JP2013002101A - Visual field auxiliary device for work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a visual field auxiliary device for a work machine which allows a view in the rear of the work machine to be checked regardless of the posture of the work machine.SOLUTION: A visual field auxiliary device of a work machine comprises: a mirror which is installed on the opposite side of a cab across a front device to be rotationally operated by an operation device in the cab for checking a view in the side rear of the work machine; an imaging device which images the side rear of the work machine at a view angle equal to that of the mirror; determination means which determines whether the view in the side rear of the work machine is visible or not by the mirror from the cab; a display unit which displays a side rear image through imaging signals from the imaging device; and display control means which displays the side rear image on the display unit when the determination means determines that the side rear is not visible.

Description

  The present invention relates to a visual field assisting device for a work machine.

  A work machine such as a hydraulic excavator is provided with a side mirror that is used by a driver to confirm the rear of the work machine (see Patent Document 1).

Japanese Patent Laid-Open No. 2001-329569

  However, the side mirror described in Patent Document 1 has a problem that it cannot be visually recognized by the driver depending on the posture of the work machine.

The invention according to claim 1 is provided on the opposite side of the driver's cab across a front device that is rotated by an operating device in the driver's cab, a mirror for confirming the side rear of the work machine, An imaging device that images the rear side of the work machine with an equivalent viewing angle, a determination unit that determines whether or not the side rear of the work machine can be visually recognized from the cab by a mirror, and a side based on an imaging signal from the imaging device A work machine comprising: a display device that displays a rear-side image; and a display control unit that causes the display device to display a side-rear image when it is determined by the determination unit that the side rear side is not visible. Is a visual field assist device.
According to a second aspect of the present invention, in the visual field assisting device for the work machine according to the first aspect, an angle detection means for detecting a rotation angle of the front device is provided, and the determination means is the front device detected by the angle detection means. On the basis of the rotation angle, whether or not the right side of the work machine is approved is determined based on whether or not the line of sight from the driver in the cab to the mirror is blocked by the front device.
According to a third aspect of the present invention, in the visual field assist device for a work machine according to the second aspect, the line of sight is based on position data representing a position of the driver's eyes in the cab and position data representing a position of the mirror. The determination means is based on the shape data representing the shape of the front device, the position data representing the position of the rotation fulcrum of the front device, and the rotation angle of the front device detected by the angle detection means, It is characterized by determining whether or not to approve the viewing depending on whether or not the line of sight is blocked by the front device.
According to a fourth aspect of the present invention, there is provided a visual field assisting device for a work machine according to the first aspect, wherein the position detecting means for detecting position data representing the position of the operator's cab whose position is variable with respect to the mirror, Angle detection means for detecting a rotation angle, and the determination means is based on position data representing the position of the cab detected by the position detection means and the rotation angle of the front device detected by the angle detection means. Thus, it is characterized in that whether or not the right side of the work machine is approved is determined based on whether or not the line of sight from the driver in the cab to the mirror is blocked by the front device.
According to a fifth aspect of the present invention, in the visual field assist device for a work machine according to the fourth aspect, the line of sight is calculated by taking into account position data representing the position of the cab detected by the position detecting means. Calculated based on the position data representing the position of the driver's eyes and the position data representing the position of the mirror, and the determination means represents the shape data representing the shape of the front device and the position of the rotation fulcrum of the front device. Based on the position data and the rotation angle of the front device detected by the angle detection means, whether or not to approve the viewing is determined based on whether or not the line of sight is blocked by the front device.
According to a sixth aspect of the present invention, in the visual field assisting device for a work machine according to any one of the first to fifth aspects, the imaging device is attached to the mirror and has a wider viewing angle than the optical viewing angle of the mirror. It is characterized by taking an image of the rear side of the work machine.

  ADVANTAGE OF THE INVENTION According to this invention, the visual field assistance apparatus of the working machine which can confirm the back of a working machine irrespective of the attitude | position of a working machine can be provided.

1 is a perspective view showing an example of a hydraulic excavator to which a visual field assisting apparatus according to a first embodiment of the present invention is applied. The front schematic diagram and side schematic diagram of the mirror apparatus with a camera of FIG. The figure which shows the visual field range of the camera and mirror provided in the hydraulic shovel of FIG. The schematic diagram which shows the inside of the cab of the hydraulic excavator of FIG. FIG. 2 is a schematic plan view of the hydraulic excavator in FIG. 1. The figure which shows the display apparatus of the visual field assistance apparatus which concerns on the 1st Embodiment of this invention. The block diagram which shows the control system structure of the visual field assistance apparatus which concerns on the 1st Embodiment of this invention. The flowchart which shows the process by the control system of the visual field assistance apparatus which concerns on the 1st Embodiment of this invention. The figure which shows the determination table according to the boom rotation angle. The side view which shows the hydraulic shovel which has a link raising / lowering type cab which concerns on the 2nd Embodiment of this invention. The block diagram which shows the control system structure of the visual field assistance apparatus which concerns on the 2nd Embodiment of this invention. The side view which shows the hydraulic excavator which has the vertical raising / lowering type cab which concerns on the modification of this invention. The figure which shows the display image displayed on the display apparatus which concerns on the modification of this invention.

-First embodiment-
Hereinafter, a first embodiment of a visual field assisting device for a work machine according to the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view of a hydraulic excavator that is an example of a work machine to which the visual field assisting apparatus according to the first embodiment is applied. In the following, the front-rear and left-right directions of the aircraft are defined as shown in the figure.

  The excavator 100 includes an articulated front device 101 and a vehicle body 102. The vehicle body 102 includes a lower traveling body 106 that includes a pair of left and right crawlers, and an upper revolving body 104 that is turnably mounted above the lower traveling body 106. The upper revolving body 104 includes a cab 103, a building 105, and the like. Is provided.

  The front device 101 includes a boom 107 pivotally supported on the front portion of the upper swing body 104, an arm 108 pivotally supported on the distal end portion of the boom 107, and a front end portion of the arm 108. And a bucket 109 rotatably supported. The boom 107, the arm 108, and the bucket 109 rotate by expansion and contraction of the boom cylinder 107a, the arm cylinder 108a, and the bucket cylinder 109a, respectively. The pair of left and right crawlers provided in the lower traveling body 106 are driven by traveling motors 111L and 111R, respectively, and the excavator 100 travels. The upper turning body 104 turns by driving a turning motor (not shown) mounted on the turning frame.

  The building 105 includes a boom cylinder 107a, an arm cylinder 108a, a bucket cylinder 109a, travel motors 111L and 111R, an engine for controlling driving of the swing motor, a hydraulic control system (not shown) including a hydraulic pump and a hydraulic control valve. Contained.

  A side mirror 2 for confirming the left rear side of the excavator 100 is provided in the left front portion of the cab 103, and a handrail provided in the right front portion of the building 105 is used for confirming the right rear side of the excavator 100. A mirror device 1 with a camera is provided. The mirror device with camera 1 is installed on the opposite side of the cab 103 with the front device 101 interposed therebetween. As shown in FIG. 2, the camera-equipped mirror device 1 includes a vertically long mirror 10 and a camera 11 that captures the right rear side of the excavator 100 with a viewing angle equivalent to that of the mirror 10. The camera 11 is attached above the mirror 10, and the cover 12 covers the top and sides of the camera 11. The cover 12 serves as a rain shield and a sun shade for the camera 11.

  An attachment member 13 to the vehicle body 102 is provided on the back side of the mirror device with camera 1, and the power source of the camera 11 and the video signal harness 14 are wired in the building 105 through the inside of the attachment member 13.

  FIG. 3 is a view showing the field of view of the camera and mirror provided in the excavator 100. In the drawing, the field of view of the mirror is indicated by a broken line, and the field of view of the camera is indicated by a two-dot chain line. As shown in the drawing, the orientations of the mirrors 10 and 2 are normally adjusted so that the side portions of the vehicle body 102 are included in the visual field ranges 10V and 2V of the mirrors.

  As shown in the drawing, the field of view range 10V of the mirror 10 of the mirror device 1 with a camera is the right side rear side including the right side portion of the vehicle body 102, and the field range 2V of the side mirror 2 is the left side rear side including the left side portion of the vehicle body 102. 3 is adjusted to be behind the vehicle body 102.

  The horizontal field angle and the vertical field angle of the camera 11 of the mirror device with camera 1 are wider than the optical viewing angle of the mirror 10, that is, the viewing field range 11 V of the camera 11 is wider than the viewing field range 10 V of the mirror 10. The camera 11 is adjusted and attached above the mirror 10 so that the visual field range 11V of the camera 11 includes the visual field range 10V of the mirror 10 (see FIG. 2).

  The right side rear image captured by the camera 11 of the mirror device with camera 1 and the rear image captured by the rear camera 3 are displayed on display devices 150 and 35 (see FIG. 4) installed in the cab 103, respectively. .

  As shown in FIG. 1, the cab 103 is provided on the left front portion of the upper swing body 104. As shown in FIG. 4, a driver's seat 39 on which the driver is seated, travel levers 33 and 34, and operation levers 31 and 32 are disposed in the cab 103. The driver can drive the lower traveling body 106 by operating the traveling levers 33, 34. The driver can swing the upper swinging body 104 by operating the operating levers 31, 32, or the boom 107 of the front device 101. , The arm 108 and the bucket 109 can be moved up and down.

  As shown in FIG. 4, display devices (monitors) 35 and 150 that perform display corresponding to various operation modes are provided in the cab 103. The display device 35 is provided on the right front side of the driver's seat 39 and displays an image taken by the rear camera 3 (see FIG. 1). The display device 150 is provided on the right side of the driver's seat 39 and includes vehicle body information indicating a driving state (for example, a fuel meter indicating the remaining amount of fuel, a water temperature meter indicating the temperature of engine cooling water, and an operating time of the excavator 100). An image of an hour meter, various warning lamps, angle information of the boom 107, the arm 108, and the bucket 109) or a right rearward image taken by the camera 11 of the mirror device 1 with camera.

  The display device 150 displays the vehicle body information image without displaying the photographed image when the condition that allows the driver to visually recognize the right rear side of the excavator 100 with the mirror 10 of the mirror device with camera 1 is satisfied. If the condition that the rear side of the right side of the excavator 100 cannot be visually recognized by the mirror 10 is established, it is controlled to display a photographed image from the camera 11 instead of the vehicle body information image. This control is specific to the present embodiment, and details will be described later.

  FIG. 5 is a schematic plan view of the excavator 100 showing the positional relationship between the display device 150 and the mirror device with camera 1. As shown in FIG. 5, the display device 150 is installed in the driver's line of sight with respect to the mirror 10 of the mirror device 1 with a camera in the cab 103.

  As shown in FIG. 6, the display device 150 has a display screen having substantially the same aspect ratio as the mirror 10 of the mirror device with camera 1. The captured image is mirror-transformed and output to the display device 150 in the same manner as when the mirror 10 of the mirror device 1 with camera is viewed. The display device 150 is provided with an input unit 155 including a screen switch and a power switch.

  FIG. 7 is a block diagram showing a control system configuration of the visual field assisting apparatus according to the first embodiment. The visual field assist device includes a mirror device with a camera 1 having a camera 11, a display device 150, a display controller 160, and a vehicle body controller 170. The display controller 160 includes a display control unit 161 and a viewing approval / disapproval determination unit 162, and the vehicle body controller 170 includes a vehicle body information management unit 171. Each controller 160, 170 includes an arithmetic processing unit having a CPU, ROM, RAM, and other peripheral circuits.

  The vehicle body information management unit 171 includes a turning angle detector 121 that detects the turning angle of the upper turning body 104 with respect to the lower traveling body 106, an angle detector 122 that detects the turning angle of the boom 107, and the turning of the arm 108. Signals from an angle detector 123 that detects the angle, an angle detector 124 that detects the rotation angle of the bucket 109, and speed detectors 125 and 126 that detect the speeds of the travel motors 111L and 111R are input, respectively. Note that the rotation angle detected by the boom angle detector 122 corresponds to the rotation angle of the entire front device. Further, vehicle body information such as engine speed, remaining fuel amount, and cooling water temperature (not shown) is also input to the vehicle body information management unit 171. The vehicle body information management unit 171 outputs the input vehicle body information to the display control unit 161 of the display controller 160 and outputs the boom angle signal output from the boom angle detector 122 to the viewing authorization rejection determination unit 162.

  The viewing approval / disapproval determination unit 162 includes a table (see FIG. 9) created in advance. Based on the input rotation angle of the boom 107, the table 9 is referred to, and the driver 9 and the mirror device with camera 1 are referred to. The boom 107 is interposed between the driver's cab 103 and the driver 9 determines whether or not the driver 9 cannot visually recognize the right rear side by the mirror 10 of the camera-equipped mirror device 1 (driving environment). The determination result information in the view authorization rejection determination unit 162 is output to the display control unit 161.

  In the visual field assistance device of the first embodiment, for example, a straight line connecting the position of the eye of the driver 9 in the cab 103 and the mirror 10 of the mirror device 1 with camera is a line of sight to the mirror 10 of the driver 9. It is defined that when the condition that the boom 107 blocks this line of sight is satisfied, the driver 9 cannot visually recognize the rear right side of the excavator 100 by the mirror 10 of the mirror device 1 with camera.

Here, the position data representing the position of the eyes of the driver 9 is position data representing the position (specific position) of the eyes of the driver 9 having a standard physique seated in the driver's cab 103. The eye position of the driver 9 is, for example, a coordinate value (Xe, Ye, Ze) in a three-dimensional coordinate system having a predetermined position of the excavator 103 as an origin (0, 0, 0). The origin may be determined as appropriate. The position data of the mirror 10 representing the position of the mirror 10 is also the same three-dimensional coordinate value (Xm, Ym, Zm). Data representing the line of sight of the driver 9 can be calculated as a line segment connecting the position of the eye (Xe, Ye, Ze) and the position of the mirror 10 (Xm, Ym, Zm). Further, the dimension and shape data of the boom 107 are known as design values, and the position coordinates (Xb, Yb, Zb) of the boom foot which is the pivot point of the boom 107 are also known.
Whether or not the mirror 10 can be visually recognized, that is, whether or not the line of sight is blocked by the boom 107 is determined by determining the shape data indicating the shape of the boom 107, the position data indicating the position of the pivot fulcrum of the boom 107, and the angle. Based on the rotation angle of the boom 107 detected by the detector 122, whether or not the line of sight passes through the boom 107 can be calculated and determined.

  In the visual field assist device according to the first embodiment, the driver 9 refers to the table of FIG. 9 based on the rotation angle of the boom 107 detected by the angle detector 122, so that the driver 9 can mirror the mirror device 1 with camera. It is determined whether 10 can be visually recognized.

  In the determination table of FIG. 9, the horizontal axis indicates the rotation angle θ of the boom 107, and the vertical axis indicates whether the driver 9 can visually recognize the right rear side of the excavator 100 by the mirror 10 of the camera-equipped mirror device 1. The index which shows is defined. The index on the vertical axis is a signal indicating a determination result (hereinafter referred to as a determination result signal). When the driver 9 can visually recognize the right rear side of the excavator 100 by the mirror 10, “1” is indicated. ". Note that θ = 0 is the angle of the boom 107 when the boom 107 is tilted most downward.

  The determination table in FIG. 9 is a table that indicates whether or not to permit viewing with respect to the rotation angle θ of the boom 107 detected by the angle detector 122. The visual approval (determination result signal “1”) and the visibility failure (determination result signal “0”) for the rotation angle θ of the boom 107 in the determination table of FIG. Based on the line-of-sight data connecting the position of the eye of the driver 9 and the position of the mirror 10, the shape data of the boom 107, the position data of the pivot point of the boom 107, and the pivot angle of the boom 107. It was created by calculating in advance.

  The viewing authorization rejection determination unit 162 outputs a viewing authorization rejection determination result signal corresponding to the input rotation angle θ to the display control unit 161 with reference to the determination table of FIG. Specifically, the viewing approval / disapproval determination unit 162 outputs a determination result signal “1” indicating the posture of “viewing approval” when θ <θ1 or θ4 <θ, and when θ1 ≦ θ ≦ θ4, The determination result signal “0” having the posture of “not visible” is output. Here, θ2 <θ <θ3 is a non-viewable range at the eye position (specific position) of the driver 9 serving as a reference, and the non-viewable posture determination range (θ1) with respect to the non-visible range at the specific position. ≦ θ ≦ θ4) has a margin.

  That is, even if the boom 107 is not located on a straight line (line of sight) connecting the position (specific position) of the eyes of the driver 9 serving as a reference and the position of the mirror 10 of the mirror device 1 with a camera, the view authorization rejection determination unit. 162, the hydraulic excavator 100 is operated by the driver 9 by the mirror 10 of the mirror device 1 with the camera when the boom 107 approaches the straight line connecting the position of the eye of the driver 9 and the position of the mirror 10 of the mirror device 1 with the camera. It is determined that the rear side on the right side cannot be visually recognized. In this way, by providing a margin, individual differences in the position of the driver seat 39 and the physique of the driver 9 can be absorbed.

  As shown in FIG. 7, the display control unit 161 has a determination result signal “1” indicating that the driver 9 can visually recognize the right rear side of the excavator 100 with the mirror 10 of the camera-equipped mirror device 1 from the viewing authorization rejection determination unit 162. Is output to the display device 150 as an image signal for displaying the vehicle body information output from the vehicle body information management unit 171. The display control unit 161 activates the camera 11 when receiving a determination result signal “0” indicating that the driver 9 cannot visually recognize the right rear side from the mirror 10 of the camera-equipped mirror device 1 from the viewing authorization rejection determination unit 162. The camera 11 outputs an imaging signal indicating the captured subject image to the display control unit 161, and the display control unit 161 generates an image signal for displaying the right rear image, and outputs the image signal to the display device 150. . Thereby, the landscape on the right rear side of the vehicle captured by the camera 11 is displayed on the display device 150 as a mirror image.

  FIG. 8 is a flowchart illustrating an example of processing performed by the control system for the visual field assistance device. Note that the flowchart shown in FIG. 8 shows an example of processing for determining whether or not the mirror 10 is approved for viewing using a determination table (see FIG. 9) corresponding to the rotation angle of the boom 107. The process shown in this flowchart is started, for example, when the engine key switch is turned on, and is repeatedly executed.

  In step S101, vehicle body information detected by each of the turning angle detector 121, the boom angle detector 122, the arm angle detector 123, the bucket angle detector 124, and the speed detectors 125 and 126, the engine speed and the fuel. Vehicle body information such as the remaining amount and cooling water temperature is input to the vehicle body information management unit 171. The vehicle body information input to the vehicle body information management unit 171 is output to the display control unit 161, and the rotation angle information of the boom 107 detected by the boom angle detector 122 among the vehicle body information is output to the viewing authorization rejection determination unit 162. The

  In step S <b> 105, a viewing authorization rejection determination process is executed based on the input rotation angle information of the boom 107. As described above, a table representing the determination result corresponding to the rotation angle of the boom 107 is stored in the viewing approval / disapproval determination unit 162.

  In the viewing approval / disapproval determination process in step S105, when the viewing approval / disapproval determination result signal is output to the display control unit 161, the process proceeds to step S110. In step S110, it is determined whether the visual approval rejection determination result signal input to the display control unit 161 is “1” or “0”, that is, whether the excavator 100 is in the visual approval posture. When it is determined that the posture is the viewing approval posture, the process proceeds to step S120, and processing for stopping the photographing by the camera 11 is executed. Thereafter, the process proceeds to step S123, where an image signal of the vehicle body information image is generated. In step S130, the image signal of the vehicle body information image is output to the display device 150. The display device 150 displays a display image such as vehicle body information on the screen based on the input image signal.

  The control system for the visual field assisting device performs an image signal output process in step S130, and then performs an end determination process in step S140. If it is determined in step S140 that the process is to be terminated, the process is terminated. If it is determined that the process is not to be terminated, the process returns to step S101 to continue the process.

  In step S110, when it is determined by the viewing authorization rejection determination unit 162 that the posture is not visible, the process proceeds to step S125, and the camera 11 is activated. The camera 11 executes a process of starting moving image shooting on the right rear side of the vehicle, and repeatedly outputs an image pickup signal for each frame representing a captured subject image on the right rear side of the vehicle. In step S127, the display control unit 161 generates an image signal representing a mirror image of the landscape on the right rear side of the vehicle based on the imaging signal, and outputs the generated image signal to the display device 150 in step S130. On the screen of the display device 150, a moving image on the right rear side of the vehicle is displayed based on the input image signal.

  As described above, when the non-viewable determination result signal “0” is output from the viewing authorization rejection determination unit 162 to the display control unit 161, the camera 11 replaces the vehicle body information image displayed on the screen of the display device 150. Is displayed on the screen as a moving image that is a mirror image. After that, when the posture of the hydraulic excavator 100 changes and the viewing approval determination result signal “1” is output from the viewing approval rejection determination unit 162 to the display control unit 161, the right side of the vehicle displayed on the screen of the display device 150 is displayed. Instead of the rear image, the vehicle body information image is displayed.

According to this Embodiment described above, there can exist the following effects.
(1) The posture of the excavator 100, that is, the rotation angle of the boom 107 is detected, and it is determined whether or not the driver 9 can visually recognize the right rear side of the excavator 100 by the mirror 10 of the mirror device 1 with a camera. When it is determined that the vehicle cannot be visually recognized, the vehicle right rear image captured by the camera 11 of the camera-equipped mirror device 1 is displayed on the display device 150. Accordingly, the front device 101, in the embodiment, the boom 107 is interposed between the driver 9 and the mirror 10 of the camera-equipped mirror device 1, and the driver 9 moves the hydraulic excavator 100 by the mirror 10 of the camera-equipped mirror device 1. Even when the right rear cannot be visually recognized, it is possible to provide a visual field assist device that can confirm the right rear of the excavator 100.

(2) Since the display device 150 is installed in the line-of-sight direction of the driver 9 with respect to the mirror 10, the driver 9 confirms the right rear side of the vehicle with the same feeling as when viewing the mirror 10 of the mirror device 1 with camera. Thus, it is possible to easily grasp the positional relationship with an obstacle or an operator.

(3) Since the image displayed on the mirror 10 and the image displayed on the display device 150 are substantially the same, natural visual field information can be provided to the driver 9.
(4) Since the camera 11 stops when the driver 9 can visually recognize the right rear side of the hydraulic excavator 100 with the mirror 10 of the mirror device 1 with camera, the power consumption of the camera 11 can be suppressed.

  In the above description, whether or not to approve the viewing of the mirror 10 is determined using the determination table of FIG. However, it may be determined whether or not the mirror 10 is approved for viewing without using the determination table by executing the following calculation. That is, the position information of the eyes of the driver 9, the position information of the mirror 10 of the mirror device 1 with camera, the geometric information including the shape of the front device 101, the position information of the rotation fulcrum of the boom 107, and the angle detection On the basis of the boom angle information from the device 122, it is calculated whether or not the boom 107 is positioned on a straight line (line of sight) connecting the position of the eyes of the driver 9 and the position of the mirror 10 of the mirror device 1 with camera. It is possible to determine whether or not to approve viewing.

-Second embodiment-
In the first embodiment, the cab 103 is fixed to the frame of the vehicle body 102. However, as shown in FIG. 10, the excavator 200 according to the second embodiment is used to move the cab 103 up and down. A link type up-and-down movable device is provided, and the position of the operator's cab 103 is vertically changed with respect to the mirror 10 of the mirror device with camera 1. In the link type lifting movable device of the hydraulic excavator 200 according to the second embodiment, the tower 251 installed on the frame is connected in parallel to the tower 251 on the base end side and the cab 103 is mounted on the other end side. A link 252 and a lifting cylinder (not shown) that drives the parallel link 252 are included. The hydraulic excavator 200 according to the second embodiment has the same structure as the hydraulic excavator 100 according to the first embodiment except for the link type lifting movable device.

  In the excavator 200, a cab 103 is installed via a support frame (tower) 251. The tower 251 is fixed to the upper swing body 104. The cab 103 of the excavator 200 is driven by a parallel link 252 that rotates with respect to the tower 251 by an elevating cylinder (not shown), so that at least the first position corresponding to the lowest position in the movable range, It can be moved up and down between a second position corresponding to a high position. In the second embodiment, the cab 103 can be fixed at a desired position in a stepless manner between the first position and the second position.

FIG. 11 is a block diagram showing a control system configuration of the visual field assisting apparatus according to the second embodiment. The same parts as those in the block diagram of the first embodiment shown in FIG. 7 are denoted by the same reference numerals, and different points will be mainly described.
The control system for the visual field assistance device according to the second embodiment further includes an angle detector 127 that detects a rotation angle of the parallel link 252 with respect to the tower 251. In addition, the dimension shape data of the parallel link 252 and the cab 103 are known as design values, and the position coordinates of the rotation fulcrum of the parallel link 252 with respect to the tower 251 and the rotation fulcrum of the cab 103 with respect to the parallel link 252 are also known. Therefore, the position of the cab 103 can be specified by calculation by detecting the rotation angle of the parallel link 252. Signals from the angle detector 127, the angle detectors 121 to 124, and the speed detectors 125 and 126 are input to the vehicle body information management unit 171. This will be specifically described below.

  Even in the visual field assisting device according to the second embodiment, the driver 9 refers to the table of FIG. 9 based on the rotation angle of the boom 107 input from the angle detector 122, so that the driver 9 can mirror the mirror device 1 with the camera. 10 determines whether the right rear side of the excavator 200 can be visually recognized. However, the cab 103 of the excavator 200 according to the second embodiment moves up and down steplessly between the first position and the second position. Accordingly, when determining whether or not the line of sight of the driver 9 on the mirror 10 is blocked by the boom 107, the lift position of the cab 103 identified from the angle of the parallel link 252 detected by the angle detector 127 is also determined. It is necessary to consider. Further, when the cab 103 is located at a predetermined height or higher, the driver cannot visually recognize the mirror 10 due to the raised / lowered position of the cab 103 rather than the line of sight being blocked by the boom 107.

Therefore, in the present embodiment, the following two visual approval / disapproval determinations (1) and (2) are performed.
(1) Visual approval rejection determination based on the intersection of the line of sight of the driver 9 with the mirror 10 and the boom 107 in consideration of the lift position of the driver's cab 103.

The (1) visual approval rejection determination uses a determination table created by the same geometric calculation as in the first embodiment. That is, in the second embodiment, the visual approval / disapproval is calculated using the following data (a) to (d), and a determination table corresponding to a plurality of height position data is created in advance.
(A) Height position data of the driver's cab 103 (b) The position of the eyes of the driver 9 determined in consideration of the height position data of the driver's cab 103 and the position of the mirror 10 of the mirror device 1 with a camera are connected. Line-of-sight data (c) Boom 107 rotation angle data (d) Boom shape data including the width of the boom 107 (e) Boom 107 rotation fulcrum position data The height of the cab 103 is parallel as described above. It can be calculated based on the angle of the link 252. The height position coordinates of the driver's cab 103 can also be defined similarly to the position coordinates of the eyes of the driver 9 and the position coordinates of the mirror 10 of the mirror device 1 with camera.

  Specifically, the determination table of FIG. 9 is created for each of the plurality of lift positions of the cab 103, the table used from the lift position of the cab 103 calculated from the detected angle of the parallel link 252 is specified, The visual approval is rejected with reference to the table specified at the room ascending / descending position. For example, a first determination table for the first position and second and third determination tables for two different intermediate positions between the first position and the second position can be provided.

  In the visual approval / disapproval determination of (2), the driver 9 moves the right side of the hydraulic excavator 200 by the mirror 10 due to the height of the operator's cab 103 at a lift position exceeding a predetermined lift position before the second position. It is determined that the rear side cannot be visually recognized. That is, when the height position of the cab 103 is set to be equal to or higher than a predetermined height position, it is assumed that the driver 9 cannot visually recognize the right rear side of the hydraulic excavator 200 by the mirror 10 and is directed to the mirror 10 of the driver 9. Regardless of whether or not the line of sight is blocked by the boom 107, a mirror image of the right rear image of the hydraulic excavator obtained by starting the camera 11 is displayed on the display device 150.

  Thus, in the visual field assistance apparatus according to the second embodiment, the driver 9 is based on the information on the posture of the boom 107 and the position of the eyes of the driver 9 depending on the position of the driver's cab 103 that moves up and down. Determines whether or not the rear side can be visually recognized by the mirror 10. Further, not only when the line of sight of the driver 9 on the mirror 10 is blocked by the boom 107 but also when the driver's cab 103 rises to a predetermined height position based on the height position of the driver's cab 103, the driver 9 Determines that the right rear side of the excavator 200 can no longer be visually recognized by the mirror 10. And like 1st Embodiment, since it was made to display the mirror image image of the landscape of the right back obtained with the camera 11 on the display apparatus 150 in any visual recognition determination, the driver | operator 9 is surely hydraulic. You can check the right rear view of the shovel.

  In the second embodiment, the determination table is created for each of the plurality of lift positions in the cab 103, but the present invention is not limited to this. A determination table may be created for each angle of the parallel link 252. Furthermore, it may be determined whether or not the mirror 10 is approved for viewing without using the determination table. That is, the position information of the eyes of the driver 9 calculated based on the angle information of the parallel link 252, the position information of the mirror 10 of the mirror device with camera 1, the geometric information including the shape of the front device 101, and the boom On the straight line (line of sight) connecting the position of the eyes of the driver 9 and the position of the mirror 10 of the mirror device 1 with camera, based on the position information of the rotation fulcrum 107 and the boom angle information from the angle detector 122. Whether or not the boom 107 is positioned may be calculated to determine whether or not to permit viewing.

The following modifications are also within the scope of the present invention, and one or a plurality of modifications can be combined with the above-described embodiment.
(1) In the first and second embodiments, the example in which the cab 103 is provided in the left front portion of the upper swing body 104 has been described, but the present invention is not limited to this. The cab 103 may be provided in the right front portion of the upper swing body 104. In this case, the camera-equipped mirror device 1 is provided at the left front portion of the vehicle body 102. Further, the present invention can also be applied to a double-armed working machine in which the cab 103 is provided in the center of the upper swing body 104 and has a pair of front devices provided on both sides of the cab 103. In this case, the mirror device with camera 1 is provided at the left and right front portions of the vehicle body 102.

(2) As shown in FIG. 12, the cab 103 of the excavator 300 may be configured to slide up and down with respect to the tower 351 by the driving force of the lifting cylinder 353. In addition, the cab 103 may be configured to slide and move in the front-rear direction without changing the height position, or the cab 103 may be configured to tilt (tilt) in the front-rear direction. .

(3) The display device 150 (see FIG. 4) is not limited to the case where the display device 150 is installed in the line-of-sight direction of the driver 9 with respect to the mirror 10.
(4) The display device 150 (see FIG. 4) may be omitted, and an image acquired by capturing with the camera 11 of the camera-equipped mirror device 1 may be displayed on the display device 35 (see FIG. 4). In this case, by operating the input unit 155, the display mode is switched to a predetermined display mode, and a display image corresponding to the switched display mode is displayed on the display device 35.

  FIG. 13 is a diagram illustrating a screen on which an image acquired by the camera 11 is displayed on the display device 35. As shown in FIG. 13 (a), a vertically long image captured by the camera 11 may be displayed on the display device 35. As shown in FIG. 13 (b), an image captured by the rear camera 3 may be displayed. An image displayed on the left side and captured by the camera 11 of the camera-equipped mirror device 1 may be displayed on the right side of the display device 35.

(5) In the first and second embodiments, the image displayed on the screen of the display device 150 when the excavators 100 and 200 change from the invisible posture to the viewing-approved posture is a lateral rear image. However, the present invention is not limited to this. After the determination result is not visible and automatically switched from the vehicle body information to the side rear image, when the determination result is approved for viewing, the side rear image is not automatically switched to the vehicle body information image, You may make it return to a vehicle body information image manually with the display switch of the input part 155. FIG. Thereby, it is possible to prevent the screen from being frequently switched due to a slight change in posture of the excavators 100 and 200.

(6) In the first and second embodiments, the display of the entire screen is switched so that the side rear image is displayed instead of the vehicle body information image, but the present invention is not limited to this. When the determination result is not visible, the vehicle body information image may be reduced and displayed by simplifying the vehicle information image, and the side rear image may be displayed in other portions. The vehicle body information image may be translucent and superimposed on the side rear image. Thereby, when the mirror 10 becomes invisible, the lateral rear of the excavators 100 and 200 can be confirmed from the lateral rear image, and the vehicle body information can also be confirmed at all times.

(7) Although the camera-equipped mirror device 1 has the camera 11 attached to the mirror 10, the present invention is not limited to this. The mirror 10 and the camera 11 may be separated. However, it is important that the camera 11 can image the lateral rear side of the work machine with a viewing angle equivalent to that of the mirror 10. It is preferable to use an imaging device that can capture a moving image with a viewing angle wider than the optical viewing angle of the mirror.
(8) The camera 11 is activated when it is determined that visual recognition is impossible as a result of the visual authorization rejection determination. However, the camera 11 may be always activated and only display on the display device may be started.

(9) The visual field assist device is not limited to a case where it is applied to a hydraulic excavator. The visual field assisting device according to the present invention can be applied to various construction work machines having a front device such as a crane. Further, the present invention is not limited to the visual field assisting device mounted on the construction work machine. The present invention can be applied to various industrial work machines that include side mirrors and whose mirror visibility decreases according to the working posture.

  The present invention is not limited to the above-described embodiment, and can be freely changed and improved without departing from the gist of the invention.

DESCRIPTION OF SYMBOLS 1 Mirror apparatus with a camera, 9 driver | operator, 10 mirror, 10V visual field range, 11 camera, 11V visual field range, 31, 32 Operation lever, 33, 34 Travel lever, 35 Display device, 39 Driver's seat, 100 Hydraulic excavator, 101 Front Device, 102 Car body, 103 Driver's cab, 104 Upper turning body, 105 Building, 106 Lower traveling body, 107 Boom, 121, 122, 123, 124 Angle detector, 150 Display device, 160 Display controller, 161 Display control unit, 162 Viewing approval / disapproval determination unit, 170 body controller, 171 body information management unit, 200 hydraulic excavator, 251 tower, 252 parallel link, 300 hydraulic excavator, 351 tower, 353 lifting cylinder

Claims (6)

A mirror installed on the opposite side of the driver's cab across a front device that is rotated by an operating device in the driver's cab;
An imaging device that images the lateral rear of the work machine at a viewing angle equivalent to the mirror;
A determination means for determining whether or not a lateral rear side of the work machine can be visually recognized by the mirror from the cab;
A display device for displaying the image behind the side by an imaging signal from the imaging device;
A visual field assisting device for a working machine, comprising: a display control unit that causes the display device to display an image of the lateral rear side when the determination unit determines that the lateral rear side cannot be visually recognized. The visual field assisting device for a work machine according to claim 1,
An angle detection means for detecting a rotation angle of the front device;
The determination unit determines whether the line of sight from the driver in the driver's cab to the mirror is blocked by the front device based on the rotation angle of the front device detected by the angle detection unit. A visual field assisting device for a work machine, characterized by determining whether to approve the view of the side of the machine. In the visual field assistance apparatus of the working machine according to claim 2,
The line of sight is calculated based on position data representing the position of the driver's eyes in the driver's cab and position data representing the position of the mirror,
The determination means is based on shape data representing the shape of the front device, position data representing the position of a pivot point of the front device, and the rotation angle of the front device detected by the angle detection means. A visual field assisting device for a working machine, wherein the visual approval is determined based on whether the line of sight is blocked by the front device. The visual field assisting device for a work machine according to claim 1,
Position detecting means for detecting position data representing a position of the cab whose position is variable with respect to the mirror;
Angle detection means for detecting the rotation angle of the front device,
The determination means is a driver in the driver's cab based on position data indicating the position of the driver's cab detected by the position detector and a rotation angle of the front device detected by the angle detector. A visual field assistance device for a working machine, wherein whether or not the right side of the working machine is approved is determined based on whether or not a line of sight from the mirror to the mirror is blocked by the front device. The visual assistance device for a work machine according to claim 4,
The line of sight represents position data representing the position of the driver's eyes in the cab calculated by taking into account position data representing the position of the cab detected by the position detecting means, and the position of the mirror. Calculated based on location data,
The determination means is based on shape data representing the shape of the front device, position data representing the position of a pivot point of the front device, and the rotation angle of the front device detected by the angle detection means. A visual field assisting device for a working machine, wherein the visual approval is determined based on whether the line of sight is blocked by the front device. The visual field assisting device for a work machine according to any one of claims 1 to 5,
The image pickup device attached to the mirror, picks up an image of a lateral rear side of the work machine with a wider viewing angle than an optical view angle of the mirror.

Images