CN119221556A

CN119221556A - Display device for excavator, display device for construction machinery, and monitoring system for excavator

Info

Publication number: CN119221556A
Application number: CN202410459807.5A
Authority: CN
Inventors: 佐野裕介; 平手奖二
Original assignee: Sumitomo Heavy Industries Ltd
Current assignee: Sumitomo Heavy Industries Ltd
Priority date: 2023-06-30
Filing date: 2024-04-17
Publication date: 2024-12-31
Also published as: US20250003202A1; DE102024118207A1; JP2025007068A

Abstract

The present invention relates to a display device for an excavator, a display device for a construction machine, and a monitoring system for an excavator, which facilitate management of an excavator that is being autonomously controlled. The display device for an excavator according to one aspect of the present invention includes a control unit configured to acquire information related to a plurality of operations from the excavator when the excavator sequentially performs the operations by autonomous control, and to change a content displayed on the excavator when the operation switching of the excavator is recognized based on the information.

Description

Display device for excavator, display device for construction machine, and monitoring system for excavator

Technical Field

The present application claims priority based on japanese patent application No. 2023-108228 filed on 30 th 6 th 2023. The entire contents of this japanese application are incorporated by reference into the present specification.

The present invention relates to a display device for an excavator, a display device for a construction machine, and a monitoring system for an excavator.

Background

Conventionally, an excavator that performs autonomous control has been proposed. A remote system provided with a management device so that the status of an excavator can be grasped remotely when the excavator is autonomously controlled has been proposed (refer to patent document 1). In this remote system, a dedicated worker can determine the state of the shovel being autonomously controlled based on the content displayed on the management device.

Patent document 1 Japanese patent application laid-open No. 2022-152970

However, in the system described in patent document 1, what kind of information should be displayed on the display of the management apparatus is not considered. That is, it is considered that the state of the shovel is easier to grasp by displaying a display corresponding to the operation of the shovel on the display of the management device.

Disclosure of Invention

In view of the above, by displaying the operation of the shovel in response to the autonomous control, the state of the shovel is easily grasped, and the management of the shovel in response to the autonomous control is easily performed.

The display device for an excavator according to one aspect of the present invention includes a control unit configured to acquire information related to a plurality of operations from the excavator when the excavator sequentially performs the operations by autonomous control, and to change a content displayed on the excavator when the operation of the excavator is recognized to be switched based on the information.

ADVANTAGEOUS EFFECTS OF INVENTION

According to one aspect of the present invention, the state of the shovel being autonomously controlled can be easily recognized, and therefore, the shovel being autonomously controlled can be easily managed.

Drawings

Fig. 1 is a schematic diagram showing an example of the remote management system according to embodiment 1.

Fig. 2 is a side view showing an excavator (excavator) according to embodiment 1.

Fig. 3 is a diagram showing an example of the configuration of the drive control system of the excavator according to embodiment 1.

Fig. 4 is a functional block diagram showing an example of the configuration of the remote management system according to embodiment 1.

Fig. 5 is a diagram illustrating a display screen generated by the screen generating unit according to embodiment 1.

Fig. 6 is a diagram illustrating a display screen generated by the screen generating unit according to embodiment 1.

Fig. 7 is a diagram illustrating a display screen generated by the screen generating unit according to modification 1.

Fig. 8 is a diagram illustrating a display screen generated by the screen generating unit according to modification 1.

Fig. 9 is a diagram illustrating a display screen generated by the screen generating unit according to modification 2.

Description of symbols

100-Excavator, 1-lower traveling structure, 2-slewing mechanism, 3-upper slewing structure, 4-boom, 5-arm, 6-bucket, S6-camera, S7-space recognition device, S8-position measuring device, T1-communication device, DI-display device, 30-excavator controller, 301-acquisition part, 302-excavator state determination part, 303-motion setting part, 304-target track generation part, 305-autonomous control part, 306-transmission control part, 307-actuator driving part, 31-proportional valve, 200-management device, T2-communication device, D1-display device, 230-controller, 231-reception control part, 232-motion determination part, 233-picture generation part, 234-display control part, 400-fixed point measurement device, T3-communication device, S40-camera, S41-space recognition device, 430-controller, 431-transmission control part, 450-position information storage part.

Detailed Description

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The embodiments described below are examples, and not limiting the invention, but all the features or combinations thereof described in the embodiments are not necessarily essential features or combinations thereof of the invention. In the drawings, the same or corresponding structures may be denoted by the same or corresponding symbols, and description thereof may be omitted.

(Embodiment 1)

First, an outline of the remote management system SYS according to embodiment 1 will be described with reference to fig. 1. Fig. 1 is a schematic diagram showing an example of remote management system SYS according to embodiment 1.

< Devices constituting remote management System >

As shown in fig. 1, the remote management system SYS according to embodiment 1 includes an excavator 100, a fixed point measuring device 400, and a management device 200.

The shovel 100, the fixed point measuring device 400, and the management device 200 are connected to be able to transmit and receive data via a communication line NW. For example, the shovel 100 is configured to be capable of wireless communication.

The shovel 100 is configured to perform work by autonomous control at a construction site.

The number of the shovels 100 may be one or plural. In the remote management system SYS, information related to autonomous control of the shovel 100 can be provided from the shovel 100 to the management device 200.

The fixed point measuring device 400 is provided at a construction site where the shovel 100 performs work, and is configured to detect a condition of the construction site.

The fixed-point measuring device 400 may be one or a plurality of fixed-point measuring devices. Thereby, the remote management system SYS can provide the information related to the construction site to the management apparatus 200 through the site-specific measurement apparatus 400.

The shovel 100 and the fixed point measuring device 400 transmit information about the shovel 100 and information about the construction site to the management device 200 via the communication line NW. Therefore, the shovel 100 and the fixed point measuring device 400 are provided with sensors capable of three-dimensionally recognizing the position and shape of an object existing at the construction site. For example, the shovel 100 is provided with a space recognition device S7 (described later), and the fixed point measuring device 400 is provided with a space recognition device S41 (described later). Therefore, the shovel 100 and the fixed point measurement device 400 can transmit the three-dimensional measurement result of the construction site to the management device 200.

In order to capture a job site, the spatial recognition devices S7, S41 may use LIDAR. LIDAR, for example, measures distances between 100 tens of thousands or more points within a monitoring range and the LIDAR. The present embodiment is not limited to a method using LIDAR, and may be a spatial recognition device capable of measuring a distance to an object. For example, a stereo camera may be used, and a distance measuring device such as a millimeter wave radar may be used.

The management device 200 is provided for a manager to manage a construction site including the shovel 100. The management device 200 includes a display device D1.

The display device D1 displays a screen based on information transmitted from the shovel 100 and the fixed point measuring device 400. That is, the display device D1 displays the construction site and the like, and the manager can check the condition of the construction site.

In this way, the management device 200 can present the situation of the construction site including the shovel 100 at multiple angles based on the detection results from the shovel 100 and the fixed point measuring device 400. In the present embodiment, the device for performing measurement on the construction site including the shovel 100 is not limited to the shovel 100 and the fixed point measuring device 400, and may be another device such as an unmanned aerial vehicle flying above the construction site or a space recognition device that can be carried by a user.

In the present embodiment, an example is shown in which a display device for an excavator for monitoring the excavator 100 for autonomous control is applied to the management device 200. In the present embodiment, the display device for an excavator is not limited to the management device 200, and may be applied to other devices. For example, the display device may be displayed on a tablet terminal or the like held by a manager at a construction site, or may be displayed on a display device in the shovel 100.

< Structural example of excavator >

Next, an outline of the excavator 100 according to the present embodiment will be described with reference to fig. 2. Fig. 2 is a side view of an excavator 100 as a construction machine according to embodiment 1. An upper revolving structure 3 is rotatably mounted on a lower traveling body 1 of the shovel 100 via a revolving mechanism 2. The boom 4 is attached to the upper revolving unit 3. An arm 5 is attached to the front end of the boom 4, and a bucket 6 as an attachment is attached to the front end of the arm 5. The end fitting may be a slope or dredging bucket or the like.

The boom 4, the arm 5, and the bucket 6 constitute an excavating attachment as an example of an attachment, and are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively. Boom 4 is attached to boom angle sensor S1, arm 5 is attached to arm angle sensor S2, and bucket 6 is attached to bucket angle sensor S3. The excavation attachment can also be provided with a bucket tilting mechanism.

The boom angle sensor S1 detects the rotation angle of the boom 4. In the present embodiment, the boom angle sensor S1 is an acceleration sensor, and is capable of detecting a boom angle, which is a rotation angle of the boom 4 with respect to the upper swing body 3. The boom angle becomes a minimum angle when the boom 4 is lowered to the maximum extent, for example, and increases as the boom 4 is lifted.

The arm angle sensor S2 detects the rotation angle of the arm 5. In the present embodiment, the arm angle sensor S2 is an acceleration sensor, and is capable of detecting the arm angle, which is the rotation angle of the arm 5 with respect to the boom 4. The arm angle becomes a minimum angle when, for example, the arm 5 is maximally retracted, and increases as the arm 5 is opened.

The bucket angle sensor S3 detects the rotation angle of the bucket 6. In the present embodiment, the bucket angle sensor S3 is an acceleration sensor, and is capable of detecting a bucket angle that is a rotation angle of the bucket 6 with respect to the arm 5. The bucket angle becomes the minimum angle, for example, when the bucket 6 is maximally retracted, and increases as the bucket 6 is opened.

The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be a potentiometer using a variable resistor, a stroke sensor detecting the stroke amount of a corresponding hydraulic cylinder, a rotary encoder detecting the rotation angle around a connecting pin, or the like. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 constitute a posture sensor that detects the posture of the excavation attachment.

The upper revolving unit 3 is mounted with a cab 10 serving as a cockpit, an engine 11, a body inclination sensor S4, a revolving angular velocity sensor S5, an imaging device S6, a space recognition device S7, a positioning device S8, a communication device T1, and the like.

An excavator controller 30 is provided in the cab 10. A driver's seat, an operating device, and the like are provided in the cab 10.

The shovel controller 30 is an arithmetic device that performs various operations. The shovel controller 30 is provided in the cab 10, for example, and controls driving of the shovel 100. The functions of the shovel controller 30 may be implemented by any hardware, software, or combination thereof. For example, the shovel controller 30 is configured mainly by a microcomputer including a Memory device such as a CPU (Central Processing Unit (central processing unit)), a RAM (Random Access Memory (random access Memory)), a nonvolatile auxiliary Memory device such as a ROM (Read Only Memory), and various input/output interfaces. The shovel controller 30 realizes various functions by executing various programs installed in the nonvolatile auxiliary storage device on the CPU, for example.

The engine 11 is a drive source of the shovel 100. In the present embodiment, the engine 11 is a diesel engine. The output shaft of the engine 11 is coupled to the input shafts of the main pump 14 and the pilot pump 15, respectively.

The body inclination sensor S4 is configured to detect inclination of the upper revolving unit 3 with respect to a predetermined plane. In the present embodiment, the body inclination sensor S4 is an acceleration sensor that detects an inclination angle of the upper revolving structure 3 about the front-rear axis and an inclination angle about the left-right axis with respect to the horizontal plane. The front-rear axis and the left-right axis of the upper revolving structure 3 are, for example, orthogonal to each other and pass through a point on the revolving axis of the shovel 100, that is, the shovel center point.

The rotational angular velocity sensor S5 is configured to detect the rotational angular velocity of the upper revolving unit 3. In the present embodiment, the rotational angular velocity sensor S5 is a gyro sensor. The rotational angular velocity sensor S5 may be a resolver, a rotary encoder, or the like. The rotational speed sensor S5 may detect the rotational speed. The revolution speed may be calculated from the revolution angular speed.

The imaging device S6 is configured to acquire an image of the periphery of the shovel 100. In the present embodiment, the imaging device S6 includes a front camera S6F that images the space in front of the shovel 100, a left camera S6L that images the space in left of the shovel 100, a right camera S6R that images the space in right of the shovel 100, and a rear camera S6B that images the space in rear of the shovel 100.

The imaging device S6 may be, for example, a monocular camera having an imaging element such as a CCD or CMOS, and outputs a captured image to the display device DI.

The front camera S6F is mounted on the top of the cab 10, for example. The left camera S6L is attached to the left end of the upper surface of the upper revolving unit 3. The right camera S6R is mounted on the right end of the upper surface of the upper revolving unit 3. The rear camera S6B is mounted on the rear end of the upper surface of the upper revolving unit 3.

In the present embodiment, by providing the imaging device S6 in the above configuration, it is possible to capture an object existing around the shovel 100.

The space recognition device S7 is configured to recognize a space state around the shovel 100. The space recognition device S7 includes a rear space recognition device S7B that detects a space behind the shovel 100, a left space recognition device S7L that detects a space left of the shovel 100, a right space recognition device S7R that detects a space right of the shovel 100, and a front space recognition device S7F that detects a space in front of the shovel 100.

The spatial recognition device S7 may use LIDAR for detecting objects existing around the excavator 100. LIDAR, for example, measures distances between 100 tens of thousands or more points within a monitoring range and the LIDAR. The present embodiment is not limited to a method using LIDAR, and may be a spatial recognition device capable of measuring a distance to an object. For example, a stereo camera may be used, and a range finder such as a range camera or millimeter wave radar may be used. In the case where a millimeter wave radar or the like is used as the space recognition device S7, the distance and direction of the object may be derived from the reflected signal by transmitting a plurality of signals (laser light or the like) from the space recognition device S7 to the object and receiving the reflected signal.

The rear space recognition device S7B is attached to the rear end of the upper surface of the upper revolving unit 3. The left space recognition device S7L is attached to the left end of the upper surface of the upper revolving unit 3. The right space recognition device S7R is attached to the right end of the upper surface of the upper revolving unit 3. The front space recognition device S7F is mounted on the front end of the upper surface of the cab 10.

The space recognition device S7 may be configured to detect a predetermined object in a predetermined area around the shovel 100. For example, the space recognition device S7 may have a person detection function configured to be able to detect a person while distinguishing a person from an object other than a person.

The positioning device S8 is configured to acquire information related to the position of the shovel 100. In the present embodiment, the positioning device S8 is configured to measure the position and orientation of the shovel 100 in the reference coordinate system. Specifically, the positioning device S8 is a GNSS receiver equipped with an electronic compass, and measures the latitude, longitude, and altitude of the current position of the shovel 100 and the orientation of the shovel 100. The reference coordinate system according to the present embodiment is, for example, a world geodetic system. The world geodetic system is a three-dimensional orthogonal XYZ coordinate system with the center of gravity of the earth as the origin, the direction of the intersection of the greenwich meridian and the equator as the X axis, the direction of the east 90 degrees as the Y axis, and the direction of the north pole as the Z axis.

The communication device T1 is configured to control communication with equipment located outside the shovel 100. In the present embodiment, the communication device T1 is configured to control communication between the communication device T1 and equipment located outside the shovel 100 via a communication line NW (including a wireless communication network). The communication device T1 includes, for example, a mobile communication module corresponding to a mobile communication standard such as LTE (Long Term Evolution (long term evolution)), 4G (4 th Generation), 5G (5 th Generation), and a satellite communication module for connecting to a satellite communication network.

The communication device T1 controls, for example, wireless communication between an external GNSS (Global Navigation SATELLITE SYSTEM (global navigation satellite system)) measurement system and the shovel 100.

[ Drive control System for excavator ]

Fig. 3 is a diagram showing a configuration example of a drive control system of the shovel 100 of fig. 2. In fig. 3, the mechanical power transmission system is indicated by a double line, the working oil line is indicated by a thick solid line, the pilot line is indicated by a broken line, and the electric drive control system is indicated by a dotted line.

The drive system of the shovel 100 according to the present embodiment includes the engine 11, the regulator 13, the main pump 14, and the control valve unit 17. As described above, the hydraulic drive system of the excavator 100 according to the present embodiment includes hydraulic actuators such as the travel hydraulic motors 1L and 1R, the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 that hydraulically drive the lower traveling unit 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6, respectively.

The engine 11 is a main power source in a hydraulic drive system, and is mounted on the rear portion of the upper revolving unit 3, for example. Specifically, the engine 11 is constantly rotated at a target rotation speed set in advance under direct or indirect control of the shovel controller 30 described later, and drives the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine fuelled with diesel.

The regulator 13 controls the discharge amount of the main pump 14. For example, the regulator 13 regulates the angle (yaw angle) of the swash plate of the main pump 14 in accordance with a control instruction from the shovel controller 30. As described later, the regulator 13 includes, for example, regulators 13L, 13R.

As in the case of the engine 11, the main pump 14 is mounted on the rear part of the upper revolving unit 3, for example, and supplies hydraulic oil to the control valve unit 17 through a high-pressure hydraulic line. As described above, the main pump 14 is driven by the engine 11. The main pump 14 is, for example, a variable displacement hydraulic pump, and controls the discharge flow rate (discharge pressure) by adjusting the stroke length of the piston by adjusting the tilt angle of the swash plate by the regulator 13 under the control of the shovel controller 30 as described above. As will be described later, the main pump 14 includes, for example, main pumps 14L, 14R.

The control valve unit 17 is a hydraulic control device that controls a hydraulic system in the shovel 100. In the present embodiment, the control valve unit 17 includes control valves 171 to 176. The control valve 175 includes a control valve 175L and a control valve 175R, and the control valve 176 includes a control valve 176L and a control valve 176R. The control valve unit 17 is configured to be able to selectively supply the hydraulic oil discharged from the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 control, for example, the flow rate of the hydraulic oil flowing from the main pump 14 to the hydraulic actuator and the flow rate of the hydraulic oil flowing from the hydraulic actuator to the hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, travel hydraulic motors 1L, 1R, and a swing hydraulic motor 2A. More specifically, the control valve 171 corresponds to the left traveling hydraulic motor 1L, the control valve 172 corresponds to the right traveling hydraulic motor 1R, and the control valve 173 corresponds to the swing hydraulic motor 2A. Control valve 174 corresponds to bucket cylinder 9, control valve 175 corresponds to boom cylinder 7, and control valve 176 corresponds to arm cylinder 8.

The pilot pump 15 is an example of a pilot pressure generating device, and is configured to be able to supply hydraulic oil to the hydraulic control device via a pilot line. In the present embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. The pilot pressure generating device may be implemented by the main pump 14. That is, the main pump 14 may have a function of supplying hydraulic oil to various hydraulic control devices via a pilot line, in addition to a function of supplying hydraulic oil to the control valve unit 17 via a hydraulic oil line. At this time, the pilot pump 15 may be omitted.

The operation device 26 is a device for an operator to operate the actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator.

The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the present embodiment, the discharge pressure sensor 28 outputs the detected value to the shovel controller 30.

The operation sensor 29 is configured to detect the operation content of an operator who uses the operation device 26. In the present embodiment, the operation sensor 29 detects the operation direction and the operation amount of the operation device 26 corresponding to each actuator, and outputs the detected values to the shovel controller 30. In the present embodiment, the shovel controller 30 controls the opening area of the proportional valve 31 based on the output of the operation sensor 29. Then, the shovel controller 30 supplies the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. The pressure (pilot pressure) of the hydraulic oil supplied to each pilot port is, in principle, a pressure corresponding to the operation direction and the operation amount of the operation device 26 corresponding to each hydraulic actuator. In this way, the operation device 26 is configured to be able to supply the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17.

The proportional valve 31 functioning as a plant control valve is disposed in a pipe line connecting the pilot pump 15 and a pilot port of a control valve in the control valve unit 17, and is configured to be capable of changing a flow path area of the pipe line. In the present embodiment, the proportional valve 31 operates in accordance with a control command output from the shovel controller 30. Therefore, the shovel controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the pilot port of the control valve in the control valve unit 17 via the proportional valve 31 regardless of the operation device 26 by the operator.

With this configuration, even when the operation for the specific operation device 26 is not performed, the shovel controller 30 can operate the hydraulic actuator corresponding to the specific operation device 26.

For example, when the shovel controller 30 is set to autonomously control the shovel 100, the control is performed by setting at least one of a target turning angle of the upper turning body 3, a target angle of each of the upper turning body 3, the boom 4, the arm 5, and the bucket 6, and a target rotation speed of the engine 11, and operating various structures of the shovel 100 according to the operation performed by the autonomous control.

For example, the shovel controller 30 outputs a control command to the regulator 13 as needed, and changes the discharge amount of the main pump 14.

For example, the shovel controller 30 performs control related to an equipment guiding function for guiding a manual operation of the shovel 100 by the operator through the operation device 26. The shovel controller 30 performs control related to, for example, an equipment control function for automatically supporting manual operation of the shovel 100 by the operator through the operation device 26.

In addition, a part of the functions of the shovel controller 30 may be realized by other controllers (control devices). That is, the functions of the shovel controller 30 may be implemented in a manner that is dispersed by a plurality of controllers. For example, the device booting function and the device control function may be realized by a dedicated controller (control means).

< Frame Structure of remote management System >

Fig. 4 is a functional block diagram showing an example of the configuration of the remote management system SYS according to the present embodiment. In the example shown in fig. 4, the respective frame structures of the management device 200, the fixed point measurement device 400, and the shovel 100 included in the remote management system SYS are shown. The hardware configuration of the shovel 100 is as described above, and therefore, the description thereof is omitted.

< Structure of fixed-point measurement device >

The fixed point measuring device 400 includes a communication device T3, a position information storage unit 450, an imaging device S40, a spatial recognition device S41, and a controller 430.

The communication device T3 is an interface for communicating with the outside such as the management device 200 via the communication line NW. The communication device T3 may be a device connectable to the communication line NW, and may be a mobile communication module corresponding to a mobile communication standard such as LTE, 4G, or 5G.

The position information storage 450 stores position information of the fixed point measuring device 400. The position information is expressed in, for example, the same reference coordinate system as the position information acquired by the GNSS. The reference coordinate system is, for example, the above-mentioned world geodetic system.

The imaging device S40 is configured to acquire an image of a construction site where the shovel 100 is performing work. The imaging device S40 is, for example, a monocular camera having an imaging element such as a CCD or CMOS.

The space recognition device S41 detects an object existing at a construction site where the shovel 100 is performing work. As described above, the spatial recognition device S41 uses LIDAR, for example.

The controller 430 performs control related to the fixed point measurement device 400. The controller 430 may implement its functions by, for example, any hardware or any combination of hardware and software. The controller 430 may be configured mainly by a computer including a processor device such as a CPU, a memory device (main storage device) such as a RAM, and an auxiliary storage device such as a ROM. For example, the controller 430 realizes various functions by loading a program installed in the auxiliary storage device into the memory device and executing on the CPU.

< Structure of management device 200 >

The management device 200 includes a controller 230, a communication device T2, and a display device D1.

The communication device T2 is configured to control communication with the communication device T1 attached to the shovel 100 and the communication device T3 attached to the fixed point measuring device 400.

The controller 230 is an arithmetic device that performs various operations. In the present embodiment, the controller 230 is constituted by a microcomputer including a CPU and a memory. Also, various functions of the controller 230 are realized by executing programs stored in the memory by the CPU.

As shown in fig. 1, the display device D1 may be a multi-screen display including four monitors in two rows in a vertical direction and two columns in a horizontal direction. In the present embodiment, the display device D1 is constituted by a multi-screen display, whereby the status of a plurality of shovels can be managed. The number of displays is not limited to this embodiment, and may be other than four. And, it may be constituted by a single display.

Next, functional blocks of the controller 430 of the fixed point measuring device 400, the shovel controller 30 of the shovel 100, and the controller 230 of the management device 200 will be described.

Function block of fixed point measuring device

Functional blocks within the controller 430 of the pointing device 400 are described. The functional blocks within the controller 430 are conceptual and need not be physically constructed as shown. All or a part of each functional block may be functionally or physically distributed and integrated in any unit. All or any part of the processing functions performed in the respective functional blocks are realized by programs executed by the CPU. Or the functional blocks may be implemented in hardware based on wired logic. The controller 430 includes a transmission control unit 431 by implementing a program.

The transmission control unit 431 associates the image information of the imaging device S40, the measurement information of the spatial recognition device S41, and the positional information stored in the positional information storage unit 450, and then transmits the associated information to the management device 200. The transmission control unit 431 transmits the image information and the measurement information at predetermined intervals. For example, the transmission control unit 431 may transmit each time the imaging device S40 performs imaging (for example, less than 1 second) or each time the spatial recognition device S41 performs measurement (for example, less than 1 second).

< Excavator > functional block >

Functional blocks within the shovel controller 30 of the shovel 100 are described. The functional blocks within the shovel controller 30 are conceptual and need not be physically configured as shown. All or a part of each functional block may be functionally or physically distributed and integrated in any unit. All or any part of the processing functions performed in the respective functional blocks are realized by programs executed by the CPU. Or the functional blocks may be implemented in hardware based on wired logic. The shovel controller 30 includes an acquisition unit 301, a shovel state determination unit 302, an operation setting unit 303, a target track generation unit 304, an autonomous control unit 305, a transmission control unit 306, and an actuator driving unit 307 by implementing a program.

The shovel controller 30 according to the present embodiment realizes autonomous control of the shovel 100. The shovel controller 30 according to the present embodiment can control various operations of the shovel 100. The work according to the present embodiment is a task assigned to the shovel 100 at a construction site.

The shovel 100 according to the present embodiment can perform various operations under the control of the shovel controller 30. Examples of the work that can be performed include excavation loading and ground leveling work. The present embodiment is merely an example of the work that the shovel 100 can perform, and is not limited to the excavation loading and the ground leveling work.

In the present embodiment, the work that the shovel 100 can perform is realized by one action or a combination of a plurality of actions of the shovel 100. For example, when the work is excavation loading, it is necessary to perform operations in the order of excavation position evolution, excavation, lifting, and soil discharge. In other words, these operations are combined to work the shovel 100. The excavation position is changed to an operation of moving the bucket 6 to the excavation position, an operation of inserting the bucket into the sand and lifting the sand, an operation of lifting the sand and moving the bucket to a soil discharge destination, and an operation of discharging the soil from the bucket 6 to a dump truck or the like. The operation of the shovel 100 in the present embodiment represents control of dividing the work performed by the shovel 100 into one or more pieces. In other words, one or more actions are combined to effect the operation of the shovel 100.

The acquisition unit 301 acquires signals from various detection devices provided in the shovel 100. For example, the acquisition unit 301 acquires the detection results of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3. The acquisition unit 301 acquires image information, measurement information, and position information.

The image information is information captured by the imaging device S6. The measurement information is information measured by the space recognition device S7. The positional information is information indicating the position and orientation of the shovel 100 in the reference coordinate system measured by the positioning device S8.

The shovel state determination unit 302 is configured to determine the state of the shovel 100 based on the signal acquired by the acquisition unit 301. In the present embodiment, the state of the shovel 100 includes the position and orientation of the shovel 100 and the state of the attachments of the shovel 100 (for example, the positions of the boom 4, the arm 5, and the bucket 6). The position of the shovel 100 is, for example, a position in a reference coordinate system of the shovel 100 (latitude, longitude, and altitude of a reference point of the shovel 100). The shovel state determination unit 302 determines the position and orientation of the shovel 100 from the output of the positioning device S8.

The states of the attachments (for example, the positions of the boom 4, the arm 5, and the bucket 6) can be determined based on the detection results of the angle sensors (the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3) and the sizes of the boom 4, the arm 5, and the bucket 6, respectively.

The operation setting unit 303 sequentially sets the operations performed by the shovel 100 according to the operation set as the autonomous control. In the present embodiment, when the shovel 100 completes one operation, the operation setting unit 303 sets the next operation for realizing the operation. By repeating this setting, a job in which a plurality of operations are combined can be realized. The work of the shovel 100 is set by an administrator or the like in advance, and the explanation thereof is omitted.

The target track generation unit 304 generates a target track of the shovel 100 for performing the operation set by the operation setting unit 303.

For example, a target track for performing a setting operation is generated from data related to a target construction surface stored in a nonvolatile memory device (not shown) of the shovel 100. The target trajectory generation unit 304 may generate a target trajectory for performing the setting operation based on information on the terrain around the shovel 100 recognized by the spatial recognition device S7.

In order to move along the target trajectory generated by the target trajectory generation unit 304, the autonomous control unit 305 determines the operation content of the operation element (hydraulic actuator) and generates an operation signal corresponding to the determined operation content, thereby realizing the autonomous driving function of the shovel 100.

The transmission control unit 306 performs control for transmitting various information to the management apparatus 200 via the communication apparatus T1.

For example, the transmission control unit 306 performs control to transmit the image information captured by the imaging device S6, the measurement information detected by the spatial recognition device S7, the position information indicating the position and orientation of the shovel 100, and the state information indicating the state of the accessory to the management device 200.

Further, the transmission control unit 306 performs control to transmit information on the operation being performed by the shovel 100 to the management device 200. In the present embodiment, control is performed such that the operation currently set in the shovel 100 and information on an item corresponding to the operation are transmitted to the management device as information on the operation. When autonomous control is set for the shovel 100, the transmission control unit 306 may transmit the type of the work set for the shovel 100 to the management device 200.

The type of work set in the shovel 100 is, for example, excavation loading or ground leveling work.

The operation currently set in the shovel 100 is an operation constituting a work, such as excavation position evolution, excavation, lifting, and soil discharge. The operation of the shovel 100 described in the present embodiment is merely shown as an example, and differs according to the embodiment. That is, the work performed by the shovel 100 and the operation constituting the work are different depending on the type of the construction machine, the installation of a program of the construction machine, the requirements of a management party managing the construction machine, and the like.

The items corresponding to the operation are, for example, items indicating the current state that the manager wants to confirm while the shovel 100 is performing the operation, and items indicating the target of the operation. In the present embodiment, parameters (for example, numerical information) of the item are transmitted to the management apparatus 200. The items indicating the current state include, for example, the remaining number of excavation times, the actual turning angle, and the like. The items indicating the target of the action include, for example, a target rotation angle.

Further, the transmission control unit 306 performs control to transmit information related to the current situation of the shovel 100 to be checked regardless of the operation to the management device 200. In the present embodiment, examples of the current situation include a drive mode, a travel mode, a remaining amount of urea water, a remaining amount of fuel, a water temperature, and an oil temperature of the shovel 100.

The transmission by the transmission control unit 306 is performed at predetermined intervals. The predetermined time may be any time, but is set to a time interval at which a situation in which a change occurs due to the operation of the shovel 100 can be recognized. For example, the transmission control section 306 may transmit the above information at 1 second intervals.

The actuator driving unit 307 is configured to drive an actuator mounted on the shovel 100. In the present embodiment, the actuator driving unit 307 generates and outputs operation signals for the plurality of solenoid valves included in the proportional valve 31, respectively, based on the operation signal generated by the autonomous control unit 305.

Each solenoid valve that receives the operation signal increases or decreases the pilot pressure acting on the pilot port of the corresponding control valve in the control valve unit 17. As a result, the hydraulic actuators corresponding to the control valves operate at speeds corresponding to the stroke amounts of the control valves.

Function block of management device

Each functional block in the controller 230 of the management apparatus 200 will be described. The functional blocks within the controller 230 are conceptual and need not be physically constructed as shown. All or a part of each functional block may be functionally or physically distributed and integrated in any unit. All or any part of the processing functions performed in the respective functional blocks are realized by programs executed by the CPU. Or the functional blocks may be implemented in hardware based on wired logic. The controller 230 includes a reception control unit 231, an operation determination unit 232, a screen generation unit 233, and a display control unit 234 by implementing a program.

The reception control unit 231 performs control for receiving various information from the fixed point measuring device 400 and the shovel 100 via the communication device T2.

For example, the reception control unit 231 receives image information, measurement information, and position information from the fixed point measuring device 400 (an example of devices existing around the shovel 100).

The reception control unit 231 receives image information, measurement information, position information, and status information from the shovel 100. The image information is information captured by the imaging device S6. The measurement information is information measured by the space recognition device S7. The positional information is information indicating the position and orientation of the shovel 100 in the reference coordinate system measured by the positioning device S8. The state information is information indicating the state of the attachment (for example, the positions of the boom 4, the arm 5, and the bucket 6).

Further, the reception control unit 231 receives (acquires) information on the operation being performed by the shovel 100 from the shovel 100 that is being autonomously controlled. The information related to the motion includes information about an item corresponding to the motion currently set to the shovel 100. Also, when the work of the shovel 100 is started, the type of the started work (for example, a backhoe loading or a ground leveling work, etc.) may be included.

Further, the reception control unit 231 receives information on the current situation of the shovel 100 to be checked, regardless of the operation, from the shovel 100.

The operation determination unit 232 determines whether or not the operation of the shovel 100 has been switched based on the information received by the reception control unit 231.

The screen generating unit 233 generates a display screen to be displayed on the display device D1. The screen generating unit 233 according to the present embodiment generates a display screen for managing the shovel 100 that is being autonomously controlled. The display screen is updated according to the current operation of the shovel 100.

When the operation determination unit 232 determines that the operation has been switched, the screen generation unit 233 changes the content displayed on the shovel 100. In other words, the screen generating unit 233 generates a display screen showing a content suitable for the operation of the shovel 100.

When the work of the shovel 100 is excavation loading, the shovel 100 repeatedly performs operations of excavation position evolution, excavation, lifting, and dumping. When an abnormal condition occurs while repeating the operation, the operation is switched to standby. The screen generating unit 233 of the management apparatus 200 according to the present embodiment generates a display screen so as to switch according to these operations. Next, the operation of the shovel 100 will be described.

For example, in the case where the motion is an evolution of the excavation position, the shovel 100 performs autonomous control of determining the excavation position and controlling the attachment so as to move the bucket 6 to the excavation position. During this operation, the screen generating unit 233 may generate a display screen on which the ground shape, the target turning angle, and the actual turning angle are displayed as items corresponding to the operation, for example.

When the operation is excavation, the shovel 100 performs control of excavating the ground. During this operation, the screen generating unit 233 may generate a display screen in which the ground shape of the excavation site, the remaining work time, and the remaining excavation number are displayed as items corresponding to the operation, for example.

When the operation is lifting, the shovel 100 performs control to lift the dredged sand. During this operation, the screen generating unit 233 may generate a display screen in which the sand shape, the target turning angle, and the actual turning angle of the cabin of the dump truck are displayed as items corresponding to the operation, for example.

In the case where the operation is soil discharge, the shovel 100 performs control of discharging soil from the lifted attachment. During this operation, the screen generating unit 233 may generate a display screen on which the loading weight of the dump truck of the destination is displayed as an item corresponding to the operation, for example. Further, a display screen can be generated that displays the position and orientation of the dump truck having the destination of dumping the soil and the empty space of the cabin of the dump truck.

The items corresponding to the above operations are merely shown as examples, and may be different depending on the embodiment of managing the shovel, the requirements of the manager, and the like.

In the present embodiment, a description will be given of a case where the work of the shovel 100 is excavation loading. However, in the present embodiment, the work of the excavator is not limited to the excavation and loading, and may be, for example, a ground leveling work or the like. During a ground leveling operation, the shovel 100 continues to perform a ground leveling operation. At this time, the screen generating unit 233 may generate a display screen including, for example, the construction accuracy, the calculation result of the cutting edge of the bucket 6, and the like as items corresponding to the ground leveling operation. Next, the screen generated by the screen generating unit 233 will be described.

Fig. 5 is a diagram illustrating a display screen generated by the screen generating unit 233 according to the present embodiment. As shown in fig. 5, the display screen 500 includes an excavation position display field 501, an excavator situation display field 502, a dump truck cabin display field 503, a bird's-eye view image display field 504, a work display field 505, and an operation item display field 506.

An overhead image including the periphery of the shovel 100 is displayed in the overhead image display field 504. The screen generating unit 233 generates an overhead image displayed in the overhead image display field 504 from the image information of the imaging device S6 received from the shovel 100 and the image information of the imaging device S40 received from the fixed point measuring device 400. An icon 541 indicating the shovel 100 is displayed in the overhead image. The icon 541 is an image stored in advance by the management device 200 according to the model of the shovel 100, for example. The overhead image displayed in the overhead image display field 504 may be a still image or a moving image.

The overhead image is displayed to include the conditions around the shovel 100. Accordingly, the overhead image includes the excavation site 542 and the dump truck 543. Thus, when the display screen is displayed, the manager can recognize the positional relationship among the shovel 100, the excavation site 542, and the dump truck 543.

The excavation position display field 501 displays the shape of the earth and sand at the excavation position by the shovel 100. The screen generating unit 233 generates an image representing the shape of the sand and soil to be displayed in the excavation site display field 501, based on the measurement information of the equipment whose excavation site is measured, for example, the measurement information of the spatial recognition device S7 received from the shovel 100 or the measurement information of the spatial recognition device S41 received from the fixed point measurement device 400. In the present embodiment, a sand shape representing the height of each sand present at the work position with a color is generated as an image with reference to a predetermined height (for example, ground surface). This allows the depth (height) of the excavation site 511 to be displayed on the excavation site display field 501. The correspondence between depth (height) and color is shown in the height indicator 512. Depth (height) may also represent a proportional unit. Thus, the depth of the excavation site 511 can be recognized from the color displayed in the excavation site display field 501.

Information related to the current condition of the shovel 100 is displayed in the shovel condition display field 502. For example, a three-dimensional model 321 representing the current shape of the shovel 100 based on the received state information is displayed in the shovel status display field 502. Thus, the manager can recognize the current operation being performed by the shovel 100. Further, information on the current state of the shovel 100, which changes irrespective of the operation, is displayed in the shovel state display field 502. For example, an icon 522 indicating the current drive mode of the shovel 100, an icon 523 indicating the current travel mode of the shovel 100, an indicator 524 indicating the remaining amount of urea water of the shovel 100, an indicator 525 indicating the temperature of cooling water of the shovel 100, an indicator 526 indicating the remaining amount of fuel of the shovel 100, and an indicator 527 indicating the temperature of working oil flowing through the hydraulic drive system of the shovel 100 are displayed. In this way, the screen generating unit 233 generates an image to be displayed on the shovel status display field 502 based on the status information, the information on the status of the shovel 100, and the like.

The dump truck compartment display field 503 displays the shape of the sand of the dump truck compartment that is the object of dumping the soil by the shovel 100. The screen generating unit 233 generates an image showing the shape of the sand that is displayed in the area 531 showing the cabin of the dump truck in the dump truck cabin display field 503, based on the measurement information of the equipment that has measured the cabin of the dump truck, for example, the measurement information of the spatial recognition device S7 received from the shovel 100 or the measurement information of the spatial recognition device S41 received from the fixed point measurement device 400. In the present embodiment, a sand shape is generated as an image, with a predetermined height (for example, the bottom surface of the vehicle cabin) as a reference, and the respective heights of the sand present in the vehicle cabin are indicated by colors. This allows the height of the sand loaded in the cabin of the dump truck to be displayed on the dump truck cabin display field 503. Also, the height indicator 532 shows the correspondence between the height and the color. Height may also represent a proportional unit. This allows the height of the sand loaded in the cabin of the dump truck to be identified.

The work display field 505 displays information related to a work set by the shovel 100 for autonomous control. Specifically, the plurality of operations constituting the job are displayed in the order in which the operations are performed.

In the example shown in fig. 5, a case is shown in which the set job is "backhoe loading". The work "excavation loading" is configured to include, as a plurality of operations, "excavation position evolution" 551, "excavation" 552, "lifting" 553, "dumping" 554, and "waiting" 555. In the work display field 505, the display mode of the frame line of the current operation of the shovel 100 is displayed differently from the display mode of the frame line of the other operations. In the example shown in fig. 5, the wire of "dig" 552 is shown thicker than the other wires. Thus, the manager can recognize the action currently being performed by the shovel 100. In the example shown in fig. 5, an example in which the frame line is thickened as a display method is described, but the display method is not limited to the method in which the frame line is thickened. For example, the color of the wire of the current operation of the shovel 100 may be changed or the wire may be blinked.

The action item display field 506 shows information related to the action currently being performed by the shovel 100. Specifically, in the action item display field 506, a current parameter (for example, numerical information) of each item corresponding to the action currently being performed by the shovel 100 is displayed for the item.

In the example shown in fig. 5, the current motion of the shovel 100 is shown as "digging". The "remaining work time" and the "remaining number of times of excavation" are shown as items corresponding to the action "excavation". The "remaining job time" is the remaining time until the job is completed, and is represented by "XX minutes". The "remaining number of excavation" is the number of excavation to be performed until the job is completed, and is represented by "YX (numerical value)".

The parameters shown in this item may be calculated by the management device 200 or by the shovel 100. For example, the parameters shown in the project may be calculated by the management device 200 from the construction plan of the shovel 100 stored in a non-volatile storage (not shown) and information received from the shovel 100. That is, the calculation of the "remaining work time" and the "remaining excavation times" shown in fig. 5 may be performed by the management apparatus 200 or may be performed by the shovel 100. The calculation method may be a known method, and the description thereof may be omitted.

The display screen may display a display form of a display field corresponding to the current operation differently from a display form of other display fields. In the example shown in fig. 5, the operation of the shovel 100 is shown as "digging" 552. Accordingly, the display column corresponding to "excavation" 552, that is, the excavation position display column 501 is highlighted. Specifically, the frame line of the excavation position display field 501 is displayed bolded as compared to other display fields. Thus, the manager can recognize that the current operation of the shovel 100 is a display field to be focused on.

The display control unit 234 displays the display screen generated by the screen generating unit 233 on the display device D1.

In the present embodiment, the display control unit 234 may update various information on the display screen to be displayed based on the information received from the shovel 100. For example, the information displayed in the shovel status display field 502 and the shape of the three-dimensional model 321 may be updated according to the received status and state information of the shovel 100. Further, parameters displayed in the operation item display field 506, overhead images displayed in the overhead image display field 504, and the like may be updated based on the received information.

In the present embodiment, when the operation determination unit 232 determines that the operation is switched, the screen generation unit 233 generates a display screen in which the displayed content is changed. In response to this, the display control unit 234 displays the display screen with the content changed on the display device D1. Thereby, the displayed contents are switched according to the operation of the shovel 100.

For example, when the operation of the shovel 100 is switched from "excavation" to "lifting", the display control unit 234 switches the display screen. Next, a display screen when the operation of the shovel 100 is switched from "excavation" to "lifting" will be described.

Fig. 6 is a diagram illustrating a display screen generated by the screen generating unit 233 according to the present embodiment. As shown in fig. 6, the display screen 600 includes an excavation position display field 601, an excavator situation display field 502, a dump truck carriage display field 603, a bird's-eye view image display field 504, a work display field 605, and an operation item display field 606. The same contents as those in fig. 5 are displayed in the shovel status display field 502 and the overhead view image display field 504, and the description thereof is omitted. Note that the same symbols are assigned to the same display contents as those in fig. 5, and the description thereof is omitted.

The display screen shown in fig. 6 is a screen generated by the screen generating unit 233 in response to the switching of the operation of the shovel 100 from excavation to lifting (of sandy soil).

Compared to the display of the work display field 505 shown in fig. 5, the display of the work display field 605 shown in fig. 6 is changed according to the operation switched in the shovel 100. The work display field 605 is configured to include "excavation position evolution" 651, "excavation" 652, "lifting" 653, "dumping" 654, and "waiting" 655. Specifically, in the example shown in fig. 6, the frame line of the "lift" 653 is shown thicker than the frame lines of other operations. Further, the frame line of "excavation" 652 is changed to be thinner than the frame line of "excavation" 552 of fig. 5. Thus, the manager can recognize that the operation currently being performed by the shovel 100 is switched from "excavation" to "lifting".

In this way, the screen generating unit 233 displays the order of the plurality of operations performed by the shovel 100 in the work display field 605. Then, when the operation switching of the shovel 100 is recognized, the screen generating unit 233 switches the display of the work display field 605 so that the operation performed by the shovel 100 can be recognized. Thus, the manager can recognize the current operation of the shovel 100. Therefore, the manager easily grasps the current state of the shovel 100.

The action item display field 606 switches the displayed items according to the action currently being taken by the shovel 100. Specifically, the operation item display field 606 displays "target turning angle" and "actual turning angle" as items corresponding to "lift". The "target turning angle" shows an angle determined according to the target trajectory, and the "actual turning angle" shows an angle detected by the angle sensor.

When the switching of the operation of the shovel 100 is recognized, the screen generating unit 233 generates a display screen in which the display field related to the switched operation is changed. Thus, the manager can grasp the detailed state in the current operation of the shovel 100. At this time, the screen generating unit 233 also changes the display of the display field related to the operation ("mining") other than the operation after the switching. In the present embodiment, the screen generating unit 233 generates a display image in which the display field of the item related to the other operation ("excavation") is not displayed. This suppresses the display of the display field that is not associated with the current operation of the shovel 100, and thus the manager can easily check the display field associated with the current operation, and thus can easily recognize the current state of the shovel 100.

In this way, when the switching of the operation of the shovel 100 is recognized, the screen generating unit 233 generates the display screen so that the display of the item corresponding to the switched operation is started and the item of the other operation is not displayed. In this way, the manager can easily grasp the state related to the current operation of the shovel 100 by checking the content displayed on the display screen, and thus the burden on the manager in checking can be reduced.

When the switching of the operation of the shovel 100 is recognized, the shovel status display field 502 maintains the display by the screen generating unit 233. In other words, even when the operation is switched, the display relating to the state of the shovel 100 that changes irrespective of the operation of the shovel 100 is maintained. Thus, the manager does not change the confirmation method according to the operation of the shovel 100 with respect to the information that changes irrespective of the operation of the shovel 100, and thus can easily recognize the situation of the shovel 100.

In the display screen shown in fig. 6, the display mode of the display field corresponding to the current operation is switched. In the example shown in fig. 6, the dump truck box display field 603, which is the display field corresponding to the "lift" 653, is highlighted. Specifically, the frame line of the dump truck box display bay 603 is displayed thicker than other display bays. The frame line of the excavation site display bar 601 is changed to be thinner than the excavation site display bar 501 of fig. 5. That is, as the operation currently being performed by the shovel 100 is switched from "digging" to "lifting", the manager can recognize that the dump truck bed display field 603 needs to be focused more than the digging position display field 601.

As described above, in the management device 200 according to the present embodiment, the content displayed on the display screen can be switched according to the operation of the shovel 100 that performs autonomous control.

Modification 1

The above embodiment merely shows an example of a display screen, and is not limited to the display screen. Therefore, in modification 1, another mode of displaying a screen will be described.

In the above embodiment, an example in which the operation item display field is switched according to the operation of the shovel 100 has been described. In contrast, in modification 1, an example will be described in which all the operations are displayed in the display field.

Fig. 7 is a diagram illustrating a display screen generated by the screen generating unit 233 according to the present modification. As shown in fig. 7, the display screen 700 includes an excavation position display field 501, an excavator situation display field 502, a dump truck box display field 703, a bird's eye view display field 504, a work display field 505, a turning position transition lifting item display field 706, an excavation item display field 707, and a soil discharge item display field 708. Note that the same symbols are assigned to the same display contents as those in fig. 5, and the description thereof is omitted.

The display screen shown in fig. 7 is displayed when the work of the shovel 100 is excavation loading and the excavation operation is currently performed.

The dump truck cabin display field 703 is a display field that does not correspond to the current operation (excavation) being performed by the shovel 100, and is therefore displayed in gray.

Similarly, the swing position transition lifting item display field 706 and the soil discharge item display field 708 are display fields that do not correspond to the operation (excavation) currently being performed by the shovel 100, and are therefore grayed out.

The excavation position display field 501 is a display field corresponding to the current operation (excavation) being performed by the shovel 100, and is thus highlighted. Specifically, the frame line of the excavation position display field 501 is displayed thicker than the other frame lines.

The excavation item display field 707 is a display field corresponding to the operation (excavation) currently being performed by the shovel 100, and is thus highlighted. Specifically, the frame line of the excavation project display field 707 is displayed thicker than other frame lines.

In the example shown in fig. 7, a display field corresponding to an operation currently being performed by the shovel 100 is highlighted, and a display field corresponding to an operation not currently being performed by the shovel 100 is grayed out.

When the operation of the shovel 100 is switched from "excavation" to "lifting", the display control unit 234 switches the display screen. Next, a display screen when the operation of the shovel 100 is switched from "excavation" to "lifting" will be described.

Fig. 8 is a diagram illustrating a display screen generated by the screen generating unit 233 according to the present modification. As shown in fig. 8, the display screen 800 includes an excavation position display field 801, an excavator situation display field 502, a dump truck carriage display field 603, a bird's eye view display field 504, a work display field 605, a turning position transition lifting item display field 806, an excavation item display field 807, and a soil discharge item display field 808. Note that the same symbols are assigned to the same display contents as those in fig. 6, and the description thereof is omitted.

The excavation position display field 801 is a display field that does not correspond to the current operation (lifting) of the shovel 100, and is therefore grayed out.

The dump truck box display field 603 is a display field corresponding to the current operation (lifting) of the shovel 100, and is thus highlighted. Specifically, the frame line of the dump truck cabin display field 703 is displayed thicker than other frame lines.

Similarly, the swing position transition lift item display field 806 is a display field corresponding to the current operation (lift) performed by the shovel 100, and is thus highlighted. Specifically, the frame line of the turning position transition lifting item display field 806 is displayed thicker than other frame lines.

The excavation item display field 807 and the soil discharge item display field 808 are display fields that do not correspond to the current operation (lifting) of the shovel 100, and are therefore grayed out.

In this way, when the switching of the operation of the shovel 100 is recognized, the screen generating unit 233 generates a display screen in which the display field corresponding to the switched operation is emphasized over the display field corresponding to the other operation. In the present embodiment, as the highlighted display, an example is given in which the display mode of the frame line of the display field is changed. The method of changing the display mode is not limited to the example of thickening the frame line, and the color of the frame line may be changed. Thus, the manager can easily visually recognize the display field corresponding to the operation after the switching, and thus can easily confirm the situation related to the current operation of the shovel 100.

When the switching of the operation of the shovel 100 is recognized, the screen generating unit 233 generates a display screen in which the display field that does not correspond to the switched operation is changed to gray. Thus, the display fields not associated with the switched actions become difficult to visually recognize, in other words, the display fields corresponding to the actions are easier to visually recognize than the display fields not corresponding to the actions. This makes it easy to confirm the state related to the current operation of the shovel 100.

Modification 2

In modification 1, as a change in the display method of the display field, a case in which a change in the display mode of the frame line of the display field and graying of the display field are performed is described. However, in modification 1, the modification of the display bar is not limited to modification of the display manner of the frame line and graying of the display bar. In modification 2, a case where the display field is enlarged and reduced will be described.

Fig. 9 is a diagram illustrating a display screen generated by the screen generating unit 233 according to the present modification. As shown in fig. 9, the display screen 900 includes an excavation position display field 901, an excavator situation display field 502, a dump truck carriage display field 903, a bird's eye view display field 504, a work display field 605, a turning position transition lifting item display field 906, an excavation item display field 907, and a soil discharge item display field 908. Note that the same symbols are assigned to the same display contents as those in fig. 8, and the description thereof is omitted.

The excavation position display field 901 is a display field that does not correspond to the current operation (lifting) of the shovel 100, and thus is reduced in size and displayed in addition to changing to gray.

The dump truck box display field 903 is a display field corresponding to the current operation (lifting) of the shovel 100, and is thus enlarged and displayed on the thickened frame line from a state in which it is reduced (as in the excavation position display field 901).

Similarly, since the swing position transition lift item display field 906 is a display field corresponding to the current operation (lift) of the shovel 100, the display is enlarged and displayed on the thickened frame line from the state in which the display areas 907 and 908 are reduced.

The excavation item display field 907 and the dumping item display field 908 are display fields that do not correspond to the current operation (lifting) of the shovel 100, and thus are reduced in size and displayed in addition to being grayed out.

In this way, when the switching of the operation of the shovel 100 is recognized, the screen generating unit 233 generates a display screen in which the display column corresponding to the switched operation is enlarged by the thickened frame line as compared with the display column corresponding to the other operation.

When the switching of the operation of the shovel 100 is recognized, the screen generating unit 233 generates a display screen in which the display column that does not correspond to the switched operation is reduced in size by changing the display column to gray. Thus, the display section that does not correspond to the operation after switching becomes difficult to visually recognize, in other words, the display section that corresponds to the operation is easier to visually recognize than the display section that does not correspond to the operation. This makes it easy to confirm the state related to the current operation of the shovel 100. In this modification, an example in which the change or graying of the display mode of the frame line and the enlargement or reduction of the display field are combined will be described. However, the present modification is not limited to this combination, and only the display bar may be enlarged or reduced.

< Action >

In the above embodiment and modification, the management device 200 switches the display content according to the operation of the shovel 100 that is being autonomously controlled. In other words, by performing a display suitable for the operation of the shovel 100, the manager who is managing the shovel 100 by the management device 200 can confirm the state corresponding to the current operation of the shovel 100. That is, since the manager can appropriately recognize the current state of the shovel 100, if an abnormality occurs in the shovel 100, the abnormality can be immediately recognized, and thus safety can be improved.

In the above embodiments and modifications, a description has been given of a case where an excavator is used as an example of a construction machine. However, the configurations shown in the embodiments and modifications are not limited to examples in which the construction machine is applied to an excavator, and may be applied to a crane, a forklift, or the like, for example. That is, although the description has been made of the case of the management device 200 for managing the shovel 100 in the above embodiment and modification, the present invention is applicable to a management device (an example of a display device for a construction machine) for managing a work device.

The embodiments have been described above with respect to the examples of the display device for an excavator, the display device for a construction machine, and the monitoring system for an excavator, but the present invention is not limited to the above-described embodiments and the like. Various changes, modifications, substitutions, additions, deletions and combinations may be made within the scope of the claims. Of course, these contents also fall within the technical scope of the present invention.

Claims

1. A display device for an excavator, wherein,

The control device is provided with a control unit configured to:

when the shovel sequentially performs a plurality of actions by autonomous control, information related to the actions is acquired from the shovel,

When the operation switching of the shovel is recognized based on the information, the content displayed on the shovel is changed.

2. The display device for an excavator according to claim 1, wherein,

The control unit is configured to change the display of the column related to the operation after the switching when the operation switching is recognized.

3. The display device for an excavator according to claim 2, wherein,

The control unit is configured to change, when the operation switching is recognized, a display of a column related to an operation other than the operation after the switching.

4. The display device for an excavator according to claim 3, wherein,

The control unit is configured to, when the operation switching is recognized, display a column related to the operation after the switching with emphasis on the column related to the other operation.

5. The display device for an excavator according to claim 4, wherein,

The control unit changes a display mode of a frame line of a column related to the operation after the switching or changes a column related to the operation after the switching by enlarging the column when the operation switching is recognized.

6. The display device for an excavator according to claim 4, wherein,

The control unit changes the column related to the other action to gray or changes the column related to the other action to narrow when the action switching is recognized.

7. The display device for an excavator according to claim 3, wherein,

The control unit is configured to start display of a column related to the operation after the switching and not display a column related to the other operation when the operation switching is recognized.

8. The display device for an excavator according to any one of claim 1 to 3, wherein,

The information acquired from the excavator includes information indicative of a condition of the excavator that varies independently of the action,

The control unit is configured to maintain a display of a column related to a situation of the shovel even when the operation switching is recognized.

9. The display device for an excavator according to any one of claim 1 to 3, wherein,

The control unit is configured to display a sequence of the plurality of operations performed by the shovel, and to switch the display so that the operations performed by the shovel can be recognized when the operation switch is recognized.

10. A display device for construction machinery, wherein,

The control device is provided with a control unit configured to:

When the construction machine performs a plurality of operations in sequence by autonomous control, information is acquired from the construction machine,

When the operation switching of the construction machine is recognized based on the information, the content displayed on the construction machine is changed.

11. A monitoring system for an excavator is provided with:

an excavator configured to perform a plurality of operations by autonomous control and to transmit information related to the operations, and

And a control device configured to receive the information from the shovel, and to display the information based on the information received from the shovel, and to change the content displayed on the shovel when the operation switching of the shovel is recognized based on the information.