JP2021001472A - Steering support system for construction machine, steering support method for construction machine, and construction machine - Google Patents

Abstract

To provide a steering support system for a construction machine capable of reducing a burden on an operator.SOLUTION: A steering support system 1 comprises an acquisition section 10, a processing section 20, and a display section 50. The acquisition section 10 acquires image data of a dead angle Az from a cab 32 formed by an arm mechanism 48 which deforms according to a steering. The processing section 20 forms perspective image data in which the dead angle Az is seen from the cab 32 through the arm mechanism 48 on the basis of the image data. The display section 50 displays the perspective image between the cab 32 and the arm mechanism 48.SELECTED DRAWING: Figure 2

Description

The present invention relates to a maneuvering support system for construction machinery, a maneuvering support method for construction machinery, and a construction machine.

Work machines equipped with a monitor for displaying images taken by a camera are known. For example, Patent Document 1 describes a work machine including a basic structure, a swivel body having a driver's cab, a work arm, a breaker, a camera, and a monitor provided on the floor of the driver's cab. .. In this work machine, a monitor is arranged with the display surface facing inside the driver's cab, and the image of the camera that captures the underfloor area on the back side of the monitor is displayed on the monitor.

JP-A-2017-145649

The present inventors have obtained the following recognition about a construction machine provided with a boom arm and an attachment driven by power such as flood control.

A construction machine uses power to drive an arm mechanism such as a boom or an arm, and moves an attachment such as a bucket attached to the arm mechanism to perform a predetermined work. The operator of this machine needs to operate while carefully checking the forward working range. However, the front view of the pilot is blocked by the arm mechanism and there is a large blind spot. It takes a lot of time and effort for the pilot to check this blind spot while changing his / her posture, such as leaning forward. This puts a heavy burden on the operator and causes a decrease in work efficiency.

It is conceivable to install a monitor near the floor or ceiling, but the display on this monitor has a large deviation from the actual field of view, giving the operator a great sense of discomfort. In addition, it is necessary to frequently change the line of sight between the front and the monitor near the floor or ceiling, which rather increases the burden on the operator.

From these viewpoints, it cannot be said that the work machine described in Patent Document 1 considers the blind spot formed by the arm mechanism.

The present invention has been made in view of these problems, and one object of the present invention is to provide a maneuvering support system for construction machinery that can reduce the burden on the operator.

In order to solve the above problems, the maneuvering support system for construction machinery according to an aspect of the present invention includes an acquisition unit that acquires image data of a blind spot from the cockpit formed by an arm mechanism that deforms in response to maneuvering. It is provided with a processing unit that generates data of a perspective image of a blind spot viewed from the driver's seat through the arm mechanism based on image data, and a display unit that displays a perspective image between the driver's seat and the arm mechanism.

It should be noted that any combination of the above, and those in which the components and expressions of the present invention are replaced with each other between methods, devices, programs, temporary or non-temporary storage media on which programs are recorded, systems, and the like are also used. It is effective as an aspect of the present invention.

According to the present invention, it is possible to provide a maneuvering support system for construction machinery that can reduce the burden on the operator.

It is a side view which shows typically the operation support system for construction machinery which concerns on 1st Embodiment. It is a top view which shows typically the maneuvering support system of FIG. It is a block diagram which shows typically the maneuvering support system of FIG. It is a figure which shows typically the front view of the operator of the comparative example which does not have a display part. It is a figure which shows typically the front view of the operator of the operation support system of FIG. It is another figure which shows typically the front view of the operator of the operation support system of FIG. It is a flowchart which shows the operation support method of the construction machine which concerns on 2nd Embodiment. It is a side view which shows typically the maneuvering support system for construction machinery which concerns on 1st modification. It is a top view which shows typically the maneuvering support system of FIG.

Hereinafter, the present invention will be described with reference to each drawing based on a preferred embodiment. In the embodiments and modifications, the same or equivalent components and members are designated by the same reference numerals, and redundant description will be omitted as appropriate. In addition, the dimensions of the members in each drawing are shown enlarged or reduced as appropriate for easy understanding. In addition, some of the members that are not important for explaining the embodiment in each drawing are omitted and displayed.

Also, terms including ordinal numbers such as 1st and 2nd are used to describe various components, but this term is used only for the purpose of distinguishing one component from other components. The components are not limited by.

[First Embodiment]
The configuration of the operation support system 1 for construction machinery according to the first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view schematically showing the operation support system 1 for construction machinery according to the first embodiment. FIG. 2 is a plan view schematically showing the maneuvering support system 1. FIG. 3 is a block diagram schematically showing the maneuvering support system 1.

The maneuvering support system 1 includes an acquisition unit 10, a processing unit 20, and a display unit 50, and supports the operation of the construction machine 100. The processing unit 20 and the display unit 50 constitute a maneuvering support device 30.

The construction machine 100 of the present embodiment is a construction machine that moves a bucket 46 to perform work. The construction machine 100 has a lower traveling portion 36, an upper vehicle body portion 34, an arm mechanism 48, and a bucket 46. The lower traveling portion 36 is configured to be able to travel in a predetermined direction by an endless track or the like. The upper vehicle body portion 34 is mounted on the lower traveling portion 36. The upper vehicle body portion 34 is configured to be rotatable around a vertical axis with respect to the lower traveling portion 36 by a turning drive unit 60. The swivel drive unit 60 can be composed of, for example, a swivel motor (not shown) and a swivel gear (not shown). A cockpit 38 is provided in the upper body portion 34.

For convenience of explanation, the right side of the cockpit 38 is referred to as "right" and the left side is referred to as "left" when viewed from the rear. Further, the front side of the cockpit 38 is referred to as "front", and the opposite direction is referred to as "rear". The notation in such a direction does not limit the posture in which the maneuvering support system 1 is used.

The base end portion of the arm mechanism 48 is provided on the right side of the cockpit 38 in the upper vehicle body portion 34 as an example. The arm mechanism 48 includes, for example, a boom 42 and an arm 44 extending forward from the upper body portion 34. A bucket 46 is attached to the tip end side of the arm mechanism 48. The boom 42 is configured so that the tip portion can rotate up and down around the base end portion on the upper vehicle body portion 34 side. The tip of the arm 44 is configured to be rotatable back and forth around the base end on the boom 42 side.

The bucket 46 is configured such that the tip end portion can be rotated back and forth or up and down around the base end portion on the arm 44 side. The boom 42, arm 44, and bucket 46 can be deformed by changing the bending angle of the joint portion by a plurality of hydraulic cylinders 56. The bucket 46 can be moved by deforming these. Hereinafter, the boom 42, the arm 44, and the bucket 46 are collectively referred to as the front portion 40.

A cockpit 32 is provided inside the cockpit 38. On the side surface of the cockpit 38, a front window 38f surrounding the cockpit 32, a right window 38g, a left window 38h, and a rear window 38j are provided. In the vicinity of the cockpit 32 of the cockpit 38, an operation unit 54 for manipulating the front portion 40 by a plurality of levers or the like is provided. In the driver's seat 32, the operator operates the operation unit 54 while visually observing the surroundings from the windows 38f to 38j to operate the front unit 40.

When an operation is input from the operation unit 54, the plurality of hydraulic valves 58 open and close according to the operation. The hydraulic oil supplied from the hydraulic pump (not shown) is sent to the plurality of hydraulic cylinders 56 according to the opening and closing of the hydraulic valve 58. The plurality of hydraulic cylinders 56 expand and contract according to the amount of hydraulic oil delivered, and deform the front portion 40 to move the boom 42, the arm 44, and the bucket 46. Further, when an operation related to turning is input from the operation unit 54, the turning drive unit 60 integrally turns the upper vehicle body portion 34 and the front portion 40 in response to the operation. In this way, the boom 42, the arm 44, and the bucket 46 can move three-dimensionally in a moving range by deforming and turning according to the control of the operator.

A comparative example will be described first. FIG. 4 is a diagram schematically showing a front view of a pilot of a comparative example having no display unit. In FIG. 4 and FIG. 5 described later, the description of the operation unit 54 is omitted. The cockpit 38 and the cockpit 32 are arranged closer to the left side of the upper vehicle body portion 34 so as to secure the field of view of the tip portion of the bucket 46. In this case, the field of view around the tip of the bucket 46 can be secured, but the field of view on the right side of the bucket 46 is blocked by the arm mechanism 48. That is, as shown in FIG. 2, the arm mechanism 48 forms a large blind spot Az on the right side of the bucket 46 when viewed from the driver's seat 32. As shown in FIG. 4, it is difficult for the pilot to recognize even if the person 8 is in the blind spot Az. When working in the vicinity of the blind spot Az, the pilot needs to steer while changing his / her posture, such as leaning out from the cockpit 32, which imposes a heavy burden on the pilot. It is also possible for the pilot to overlook obstacles.

In order to supplement the front view, it is conceivable to arrange a display near the ceiling or floor of the cockpit 38 so as not to block the operator's view, and display an image of the blind spot Az. However, in this case, since it is displayed at a position greatly deviated from the actual field of view, the pilot will operate while switching the line of sight between the actual field of view and the image on the display, and the burden on the pilot will increase. To do.

The maneuvering support system 1 of the present embodiment will be described with reference to the description of the comparative example. FIG. 5 is a diagram schematically showing a front view of the operator of the present embodiment. The maneuvering support system 1 of the present embodiment includes an acquisition unit 10, a processing unit 20, and a display unit 50 in order to reduce the burden on the operator. The acquisition unit 10 acquires data Gp of an image of the blind spot Az from the driver's seat 32 formed by the arm mechanism 48 that is deformed according to the operation of the operator. Based on the image data Gp, the processing unit 20 generates the data of the perspective image Fi when the blind spot Az is seen from the cockpit 32 through the arm mechanism 48.

As shown in FIG. 5, the display unit 50 displays the fluoroscopic image Fi between the driver's seat 32 and the arm mechanism 48. When the operator looks at the arm mechanism 48 in the middle of the line of sight when the line of sight faces the work area of the bucket 46, the display unit 50 displays the fluoroscopic image Fi in the field of view of the operator. As shown in FIG. 5, the fluoroscopic image Fi displays the person 8 in the blind spot Az. The operator can check the inside of the blind spot Az through which the arm mechanism 48 is seen through by slightly changing the line of sight while gazing at the work area. Therefore, the person 8 in the blind spot Az can be easily recognized, and the operating burden on the operator can be reduced.

The display unit 50 will be further described. In order to make it easy to confirm the blind spot Az, a part or all of the display of the display unit 50 may overlap with the window 38g on the right side or the window 38f on the front side when viewed from the cockpit 32. Further, a part of the display of the display unit 50 may overlap with the window pillar 38p interposed between the windows. In the example of FIG. 5, a part of the display of the display unit 50 overlaps the window pillar 38p extending vertically between the front window 38f of the cockpit 38 and the right window 38g. The window pillars are sometimes called pillars.

The display unit 50 may be, for example, a liquid crystal display, an organic EL display, or the like. The display unit 50 may be supported in the cockpit so that the position and angle can be freely changed.

The acquisition unit 10 will be described. The acquisition unit 10 includes an image sensor 12 capable of capturing an image in order to acquire image data Gp. The image sensor 12 functions as an image sensor that images a region including the blind spot Az. The acquisition unit 10 may include one or more image sensors 12 that image the work area of the bucket 46 from different positions and directions. In the present embodiment, the first image sensor 12a and the second image sensor 12b arranged apart from each other, and the third image sensor 12c arranged at a position different from the first and second image sensors 12a and 12b. Is provided. In the example of FIG. 2, the first image sensor and the second image sensor are arranged so as to be separated from each other on the left and right sides of the arm mechanism 48. Further, in the example of FIG. 2, the third image sensor 12c is arranged between the first and second image sensors 12a and 12b. In FIG. 2, the symbols Aa, Ab, and Ac indicate the imaging range of the image sensors 12a, 12b, and 12c.

Since the two image sensors 12a and 12b are arranged on the left and right sides of the arm mechanism 48, the imaging ranges A can complement each other and the blind spot Az can be significantly reduced. Further, since the third image sensor 12c is arranged between them, the blind spot Az can be further reduced. That is, the plurality of image sensors 12 can be arranged so that the region that becomes a blind spot for one does not become a blind spot for the other. In the example of FIG. 2, the imaging ranges Aa and Ab are fan-shaped regions that partially overlap in the vicinity of the arm mechanism 48 and extend to the right and left from there. The imaging range Ac is an intermediate region between the imaging ranges Aa and Ab.

As described above, the image sensors 12a and 12b are arranged symmetrically with the arm mechanism 48 in between. In this case, it is easy to generate the imaging results of the two sensors and integrate them. The image sensors 12a and 12b may be arranged asymmetrically. The directions along the center of the imaging range of the image sensors 12a and 12b (hereinafter, referred to as “visual field directions”) may be parallel or non-parallel. In the example of FIG. 2, the visual field direction of the image sensor 12a is tilted to the right with respect to the front-rear direction, and the visual field direction of the image sensor 12b is tilted to the left with respect to the front-rear direction. In this case, the imageable range can be widened to the left and right as compared with the case where the viewing directions are parallel. The visual field direction of the image sensor 12c is parallel to the front-rear direction.

The processing unit 20 will be described with reference to FIG. Each functional block shown in FIG. 3 can be realized by an electronic element such as a computer CPU or a mechanical component in terms of hardware, and can be realized by a computer program or the like in terms of software. It depicts a functional block realized by cooperation. Therefore, it is understood by those skilled in the art that these functional blocks can be realized in various forms by combining hardware and software.

As shown in FIG. 3, the image information input unit 20a, the posture identification unit 20b, the line-of-sight identification unit 20c, the operation input unit 20d, the display control unit 20e, the image generation unit 20f, and the display position adjustment unit 20g. , A duplicate image generation unit 20h and a storage unit 20m. The image information input unit 20a receives the image data Gp from the image sensor 12 of the acquisition unit 10 and the image information Gs from the image sensor 14b of the operator sensor 14 described later. The image data Gp is mainly transferred to the image generation unit 20f and the duplicate image generation unit 20h, and the image information Gs is mainly transferred to the posture identification unit 20b and the line-of-sight identification unit 20c. The posture identification unit 20b and the line-of-sight identification unit 20c will be described later. The operation input unit 20d acquires the operation result from the image operation unit 16 described later and transfers it to the display position adjustment unit 20g.

The image generation unit 20f generates the data of the intermediate image Ci based on the image data Gp. For example, the image generation unit 20f generates the data of the intermediate image Ci that sees through the arm mechanism 48 based on the data Gp of the two images acquired by the left and right image sensors 12a and 12b. The central region of the intermediate image Ci may be corrected by the data Gp of the image acquired by the image sensor 12c. Specifically, the image generation unit 20f may connect the data Gp of the three images, integrate the overlapping portions, and remove the image of the arm mechanism 48.

The display control unit 20e transfers the fluoroscopic image Fi obtained by cutting out a predetermined range from the intermediate image Ci to the display unit 50. The display position adjusting unit 20g adjusts the display position of the fluoroscopic image Fi according to the operation result from the image operating unit 16. Specifically, the display position adjusting unit 20g adjusts the display position of the fluoroscopic image Fi by controlling the display control unit 20e to change the range cut out from the intermediate image Ci.

The duplicate image generation unit 20h identifies the image of the arm mechanism 48 from the image data Gp and generates image information Ri regarding the arm mechanism 48. The duplicate image generation unit 20h will be described later. The storage unit 20m stores the fluoroscopic image Fi, the image information Ri, the setting information of the display position of the fluoroscopic image Fi, and the like in chronological order.

The preferred display position of the fluoroscopic image Fi differs depending on the physique and preference of the operator. Therefore, it is desirable that the display position of the perspective image Fi can be adjusted according to the physique and preference of the operator. As an example, the position and angle of the display unit 50 may be changed so that the display position of the perspective image Fi can be adjusted.

In order to be able to adjust the display position of the fluoroscopic image Fi, the present embodiment includes an image operation unit 16 and a display position adjustment unit 20g. The image operation unit 16 is a portion where the operator's operation is input, and may be, for example, a joystick capable of inputting a lever operation. The image operation unit 16 inputs the operation result to the operation input unit 20d.

The display position adjusting unit 20g changes the range of the fluoroscopic image Fi cut out from the intermediate image Ci according to the input operation result of the image operating unit 16. For example, when the operator operates the image operation unit 16 up / down / left / right, the range of the fluoroscopic image Fi cut out from the intermediate image Ci in the display position adjusting unit 20g may be changed up / down / left / right. With this configuration, the display position of the fluoroscopic image Fi on the display unit 50 is adjusted according to the operation of the operator. The image operation unit 16 may be composed of a plurality of switches.

When the attitude of the operator changes, the display position of the preferable fluoroscopic image Fi changes. Therefore, the present embodiment is configured to include the operator sensor 14 and the attitude identification unit 20b, and change the display position of the perspective image Fi according to the identification result of the attitude identification unit 20b. The pilot sensor 14 acquires image information Gs about the pilot around the driver's seat 32. The driver sensor 14 of the present embodiment includes an image sensor 14b that images the periphery of the driver's seat 32 to generate image information Gs. In the example of FIG. 2, the image sensor 14b is an image sensor that captures an imaging range Ad including the driver's seat 32.

The attitude identification unit 20b analyzes the image information Gs acquired via the image information input unit 20a to identify the attitude change of the operator. The posture identification unit 20b controls the display position adjustment unit 20g according to the identification result to change the display position of the fluoroscopic image Fi. For example, when the posture of the operator changes, the range of the perspective image Fi cut out from the intermediate image Ci in the display position adjusting unit 20g may be changed in the same direction as the posture change direction. Alternatively, the range of the perspective image Fi cut out from the intermediate image Ci by the display position adjusting unit 20g may be changed in the direction opposite to the direction of the posture change of the operator. That is, the display unit 50 may display the lower region of the intermediate image Ci when the operator changes his / her posture upward.

The posture identification unit 20b may, for example, compare a reference image relating to the operator with the image information Gs, and identify the attitude change of the operator based on the comparison result. The reference image regarding the operator may be image information Gs acquired in the past (for example, at the start of operation). The reference image regarding the operator may be stored in the storage unit 20 m.

When the line of sight of the operator changes, the display position of the preferable fluoroscopic image Fi changes. Therefore, the present embodiment is configured to include the operator sensor 14 and the line-of-sight identification unit 20c, and change the display position of the fluoroscopic image Fi according to the identification result of the line-of-sight identification unit 20c.

The line-of-sight identification unit 20c analyzes the image information Gs acquired via the image information input unit 20a to identify the change in the line-of-sight of the operator. For example, the line-of-sight identification unit 20c may identify the line of sight according to the position of the operator's eyes. The line-of-sight identification unit 20c controls the display position adjustment unit 20g according to the identification result to change the display position of the fluoroscopic image Fi. For example, when the line of sight of the operator changes, the range of the perspective image Fi cut out from the intermediate image Ci in the display position adjusting unit 20 g may be changed in the same direction as the direction of the line of sight change or in the opposite direction. The line-of-sight identification unit 20c may, for example, compare a reference image relating to the operator with the image information Gs, and identify the change in the line-of-sight of the operator based on the comparison result.

If the image of the display unit 50 and the image around it are discontinuous, the operator may feel uncomfortable. Therefore, this embodiment is configured so that an image relating to the arm mechanism 48 can be superimposed on the fluoroscopic image Fi and displayed on the display unit 50. FIG. 6 is another view schematically showing the front view of the operator, and an image (contour line 48s) relating to the arm mechanism 48 is superimposed and displayed on the display unit 50.

Specifically, the present embodiment includes a duplicate image generation unit 20h. The duplicate image generation unit 20h identifies the image of the arm mechanism 48 from the image data Gp and generates image information Ri regarding the arm mechanism 48. For example, the image information Ri may indicate the contour of the arm mechanism 48, the range of the arm mechanism 48 may be translucent, or the contour line 48s of the arm mechanism 48 may be shown. It may be.

Next, the features of the operation support system 1 for construction machinery according to the first embodiment of the present invention will be described. The maneuvering support system 1 includes an acquisition unit 10 for acquiring image data Gp of a blind spot Az from the driver's seat 32 formed by an arm mechanism 48 that deforms in response to maneuvering, and an arm mechanism 48 based on the image data Gp. It is provided with a processing unit 20 that generates data of a perspective image Fi as seen through the blind spot Az from the driver's seat 32, and a display unit 50 that displays the perspective image Fi between the driver's seat 32 and the arm mechanism 48.

According to this configuration, it is possible to operate while checking the blind spot Az through the arm mechanism 48 without switching the line of sight, so that the burden on the operator can be reduced.

The display unit 50 may superimpose an image related to the arm mechanism 48 on the fluoroscopic image Fi. In this case, the relationship between the arm mechanism 48 and the blind spot Az can be easily confirmed.

The acquisition unit 10 includes a first image sensor and a second image sensor that are arranged apart from each other, and the processing unit 20 generates data of a perspective image Fi based on the detection results of the first image sensor and the second image sensor. You may. In this case, since a wide range can be imaged, the blind spot Az in the detection result can be reduced.

The first image sensor and the second image sensor may be arranged with the arm mechanism 48 interposed therebetween. In this case, since the range on both sides of the arm mechanism 48 can be imaged, the blind spot Az can be reduced.

The acquisition unit 10 includes a third image sensor arranged at a position different from the first image sensor and the second image sensor, and the processing unit 20 is based on the detection results of the first image sensor to the third image sensor. Data of the perspective image Fi may be generated. In this case, since a wider area can be imaged, the blind spot Az of the detection result can be further reduced.

The maneuvering support system 1 may have a display position adjusting unit 20g for adjusting the display position of the perspective image Fi. In this case, the perspective image Fi can be displayed at a position where there is little discomfort to the operator.

The maneuvering support system 1 may include a posture identification unit 20b that identifies the posture of the operator and changes the display position of the perspective image Fi according to the identification result. In this case, the display position of the perspective image Fi can be changed in conjunction with the posture of the operator. It is possible to control the display of the desired range by changing the posture without taking the hand off the operation unit 54.

The maneuvering support system 1 may include a line-of-sight identification unit 20c that identifies the line of sight of the operator and changes the display position of the fluoroscopic image Fi according to the identification result. In this case, the display position of the perspective image Fi can be changed in conjunction with the line of sight of the operator. Further, the range to be seen can be displayed by changing the line of sight while operating the operation unit 54.
The above is the description of the first embodiment.

Next, the second and second embodiments of the present invention will be described. In the drawings and description of the second and second embodiments, the same or equivalent components and members as those of the first embodiment are designated by the same reference numerals. The description overlapping with the first embodiment will be omitted as appropriate, and the configuration different from that of the first embodiment will be mainly described.

[Second Embodiment]
A second embodiment of the present invention is a maneuvering support method S80 for construction machinery. FIG. 7 is a flowchart showing the maneuvering support method S80. In this maneuvering support method S80, step S82 for acquiring the image data Gp of the blind spot Az from the driver's seat 32 formed by the arm mechanism 48 deformed according to maneuvering, and the arm mechanism 48 based on the image data Gp. It includes a step S84 of generating data of a perspective image Fi as seen through the blind spot from the driver's seat, and a step S86 of displaying a perspective image Fi between the driver's seat 32 and the arm mechanism 48. Step S82 is executed by the acquisition unit 10, step S84 is executed by the processing unit 20, and step S86 is executed by the display unit 50.

According to the configuration of the second embodiment, the same effects as those of the first embodiment are obtained.

[Third Embodiment]
The third embodiment of the present invention is the construction machine 100. The construction machine 100 is based on an arm mechanism 48 that deforms according to maneuvering, an acquisition unit 10 that acquires image data Gp of a blind spot Az from the driver's seat 32 formed by the arm mechanism 48, and image data Gp. A processing unit 20 that generates data of a perspective image Fi when the blind spot Az is viewed from the driver's seat 32 through the arm mechanism 48, and a display unit 50 that displays a perspective image Fi between the driver's seat 32 and the arm mechanism 48. To be equipped.

The construction machine 100 may be, for example, a machine that moves a bucket 46 attached to an arm mechanism 48 to perform work. Various attachments such as a fork, a hammer, and a crusher may be attached to the arm mechanism 48 of the construction machine 100 instead of the bucket. According to the configuration of the third embodiment, the same effect as that of the first embodiment is obtained.

The examples of the embodiments of the present invention have been described in detail above. All of the above-described embodiments are merely specific examples for carrying out the present invention. The content of the embodiment does not limit the technical scope of the present invention, and many design changes such as changes, additions, and deletions of components are made without departing from the idea of the invention defined in the claims. It is possible. In the above-described embodiment, the contents that can be changed in such a design are described with notations such as "in the embodiment" and "in the embodiment", but the contents are designed without such notations. It's not that changes aren't tolerated.

[Modification example]
Hereinafter, a modified example will be described. In the drawings and description of the modified examples, the same or equivalent components and members as those in the embodiment are designated by the same reference numerals. The description overlapping with the embodiment will be omitted as appropriate, and the configuration different from that of the first embodiment will be mainly described.

[First modification]
In the description of the first embodiment, an example in which the image sensor 12 is composed of three image sensors has been shown, but the present invention is not limited thereto. The image sensor 12 may be composed of one or four or more image sensors. FIG. 8 is a side view schematically showing the operation support system 2 for construction machinery according to the first modification, and corresponds to FIG. FIG. 9 is a plan view schematically showing the maneuvering support system 2 according to the first modification, and corresponds to FIG. The first modification is different from the first embodiment in that a single image sensor 12d capable of substantially capturing the blind spot Az of the arm mechanism 48 is provided, and the other configurations are the same. Therefore, the image sensor 12d will be mainly described.

In the examples of FIGS. 8 and 9, the image sensor 12d is arranged on the cover 34c of the upper vehicle body portion 34 on the side opposite to the driver's seat 32 of the arm mechanism 48. That is, the image sensor 12d is arranged on the blind spot Az side of the driver's seat 32 with the arm mechanism 48 in between. In FIGS. 8 and 9, reference numeral Ad indicates an imaging range of the image sensor 12d. Since the image sensor 12d is arranged on the side opposite to the cockpit 32 of the arm mechanism 48, the imaging range Ad can almost cover the blind spot Az. An inclusion such as a pedestal may be provided between the image sensor 12d and the cover 34c of the upper vehicle body portion 34.

According to the first modification, the same actions and effects as those of the first embodiment are obtained. Further, since it is arranged in the upper vehicle body portion 34, even if the arm mechanism 48 is deformed, the position of the image sensor 12d with respect to the driver's seat 32 and the blind spot Az does not change, and image processing becomes easy. Further, since the image generation unit 20f generates the data of the intermediate image Ci from the data Gp of the single image acquired by the single image sensor 12d, the processing of the image generation unit 20f becomes easy. Moreover, since the number of image sensors is small, the cost can be suppressed.

[Other variants]
The fluoroscopic image Fi may be one in which the contrast of the individual images contained therein is emphasized, the outline of the individual images may be emphasized, or the outlines of the individual images are displayed. It may be something to do. In particular, when the perspective image Fi includes an image of a person, the perspective image Fi may be one in which the image of a person is emphasized.

In the description of the first embodiment, an example in which the arm mechanism 48 is provided on the right side of the cockpit 38 is shown, but the present invention is not limited thereto. For example, the arm mechanism may be provided on the left side of the cockpit or in front of the cockpit.

In the description of the first embodiment, an example in which the display unit 50 is arranged inside the cockpit 38 has been shown, but the present invention is not limited thereto. The display may be located outside the cockpit.

In the description of the first embodiment, an example is shown in which the posture identification unit 20b, the line-of-sight identification unit 20c, the display position adjustment unit 20g, and the overlapping image generation unit 20h are included inside the processing unit 20, but the present invention is limited thereto. Not done. Any one of the posture identification unit 20b, the line-of-sight identification unit 20c, the display position adjustment unit 20g, and the overlapping image generation unit 20h may be provided separately from the processing unit 20. The same applies to the other components included in the processing unit 20.

In the description of the first embodiment, an example in which the construction machine moves the bucket 46 to perform the construction work has been shown, but the present invention is not limited to this, and the present invention can be applied to a construction machine having an attachment other than the bucket 46.

In the description of the first embodiment, an example in which the image sensor 12 is provided on the boom 42 has been shown, but the present invention is not limited thereto. The image sensor 12 may be provided on the roof of the cockpit 38 or the like.

The above-mentioned modification has the same action / effect as that of the first embodiment.

Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. The new embodiments resulting from the combination have the effects of the combined embodiments and variants.

1 ... Maneuvering support system, 10 ... Acquisition unit, 12a ... 1st image sensor, 12b ... 2nd image sensor, 12c ... 3rd image sensor, 16 ... Image operation unit, 20 ... Processing unit, 20b ... Attitude identification unit, 20c ... Line-of-sight identification unit, 20g ... Display position adjustment unit, 20h ... Duplicate image generation unit, 30 ... Operation support for construction machinery Equipment, 32 ... cockpit, 48 ... arm mechanism, 50 ... display, 100 ... construction machinery.

Claims (10)

An acquisition unit that acquires image data of a blind spot from the cockpit formed by an arm mechanism that deforms according to maneuvering,
A processing unit that generates perspective image data of the blind spot as seen from the cockpit through the arm mechanism based on the image data.
A maneuvering support system for construction machinery including a display unit for displaying the perspective image between the cockpit and the arm mechanism. The maneuvering support system according to claim 1, wherein the display unit displays an image relating to the arm mechanism superimposed on the perspective image. The acquisition unit includes a first image sensor and a second image sensor that are arranged apart from each other.
The maneuvering support system according to claim 1 or 2, wherein the processing unit generates data of the perspective image based on the detection results of the first image sensor and the second image sensor. The maneuvering support system according to claim 3, wherein the first image sensor and the second image sensor are arranged so as to sandwich the arm mechanism. The acquisition unit includes the first image sensor and a third image sensor arranged at a position different from the second image sensor.
The maneuvering support system according to claim 3 or 4, wherein the processing unit generates data of the perspective image based on the detection results of the first image sensor to the third image sensor. The maneuvering support system according to any one of claims 1 to 5, further comprising a display position adjusting unit for adjusting the display position of the perspective image. The maneuvering support system according to claim 6, further comprising a posture identification unit that identifies the posture of the operator and changes the display position of the perspective image according to the identification result. The maneuvering support system according to claim 6, further comprising a line-of-sight identification unit that identifies the line of sight of the operator and changes the display position of the perspective image according to the identification result. The step of acquiring the image data of the blind spot from the cockpit formed by the arm mechanism that deforms according to the maneuver, and
A step of generating perspective image data of the blind spot viewed from the cockpit through the arm mechanism based on the image data.
A maneuvering support method for construction machinery, which includes a step of displaying the perspective image between the cockpit and the arm mechanism. An arm mechanism that deforms according to maneuvering,
An acquisition unit that acquires image data of a blind spot from the cockpit formed by the arm mechanism, and
A processing unit that generates perspective image data of the blind spot viewed from the cockpit through the arm mechanism based on the image data.
A construction machine including a display unit for displaying a perspective image between the cockpit and the arm mechanism.

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