JP3460894B2 - Construction machine attitude monitoring system - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an attitude monitor system for a construction machine, which is provided in a construction machine such as a hydraulic excavator and displays a distance (front distance) to a predetermined portion of a front device, and particularly relates to an absolute front distance. The present invention relates to a posture monitoring system for a construction machine, which selects and displays a distance and a relative distance.

[0002]

2. Description of the Related Art A hydraulic excavator is a typical example of construction machines. The hydraulic excavator has a multi-joint type front device including work front members such as a boom, an arm, and a bucket, and drives the front device to perform work such as excavation. Some hydraulic excavators include an attitude monitor system that obtains a distance (front distance) from a reference position to a predetermined portion of the front device, for example, the position of the blade edge of the bucket, and displays the result on a display. In this conventional attitude monitoring system, the front distance can be selected and displayed by the distance from the predetermined reference position (absolute distance) for the hydraulic excavator and the distance from the reference position (relative distance) arbitrarily set by the operator. It is like this.

[0003]

SUMMARY OF THE INVENTION In the conventional posture monitoring system described above, a front distance is selected by an absolute distance from a predetermined reference position for a hydraulic excavator and a relative distance from the reference position arbitrarily set by an operator. Since it can be displayed, the absolute distance or the relative distance can be switched and displayed according to the work content, and when the display of the relative distance is selected, for example, the height from the ground to the tip of the bucket or the reach distance from the posture of a specific front device can be displayed. Can be displayed. However, what is displayed on the display is only a numerical display of the front distance, and the operator cannot confirm whether it is an absolute distance or a relative distance. there were.

An object of the present invention is to provide an attitude monitor system for a construction machine which enables an operator to confirm whether the front distance displayed on the display is an absolute distance or a relative distance.

[0005]

In order to achieve the above object, the present invention adopts the following constitutions. That is, a multi-joint type front device composed of a plurality of work front members is provided with a sensor for detecting a state quantity relating to the position and orientation of the front device, and a predetermined value of the front device is calculated by a computing device from a value detected by the sensor. The front distance to the part is calculated and displayed on the display, and the front distance is selected and displayed by the absolute distance from the reference position that is predetermined for the construction machine and the relative distance from the reference position that the operator arbitrarily set. In the posture monitoring system for a construction machine, when the front distance is selected and displayed by an absolute distance and a relative distance, identification display means for displaying information regarding whether the front distance is the absolute distance or the relative distance is provided ,
If the absolute distance display is selected, the identification display means
Is that the front distance and that it is an absolute distance
The indicated characters are displayed together on the display, and the relative distance is selected.
, The front distance and it's relative distance
The character indicating that is also displayed on the display together.
And

In the present invention constructed as above,
When the front distance is selected and displayed by the absolute distance and the relative distance, the operator can confirm whether it is the absolute distance or the relative distance by the identification display means, and the workability is improved.

[0007]

Further, in order to achieve the above object, the present invention adopts the following configuration. That is, a plurality of working fluorocarbons
The front of the multi-joint type front device composed of
A sensor is installed to detect the state quantity related to the position and orientation of the device.
If the value detected by this sensor is
Find the front distance to the specified part of the front device
In addition to displaying it on the display, the front distance of the
Absolute distance and operation from a predetermined reference position for the machine
Selected by the relative distance from the reference position set arbitrarily by the data
In the posture monitoring system of the construction machine that displays
Select and display the front distance by absolute distance or relative distance.
Information about whether it is absolute or relative when shown
Is provided together with the identification display means, and when the display of the absolute distance is selected, the identification display means displays the front distance and an illustration evoking that it is the absolute distance together with the display. displayed, when the display of the relative distance is selected, the front distance and it shall display arouse illustration that the relative distance with the indicator. In the present invention configured as described above,
Even if you select the front distance as an absolute distance or a relative distance,
Displayed by the operator, the operator
Can be checked whether it is an absolute distance or a relative distance.
Is improved.

Further, in order to achieve the above object, the present invention adopts the following constitutions. That is, a plurality of working fluorocarbons
The front of the multi-joint type front device composed of
A sensor is installed to detect the state quantity related to the position and orientation of the device.
If the value detected by this sensor is
Find the front distance to the specified part of the front device
In addition to displaying it on the display, the front distance of the
Absolute distance and operation from a predetermined reference position for the machine
Selected by the relative distance from the reference position set arbitrarily by the data
In the posture monitoring system of the construction machine that displays
Select and display the front distance by absolute distance or relative distance.
Information about whether it is absolute or relative when shown
Is also provided, the identification display means displays only the front distance on the display when the absolute distance display is selected, and the relative distance display is selected. case, the front distance and it shall display arouse illustration that the relative distance with the indicator. The present invention thus configured
Also, the front distance is selected by absolute distance and relative distance.
When selected and displayed, the operator
You can check whether it is absolute distance or relative distance,
Workability is improved.

[0010]

[0011]

DETAILED DESCRIPTION OF THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. First, a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 shows an attitude monitor system according to this embodiment. This attitude monitor system is mounted on the hydraulic excavator shown in FIG.

In FIG. 2, the hydraulic excavator is a boom 1
0a, an arm 10b, a bucket 10c as a work tool, and an articulated front device 10A, and an upper swing body 1
0d and a vehicle 10B including a lower traveling body 10e, the boom 10a, the arm 10b, and the bucket 10c are driven by the boom cylinder 8a, the arm cylinder 8b, and the bucket cylinder 8c, respectively, and the upper swing body 10d and the lower traveling body 10e are It is driven by a left and right traveling motor and a swing motor, which are not shown.

As shown in FIG. 1, the posture monitoring system of the present embodiment mounted on such a hydraulic excavator has a display unit 1 and a front distance which is a distance from the display unit 1 to a predetermined portion of the front unit 10A. An arithmetic unit 2 for displaying (described later), a height switch 3 and a reach switch 4 for selecting whether the front distance displayed on the display unit 1 is the height (vertical direction) distance or the reach (horizontal direction) distance. When,
A boom angle sensor 5, an arm angle sensor 6, and a bucket angle sensor, which are provided at respective pivots of the boom 10a, the arm 10b, and the bucket 10c, and detect the respective pivot angles as state quantities related to the position and orientation of the front device 10A. 7 and an absolute switch 8 for selectively switching whether to display the absolute distance from a predetermined reference position for the hydraulic excavator or the relative distance from the reference position arbitrarily determined by the operator as the front distance on the display 1.
And the relative switch 9 and the setting switch 1 for setting the reference position of the relative distance when the relative distance is displayed on the display 1.
It is composed of 0 and.

The front distance displayed on the display unit 1 includes, for example, the distance in the height direction of the blade edge of the bucket 10c and the distance in the reach direction, and the arithmetic unit 2 includes the boom angle sensor 5, the arm angle sensor 6 and the bucket angle sensor. The vertical position and the horizontal position of the blade tip of the bucket 10c are calculated from the state quantity detected by 7, and the vertical position (distance in the height direction) of the blade tip of the bucket 1c is displayed when the height switch 3 is input. When the reach switch 4 is input, the horizontal position of the blade edge of the bucket 1c (distance in the reach direction) is displayed on the display unit 1.

Further, when the absolute switch 8 is input, the arithmetic unit 2 displays the distance from the predetermined reference position of the hydraulic excavator to the blade edge of the bucket 1c as an absolute distance on the display unit 1 and the relative switch. When 9 is input, the distance from the reference position arbitrarily set by the operator using the setting switch 10 to the blade edge of the bucket 1c is displayed on the display 1 as a relative position.

More specifically, when the absolute switch 8 is pressed and the height switch 3 is input, the arithmetic unit 2 sets the horizontal plane A shown in FIG. 2 as the 0 point (reference position) and the blade edge of the bucket 1c is a horizontal plane. If it is above A, the distance in the height direction from the 0 point to the bucket blade edge is displayed on the display 1 with a positive value, and if the blade edge of the bucket 1c is below the horizontal plane A, it is a negative value from the 0 point to the bucket. The distance in the height direction to the cutting edge is displayed on the display unit 1. When the absolute switch 8 is pressed and the reach switch 4 is input, the arithmetic unit 2 sets the turning center point B in FIG. 2 to 0 (reference position), and the reach direction from the turning center point B to the blade edge of the bucket 1c. The distance of is displayed on the display 1.

When the relative switch 9 is pressed and the height switch 3 is input, the arithmetic unit 2 is operated by the setting switch 1
With the horizontal plane arbitrarily set by the operator by 0 as the 0 point (reference position), if the blade edge of the bucket 1c is above the horizontal plane, a positive value indicates the distance in the height direction from the 0 point to the bucket blade edge 1 If the blade edge of the bucket 1c is below the horizontal plane, a negative value is displayed on the display 1 as the distance in the height direction from the 0 point to the bucket blade edge. When the relative switch 9 is pressed and the reach switch 4 is input, the arithmetic unit 2 sets the vertical surface set by the operator by the setting switch 10 to 0 point (reference position), and the blade edge of the bucket 1c is located above the vertical surface. If it is on the outside (anti-vehicle side), the distance in the reach direction from the 0 point to the bucket blade edge is displayed on the display unit 1 with a positive value, and if the blade edge of the bucket 1c is on the inside (vehicle side) of the vertical surface, it is minus. With the value of, the display 1 displays the reach distance from the 0 point to the bucket blade edge.

In the present embodiment, as a characteristic configuration thereof, the computing device 2 uses an absolute value when the front distance (distance in the height direction of the bucket blade edge and distance in the reach direction) is displayed on the display 1 as described above. According to the selection of the switch 8 and the relative switch 9, information regarding the absolute distance or the relative distance is also displayed.

FIG. 3 shows a display example of the display 1. In this embodiment, when the absolute switch 8 is pressed and the display of the absolute distance is selected, the front distance and the character “absolute” indicating that it is the absolute distance are displayed together, and the relative switch 9 is pressed. When the display of the relative distance is selected, the front distance and the character "relative" indicating that it is the relative distance are displayed together.

The internal structure of the arithmetic unit 2 is shown in FIG. The arithmetic unit 2 stores an A / D converter 2a that converts the signals (analog signals) of the boom angle sensor 5, the arm angle sensor 6, and the bucket angle sensor 7 into digital signals, and the processing procedure (program) of the arithmetic unit 2. ROM2b and A /
It is composed of a RAM 2c for temporarily storing data after D conversion and data in the middle of calculation, a CPU 2d for executing the calculation of the above-mentioned calculation device 2, and an LCD driver 2e for displaying the calculation result of the CPU 2d on the display 1. ing.

FIG. 4 shows a structural example of the display 1 and the switches 3, 4, 8 to 10 on the operation panel. The operation panel is
The display 1 and the height / reach changeover switch 20 that performs the functions of the height switch 3 and the reach switch 4 in one, and the height lamp 20a and the reach lamp 20b that display the switching position thereof, the absolute switch 8 and the relative switch. 9
Absolute / relative changeover switch 21 that fulfills the functions of
And a setting switch 22 corresponding to the setting switch 10.

The height / reach changeover switch 20 can be switched to, for example, two positions, a height selection position and a reach selection position, by an operator's operation. Switching the switch 20 to the height selection position is shown in FIG. The switch 3 is turned on and the reach switch 4 is turned off. At this time, the height lamp 20a is turned on and the switch 20 is switched to the reach selection position by turning on the reach switch 4 shown in FIG. This means that the switch 3 is turned off, and the reach lamp 20b is turned on at this time.

The absolute / relative switching switch 21 is, for example, an alternate switch (a switch that holds the state after switching) that is selectively turned on / off by an operator's operation, and turning off the switch 21 is shown in FIG. Turning on the switch 8 and turning off the relative switch 9 means turning on the switch 21 means turning on the relative switch 9 and turning off the absolute switch 8 shown in FIG.

The setting switch 22 is, for example, a momentary operation switch that is turned on only while the operator is pushing it, and when the operator moves the front device 10A to move the blade edge of the bucket 1c to a position where the relative distance is to be used as a reference. Pushed in position. Pressing the setting switch 22 turns on the setting switch 10 shown in FIG. 1, and the ON signal is sent to the CPU 2d of the arithmetic unit 2, and the CPU 2d of the arithmetic unit 2 causes the angle sensor 5 at that time.
The position of the blade edge of the bucket 1c is calculated based on the signals from ~ 7 and is stored in the RAM 2c as the relative position reference position.

Details of the processing function of the arithmetic unit 2 will be described with reference to the flowcharts of FIGS. 5 and 6. The processing procedure of this flowchart is stored in the ROM 2C of the arithmetic unit 2 as a program.

In FIGS. 5 and 6, 100 is an absolute height display flow, 110 is a relative height display flow, 120 is an absolute reach display flow, and 130 is a relative reach display flow.

First, in the absolute height display flow 100, the processing of the arithmetic unit 2 starts. In the absolute height display flow 100, first, it is determined whether or not the reach switch 4 is ON (step 101). If the reach switch 4 is not ON, the signals of the boom angle sensor 5, the arm angle sensor 6 and the bucket angle sensor 7 are output. Is input (step 102), the absolute height is displayed (step 103), and it is further determined whether the setting switch 10 and the relative switch 9 are ON (steps 104 and 10).
5) If both are not ON, return to the beginning and repeat the above procedure. As a result, when the height switch 3 is pressed and the absolute switch 8 is pressed, the absolute height is displayed together with the character "absolute" on the display 1.

After displaying the absolute height (step 1
03), when the setting switch 10 is ON, or when the relative switch 9 is ON, the process moves to the relative height display flow 110.

In the relative height display flow 110, the signals of the boom angle sensor 5, the arm angle sensor 6, and the bucket angle sensor 7 are input again (step 111), and the processing for displaying the relative height is performed (step 112). Furthermore, it is judged whether the absolute switch 8 and the reach switch 4 are ON respectively (steps 113 and 114), and both are turned ON.
If not, the process returns to step 111 and the above procedure is repeated. As a result, when the height switch 3 is pressed and the relative switch 9 is pressed, the relative height is displayed on the display 1 together with the characters "relative". Also, the setting switch 10
When is ON and the process moves to the relative height display flow 110, the relative switch 9 is turned ON (absolute switch 8 is OFF) (step 115), and then the above procedure is executed. As a result, when the operator pushes the setting switch 10 to set the reference position of the relative distance, the relative height is automatically set to "relative".
It is displayed with the character.

On the other hand, when the absolute switch 8 is pressed while the relative height is displayed in the relative height display flow 110, the absolute switch 8 is turned on and the process returns to the absolute height display flow 100 (step 113, 102), the display is switched to the absolute height display.

When the reach switch 4 is ON in the absolute height display flow 100, the process moves to the absolute reach display flow 120 shown in FIG. 6 (steps 101 and 121), and the reach switch 4 is turned ON in the relative height display flow 110.
If so, the flow moves to the relative reach display flow 130 shown in FIG. 6 (steps 114 and 131).

In the absolute reach display flow 120,
First, signals from the boom angle sensor 5, the arm angle sensor 6, and the bucket angle sensor 7 are input (step 12
1) Perform processing to display absolute reach (Step 12
2) Further, it is judged whether each of the setting switch 10, the relative switch 9 and the height switch 3 is ON (steps 123, 124, 125), and if they are not ON, the process returns to step 120 and the above procedure is repeated. As a result, when the reach switch 4 is pressed and the absolute switch 8 is pressed, the absolute reach is displayed on the display unit 1 together with the character "absolute".

After the absolute reach is displayed (step 122), when the setting switch 10 is ON or when the relative switch 9 is ON, the process moves to the relative reach display flow 130 and when the height switch 3 is ON. Shifts to the absolute height display flow 100.

In the relative reach display flow 130,
The signals from the boom angle sensor 5, the arm angle sensor 6 and the bucket angle sensor 7 are input again (step 131).
Perform processing to display relative reach (step 132),
Furthermore, absolute switch 8 and height switch 3 are both ON
It is judged whether or not (step 133, 134), and both are O
If not N, the process returns to step 131 and the above procedure is repeated. As a result, when the reach switch 4 is pressed and the relative switch 9 is pressed, the relative reach is displayed on the display 1 together with the characters "relative". Further, when the setting switch 10 is turned on and the process moves to the relative reach display flow 130, the relative switch 9 is turned on (absolute switch 8 is turned off).
(Step 135), and then the above procedure is executed.
Thereby, when the operator presses the setting switch 10 to set the reference position of the relative reach, the relative reach is automatically displayed together with the characters “relative”.

On the other hand, in the relative reach display flow 130, the absolute switch 8 is selected from the state where the relative reach is displayed.
When is pressed, the absolute switch 8 is turned on and the absolute reach display flow 100 is returned to (steps 113, 10).
2) It is switched to the absolute reach display.

When the height switch 3 is ON in the absolute reach display flow 120, the process moves to the absolute height display flow 100 shown in FIG. 5 (steps 125 and 102), and the height switch 3 is turned ON in the relative reach display flow 130. If so, the flow moves to the relative height display flow 110 shown in FIG. 5 (steps 134 and 111).

In the above, the steps 103, 112 shown in FIG. 5 and the steps 122, 122 shown in FIG.
The processing function of 132 and the display device 1 constitute an identification display means for displaying the information regarding whether the front distance is the absolute distance or the relative distance when the front distance is selected and displayed.

According to the present embodiment configured as described above, when the absolute switch 8 is pressed, the front distance is displayed on the display unit 1 with a numerical value and "absolute" indicating that it is an absolute distance, and the relative distance is displayed. When the switch 9 is pressed, the front distance is displayed on the display 1 as a numerical value together with the character "relative" indicating that it is a relative distance, so that the operator can confirm whether the front distance is an absolute distance or a relative distance. , Workability is improved.

Second to fourth embodiments of the present invention will be described with reference to FIGS. 7 to 9, respectively. These embodiments show other display examples in which information on whether the front distance is an absolute distance or a relative distance is also displayed.

In FIG. 7, in the second embodiment, the arithmetic unit 2 (see FIG. 1) is shown in FIG. 7A when the absolute switch 8 is pressed to display the absolute distance. As shown in the figure, for example, an illustration showing only the hydraulic excavator is displayed together on the display unit 1 as an illustration to evoke the front distance and the absolute distance, and the relative switch 9 is pressed to display the relative distance. 7
As shown in (b) and (c), as an illustration evoking that the front distance and the relative distance are relative distances, for example, if the height switch 3 is pressed, the hydraulic excavator and the horizontal plane are set. Illustration (Fig. 7)
(B)) When the reach switch 4 is pressed, an illustration (FIG. 7 (c)) showing that the hydraulic shovel and the vertical surface are set is also displayed on the display unit 1.

In FIG. 8, in the third embodiment, the arithmetic unit 2 (see FIG. 1) is as shown in FIG. 8A when the absolute switch 8 is pressed to select the absolute display. In Fig. 8, only the front distance is displayed, and when the relative switch 9 is pressed to select the relative display, as shown in Fig. 8 (b), an illustration evoking the front distance and the relative display. , Together with an illustration of a hydraulic excavator, for example.

In FIG. 9, in the fourth embodiment, the arithmetic unit 2 (see FIG. 1) is shown in FIG. 9 (a) when the absolute switch 8 is pressed to display the absolute distance. As shown in FIG. 9B, when the relative distance is displayed by displaying the front distance on the display 1 and the lamp 30 indicating that it is an absolute distance is lit and the relative switch 9 is pressed. As shown in, front distance indicator 1
And the lamp 31 indicating that it is a relative distance is turned on.

Also in the embodiments shown in FIGS. 7 to 9, the operator can confirm whether the displayed front distance is an absolute distance or a relative distance, so that the same effect as that of the first embodiment can be obtained.

[0044]

According to the present invention, the operator determines whether the front distance displayed on the display is an absolute distance from a predetermined reference position for a construction machine or a relative distance from a reference position arbitrarily set by the operator. Can be confirmed and workability is improved.

[Brief description of drawings]

FIG. 1 is a configuration diagram of an attitude monitoring system according to a first embodiment of the present invention.

FIG. 2 is a side view of a hydraulic excavator to which the present invention is applied.

FIG. 3 is a diagram showing a display example of a display device according to the first embodiment of the present invention.

FIG. 4 is a diagram showing a configuration example of an operation panel of the posture monitoring system.

FIG. 5 is a flowchart showing processing functions of the arithmetic unit.

FIG. 6 is a flowchart showing processing functions of the arithmetic unit.

FIG. 7 is a diagram showing a display example of a display device according to a second embodiment of the present invention.

FIG. 8 is a diagram showing a display example of a display device according to a third embodiment of the present invention.

FIG. 9 is a diagram showing a display example of a display device according to a fourth embodiment of the present invention.

[Explanation of symbols]

1 Display 2 arithmetic unit 3 height switch 4 reach switch 8 absolute switch 9 Relative switch 10 Setting switch 10A front device 10B vehicle 10a boom 10b arm 10c bucket 20 Height / reach switch 21 Absolute / Relative switch 22 Setting switch 30 Absolute display lamp 31 Relative display lamp

Front page continued (72) Inventor Hiroyuki Adachi No. 650 Jinrachi-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Tsuchiura factory (72) Inventor Toshiaki Nishida No. 650 Jincho-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Tsuchiura factory (72) Inventor, Kazuo Fujishima, 650 Kintate-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd., Tsuchiura factory (72) Inventor, Ken Iijima, 650, Jinmachi-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd., Tsuchiura factory (56) Reference Reference JP-A-8-253951 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) E02F 9/26

Claims (3)

(57) [Claims] 1. A multi-piece comprising a plurality of work front members.
The articulated front device is used to control the position and posture of the front device.
A sensor that detects the state quantity
Based on the detected value, the computing device determines the predetermined value of the front device.
When the front distance to the part is calculated and displayed on the display,
Also, the front distance was previously determined for the construction machine.
Absolute distance from the reference position and set arbitrarily by the operator
Construction machine to select and display by relative distance from reference position
In the attitude monitoring system of, the front distance is selected by the absolute distance and the relative distance and displayed.
Information about whether it is absolute or relative when shown
Is provided together with the identification display means, and when the display of the absolute distance is selected, the identification display means displays the front distance and a character indicating that it is the absolute distance together with the display. A posture monitoring system, wherein the front distance and a character indicating that it is a relative distance are displayed together on the display when the relative distance is selected. 2. A multi-piece comprising a plurality of work front members.
The articulated front device is used to control the position and posture of the front device.
A sensor that detects the state quantity
Based on the detected value, the computing device determines the predetermined value of the front device.
When the front distance to the part is calculated and displayed on the display,
Also, the front distance was previously determined for the construction machine.
Absolute distance from the reference position and set arbitrarily by the operator
Construction machine to select and display by relative distance from reference position
In the attitude monitoring system of, the front distance is selected by the absolute distance and the relative distance and displayed.
Information about whether it is absolute or relative when shown
Is provided together with the identification display means, and when the display of the absolute distance is selected, the identification display means displays the front distance and an illustration evoking that it is the absolute distance together with the display. The posture monitoring system is characterized in that when the relative distance display is selected, the front distance and an illustration evoking that it is the relative distance are also displayed on the display. 3. A multi-piece comprising a plurality of work front members.
The articulated front device is used to control the position and posture of the front device.
A sensor that detects the state quantity
Based on the detected value, the computing device determines the predetermined value of the front device.
When the front distance to the part is calculated and displayed on the display,
Also, the front distance was previously determined for the construction machine.
Absolute distance from the reference position and set arbitrarily by the operator
Construction machine to select and display by relative distance from reference position
In the attitude monitoring system of, the front distance is selected by the absolute distance and the relative distance and displayed.
Information about whether it is absolute or relative when shown
The identification display means for displaying together, the identification display means, when the display of absolute distance is selected, displays only the front distance on the display,
The posture monitor system, wherein when the display of the relative distance is selected, the front distance and an illustration for urging that the front distance is the relative distance are also displayed on the display.