JP6559529B2 - Construction machinery - Google Patents

Description

  The present invention relates to a construction machine, and more particularly to a technique for displaying various information on a display device provided in a cab.

  Generally, a display device for displaying various kinds of information necessary for an operator is provided in a cab of a construction machine represented by a hydraulic excavator or the like. Since this display device is conventionally arranged in a space away from the operator's front view, the operator can check the information displayed on the display device while working while looking at the front work device. In some cases, it is necessary to move the viewpoint from the front position to the position of the display device, and there has been a concern that the work efficiency of the construction machine is reduced.

  Therefore, in order to reduce the movement of the operator's viewpoint during work, an apparatus has been proposed in which information provided to the operator is displayed superimposed on the front view of the cab. As one of the prior arts of this type of apparatus, the apparatus includes a stroke sensor that detects position information of the working device relative to the main body, a real image display unit, a combiner, and a display controller. Based on the above, there is known a construction machine display system for controlling the display position of the work support information along the surface of the combiner and the depth display position in front of the cab (for example, see Patent Document 1).

JP 2014-129676 A

  Since the conventional technique disclosed in Patent Document 1 described above can display the projected image of the work support information from the driver's cab and display it around the work apparatus, it can reduce the movement of the operator's viewpoint during work. Work support information is displayed in characters. Therefore, when work that requires higher concentration than normal excavation work is being performed, such as leveling work using the work device, the operator must watch the attachment of the work device. Therefore, the necessary information cannot be easily grasped from the characters displayed around the work device, and the convenience to the operator is low. In particular, when a character is displayed around the working device when viewed from the driver's cab during work requiring high concentration as described above, the operator is distracted by reading the character, The display of the work support information may be complicated.

  The present invention has been made based on such a state of the art, and an object of the present invention is to provide a construction machine that can easily grasp necessary information even if an operator performs work that requires concentration. It is in.

In order to achieve the above object, a construction machine according to the present invention includes a cab, a boom that is disposed in front of the cab and rotates in the vertical direction with respect to the vehicle body, and is rotatable at the tip of the boom. A work device including an arm that is provided and pivots up and down with respect to the vehicle body, and an attachment that is pivotally attached to a tip of the arm, a hydraulic pump that discharges pressure oil, and a discharge from the hydraulic pump A hydraulic actuator that drives the working device, a valve device that controls a flow of pressure oil supplied from the hydraulic pump to the hydraulic actuator, and a pilot pressure oil that switches the valve device are discharged by the pressurized oil. a pilot pump for, adjusting the pressure of the pilot pressure oil supplied from the pilot pump to the valve device, an operation device for operating the working device, the In the obtained construction machine, a transmissive display device that is provided on the front side of the cab and displays work information indicating work information, a position acquisition unit that acquires the position of the attachment, and the attachment to a work target Based on the position of the attachment acquired by the position acquisition device and the work state detection device that detects any state of the excavation work and leveling work performed in A display control unit that performs control to display the work information around an attachment, and the display control unit displays the work information when the state of the excavation work is detected by the work state detection device. When the state of the leveling work is detected by the work state detection device, the display is switched to a display using preset characters. The display of information, have a display switching unit that switches a display comprising a predetermined color, said working state detection device, boom for detecting the pressure of the pilot pressure oil adjusted the boom side by the operating device A pressure detector, an arm pressure detector for detecting the pressure of the pilot pressure oil on the arm side adjusted by the operating device, and each pilot detected by the boom pressure detector and the arm pressure detector A working state determining unit that determines a working state of the working device based on the pressure oil pressure, and the working state determining unit is configured to detect the arm-side pilot pressure detected by the arm pressure detector. The pressure of the pilot pressure oil on the boom side detected by the boom pressure detector is equal to or higher than a predetermined first threshold, and the pressure of the boom-side pilot pressure oil is a predetermined second threshold. When it is less than, the working state of the working device is determined to be the state of the leveling work .

  According to the construction machine of the present invention, necessary information can be easily grasped even if an operator performs a work requiring concentration. Problems, configurations, and effects other than those described above will become apparent from the following description of embodiments.

1 is an overall view showing a configuration of a hydraulic excavator cited as an embodiment of a construction machine according to the present invention. It is a figure explaining the structure inside the turning body of the hydraulic shovel shown in FIG. It is a functional block diagram which shows the main functions of the controller shown in FIG. It is a figure explaining the calculation process of the position of the bucket by the bucket position calculating part shown in FIG. It is a figure explaining the determination process of the work state by the work state determination part shown in FIG. 4A and 4B are diagrams illustrating a display example of the display device illustrated in FIG. 3, in which FIG. 3A is a diagram illustrating display by characters, FIG. 3B is a diagram illustrating display in which characters are added, and FIG. It is a figure which shows the display of a bar. It is a flowchart which shows the flow of the control processing of the display of the work information by the controller which concerns on this embodiment.

  EMBODIMENT OF THE INVENTION Hereinafter, the form for implementing the construction machine which concerns on this invention is demonstrated based on figures. Note that in all the drawings for explaining the embodiments of the present invention, members having the same function are denoted by the same or related reference numerals, and repeated description thereof is omitted. In the following embodiments, the description of the same or similar parts will not be repeated in principle unless particularly necessary.

  An embodiment of the construction machine according to the present invention is constituted by, for example, a hydraulic excavator 1 shown in FIG. The hydraulic excavator 1 is attached to a traveling body 2, a revolving body 3 provided on the traveling body 2 via a revolving frame 3a so as to be able to swivel, and mounted in front of the revolving body 3, and is rotated in the vertical direction. And a front work machine 4 as a work device for performing work.

  The swivel body 3 is disposed at the front, and a driver's cab 6 on which an operator who operates the front work machine 4 is boarded, a counter weight 7 that is disposed at the rear and maintains the balance of the vehicle body so that the vehicle body does not tilt, A controller 8 (see FIG. 2) that processes various types of information for controlling the entire operation, and a display device 9 (see FIG. 3) that is provided in the cab 6 and displays various types of information processed by the controller 8. ). The details of the internal configuration of the revolving structure 3 will be described later.

  The front work machine 4 has a base end rotatably attached to the revolving frame 3a, a boom 4A that rotates up and down with respect to the vehicle body, and a boom 4A that is rotatably attached to the tip of the boom 4A. The arm 4B that pivots in the vertical direction and the bucket 4C that is pivotally attached to the tip of the arm 4B and pivots in the vertical direction with respect to the vehicle body are included.

  The front work machine 4 connects the revolving unit 3 and the boom 4A, connects the boom cylinder 4a that rotates the boom 4A by expanding and contracting, the boom 4A and the arm 4B, and extends and contracts the arm 4B. The arm cylinder 4b that rotates the bucket 4C and the bucket cylinder 4c that connects the arm 4B and the bucket 4C and rotates the bucket 4C by expanding and contracting are included. The boom cylinder 4a, arm cylinder 4b, and bucket cylinder 4c constitute hydraulic actuators that drive the boom 4A, arm 4B, and bucket 4C, respectively.

  An angle sensor 4A1 that detects an angle at which the boom 4A is rotated in the vertical direction is attached to a rotation center of one end of the boom 4A on the revolving structure 3 side. An angle sensor 4B1 for detecting an angle at which the arm 4B is rotated is attached to a rotation center of one end on the boom 4A side of both ends of the arm 4B. At the rotation center of the bucket 4C, an angle sensor 4C1 that detects an angle at which the bucket 4C is rotated is attached.

  For example, although not shown, the controller 8 includes a CPU (Central Processing Unit) that performs various calculations for controlling the entire operation of the vehicle body, and a ROM (Read Only Memory) that stores a program for executing calculations by the CPU. It comprises hardware including a storage device such as an HDD (Hard Disk Drive) and a RAM (Random Access Memory) that serves as a work area when the CPU executes a program.

  In such a hardware configuration, a program stored in a recording medium such as a ROM, an HDD, or an optical disk (not shown) is read into the RAM, and the program (software) and the hardware cooperate by operating under the control of the CPU. The function block which implement | achieves and implement | achieve the function of the controller 8 is comprised. Details of the functional configuration of the controller 8 will be described later.

  The display device 9 is, for example, disposed inside a windshield 6A (see FIG. 6) formed on the front surface of the cab 6, and is a transmissive liquid crystal display, a liquid crystal monitor, or the like that is placed on the windshield 6A. It is composed of And the display apparatus 9 is bucket height which shows the height of the bucket 4C from the target construction surface (work object) planned to be excavated by the bucket 4C as the work information W (see FIG. 6) indicating the work-related information, for example. Information, fuel consumption information indicating the vehicle's fuel consumption, surroundings that show warnings when obstacles such as overhead lines and workers approach the vehicle body, or when the topography and geology around the vehicle body suddenly change Warning information and vehicle body warning information indicating a warning to that effect are displayed on the screen when the vehicle body parts are broken due to damage or the like. A detailed display example of the display device 9 will be described later.

  Next, the internal configuration of the swing body 3 of the excavator 1 configured as described above will be described in detail with reference to FIG.

  As shown in FIG. 2, the swing body 3 includes an engine 11 as a prime mover, a governor 12 that adjusts the fuel injection amount of the engine 11, and a hydraulic pump 13 that is connected to the output shaft of the engine 11 and discharges pressure oil. And a pilot pump 14 that discharges pilot pressure oil for switching a valve device 16 described later, and a pump capacity adjusting device 15 that is connected to the controller 8 and adjusts the capacity of the hydraulic pump 13.

  The revolving unit 3 includes the above-described valve device 16 that controls the flow of pressure oil supplied from the hydraulic pump 13 to the hydraulic actuators 4a to 4c, and operation units (not shown) formed on the left and right sides of the valve device 16. ) Through a pilot line, and adjusts the pressure of the pilot pressure oil (hereinafter referred to as pilot pressure for convenience) supplied from the pilot pump 14 to the valve device 16 so that each of the hydraulic actuators 4a to 4c is desired. And an operation device 17 that enables the above-described operations.

  Furthermore, the swivel body 3 is attached to pipe lines connecting the valve device 16 and the bottom chambers 4a1 to 4c1 of the hydraulic actuators 4a to 4c, respectively, and the pressure of hydraulic oil flowing through these pipe lines, that is, the boom cylinder 4a. Bottom pressure sensors 18A to 18C for detecting the bottom side pressure (hereinafter referred to as the bottom pressure for convenience), the bottom pressure of the arm cylinder 4b, and the bottom pressure of the bucket cylinder 4c, and an operation lever described later of the operation device 17, respectively. Pilot pressure sensors 19A and 19B that detect the pressure of the hydraulic fluid that is attached to the pilot pipes that connect 17A and 17B and the operating portion of the valve device 16 and that flows through these pilot pipes, that is, pilot pressure, are included. It is out. In the present embodiment, the pilot pressure sensor 19A functions as an arm pressure detector that detects the pilot pressure on the arm side adjusted by the operating device 17, and the pilot pressure sensor 19B is adjusted on the boom side adjusted by the operating device 17. It functions as a boom pressure detector that detects the pilot pressure.

  The hydraulic pump 13 has, for example, a swash plate (not shown) as a variable displacement mechanism, and controls the discharge flow rate of the pressure oil by adjusting the inclination angle of the swash plate. Hereinafter, although the hydraulic pump 13 will be described as a swash plate pump, the hydraulic pump 13 may be a slant shaft pump or the like as long as it has a function of controlling the discharge flow rate of the pressure oil. Although not shown, the hydraulic pump 13 includes a discharge pressure sensor that detects the discharge pressure of the hydraulic pump 13, a discharge flow sensor that detects the discharge flow rate of the hydraulic pump 13, and an inclination angle sensor that measures the inclination angle of the swash plate. The information obtained from each of these sensors is input to the controller 8 as work information W. Information obtained from the angle sensors 4A1 to 4C1, the bottom pressure sensors 18A to 18C, and the pilot pressure sensors 19A and 19B described above is also input to the controller 8 as work information W.

  The pump capacity adjusting device 15 adjusts the capacity (displacement volume) of the hydraulic pump 13 based on the operation signal output from the controller 8. Specifically, the pump capacity adjusting device 15 includes a regulator 15A that supports the swash plate so as to be tiltable, and an electromagnetic proportional valve 15B that applies a control pressure to the regulator 15A in accordance with a command value of the controller 8. Yes. When the regulator 15A receives the control pressure from the electromagnetic proportional valve 15B, the capacity of the hydraulic pump 13 is adjusted by changing the inclination angle of the swash plate of the hydraulic pump 13 by this control pressure, and the absorption torque of the hydraulic pump 13 is increased. Can be controlled.

  The valve device 16 is connected between the hydraulic actuators 4a to 4c and the hydraulic pump 13. Although not shown, the valve device 16 strokes in the housing forming the outer shell, and thereby the flow rate of the pressure oil discharged from the hydraulic pump 13 and It has a spool that adjusts the direction. The valve device 16 is configured to change the stroke amount of the spool in accordance with the pressure of the pilot pressure oil that flows into the left and right operation portions from the pilot pump 14 via the pilot pipe line.

  Therefore, the hydraulic pump 13, the pilot pump 14, the pump capacity adjusting device 15, and the valve device 16 constitute a hydraulic circuit that operates the hydraulic actuators 4 a to 4 c inside the swing body 3. In the hydraulic circuit having such a configuration, when the hydraulic pump 13 is operated by the driving force of the engine 11, the pressure oil discharged from the hydraulic pump 13 is supplied to the valve device 16 and the pilot pressure discharged from the pilot pump 14. Oil is supplied to the operating device 17.

  At this time, when the operator in the cab 6 operates the operation levers 17A and 17B, which will be described later, the operation device 17 causes the pilot pressure oil, which has been decompressed according to the operation amount of the operation levers 17A and 17B, to pass through the pilot pipeline. It supplies to the left and right operation parts of the valve device 16 respectively. As a result, the position of the spool in the valve device 16 is switched by the pilot pressure oil, so that the hydraulic oil that has flowed through the valve device 16 from the hydraulic pump 13 is supplied to the hydraulic actuators 4a to 4c. Can operate to drive the boom 4A, the arm 4B, and the bucket 4C, respectively.

  The operating device 17 is installed in the vicinity of the operator's left side in the operator's cab 6 and is installed in the vicinity of the operator's right hand in the operator's cab 6 and a left-hand side operating lever 17A that the operator holds with his left hand. And an operation lever 17B on the right hand side gripped by

  When the operation lever 17A is operated in the front-rear direction, the revolving body 3 is set to turn left and right in accordance with the operation amount. The operation to the rear side of the operation lever 17A is an operation to turn the revolving structure 3 to the left via a turning device (not shown), and the operation to the front side of the operation lever 17A is a turning device (not shown). This is an operation of turning the turning body 3 to the right.

  Further, when the operation lever 17A is operated in the left-right direction, the arm 4B is set to rotate in the up-down direction corresponding to the operation amount. The operation of the operation lever 17A to the left side is an operation of the arm cloud that pulls the arm 4B toward the vehicle body by extending the arm cylinder 4b, and the operation of the operation lever 17A to the right side is a shortening of the arm cylinder 4b. This is an arm dumping operation in which the arm 4B is moved away (separated) from the vehicle body side.

  When the operation lever 17B is operated in the front-rear direction, the operation lever 17B is set to rotate the boom 4A in the vertical direction corresponding to the operation amount. The operation to the front side of the operation lever 17B is a boom lowering operation that rotates the boom 4A downward by shortening the boom cylinder 4a, and the operation to the rear side of the operation lever 17B extends the boom cylinder 4a. This is a boom raising operation for rotating the boom 4A upward.

  When the operation lever 17B is operated in the left-right direction, the operation lever 17B is set to rotate the bucket 4C in the up-down direction in accordance with the operation amount. The operation of the operation lever 17B to the left is an operation of a bucket cloud that pulls the bucket 4C toward the vehicle body side when the bucket cylinder 4c extends, and the operation of the operation lever 17B to the right is a shortening of the bucket cylinder 4c. This is a bucket dumping operation in which the bucket 4C is moved away (separated) from the vehicle body side.

  As described above, the operations on the swing body 3, the boom 4A, the arm 4B, and the bucket 4C of the excavator 1 include the left turn, the right turn, the boom lowering, the boom raising, the arm cloud, the arm dump, the bucket cloud, and the bucket. There are various operations of dumping, and by combining these operations, excavation work for excavating the ground or the like as a work target, moving work for moving the bucket 4C to a predetermined target construction surface before this excavation work, and the ground, etc. It is possible to perform a work such as a leveling work for smoothing and smoothing.

  In the present embodiment, the controller 8 has a function of displaying the work information W provided to the operator in the cab 6 on the display device 9 during work such as excavation work, moving work, and leveling work. . Hereinafter, the functional configuration of the controller 8 that characterizes the present embodiment will be described in detail with reference to FIG.

  As shown in FIG. 3, the controller 8 determines the position of the bucket 4 </ b> C based on each rotation angle detected by the angle sensors 4 </ b> A <b> 1 to 4 </ b> C <b> 1 and dimensional information of the vehicle body including the front work machine 4 stored in the storage device in advance. The working state of the front work machine 4 is determined on the basis of the respective bucket pressures detected by the bucket position calculation unit 21 and the bottom pressure sensors 18A to 18C and the pilot pressure sensors 19A and 19B. Display that displays work information W in the vicinity of the bucket 4 </ b> C as viewed from the cab 6 in the display device 9 based on the work state determination unit 22 to be determined and the position of the bucket 4 </ b> C calculated by the bucket position calculation unit 21. The control part 23 is comprised.

  Next, the calculation processing of the position of the bucket 4C by the bucket position calculation unit 21 will be described with reference to FIG.

  In FIG. 4, on the rotation surface (vertical surface) on which the front work machine 4 rotates, the rotation fulcrum of the boom 4A is the origin O (0, 0), and the horizontal axis extending in front of the vehicle body is the X axis, An XY coordinate system is set with the vertical axis extending in the vertical direction of the vehicle body as the Y axis. The bucket position calculation unit 21 calculates the coordinates (X1, Y1) of the tip E of the bucket 4C in the XY coordinate system shown in FIG. 4 as the position of the bucket 4C as follows.

  Specifically, as the rotation angle of the boom 4A, the angle at which the axis BM of the boom 4A connecting the rotation fulcrum of the boom 4A and the rotation fulcrum of the arm 4B is rotated from the Y axis is α, and the rotation of the arm 4b is performed. As an angle, the angle at which the axis AM of the arm 4B connecting the rotation fulcrum of the arm 4B and the rotation fulcrum of the bucket 4C is rotated from the axis BM of the boom 4A is β, and the rotation angle of the bucket 4C is the rotation angle of the bucket 4C. An angle at which the axis BK of the bucket 4C connecting the moving fulcrum and the tip E of the bucket 4C is rotated from the axis AM of the arm 4B is γ.

The distance between the pivot point of the boom 4A and the pivot point of the arm 4B is L1, the distance between the pivot point of the arm 4B and the pivot point of the bucket 4C is L2, the pivot point of the bucket 4C and the bucket 4C are The distance from the tip E is L3. Thus, the rotation angle α of the boom 4A, the rotation angle β of the arm 4B, the rotation angle γ of the bucket 4C, the distance L1 between the rotation fulcrum of the boom 4A and the rotation fulcrum of the arm 4B, and the rotation of the arm 4B. When the distance L2 between the moving fulcrum and the rotation fulcrum of the bucket 4C and the distance L3 between the rotation fulcrum of the bucket 4C and the tip E of the bucket 4C are defined, the coordinates (X1, Y1) of the tip E of the bucket 4C are as follows: It is represented by the following mathematical formulas (1) and (2) using the rotation angles α, β, γ and the distances L1 to L3.

  The bucket position calculation unit 21 rotates the rotation angle α of the boom 4A detected by the angle sensor 4A1, the rotation angle β of the arm 4B detected by the angle sensor 4B1, and the rotation of the bucket 4C detected by the angle sensor 4C1. The angle γ, the distance L1 between the pivot fulcrum of the boom 4A and the pivot fulcrum of the arm 4B stored in the storage device in advance, the distance L2 between the pivot fulcrum of the arm 4B and the pivot fulcrum of the bucket 4C, and the bucket 4C The coordinates (X1, Y1) of the tip E of the bucket 4C can be obtained by substituting the distance L3 between the rotation fulcrum and the tip E of the bucket 4C into the above formulas (1) and (2), respectively. Accordingly, the angle sensors 4A1 to 4C1 and the bucket position calculation unit 21 function as a position acquisition unit 31 that acquires the position of the bucket 4C.

  Next, work state determination processing by the work state determination unit 22 will be described with reference to FIG.

  The work state determination unit 22 detects any state of a normal excavation work, a moving work, and a leveling work for which the target construction surface is not set as the work state of the front work machine 4. Of these work states, in each of the moving work and leveling work states, the operator needs to pay attention to the operation of the operation levers 17A and 17B so as not to dig too much ground with the bucket 4C. This work requires a higher concentration than normal excavation work. In addition, when the target construction surface is preset, the construction information including the target construction surface is stored in the storage device.

Here, as shown in FIG. 5, when the distance between the position of the tip E of the bucket 4C and the position of the target construction surface F is H, the height H of the bucket 4C from the target construction surface F is the height of the bucket 4C. Using the Y coordinate Y1 of the tip E and the Y coordinate Y2 of the target construction surface F, it is expressed by the following mathematical formula (3).

  The work state determination unit 22 substitutes the Y coordinate Y1 of the tip E of the bucket 4C calculated by the bucket position calculation unit 21 and the Y coordinate Y2 of the target construction surface F stored in the storage device into the above equation (3). By doing, the height H of the bucket 4C from the target construction surface F can be calculated | required. Then, the work state determination unit 22 compares the height H of the bucket 4C with a predetermined distance H1 (see FIG. 7), and when the height H of the bucket 4C is less than the distance H1, When it is determined that the work state is a mobile work state and the height H of the bucket 4C is equal to or greater than the distance H1, the work state of the front work machine 4 is not a mobile work state, that is, a normal excavation work state. Is determined.

  Further, the work state determination unit 22 uses a pilot pressure on the arm 4B side detected by the pilot pressure sensor 19A, that is, a pilot pressure PPam (see FIG. 7) for rotating the arm 4B in the vertical direction as a predetermined first threshold value. The pilot pressure on the boom 4A side detected by the pilot pressure sensor 19B, that is, the pilot pressure PPbm (see FIG. 7) for rotating the boom 4A in the vertical direction is equal to or higher than P1 (see FIG. 7). 2 is less than a threshold value P2 (see FIG. 7), and the bottom pressure PBbm (see FIG. 7) of the boom cylinder 4a detected by the bottom pressure sensor 18A is less than a predetermined third threshold value P3 (see FIG. 7). When it is satisfied, it is determined that the work state of the front work machine 4 is a leveling work state.

  On the other hand, when the above condition is not satisfied, the work state determination unit 22 determines that the work state of the front work machine 4 is not a leveling work state, that is, a normal excavation work state. Therefore, the pilot pressure sensors 19A and 19B, the bottom pressure sensor 18A, the bucket position calculation unit 21, and the work state determination unit 22 function as a work state detection device 32 that detects the work state of the front work machine 4. In the determination of the leveling work state by the work state determination unit 22 described above, one of the conditions is that the bottom pressure PBbm of the boom cylinder 4a detected by the bottom pressure sensor 18A is less than the third threshold value P3. However, the present invention is not limited to this case, and the condition may be omitted.

  The display control unit 23 includes the position of the bucket 4 </ b> C calculated by the bucket position calculation unit 21, the position of a driver's seat (not shown) in the cab 6 stored in the storage device in advance, and the position of the display device 9. Based on the dimensional information of the vehicle body, the display position calculation unit 231 that calculates the position at which the work information W is displayed on the display device 9 and the work state of the front work machine 4 determined by the work state determination unit 22 And a display switching unit 232 for switching the display of the information W to a display with characters set in advance or a display including a color. Here, the display by characters indicates a so-called normal display using only characters, and the display including color is a display in which characters are highlighted with a color, only a mark highlighted with color, Various types of highlighting are included for the operator, such as changing the size of marks and characters, and blinking displays.

  The display position calculation unit 231 displays the screen of the transmissive display device 9 based on the relationship between the position of the bucket 4C calculated by the bucket position calculation unit 21, the position of the driver's seat in the cab 6, and the position of the display device 9. Among them, a position where the work information W can be projected within a predetermined range around the bucket 4C as seen from the cab 6 is calculated.

  When the work state determination unit 22 determines that the work state of the front work machine 4 is a normal excavation work state, the display switching unit 232 switches the display of the work information W to a character display, and the work state determination unit When it is determined by 22 that the work state of the front work machine 4 is the moving work state or the leveling work state, the display of the work information W is switched to a display including a color. The display device 9 is provided with a changeover switch 9A for an operator in the cab 6 to manually change the display of the work information W, and the display changeover unit 232 follows the changeover command from the changeover switch 9A. The display of the work information W is forcibly switched to display with characters or display including color.

  Next, a display example of the display device 9 switched by the display switching unit 232 will be described in detail with reference to FIGS.

  When the display of the work information W is switched to display with characters, the display switching unit 232 places the work information at the position calculated by the display position calculation unit 231 on the screen of the display device 9 as shown in FIG. A letter representing W is displayed. At this time, when the work information W is bucket height information, for example, as shown in FIG. 6A, the characters “200 mm” are projected together with an arrow indicating the moving direction of the bucket 4C. The arrow is not colored.

Although not shown, when the work information W is fuel consumption information, characters such as “35 m ³ / L” indicating the total fuel consumption of the day are displayed, and when the work information W is ambient warning information. If the warning object name, direction, and distance from the vehicle body are displayed, such as “workers approach 4 m behind the vehicle body”, and the work information W is vehicle body warning information, the details of the failure And a message such as “Muffler filter abnormality. Immediately put the aircraft in a safe posture, stop the engine, and contact the nearest branch or sales office” is displayed.

  On the other hand, when the display switching unit 232 switches the display of the work information W to a display including a color, the display position calculation unit 231 among the screens of the display device 9 causes the display position calculation unit 231 to display, as shown in FIGS. The color representing the work information W is reflected at the calculated position. At this time, when the work information W is bucket height information, the display switching unit 232 may add a color to the characters “200 mm” and the arrow as shown in FIG. 6B, for example. As shown in FIG. 6C, a color bar may be displayed instead of characters and arrows, or a symbol or a figure such as a circle or triangle may be added and displayed. The display including such colors is the same for the fuel consumption information, the surrounding warning information, and the vehicle body warning information.

  Moreover, in the display including a color, when the work information W is bucket height information, the display switching unit 232, for example, in accordance with the height H of the bucket 4C from the target construction surface F, green, yellow, Even when the hue ring is changed in order of orange and red, or when the bucket 4C comes into contact with the target construction surface F, that is, when the height H of the bucket 4C becomes 0, the red blinking display is performed. Good. Similarly, when the work information W is fuel efficiency information, the display switching unit 232 may change the color circle so as to follow the hue circle in the order of green, yellow, orange, and red as the fuel efficiency deteriorates. Furthermore, when the work information W is surrounding warning information or vehicle body warning information, the display switching unit 232 performs red display or red blinking display, or distinguishes from bucket height information and fuel consumption information. A warning sound may be output from a sound output device (not shown) such as a speaker built in the display device 9 in advance.

  Next, control processing for displaying work information W by the controller 8 according to the present embodiment will be described in detail based on the flowchart of FIG. Here, it is assumed that the start and stop of the control process are interlocked with on / off of a key (not shown) that causes the engine 11 to start and stop in the cab 6. However, other means may be used regardless of this. Further, it is assumed that processing is performed at regular intervals from when the engine 11 is started until it stops.

  As shown in FIG. 7, first, the display control unit 23 of the controller 8 checks the input signal of the changeover switch 9A and determines whether or not the changeover switch 9A is in the ON state ((Step (hereinafter referred to as S and S)). 701)). When the display control unit 23 determines that the changeover switch 9A is in an ON state (S701 / Yes), the display changeover unit 232 of the display control unit 23 displays that the changeover command from the changeover switch 9A includes a color. It is determined whether or not the command is (S702).

  At this time, if the display switching unit 232 determines that the switching command from the selector switch 9A is a display command including a color (S702 / Yes), a process of S713 described later is performed. On the other hand, when the display switching unit 232 determines that the switching command from the selector switch 9A is not a display command including a color, that is, a display command using characters (S702 / No), a process of S707 described later is performed. .

  In S701, when the display control unit 23 determines that the changeover switch 9A is not in the ON state, that is, in the OFF state (S701 / No), the controller 8 acquires the detection values of the angle sensors 4A1 to 4C1. (S703). Next, the controller 8 refers to the information in the storage device, and determines whether or not the construction information including the target construction surface F is stored in the storage device (S704).

  In S704, when the controller 8 determines that the construction information is stored in the storage device (S704 / Yes), the bucket position calculation unit 21 of the controller 8 detects each rotation angle α, detected by the angle sensors 4A1 to 4C1. The position of the bucket 4C is calculated from β, γ, and dimensional information of the vehicle body previously stored in the storage device. Next, the work state determination unit 22 of the controller 8 uses the target construction surface F based on the position of the bucket 4C calculated by the bucket position calculation unit 21 and the target construction surface F of the construction information stored in the storage device in advance. Is calculated (S705), and it is confirmed whether the calculated height H of the bucket 4C is less than the distance H1 (S706).

  At this time, when the work state determination unit 22 confirms that the height H of the bucket 4C is less than the distance H1 (S706 / Yes), the work state of the front work machine 4 is determined to be a state of moving work, A process of S713 described later is performed. On the other hand, in S706, when the work state determination unit 22 confirms that the height H of the bucket 4C is equal to or greater than the distance H1 (S706 / No), the work state of the front work machine 4 is a normal excavation work state. Is determined.

  Then, the display position calculation unit 231 of the display control unit 23 calculates the position at which the work information W is displayed on the display device 9 from the position of the bucket 4C calculated by the bucket position calculation unit 21 and the dimensional information of the vehicle body. The control unit 23 displays the work information W at the position calculated by the display position calculation unit 231, and the display switching unit 232 switches the display of the work information W to a character display (S707), and a key (not shown) is turned on. If there is, the process returns to S701 at regular intervals, and when the key (not shown) is turned off, the control process for displaying the work information W is terminated.

  On the other hand, if the controller 8 determines in S704 that the construction information is not stored in the storage device (S704 / No), it acquires the detected values of the pilot pressure sensors 19A and 19B (S708), and further the bottom pressure sensors 18A to 18A. The detection value of 18C is acquired (S709). Next, the work state determination unit 22 checks whether or not the pilot pressure PPam on the arm 4B side detected by the pilot pressure sensor 19A is equal to or higher than the first threshold value P1 (S710).

  At this time, when the work state determination unit 22 confirms that the pilot pressure PPam on the arm 4B side is less than the first threshold value P1 (S710 / No), the work state of the front work machine 4 is a normal excavation work state. It is determined that there is, and the process of S707 is performed. On the other hand, in S710, when the work state determination unit 22 confirms that the pilot pressure PPam on the arm 4B side is equal to or higher than the first threshold P1 (S710 / Yes), the pilot on the boom 4A side detected by the pilot pressure sensor 19B. It is confirmed whether the pressure PPbm is less than the second threshold value P2 (S711).

  At this time, when the work state determination unit 22 confirms that the pilot pressure PPbm on the boom 4A side is equal to or higher than the second threshold value P2 (S711 / No), the work state of the front work machine 4 is in a normal excavation work state. It is determined that there is, and the process of S707 is performed. On the other hand, in S711, when the work state determination unit 22 confirms that the pilot pressure PPbm on the boom 4A side is less than the second threshold P2 (S711 / Yes), the bottom of the boom cylinder 4a detected by the bottom pressure sensor 18A. It is confirmed whether or not the pressure PBbm is less than the third threshold value P3 (S712).

  At this time, when the work state determination unit 22 confirms that the bottom pressure PBbm of the boom cylinder 4a is equal to or higher than the third threshold value P3 (S712 / No), the work state of the front work machine 4 is a normal excavation work state. It is determined that there is, and the process of S707 is performed. On the other hand, in S712, when the work state determination unit 22 confirms that the bottom pressure PBbm of the boom cylinder 4a is less than the third threshold value P3 (Yes in S712), the work state of the front work machine 4 is equalized. It is determined that

  Then, the display position calculation unit 231 calculates the position at which the work information W is displayed on the display device 9 from the position of the bucket 4C calculated by the bucket position calculation unit 21 and the dimensional information of the vehicle body. The work information W is displayed at the position calculated by the position calculation unit 231, and the display switching unit 232 switches the display of the work information W to a display including a color (S713). Returning to S701 at regular intervals, and when a key (not shown) is turned off, the control processing for displaying the work information W is terminated.

  According to the hydraulic excavator 1 according to the present embodiment configured as described above, the work information W provided to the operator is displayed by the display control unit 23 around the bucket 4C as viewed from the cab 6 in the display device 9. The In this state, when work that requires higher concentration than normal excavation work is performed, such as moving work and leveling work, the display switching unit 232 displays the work information W on the display device 9 as characters. The display is switched from the display by the color to the display including the color. As a result, the operator in the cab 6 can fully grasp the color expressed as the work information W from the peripheral visual field even when the bucket 4C is watched through the windshield 6A, so that the operator can work while concentrating on the work. Information W can be understood sensuously. As described above, according to the present embodiment, even if the operator performs a work that requires concentration, necessary information can be easily grasped, so that excellent work efficiency can be obtained.

  Further, in the hydraulic excavator 1 according to the present embodiment, when the excavation work in which the operator can leave the line of sight compared with the moving work or the excavation work is performed, the work information W of the display device 9 is displayed by the display switching unit 232. Since the display of characters is switched to display by characters, the operator can accurately grasp detailed information including bucket height information, fuel consumption information, surrounding warning information, and vehicle body warning information by reading the characters. .

  On the other hand, when the moving work or leveling work requiring higher concentration than the excavation work is being performed, the display switching unit 232 switches the display of the work information W to a display including a color. It can be avoided that the display of W hinders the operator's work. Thereby, the operator operating the operation levers 17A and 17B can accurately adjust the position of the bucket 4C to the target construction surface F in the moving work, and can prepare the ground or the like as intended in the leveling work. As a result, it is possible to smoothly perform a work that requires a delicate operation on the work object.

  By the way, when the work state of the front work machine 4 is a moving work state, the operator operates the operation levers 17A and 17B to bring the tip E of the bucket 4C closer to the preset target construction surface F. The hydraulic excavator 1 according to the present embodiment pays attention to the positional relationship between the bucket 4C and the target construction surface F in such a moving work state, and determines the state of the moving work by the work state determination unit 22. Yes. That is, the work state determination unit 22 calculates the height H of the bucket 4C from the target construction surface F with reference to the calculation result of the bucket position calculation unit 21, and calculates the calculated height H of the bucket 4C and the predetermined distance H1. It is possible to accurately determine whether or not the work state of the front work machine 4 is a moving work state.

  Further, when the work state of the front work machine 4 is a leveling work state, the operator operates the operation levers 17A and 17B to extend the arm cylinder 4b and keep the arm 4B pulled toward the vehicle body. At the same time, the boom cylinder 4a is extended so that the Y coordinate Y1 of the tip E of the bucket 4C is kept constant. The hydraulic excavator 1 according to this embodiment pays attention to the state of the boom 4A and the arm 4B in such leveling work, and determines the level of leveling work by the work state determination unit 22. That is, the work state determination unit 22 determines that the pilot pressure PPam on the arm 4B side detected by the pilot pressure sensor 19A is equal to or higher than the predetermined first threshold value P1, and the pilot on the boom 4A side detected by the pilot pressure sensor 19B. By using that the pressure PPbm is less than the predetermined second threshold value P2 as a determination condition, it is possible to quickly determine whether or not the work state of the front work machine 4 is a leveling work state. Thus, since this embodiment can determine the working state of the front work machine 4 that requires concentration power with high accuracy and efficiency, the hydraulic excavator 1 having excellent reliability can be provided. .

  In addition, this embodiment mentioned above was described in detail in order to demonstrate this invention easily, and is not necessarily limited to what is provided with all the demonstrated structures. Further, a part of the configuration of an embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of an embodiment.

  Moreover, although the hydraulic excavator 1 which concerns on this embodiment demonstrated the case where it was comprised using the bucket 4C as an attachment with which the front work machine 4 was mounted | worn, this invention is not limited to this case, For example, Instead of the bucket 4C, a magnet or the like that attracts and conveys metal scrap may be used.

  Furthermore, in the hydraulic excavator 1 according to the present embodiment, the display device 9 is configured by a transmissive liquid crystal display, a liquid crystal monitor, or the like that is installed on a windshield 6A formed on the front surface of the cab 6. However, the present invention is not limited to this case. For example, a real image display unit (not shown) for displaying a real image indicating the work information W and an image projected from the real image display unit are reflected. You may comprise from the combiner (not shown) for displaying the virtual image of the said image in front of 6 A of windshields.

DESCRIPTION OF SYMBOLS 1 ... Hydraulic excavator (construction machine), 4 ... Front work machine (work apparatus), 4A ... Boom, 4A1-4C1 ... Angle sensor, 4a ... Boom cylinder (hydraulic actuator), 4B ... Arm, 4b ... Arm cylinder (hydraulic actuator) 4C ... Bucket (attachment), 4c ... Bucket cylinder (hydraulic actuator)
6 ... cab, 8 ... controller, 9 ... display device, 9A ... changeover switch, 13 ... hydraulic pump, 14 ... pilot pump, 16 ... valve device, 17 ... operating device, 17A, 17B ... operating lever, 18A-18C ... Bottom pressure sensor, 19A ... Pilot pressure sensor (pressure detector for arm), 19B ... Pilot pressure sensor (pressure detector for boom)
DESCRIPTION OF SYMBOLS 21 ... Bucket position calculation part, 22 ... Work condition determination part, 23 ... Display control part, 31 ... Position acquisition device, 32 ... Work condition detection apparatus, 231 ... Display position calculation part, 232 ... Display switching part

Claims (1)

A cab and a boom disposed in front of the cab and pivoting up and down with respect to the vehicle body; an arm pivotably provided at a tip of the boom and pivoting up and down with respect to the vehicle body; And a working device including an attachment rotatably attached to the tip of the arm, a hydraulic pump that discharges pressure oil, a hydraulic actuator that drives the working device by the pressure oil discharged from the hydraulic pump, and A valve device that controls the flow of pressure oil supplied from the hydraulic pump to the hydraulic actuator, a pilot pump that discharges pilot pressure oil for switching the valve device, and a pilot pump that supplies the valve device to the valve device In a construction machine comprising an operating device that adjusts the pressure of pilot pressure oil and operates the working device ,
A transmissive display device that is provided on the front side of the cab and displays work information indicating information on work;
A position acquisition unit for acquiring the position of the attachment;
A work state detection device for detecting a state of either excavation work or leveling work performed with the attachment on a work target;
Based on the position of the attachment that has been acquired by the position acquisition unit, and a display control unit that performs control to display the job information in the periphery of the attachment as viewed from the cab of the display device,
When the excavation work state is detected by the work state detection device, the display control unit switches the display of the work information to a display using preset characters, and the work state detection device performs the leveling work. when the condition is detected, the display of the job information, have a display switching unit that switches a display comprising a predetermined color,
The working state detection device
A boom pressure detector that detects the pressure of the pilot pressure oil on the boom side adjusted by the operation device;
An arm pressure detector for detecting the pressure of the pilot pressure oil on the arm side adjusted by the operation device;
Each pilot detected by the boom pressure detector and the arm pressure detector
A working state determination unit that determines a working state of the working device based on the pressure oil pressure,
The working state determination unit
The pressure of the pilot pressure oil on the arm side detected by the pressure detector for the arm is not less than a predetermined first threshold, and the pressure of the pilot pressure oil on the boom side detected by the boom pressure detector is A construction machine, characterized in that, when it is less than a predetermined second threshold, it is determined that the working state of the working device is the state of the leveling work .