reference lines for determining the distance to the excavator (100). The virtual lines L1 to L3 may be hidden. They may be virtual lines representing actual distances rather than reference lines. Virtual lines L1 to L3 are displayed by overlapping them on the surrounding image (310) to surround the upper model image (320).

[0081] FIG. 6 is a drawing illustrating an example of a virtual wall setting screen (400) displayed on a display device (44) based on an embodiment. FIG. 6 shows a virtual wall setting screen (400) and, when an operator turns on the left setting toggle switch (46B), shows the screen after the screen transition.

[0082] The display device (44) displays a setting screen (400) divided into an upper area UA and a lower area LA. The setting screen (400) displays the upper area UA and the lower area LA simultaneously.

[0083] In the upper area UA of the setting screen (400), an image of the excavator (100) viewed from above (upper model image (320)) is displayed. The image of the excavator (100) viewed from above is an image of the excavator (100) viewed from above. In the lower area LA of the setting screen (400), a first setting guidance image (410) for setting the left virtual wall is displayed.

[0084] In the upper area UA of the setting screen (400), the upper surface model image (320) of the excavator (100) and the surrounding image (310) of the excavator (100) are displayed in a composite state.

[0085] The upper surface model image (320) includes a crawler model image (322) and a work machine model image (324).

[0086] In the lower area LA, as a setting guidance image (410), a message MG1 "Would you like to set the current bucket tip position as the first point?" is displayed along with an image IG1 of the setting of the left virtual wall to set the left virtual wall. The content of message MG1 may be a step-by-step content indicating the method of setting the virtual wall to the operator, or a confirmation content urging the operator to confirm that the virtual wall is being set at the current position. On the setting screen (400), a setting button (412) capable of receiving operation input from the operator and a cancel button (414) are installed.

[0087] Image IG1 is an image showing the positional relationship between the posture of the excavator and the virtual wall to facilitate the setting of the virtual wall. Image IG1, which shows the posture of the excavator, is a graphic image of the excavator (100) viewed from the top surface. It shows the excavator, the work tool, and the driving device in solid lines when the excavator has rotated only a predetermined angle in a counterclockwise direction, and shows the work tool in dashed lines when the excavator has rotated further in a predetermined angle in a counterclockwise direction. In this case, the display of the work tool indicated by dashed lines is not required. Additionally, Image IG1 simultaneously displays a linear graphic image showing the left virtual wall LW. Additionally, Image IG1 displays a point P1 at the point where the left virtual wall LW and the front end of the work tool meet.

[0088] The virtual wall setting unit (107) sets the first coordinate corresponding to the bucket tip for setting the left virtual wall by receiving the selection input of the operator's setting button (412) by the setting input receiving unit (106). When the virtual wall setting screen (400) receives the first setting, it transitions to the next virtual wall setting screen.

[0089] The virtual wall setting process is canceled when the operator selects the cancel button (414). The screen of the display device (44) is changed, and the normal screen (300) is displayed on the display device (44).

[0090] FIG. 7 is a drawing illustrating an example of a virtual wall setting screen (402) displayed on a display device (44) based on an embodiment. FIG. 7 shows a virtual wall setting screen (402) and, when an operator turns on the left setting toggle switch (46B), shows the screen after the screen transition.

[0091] The display device (44) displays a setting screen (402) divided into an upper area UA and a lower area LA. The setting screen (402) displays the upper area UA and the lower area LA simultaneously.

[0092] In the upper area UA of the setting screen (402), an image of the excavator (100) viewed from above (upper model image (320)) is displayed. The image of the excavator (100) viewed from above is an image of the excavator (100) viewed from above. In the lower area LA of the setting screen (402), a second setting guidance image (420) for setting the left virtual wall is displayed.

[0093] In the upper area UA of the setting screen (402), the upper surface model image (320) of the excavator (100) and the surrounding image (310) of the excavator (100) are displayed in a composite state.

[0094] The upper surface model image (320) includes a crawler model image (322) and a work machine model image (324).

[0095] In the lower area LA, as a setting guidance image (420), a message MG2 "Would you like to set the current bucket tip position as the second point?" is displayed along with an image IG2 of the setting of the left virtual wall. The content of message MG2 may be a step-by-step content guiding the operator on how to set the virtual wall, or a confirmation content urging the operator to confirm that the virtual wall is being set at the current position. A setting button (412) and a cancel button (414) are installed on the setting screen (402).

[0096] Image IG2 is an image showing the positional relationship between the posture of the excavator and the virtual wall to facilitate the setting of the virtual wall. Image IG2 is a graphic image of the excavator (100) viewed from the top surface, showing the work unit when the swivel body has rotated by a predetermined angle with dashed lines, and showing the swivel body, work unit, and driving device when the swivel body and work unit have rotated further counterclockwise by a predetermined angle with solid lines. In this case, the indication of the work unit shown with dashed lines is not required. Additionally, Image IG2 simultaneously displays a linear graphic image showing the left virtual wall LW. Furthermore, Image IG2 differs from Image IG1 shown in FIG. 6 in the following respects. The solid lines of Image IG2 show a rotational state that has rotated further counterclockwise than the rotational state shown by the swivel body and work unit shown with solid lines in Image IG1. In addition, image IG2 shows point P2 at the point where the left virtual wall LW and the tip of the working machine meet, but the position of point P2 is on the line indicated by the left virtual wall LW, just like point P1 shown in Fig. 6, but the position of point P2 is different from the position of point P1, and point P2 is shown at a position lower than the position of point P1.

[0097] The virtual wall setting unit (107) sets a second point coordinate corresponding to the bucket tip for setting the left virtual wall by receiving the selection input of the operator's setting button (412) by the setting input receiving unit (106). The virtual wall setting unit (107) sets the left virtual wall based on the first point coordinate and the second point coordinate for setting the left virtual wall.

[0098] By selecting the cancel button (414), the operator cancels the setting process of the second virtual wall and returns to the setting process of the first virtual wall. The virtual wall setting screen (402) is transitioned, and the display device (44) returns to the virtual wall setting screen (400).

[0099] In the virtual wall setting screen, the case of setting the left virtual wall, which is one side of the excavator (100)'s side wall, has been described, but the same applies to the case of setting the right virtual wall, which is the other side of the excavator (100)'s side wall.

[0100] FIG. 8 is a drawing illustrating an example of a virtual wall setting screen (404) displayed on a display device (44) based on an embodiment. FIG. 8 shows a virtual wall setting screen (404), and in the setting guidance image (430), a setting toggle switch is displayed in the lower area LA so that the operator can turn on or off the front setting toggle switch (46C) in addition to the right setting toggle switch (46A) and the left setting toggle switch (46B). In addition to the front setting toggle switch (46C), an upward setting toggle switch (46D) and a downward setting toggle switch (46E) for the operator to set the virtual wall upward or downward, and a left turning setting toggle switch (46F) and a right turning setting toggle switch (46G) for the operator to set the operating range of rotation may also be displayed in the lower area LA. In the setting guidance image (430) shown in FIG. 8, each setting toggle switch (46C, 46D, 46D, 46E, 46F, 46G) is displayed independently. Each setting toggle switch has a circular toggle displayed so that either an ON position or an OFF position can be selected and set.

[0101] In FIGS. 6 and 7, when setting the left virtual wall LW or the right virtual wall RW, a setting guidance image (420) including image IG1 or image IG2 and message MG1 or message MG2 is displayed in the lower area LA. When setting the virtual wall to the front, top, or bottom, a setting guidance image (430) as shown in FIG. 8 is displayed, but nothing corresponding to image IG1 or image IG2 and message MG1 or message MG2 is displayed.

[0102] The display device (44) displays a setting screen (404) divided into an upper area UA and a lower area LA. The setting screen (404) displays the upper area UA and the lower area LA simultaneously.

[0103] In the upper area UA of the setting screen (404), an image of the excavator (100) viewed from above (upper model image (320)) is displayed. The image of the excavator (100) viewed from above is an image of the excavator (100) viewed from above.

[0104] In the upper area UA of the setting screen (404), the upper surface model image (320) of the excavator (100) and the surrounding image (310) of the excavator (100) are displayed in a composite state. Additionally, virtual lines L1 to L3 are displayed superimposed on the surrounding image (310) so as to surround the upper surface model image (320).

[0105] The upper surface model image (320) includes a crawler model image (322) and a work machine model image (324).

[0106] For example, when FIG. 8 is displayed on the display device (44), after operating the forward setting toggle switch (46C) to ON, the screen transitions, and in the lower area LA, a message for setting the forward virtual wall, "Would you like to set the forward virtual wall based on the current bucket tip position?" may be displayed as a setting guidance image (430), along with an image of the setting of the forward virtual wall. On the setting screen (404), a setting button (412) capable of receiving operator input and a cancel button (414) may be installed. In this way, when setting the virtual wall in the front, a setting guidance image (430) may be displayed, which is a graphic image of the excavator (100) viewed from the top surface and includes an image showing the direction of the work machine as it is on the screen.

[0107] As a setting screen for virtual walls, the case of setting a front virtual wall on the front side of the excavator (100) has been described, but it is also possible to set a rear virtual wall on the rear side of the excavator (100), or an upper virtual wall on the upper side of the excavator (100), or a lower virtual wall on the lower side. In the embodiment of the present disclosure, when setting a front virtual wall, an upper virtual wall, a lower virtual wall, or a rear virtual wall, the operator can complete the setting of the virtual wall simply by turning on each setting toggle switch displayed on the setting guidance image (430) while the working machine (2) is in a desired position.

[0108] FIG. 9 is a drawing illustrating an example of a virtual wall setting confirmation screen (408) displayed on a display device (44) based on an embodiment. As shown in FIG. 9, the virtual wall setting confirmation screen (408) is a screen that is displayed when a second setting input for setting a virtual wall is received in the case of a left virtual wall LW or a right virtual wall RW.

[0109] The display device (44) displays a setting confirmation screen (408) divided into an upper area UA and a lower area LA. The setting confirmation screen (408) displays the upper area UA and the lower area LA simultaneously.

[0110] In the upper area UA of the setting confirmation screen (408), an image of the excavator (100) viewed from above (upper model image (320)) is displayed. The image of the excavator (100) viewed from above is an image of the excavator (100) viewed from above. In the lower area LA of the setting confirmation screen (408), a setting guidance image (450) is displayed.

[0111] In the upper area UA of the setting confirmation screen (408), the upper surface model image (320) of the excavator (100) and the surrounding image (310) of the excavator (100) are displayed in a composite state.

[0112] In the lower area LA, the setting guidance image (450) included in the setting confirmation screen (408) displays the 3D model MD of the excavator (100) along with the image IW of a virtual wall that can be set around the 3D model MD. Additionally, a message MG3 “The virtual wall setting has been changed” is displayed to facilitate confirmation of the set virtual wall. A confirmation button (416) is installed on the setting confirmation screen (408).

[0113] The display of the virtual wall image IW may be performed as follows. For example, based on the 3D model MD of the excavator (100), the set virtual wall may be flashed or the set virtual wall may be colored and displayed so that the location of the set virtual wall can be identified.

[0114] The setting guidance image (450) of the setting confirmation screen (408) may include a graphic image of the swivel range image CA. The swivel range image CA is information indicating the relationship between the current direction of the driving device (5) relative to the turning body (3), the range of the set turning angle, and, as shown in FIG. 9, the arc RR shown as a thick line indicates the set swivel angle range, and the triangular arrow TG indicates the current direction of the driving device (5) relative to the turning body (3). As described above, the swivel angle range is set by turning on either or both of the left turning setting toggle switch (46F) or the right turning setting toggle switch (46G).

[0115] In the setting guidance image (450), a reference image BG, which is a graphic image showing a simplified top view of the excavator (100), is simultaneously displayed. The reference image BG shows a top view when the excavator (100) is facing forward, and by observing the difference between the direction of the work tool (3) shown by the reference image BG and the direction shown by the tip of the arrow TG, the relative positional relationship (turning angle) of the current turning body (3) and the driving device (5) can be determined.

[0116] When the operator selects the confirmation button (416) and presses the confirmation button (416), the setting confirmation screen (408) transitions to the next screen. When the confirmation button (416) is pressed, the normal screen (300) is displayed on the display device (44). That is, the operator pressing the confirmation button (416) means that the operator approves the setting or changed virtual wall.

[0117] As described above, in the upper area UA of the setting screen (400, 402, 404), an image of the excavator (100) viewed from the top (upper model image (320)) is displayed. In the lower area LA of the setting screen, a setting guidance image (410, 420, 430) for setting a virtual wall is displayed. Therefore, when setting a virtual wall, it is possible to set the virtual wall while checking the setting guidance image and the actual surrounding image (310) of the excavator (100) from an upward viewpoint. That is, it is possible to set the virtual wall while checking the relative positional relationship between the objects existing around the excavator (100) and the excavator (100). If the operator intends to set the virtual wall while looking at the surroundings of the excavator (100) with the naked eye, the blind spot area when viewed from the cab (4) cannot be seen with the naked eye. According to an embodiment of the present disclosure, since surrounding images are displayed on the setting screen, it is possible to set a virtual wall while checking the presence or absence of objects within the blind spot range and the distance to the objects. Accordingly, an appropriate operating range of the excavator (100) can be set in a simple manner.

[0118] Additionally, in the upper area UA and lower area LA of the setting screen (400, 402, 404), an image of the excavator (100) viewed from the top (upper surface model image (320)) and a setting guidance image (410, 420, 430) for setting a virtual wall are respectively displayed. Although it is necessary to check the information displayed in the upper area UA, which serves as a reference for determining the location for setting the virtual wall, the setting guidance image for setting the virtual wall is installed in the lower area LA, so that the operator can visually observe the upper area UA without blocking the operator's view with their hands or fingers. Because of this, the operator can set the virtual wall while always checking the information indicated by the surrounding image (310) displayed in the upper area UA, and can set the appropriate operating range of the excavator (100) in a simple manner.

[0119] FIG. 10 is a flowchart explaining the display control processing of a controller (26) based on an embodiment. As shown in FIG. 10, the attitude information acquisition unit (102) acquires attitude information (step S2). The attitude information acquisition unit (102) acquires inclination angles θ1, θ2, and θ3 representing the attitude of the working device (2) as attitude information of the excavator (100), an inclination angle θ4 in the left-right direction representing the attitude of the vehicle body (1), an inclination angle θ5 in the front-rear direction representing the attitude of the vehicle body (1), and an angle of the turning body (3).

[0120] Next, the surrounding information acquisition unit (104) acquires surrounding information (step S4). The surrounding information acquisition unit (104) acquires information of an actual image captured of the surroundings of the excavator (100). Also, the order of acquiring attitude information in step S2 and acquiring surrounding information in step S4 may be reversed.

[0121] Next, the surrounding image generation unit (114) generates a surrounding image (step S6). The surrounding image generation unit (114) generates a surrounding image based on the information of the actual image acquired by the surrounding information acquisition unit (104).

[0122] The setting guidance image generation unit (116) generates a setting guidance image (step S8).

[0123] Next, the synthesis unit (118) generates a composite image by synthesizing the upper surface model image, the surrounding image, and the setting guidance image (step S10).

[0124] Next, the display device (44) displays a composite image synthesized by the synthesis unit (118) (step S12). Specifically, the display device (44) displays the setting screen (400–404) described in FIGS. 6–8 or the setting confirmation screen (408) described in FIG. 9.

[0125] Next, the setting input receiving unit (106) determines whether there is a setting input for the virtual wall (step S14). The setting input receiving unit (106) determines whether it has received an input of ON for the right setting toggle switch (46A) and the left setting toggle switch (46B) by, for example, an operator. The determination in step S14 is sufficient if it is determined whether an ON input has been received for either the right setting toggle switch (46A) or the left setting toggle switch (46B). The determination in step S14 may include determining whether an ON input has been received for any one of the front setting toggle switch (46C), the upper setting toggle switch (46D), and the lower setting toggle switch (46E).

[0126] If any one of the inputs of ON for the front setting toggle switch (46C), ON for the upper setting toggle switch (46D), or ON for the lower setting toggle switch (46E) is input by the operator, step S16 is skipped, the virtual wall position setting is completed (YES in step S18), and the process proceeds to step S20.

[0127] Meanwhile, if the operator turns on either the right setting toggle switch (46A) or the left setting toggle switch (46B), the process proceeds to step S16 (flow shown in FIG. 11) as a virtual wall position setting process.

[0128] In step S14, if the setting input receiving unit (106) determines that there is a setting input for the left virtual wall or the right virtual wall (YES in step S14), it instructs the setting guidance image generating unit (116) and executes the virtual wall position setting process (step S16).

[0129] Details of the virtual wall position setting process shown in FIG. 11 will be described later, but when the setting guidance image generation unit (116) determines, for example, that it has received an input of ON for the right setting toggle switch (46A) by an operator, it generates a setting guidance image including a message image for setting the right virtual wall along with an image of the setting of the right virtual wall. When the setting guidance image generation unit (116) determines, for example, that it has received an input of ON for the left setting toggle switch (46B) by an operator, it generates a setting guidance image including a message image for setting the left virtual wall along with an image of the setting of the left virtual wall. Both setting guidance images are displayed on the setting screen along with an image including an image (310) of the surroundings of the excavator (100).

[0130] Additionally, the setting guidance image generation unit (116) determines that the setting input for the virtual wall has been received even when the setting button (412) is selected on the setting screen and generates a setting guidance image. When the cancel button (414) or the confirmation button (416) is selected, the setting guidance image generation unit (116) generates the previous setting guidance image or terminates the generation of the setting guidance image.

[0131] Next, the controller (26) determines whether the operator has completed setting the position of a predetermined virtual wall by operating the working device (2) or the slewing body (3) of the excavator (100) (step S18). Also, the acquisition of attitude information in step S2 may be performed for the first time before step S18. In step S18, if the controller (26) determines that the setting of the predetermined virtual wall position has not been completed (NO in step S18), it returns to step S2 and repeats the above processing.

[0132] In step S20, if the controller (26) determines that the operation of the excavator (100) has stopped (YES in step S20), the processing is terminated (end). For example, the controller (26) determines that the operation has stopped if there is an instruction to stop the engine by the operator.

[0133] Meanwhile, in step S20, if the controller (26) determines that the operation of the excavator (100) has not ended (NO in step S20), it returns to step S2 and repeats the above process. The operating range of the excavator (100) is regulated and controlled along a set virtual wall.

[0134] Meanwhile, in step S14, if the setting input receiving unit (106) determines that there is no setting input for the virtual wall (NO in step S14), it returns to step S2 and repeats the above processing. At this time, the display device (44) displays the normal screen (300) described in FIG. 5.

[0135] FIG. 11 is a flowchart that explains in detail the virtual wall position setting process of the virtual wall setting unit (107) based on an embodiment. That is, FIG. 11 explains the process of executing the virtual wall position setting process when there is an input for virtual wall setting in step S14 (step S14) as YES) as shown in FIG. 10, and the process until the desired virtual wall position setting in step S18 is completed. In this case, step S22 corresponds to step S14 of FIG. 10, which determines whether there is a virtual wall setting input. FIG. 11 also shows a flowchart for the case where the virtual wall setting is executed for either the left virtual wall LW or the right virtual wall RW. As shown in FIG. 11, the setting input receiving unit (106) determines whether one of the setting toggle switches is ON (step S22). Specifically, the setting input receiving unit (106) receives the operation of the right setting toggle switch (46A) and the left setting toggle switch (46B) of the input device (46) by the operator. The setting input receiving unit (106) outputs on or off information corresponding to the operation of the right setting toggle switch (46A) and the left setting toggle switch (46B) of the input device (46) by the operator to the virtual wall setting unit (107).

[0136] The virtual wall setting unit (107) starts setting the virtual wall when the setting toggle switch is turned on (step S24). The virtual wall setting unit (107) starts processing the setting of the right virtual wall when the switch operation of the right setting toggle switch (46A) of the input device (46) by the operator is turned on. The virtual wall setting unit (107) starts processing the setting of the left virtual wall when the switch operation of the left setting toggle switch (46B) of the input device (46) by the operator is turned on.

[0137] Next, the virtual wall setting unit (107) determines whether there is a setting input for the first point of the virtual wall (step S26). In the case of setting the left virtual wall, the virtual wall setting unit (107) determines whether the operator has selected the setting button (412) in the virtual wall setting screen (400). The operator operates the work machine (2) or the rotating body (3) while looking at the setting guidance image (410) (see FIG. 6), and after operating the work machine (2) to a position determined to be the first point for setting the left virtual wall, selects the setting button (412). When the setting button (412) is selected, there is a setting input for the first point of the virtual wall (corresponding to point P1 shown in FIG. 6).

[0138] In step S26, the virtual wall setting unit (107) determines that there is a first point setting input (YES in step S26) and sets a first point for setting the virtual wall. The virtual wall setting unit (107) sets the bucket tip position of the excavator (100) (e.g., the tip position of the bucket blade (8A)) as the first point coordinate when the setting button (412) is selected on the virtual wall setting screen (400).

[0139] Next, the virtual wall setting unit (107) determines whether there is a second setting input (step S30). For example, in the case of setting the left virtual wall, the virtual wall setting unit (107) determines whether the operator has selected the setting button (412) on the virtual wall setting screen (402). The operator operates the work machine (2) or the rotating body (3) while looking at the setting guidance image (410) (see FIG. 7), and after operating the work machine (2) at a position determined to be the second point for setting the left virtual wall, selects the setting button (412). When the setting button (412) is selected, there is a second setting input for the virtual wall (corresponding to point P2 shown in FIG. 7).

[0140] In step S30, if the virtual wall setting unit (107) determines that there is a second point setting input (YES in step S30), it sets a second point for setting the virtual wall (step S32). The virtual wall setting unit (107) sets the bucket tip position of the excavator (100) (for example, the tip position of the bucket blade (8A)) when the setting button (412) is selected on the virtual wall setting screen (402) as the second point coordinate.

[0141] Next, the virtual wall setting unit (107) includes a first point and a second point, and sets a plane perpendicular to the ground as a virtual wall (step S34). The virtual wall setting unit (107) can set a plane perpendicular to the ground that includes two points based on the ground where the excavator (100) is located as a plane including a first point and a second point as a virtual wall.

[0142] Then, the virtual wall setting unit (107) terminates the processing (returns). That is, proceeds to step S18 of FIG. 10.

[0143] Meanwhile, in step S22, if the setting input receiving unit (106) determines that the setting toggle switch is not on (NO in step S22), it outputs off information to the virtual wall setting unit (107).

[0144] The virtual wall setting unit (107) resets the virtual wall setting when the setting toggle switch is off (step S36). The virtual wall setting unit (107) resets the right virtual wall setting when the switch operation of the right setting toggle switch (46A) of the input device (46) by the operator is off. The virtual wall setting unit (107) resets the left virtual wall setting when the switch operation of the left setting toggle switch (46B) of the input device (46) by the operator is off.

[0145] Then, the virtual wall setting unit (107) terminates the processing (returns). That is, proceeds to step S18 of FIG. 10.

[0146] By the above processing, the operator can set up a virtual wall while always checking the information displayed by the surrounding image (310), and can set an appropriate operating range of the excavator (100) in a simple manner.

[0147] (Variation Example 1)

[0148] In the first variation of the embodiment, a method for easily identifying the location of a virtual wall is described.

[0149] Specifically, the synthesis unit (118) may further synthesize an image of the virtual wall based on the position information of the set virtual wall and display it on the display device (44). In the normal screen displayed on the display device (44), the image of the set virtual wall may be further synthesized and displayed with respect to the image of the excavator (100) viewed from the top surface. The image of the set virtual wall may be, for example, represented as a line. Thus, the operator can easily determine where the virtual wall is set when performing excavation work.

[0150] Each type of virtual wall may be colored to facilitate easy identification of whether the set virtual wall is the right virtual wall, the left virtual wall, or the front virtual wall. This allows the operator to easily determine the location of each virtual wall, for example, when performing excavation work.

[0151] The composite section (118) is not limited to the upper region UA, but may composite and display the image of the virtual wall with respect to the image of the lower region LA.

[0152] The excavation machine (100) may further include a switching switch, a software button, etc., for switching whether to display an image of a virtual wall on a display device (44).

[0153] (Variation Example 2)

[0154] FIG. 12 is a drawing illustrating an operating range setting system for an excavator based on a modified example 2 of an embodiment. As shown in FIG. 12, the operating range system (1000) for an excavator based on a modified example 2 of an embodiment includes a network N, a server (200), and an excavator (100).

[0155] The operating range setting system (1000) is installed so that the excavator (100) can communicate with the server (200) via network N. In the above-described embodiment, the case in which the excavator (100) performs a process to set the operating range of the excavator has been described. The operating range system (1000) of the excavator according to Variation Example 2 of the embodiment transmits information acquired from various sensors of the excavator (100) to the server (200) via network N, and the server (200) performs a process to set the operating range of the excavator. Specifically, all or part of the functions of the controller (26) described in FIG. 4 may be performed by the server (200). The excavator (100) can reduce the processing load of the controller (26) of the excavator (100) by processing in conjunction with the server (200).

[0156] (Variation Example 3)

[0157] FIG. 13 is a diagram illustrating a system for setting the operating range of an excavator based on a modified example 3 of the embodiment. As shown in FIG. 13, the system for setting the operating range of an excavator (2000) based on a modified example 3 of the embodiment includes an excavator (100) and a portable terminal (250) capable of communicating with the excavator (100). Similar to modified example 2 of the embodiment, information acquired from various sensors of the excavator (100) is transmitted to the portable terminal (250), and a process for setting the operating range of the excavator is executed on the portable terminal (250). Specifically, it is possible to implement the function of the controller (26) described in FIG. 4 on the portable terminal (250) capable of remotely operating the excavator (100). With the above configuration, it becomes possible to simply set the operating range of the excavator (100) using a display device and a touch panel installed on the portable terminal (250). The server (200) may be further combined to form an operating range system for an excavator. An application program for executing the functions of the controller (26) of the present disclosure may also be provided.

[0158] In the above-described embodiment, a hydraulic shovel of an excavator can be used as an example, but the embodiment disclosed herein is not limited to a hydraulic shovel and can be applied to other types of excavators such as mechanical rope shovels, electric shovels, and wheel loaders. Furthermore, the hydraulic shovel is not limited to a hydraulic shovel with crawlers and may also be a tire-type hydraulic shovel.

[0159] Although embodiments of the present disclosure have been described above, the embodiments disclosed herein should be regarded as illustrative and not limiting in all respects. The scope of the present disclosure is defined by the claims, and all modifications within the equivalent meaning and scope of the claims are intended to be included. Explanation of the symbols

[0160] 1: Vehicle body 2: Work tool 3: Slewing body 4: Cab 4S: Driver's Seat 5: Driving Gear 5Cr: Crawler 6: Boom 7: Am 8: Bucket 8A: Blade tip 9: Engine room 10: Boom cylinder 11: Arm cylinder 12: Bucket cylinder 13: Boom pin 14: Female pin 15: Bucket pin 16: Boom Cylinder Stroke Sensor 17: Arm cylinder stroke sensor 18: Bucket cylinder stroke sensor 19: Handrail 20: Position detection device 21: Antenna 23: Global Coordinate Calculation Unit 26: Controller 32: Body posture detection sensor 34: Swing angle sensor 36: Work implement attitude detection sensor 38: Surroundings sensor 40: Memory device 42: Operation lever 44: Display device 46: Input device 46A: Right setting toggle switch 46B: Left setting toggle switch 46C: Front setting toggle switch 48: Electronically controlled valve for slewing motors 50: Electronic control valve for implements 52: Electronic control valve for drive motor 54: Engine 56: Driving motor 58: Hydraulic pump 60: Working fluid tank 62: Slewing motor 100: Excavator 102: Detail Information Acquisition Unit 104: Surrounding Information Acquisition Unit 106: Settings Input Reception Section 107: Virtual Wall Settings Section 108: Excavation control unit 110: Display control unit 112: Model image generation unit 114: Surrounding image generation unit 116: Configuration guidance image generation unit 118: Synthesis Department 200: Server 250: Mobile terminal

Claims

Claim 1 A system for setting the operating range of an excavator, comprising: an surrounding information acquisition unit for acquiring information on actual images surrounding an excavator; a user interface unit; and a controller that generates a surrounding image based on the information on actual images acquired by the surrounding information acquisition unit, and displays the surrounding image and a setting guidance image for setting a virtual wall that regulates the operating range of the excavator in the user interface unit; wherein the controller receives a setting of a first position of the leading edge of the excavator as a first point, receives a setting of a second position of the leading edge of the excavator as a second point, and sets a plane perpendicular to the ground as a virtual wall including the first point and the second point that received the setting. Claim 2 A system for setting the operating range of an excavator, wherein, in claim 1, the surrounding image is displayed in the upper area of ​​the user interface section and the setting guidance image is displayed in the lower area of ​​the user interface section. Claim 3 A system for setting the operating range of an excavator, wherein, in claim 1 or 2, a memory unit for storing an upper surface model image of the excavator viewed from the upper surface, and the user interface unit for displaying the upper surface model image together with the surrounding image. Claim 4 In paragraph 3, the excavator is equipped with a working device having a bucket, and the tip portion is the cutting edge of the bucket, a system for setting the operating range of the excavator. Claim 5 In paragraph 3, the above surrounding image is a bird's-eye view image centered on the above upper surface model image, a system for setting the operating range of an excavator. Claim 6 A system for setting the operating range of an excavator, wherein the setting guidance image includes an image and a message indicating the positional relationship between the attitude of the excavator and the virtual wall to prompt the setting of the virtual wall. Claim 7 In paragraph 3, the operating range setting system of an excavator, wherein a reference line is superimposed and displayed to surround the upper surface model image in the user interface section. Claim 8 In claim 1, the virtual wall is a system for setting the operating range of an excavator, which is set on either the left or right side of the excavator. Claim 9 A control method for an operating range setting system of an excavator, comprising: a step of acquiring information on an actual image surrounding an excavator; a step of generating an surrounding image based on the acquired information on the actual image; a step of displaying the surrounding image and a setting guidance image for setting a virtual wall regulating the operating range of the excavator in a user interface; and a step of receiving a setting of a first position of the leading edge of the excavator as a first point, receiving a setting of a second position of the leading edge of the excavator as a second point, and setting a plane perpendicular to the ground as a virtual wall including the first point and the second point for which the settings were received. Claim 10 delete

Images