Hitachi Construction Machinery Co., Ltd.

Daito Sakai

Shiho Izumi

Kohei Hiromatsu

Kouji Ishikawa

Ryuu Narikawa

Yasuhiko Kanari

Naoki Hayakawa

Takahiko Kurose

A construction machine that can display various work devices including a bucket on a display device without causing a sense of discomfort is provided. A display controller is configured to deform a first drawing figure to create a first post-deformation drawing figure such that a triangle having vertexes at a first coupling point, a second coupling point and a first monitor point in the first drawing figure becomes congruent with a triangle having vertexes at the first coupling point, the second coupling point and the first monitor point in a coordinate system on an image on a display device, and arrange the first post-deformation drawing figure on a screen of the display device such that positions of the first coupling point, the second coupling point and the first monitor point in the first post-deformation drawing figure are arranged correspondingly to positions of the first coupling point, the second coupling point and the first monitor point, respectively, in the coordinate system on the image.

Construction machine

A measurement controller (): computes the position of a plane (S) representing a side surface of a work implement (A) in an image-capturing-device coordinate system (Co) on the basis of an image of the side surface of the work implement captured by an image-capturing device () and an internal parameter of the image-capturing device; computes the coordinate values of a point on the work implement in the image-capturing-device coordinate system (Co), the point corresponding to any pixel constituting the work implement on the captured image, on the basis of positional information on the pixel on the captured image and the position of the plane (S); and converts the coordinate values of the point on the work implement in the image-capturing-device coordinate system, the point corresponding to the pixel, to coordinate values in a work-implement coordinate system (Co) to output the coordinate values in the work-implement coordinate system (Co) to a work-machine controller () of a hydraulic excavator ().

Work-implement external-shape measurement system, work-implement external-shape display system, work-implement control system and work machine

Provided is a work machine that is equipped with a control unit that executes area limiting control with respect to a work device. The control unit includes: a position computing section that calculates the position, on an operation plane, of the forward end (first reference point) of a bucket and the rear end (second reference point) of the bucket; and a first distance computing section that calculates the distances in the operating plane from the first reference point and the second reference point to the target face A to be controlled. When the smaller one of the two distances is equal to or lower than a threshold during area limiting control, the control unit corrects an operation signal output from an operation lever device so as to reduce the operating speed of a hydraulic actuator that is a control target of the operation signal.

Work machine

A work machine includes: a multi-joint type work implement; a plurality of hydraulic actuators driving the work implement; an operation device outputting an operation signal to the plurality of hydraulic actuators; a storage section storing a target configuration defined by connecting a plurality of target surfaces; a control object surface selection section that in the case where a control point set at a claw tip of a bucket is under the target configuration, uses a target surface closest to the control point on the target configuration as a control object surface; and a target operation control section that controls the plurality of hydraulic actuators such that the operational range of the control point is limited to the control object surface and a region above the same in the case where an excavation operation is input from an operator via the operation device.

When a work implement is actuated in such a manner that a work point is located at each of a plurality of positions on a datum line, a first work point position computing section calculates a position of the work point at each of the plurality of positions. A calibration value computing section calculates calibration values of angle conversion parameters (&#x3b1;bm, &#x3b2;bm, &#x3b1;am, &#x3b2;am, &#x3b1;bk, &#x3b2;bk), dimension parameters (Lbm, Lam, Lbk), and line parameters (tilt tan &#x3b8;, intercept Zline) using the fact that the positions of the work point at each of the plurality of positions calculated by the first work point position computing section can satisfy a linear equation indicating a datum line. A parameter update section reflects the calibration values calculated by the calibration value computing section in computation by a corresponding computing section that is one of the angle computing section and the first work point position computing section.

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Tsuchiura, Japan

Daito Sakai