JP4801374B2 - Information display device for construction machinery - Google Patents

Description

  The present invention relates to an information display device for a construction machine that displays work information together with illustration images of front devices such as a boom and an arm.

2. Description of the Related Art Conventionally, there has been known an apparatus that displays an illustration image of a crane on a display and displays work information of each part in association with the illustration image (see, for example, Patent Document 1). In the device described in Patent Document 1, an illustration image of a crane is displayed as a fixed image, and each work information of the front device such as a boom angle and a suspension load is displayed as a numerical value on a display unit corresponding to the illustration image. To do.
JP 9-328296 A

  By the way, it is preferable not to display the illustration image of the crane as a fixed image but to display it with a moving image following the change in the posture of the front device because the operating state of the front device can be easily grasped. However, when the illustration image of the crane is displayed as a moving image, the display position of the illustration image changes at any time. Therefore, it is difficult to display the work information of the front device in association with the illustration image, that is, in the vicinity of the illustration image. It is. As a result, the worker cannot easily grasp what kind of information the displayed work information is.

An information display device for a construction machine according to the present invention includes a posture detection means for detecting the posture of a work front device composed of a plurality of movable members movable relative to the construction machine body, and an illustration simulating each movable member. A display device that displays a front device image consisting of an image and work information corresponding to each movable member on a single screen, and a front device image is displayed as a moving image based on the detection result by the posture detection means, and corresponds to each movable member Display control means for controlling the display image of the display device so as to display the work information as a numerical value or a schematic diagram, and the display control means further displays the illustration images of the movable members in different colors within one screen in the display device. and displays in a predetermined area in, in the display color and the same color, the display unit of work information corresponding to the movable members, one screen of the display device And controlling a display image to be displayed respectively in the region outside the predetermined region illustration image is displayed.
The illustration images of the movable members can be displayed in different ground colors, and the corresponding work information display sections can be displayed in the same ground color as the display colors.
In addition, the outline of the illustration image of each movable member can be displayed in a different color, and the outer frame of the corresponding work information display unit can be displayed in the same color as this display color.
The work range curve of the front device may be displayed corresponding to the moving image display of the front device image.
It is preferable to include a determination unit that determines normality / abnormality of the detection result by the posture detection unit, and to change the display mode of the illustration image depending on whether the determination unit determines abnormal or normal.
The predetermined area in the display device on which the illustration image is displayed can be a rectangular shape.

According to the present invention, the illustration image of each movable member of the front device is displayed in a predetermined area within one screen of the display device in different colors, and corresponds to each movable member in the same color as this display color. Since the display unit of the work information is displayed outside the predetermined area where the illustration image within one screen is displayed on the display device , it is possible to determine which movable member the work information corresponds to. There is a special effect that the member can easily grasp.

-First embodiment-
A first embodiment of an information display device for a construction machine according to the present invention will be described below with reference to FIGS.
FIG. 1 is an external side view of a dredger vessel to which the present invention is applied. A revolving structure 1 is mounted on the carriage 6 so as to be able to turn, and a working front device 2 is attached to the revolving structure 1. The front device 2 includes a boom 3 pivotally supported on the swing body 1 by a boom cylinder 3a, an arm 4 pivotally supported on a boom tip by an arm cylinder 4a, and a pivot on the arm tip. The bucket 5 is pivotally supported. The bucket 5 can be opened and closed by driving the cylinder 5a. The revolving unit 1 is provided with a cab 7.

  Dredging work boats, for example, remove the soil by removing the bottom of the water in order to deepen the water depth in harbors, rivers, and the like. Therefore, since the work is performed in a state where the bucket 5 is not visible, it is preferable to display work information such as the position of the bucket 5 and opening / closing in the cab 7 in order to improve workability. Therefore, in the present embodiment, work information is displayed on the color display 16 in the cab 7 as follows.

  FIG. 2 is a diagram illustrating an example of a display image displayed on the display 16. In FIG. 2, an illustration image 20 schematically showing the overall shape of the dredger work boat is displayed in the approximate center of the screen of the display 16. The illustration image 20 includes a revolving body part 21, a base ship part 26, and a front device part 22 (boom part 23, arm part 24, bucket part 25), and the revolving body part 21 and the base ship part 26 are fixed images. The front device unit 22 is a moving image. That is, the images of the revolving body unit 21 and the base boat unit 26 are constant regardless of the posture change, and the image of the front device unit 22 changes following the front posture change. The boom part 23, the arm part 24, and the bucket part 25 that are displayed as moving images are filled with different colors, and the ground color of each part is different.

  The illustration image 20 is displayed so as to overlap the work range diagram 27 showing the work range (work radius and depth) of the bucket 5. In the work range diagram 27, the intersection of the water surface line and the swivel axis of the swivel unit 21 is drawn as the origin, and in the work range diagram 27, the work range curve 27a is displayed as a fixed image. Thereby, the worker can grasp the current position of the bucket 5 in association with the work range curve 27a.

  On the left side of the screen of the display 16, a plurality of display units 31 to 35 are provided on the top and bottom to indicate the work state. The display unit 31 displays the ground angle of the boom 3 as a numerical value, and the display unit 32 displays the ground angle of the arm 4 as a numerical value. The display unit 33 displays the bucket tip depth, the display unit 34 displays the bucket load, and the display unit 35 displays an illustration image indicating the open / close state of the bucket 5.

  Each display part 31-35 is displayed by the ground color corresponding to each part (the boom part 23, the arm part 24, the bucket part 25) of the illustration image 20. FIG. For example, the ground color of the display unit 31 is equal to the ground color of the boom unit 23, the ground color of the display unit 32 is equal to the ground color of the arm unit 24, the ground color of the display units 33 and 34, and the ground color of the illustration image of the display unit 35. The color is equal to the ground color of the bucket portion 25. Thereby, the worker can easily grasp which part corresponds to the work information displayed on the display units 31 to 35.

  Display areas 36 and 37 are provided on the right side of the display 16. In the display area 36, illustration images (boom cylinder portion 38, arm cylinder portion 39) corresponding to the boom cylinder 3a and the arm cylinder 4a are displayed, and the cylinders 3a, 4a are displayed on the display portions 40 to 43 corresponding to the cylinder portions. The rod chamber pressure and the bottom chamber pressure are respectively displayed as numerical values. The ground colors of the boom cylinder part 38 and the arm cylinder part 39 are equal to the ground colors of the boom part 23 and the arm part 24, respectively. Thereby, the worker can easily grasp to which part the work information displayed on the display unit 36 corresponds.

  In the display area 37, an illustration image 44 of the hydraulic device mounted on the revolving structure 1 is displayed. The illustration image 44 is provided with reference numerals 1 to 3 indicating a pressure detection unit, and the display unit 45 is provided with reference numerals 1 to 3. The pressure detection value corresponding to is displayed numerically. Reference numerals 1 to 3 of the illustration image 44 are displayed in different colors, and reference numerals 1 to 3 of the display unit 45 are displayed in a color equal to the reference numerals 1 to 3.

  FIG. 3 is a block diagram showing the configuration of the information display apparatus according to the first embodiment. The controller 10 includes an inclination angle sensor 11 for detecting the inclination angle of the work boat body, a boom angle sensor 12 for detecting the angle of the boom 3 with respect to the revolving structure 1, and an arm angle sensor 13 for detecting the angle of the arm 4 with respect to the boom 3. And the pressure sensor 14 which detects the pressure which acts on the cylinders 3a and 4a, and the opening / closing sensor 15 which detects opening and closing of the bucket 5 are connected.

  The display color of each part of the illustration image 20 is stored in the memory 10a in advance. For example, the boom portion 23 is stored in blue, the arm portion 24 is stored in green, and the bucket portion 25 is stored in orange. Further, an image of the boom part 23 and the arm part 24 corresponding to a normal sensor output and an image of the boom part 23 and the arm part 24 corresponding to an error are stored, respectively. For example, images of the boom part 23 and the arm part 24 are displayed with solid lines when normal, and are displayed with dotted lines when there is an error. The controller 10 executes the following processing and outputs a control signal to the display 16 to control the display image.

  FIG. 4 is a flowchart illustrating an example of processing executed by the controller 10. This flowchart starts, for example, when a power switch is turned on. First, in step S1, a control signal corresponding to a fixed image is output to the display 16, and as shown in FIG. Is displayed. In step S2, the main body tilt angle detected by the tilt angle sensor 11 is captured. In step S3, it is determined whether or not the signal from the tilt angle sensor 11 is within a normal range, that is, whether or not the main body tilt angle is normally detected.

  If it is determined that the detected value is an error, the process proceeds to step S4, and the main body tilt angle is set to 0 °. That is, since the posture of the front device 2 cannot be detected if the main body tilt angle remains in error, the main body tilt angle is temporarily set to 0 °. When the main body tilt angle is normally detected, the detection value of the tilt angle sensor 11 is set as the main body tilt angle as it is. Next, the boom angle detected by the boom angle sensor 12 in step S5 is captured. In step S6, it is determined whether or not the signal from the boom angle sensor 12 is within a normal range, that is, whether or not the boom posture angle is normally detected. If it is determined that the boom posture angle is normal, the process proceeds to step S7, and if the detected value is determined to be an error, the process proceeds to step S11.

  In step S7, the boom angle detected by the boom angle sensor 12 is converted into a boom-to-ground angle using the main body tilt angle. Next, an image (solid line) of the boom part 23 at the normal time is selected in step S8. In step S9, the display unit 31 is displayed in the same ground color as the display color (blue) of the selected image, and the boom-to-ground angle is numerically displayed on the display unit 31. Then, in step S10, an image signal is generated so that an image indicating the normal state of the selected boom portion 23 is rotated and displayed at an angle that matches the boom-to-ground angle with the boom base end as a rotation fulcrum. A control signal corresponding to the image signal is output to the display 16. As a result, the moving image of the boom portion 23 is displayed in the same background color as the display portion 31, and the displayed posture of the boom portion 23 is equal to the actual turning posture of the boom 3.

  On the other hand, in step S11, since the detected value of the boom angle is abnormal, the boom-to-ground angle is fixed to a predetermined default value within the normal range. Next, the image (dotted line) of the boom part 23 at the time of error is selected in step S12, and the display part 31 is displayed in the same ground color as the display color (blue) of this image in step S13. The corner is displayed as an error. In step S10, an image signal is generated so that an image indicating an error state of the selected boom portion 23 is displayed in a state where the boom base end portion is rotated to a default boom-to-ground angle with the boom base end portion as a rotation fulcrum. A control signal corresponding to the image signal is output to the display 16.

  Next, in step S14, the boom tip position, which is the pivot point of the arm 4, is calculated based on the boom length and the boom-to-ground angle, and the arm angle detected by the arm angle sensor 13 is captured in step S15. In step S16, it is determined whether or not the signal from the arm angle sensor 13 is within a normal range, that is, whether or not the arm posture angle is normally detected. If it is determined that the arm posture angle is normal, the process proceeds to step S17, and if the detected value is determined to be an error, the process proceeds to step S21.

  In step S17, the arm angle detected by the arm angle sensor 13 is converted into an arm-to-ground angle using the boom-to-ground angle. Next, an image (solid line) of the arm unit 24 at the normal time is selected in step S18. In step S19, the display unit 32 is displayed in the same ground color as the display color (green) of the selected image, and the arm-to-ground angle is numerically displayed on the display unit 32. In step S20, an image signal is generated so that an image indicating the normal state of the selected arm unit 24 is rotated and displayed at an angle that matches the arm-to-ground angle with the boom tip as a rotation fulcrum. A control signal corresponding to the signal is output to the display 16. As a result, the moving image of the arm unit 24 is displayed in the same background color as the display unit 32, and the displayed posture of the arm unit 24 is equal to the actual rotational posture of the arm 4.

  On the other hand, in step S21, since the detected value of the arm angle is abnormal, the arm-to-ground angle is fixed to a predetermined default value within the normal range. Next, in step S22, an image (dotted line) of the arm unit 24 at the time of error is selected, and in step S23, the display unit 32 is displayed in the same ground color as the display color (green) of this image, and The corner is displayed as an error. In step S20, an image signal is generated so that an image indicating an error state of the selected arm unit 24 is displayed in a state where the image is rotated to the default arm-to-ground angle with the boom tip as a rotation fulcrum, A control signal corresponding to the image signal is output to the display 16.

  Next, in step S24, the position of the arm tip is calculated based on the arm length and the arm ground angle. In step S25, an image signal is generated so that the bucket portion 25 is displayed in a predetermined ground color (orange) with the arm tip as a reference, and a control signal corresponding to the image signal is output to the display 16. As a result, an illustration image 20 as shown in FIG. Next, the pressures of the cylinders 3a and 4a detected by the pressure sensor 14 in step S26 are taken.

  In step S27, whether the signal from the pressure sensor 14 is within the normal range and the signals from the boom angle sensor 12 and the arm angle sensor 13 are within the normal range, that is, the cylinder pressure, the boom posture angle, and the arm posture. It is determined whether or not the corner is normally detected. If it is determined that these detected values are normal, the process proceeds to step S28, and the bucket load is calculated based on the signal from the pressure sensor 14. In step S29, the display portions 33 and 34 are displayed in the same ground color (orange) as the bucket portion 25, and the bucket tip depth and bucket load are numerically displayed on the display portions 33 and 34, respectively. On the other hand, if the detected value is determined to be an error in step S27, the process proceeds to step S30, and the display units 33 and 34 are displayed in the same ground color (orange) as the bucket unit 25. When the angle sensor 12, 13 or the pressure sensor 14 has an error, an error is displayed on the display unit 34, and when the angle sensor 12, 13 has an error, an error is displayed on the display unit 33.

  In step S31, the opening / closing of the bucket 5 is determined based on a signal from the opening / closing sensor 15. If it is determined that the bucket 5 is in the open state, the process proceeds to step S <b> 32, and an illustration (FIG. 5) indicating the open state of the bucket 5 is displayed on the display unit 35 in the same ground color (orange) as the bucket unit 25. In contrast, if it is determined that the bucket 5 is in the closed state, the process proceeds to step S33, and an illustration (FIG. 2) showing the closed state of the bucket 5 is displayed on the display unit 35 in the same ground color (orange) as the bucket unit 25.

  The operation of the information display apparatus according to the present embodiment is summarized as follows. When the operator operates an operation lever (not shown) to drive the front device 2, an illustration image 22 corresponding to the front operation is displayed as a moving image on the display 16 (step S10, step S20, step S25). At this time, since the illustration image 22 is displayed so as to overlap the work range diagram 27 (step S1), the worker can better grasp the work state of the front device 2, for example, how much the front device 2 can be operated. In addition, since the opening / closing state of the bucket 5 is displayed as an illustration on the display unit 35 (steps S32 and S33), not only the position of the bucket 5 but also its opening / closing state can be easily grasped.

  In this case, the display unit 31 for displaying the boom ground angle, the display unit 32 for displaying the arm ground angle, the display units 33 and 34 for displaying the bucket tip depth and the bucket load are the boom unit 23, the arm unit 24, and the bucket, respectively. The same background color as that of the unit 25 is displayed (step S9, step S19, step S29). Thereby, the worker can easily grasp what kind of information the information displayed on the display units 31 to 34 is, that is, which part of the front device 2 corresponds to the work information.

  If the detected values of the angle sensors 12 and 13 are in error, the illustration image 22 cannot be displayed as a moving image. In this case, an illustration image 22 having a mode different from that in the normal state is displayed, and an error is displayed on the display units 31 to 34 (step S13, step S23, step S30). As a result, the worker can recognize that the sensors 12 and 13 are in error, and can prevent the front posture from being erroneously recognized. Even when the detected value of the pressure sensor 14 is an error, an error is displayed on the display unit 34 (step S30).

According to the above embodiment, the following effects can be obtained.
(1) A display unit that displays the illustration image 22 of the front device 2 on the display 16 as a moving image, and displays ground colors of the boom unit 23, the arm unit 24, and the bucket unit 25 and work information corresponding to these units 23 to 25. The ground color of 31-35 was made the same color. Thereby, the correspondence between the illustration images 23 to 25 and the display units 31 to 35 becomes clear, and the worker can easily grasp the displayed work content. That is, when the illustration image 22 is displayed as a moving image, it is necessary to provide the display units 31 to 35 for displaying work information at a location away from the illustration image 22, and the correspondence between the illustration image 22 and the display units 31 to 35 is difficult to understand. However, by displaying the display units 31 to 35 corresponding to the illustration image 22 with the same color as in the present embodiment, the correspondence can be easily grasped.
(2) Since it is not necessary to display characters (for example, “boom angle”, “arm angle”, etc.) on the display 16 to indicate the contents of the display units 31 to 35, the display 16 can be prevented from being enlarged. . In addition, when the display content is represented by characters, it is necessary to change the language of the destination country and the setting needs to be changed. However, in the present embodiment, such a setting change is not necessary.
(3) Since the work range diagram 27 is displayed in correspondence with the illustration image 22 of the front device 2, the worker can grasp the operating state of the front device 2 in association with the work range curve 27a. Workability is improved.
(4) Since the display mode when the detection values of the sensors 12 to 14 are in error is different from the display mode during normal operation, it is possible to prevent the sensors 12 to 14 from erroneously recognizing the work state when there is an error. it can.

  In the above, the illustration image of the boom part 23, the arm part 24, and the bucket part 25 and the entire display area of the display parts 31 to 35 are filled and displayed (displayed in the ground color), but these are not displayed in the ground color. As shown in FIG. 5, only the outline lines of the illustration images of the boom part 23, the arm part 24, and the bucket part 25 and the outer frame of the display area of the display parts 31 to 35 may be colored and displayed. In this case, the color of the outline of the illustration image and the color of the outer frame of the display units 31 to 35 corresponding thereto may be the same color.

  2 and 5, the display images of the display areas 36 and 37 are different from each other, and the display unit 36 of FIG. 5 displays a turning angle numerically together with an illustration image showing the turning state of the turning body 1. The display of the display areas 36 and 37 can be switched by, for example, key operation of the operation unit.

-Second Embodiment-
A second embodiment of the construction machine information display device according to the present invention will be described with reference to FIGS.
In the second embodiment, the information display device is applied to a tower crane. FIG. 6 is an external side view of the tower crane. A rotating body 62 is mounted on the traveling body 61 so as to be able to turn, and a working front device 63 is attached to the turning body 62. The front device 63 includes a tower boom 64 pivotally supported by the swing body 62 and a jib boom 65 pivotally supported by the tip of the tower boom 64, and a winch rope extends from the tip of the jib boom 65. A hook 66 is suspended through 67 so as to be lifted and lowered.

  FIG. 7 is a diagram illustrating an example of a display image according to the second embodiment. In FIG. 7, an illustration image 70 schematically showing the entire shape of the tower crane is displayed on the display 16. The illustration image 70 includes a crane main body 71 and a front device 72 (a tower boom 73, a jib 74, and a hook 75). The crane main body 71 is a fixed image, and the front device 72 is a moving image. . Each part of the front device part 72 is displayed in a different ground color. The front device 72 is displayed so as to overlap the work range diagram 76, and a work range curve 76 a is drawn on the work range diagram 76.

  Display units 81 and 82 for displaying the work information of the tower boom 64 and display units 83 to 85 for displaying the work information of the jib 65 are separately provided on the left side of the screen of the display 16. The display unit 81 displays the tower length, the display unit 82 displays the ground angle of the tower boom 64, the display unit 83 displays the relative angle of the jib 65, and the display unit 84 displays the jib length. The ground angle of the jib 65 is displayed on the display unit 85. On the other hand, on the right side of the screen of the display 16, display units 86 to 89 for displaying information on the head are provided. The display unit 86 displays the height (maximum height) of the jib tip, the display unit 87 displays the lift of the hook 66, the display unit 88 displays the suspension load, and the display unit 89 displays the maximum. The suspended load is displayed. The working radius is displayed on the display unit 90 at the bottom of the screen.

  The ground color of the display part 82 is the same color as the ground color of the tower boom part 73, the ground color of the display parts 83, 85, 86 is the same color as the ground color of the jib part 74, and the ground color of the display parts 87, 88, 90 The color is the same color as the ground color of the hook portion 75. Thereby, the worker can easily grasp the work information displayed on the display units 82, 83, 85 to 88, 90. Since the values of the display units 81, 84, and 89 are fixed values set in advance, the display units 81, 84, and 89 are not given a ground color. In this case, since the display units 81, 84, and 89 are provided in the vicinity of the other display units 82, 83, and 88 that have a ground color, the worker can display the display units 81, 84, and 89 using the other display units 82. , 83, 88 can be easily recognized as displaying work information.

  In the above embodiment, the illustration image (front device image) 22 of the front device 2 and the work information display areas 31 to 35 corresponding thereto are displayed in the same ground color (FIG. 2), or the outline of the illustration image 22 Although the outer frames of the display areas 31 to 35 are displayed in the same color (FIG. 5), if the illustration image 22 and the display areas 31 to 35 are displayed in the same color, the display mode is not limited to the above. Absent. Therefore, the processing in the controller 10 as display control means is not limited to that shown in FIG.

  The display image displayed on the display 16 as the display device is not limited to the above-described one. For example, the work range diagram 27 can be omitted. Although the work information is displayed as numerical values or illustrations (schematic diagrams) on the display units 31 to 35, the displayed work information is not limited to that described above. Although the posture of the front device 2 is detected by the sensors 11 to 15 for displaying a moving image, the configuration of the posture detection means is not limited to this. Although the controller 10 as the determination means determines whether the sensors 12 and 13 are normal or abnormal and changes the display according to the determination result, the display is controlled by determining whether the other sensors are normal or abnormal. It may be.

  The above embodiment is applied to dredgers and tower cranes, but other constructions having a work front device composed of a plurality of movable members (booms, arms, etc.) that can move relative to the construction machine body. The same applies to machines. That is, the present invention is not limited to the information display device of the embodiment as long as the features and functions of the present invention can be realized. The above description is merely an example, and when interpreting the invention, there is no limitation or restriction on the correspondence between the items described in the embodiment and the items described in the claims.

1 is an external perspective view of a dredger work ship to which an information display device according to a first embodiment is applied. The figure which shows an example of the display image displayed on a display by the information display apparatus which concerns on 1st Embodiment. The block diagram which shows the structure of the information display apparatus which concerns on 1st Embodiment. The flowchart which shows an example of the process in the controller of FIG. The figure which shows the modification of FIG. The external appearance perspective view of the tower crane with which the information display apparatus which concerns on 2nd Embodiment is applied. The figure which shows an example of the display image displayed on a display by the information display apparatus which concerns on 2nd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Controller 11 Inclination angle sensor 12 Boom angle sensor 13 Arm angle sensor 14 Pressure sensor 15 Opening / closing sensor 16 Display 22 Front apparatus part 23 Boom part 24 Arm part 25 Bucket part 27 Working range FIGS. 31-35 Display part

Claims (6)

Posture detecting means for detecting the posture of a work front device composed of a plurality of movable members movable relative to the construction machine body;
A display device that displays a front device image composed of an illustration image imitating each movable member and work information corresponding to each movable member on one screen ;
Display control for controlling the display image of the display device so that the front device image is displayed as a moving image based on the detection result by the posture detection means, and the work information corresponding to each movable member is displayed as a numerical value or a schematic diagram Means and
The display control means further displays an illustration image of each movable member in a different color in a predetermined area in the one screen of the display device, and corresponds to each movable member in the same color as this display color. An information display of a construction machine, wherein the display image is controlled so that the display unit of the work information is displayed outside a predetermined area where the illustration image in the one screen of the display device is displayed. apparatus. In the construction machine information display device according to claim 1,
The display control means displays the illustration image of each movable member in a different ground color, and controls the display image so that the corresponding work information display unit is displayed in the same ground color as the display color. An information display device for a construction machine. In the construction machine information display device according to claim 1,
The display control means displays the outline of the illustration image of each movable member in a different color, and displays the outer frame of the corresponding work information display unit in the same color as this display color. An information display device for a construction machine, characterized by controlling a display image. In the information display apparatus of the construction machine of any one of Claims 1-3,
The display control means controls the display image so as to display the work range curve of the front device corresponding to the moving image display of the front device image. In the information display apparatus of the construction machine of any one of Claims 1-4,
Determination means for determining normality / abnormality of the detection result by the posture detection means;
The information display apparatus for a construction machine, wherein the display control unit changes a display mode of the illustration image depending on whether the determination unit determines that the abnormality is normal or normal. In the information display apparatus of the construction machine of any one of Claims 1-5,
The information display device for a construction machine, wherein the predetermined area in the display device on which the illustration image is displayed is rectangular.

Images