JP2002327470A - Display device for working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To lighten a burden on an operator when an image of the inside of a working area is obtained for display during work of a working machine. SOLUTION: When an object, which exists within a fixed area E4 (E1, E2 and E3) with respect to the working machine 3, is detected by a proximity sensor 1d (1a, 1b and 1c), the image, which is obtained by an imaging means 4d (4a, 4b and 4c) corresponding to the proximity sensor 1d (1a, 1b and 1c), is automatically displayed on a display 20.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to a display device for a work machine.

[0002]

2. Description of the Related Art An operator who operates a construction machine needs to confirm that there are no obstacles or people in a work area of the construction machine, and to operate the construction machine after ensuring safety. Further, the construction machine is provided with a monitor panel for displaying an operation state.

Therefore, a construction machine is provided with a camera for picking up an image in the work area, and the image picked up by the camera is displayed on a monitor panel. That is, at the operator's own discretion, the display screen of the monitor panel
The display can be switched from the normal display screen for displaying the operation state to the image captured by the camera.

[0004] Therefore, when an obstacle or a person is reflected in the image captured by the camera, the operation is immediately interrupted by the operator. On the other hand, when the operator confirms that no obstacle or person is reflected in the image captured by the camera, the operation is resumed.

[0005]

As described above, according to the prior art, the display screen of the monitor panel can be switched from a normal operation state display screen to a camera image at the discretion of the operator. For this reason, the conventional construction machine has a problem in that the switching operation has to be performed at the discretion of the operator himself and a burden is imposed. In addition, since whether or not a dangerous situation is determined by the operator himself, the display screen can be switched from the normal operation state display screen to the image captured by the camera even if the situation is not dangerous even if the situation is not dangerous. Regardless, the display screen may not be switched to the camera captured image while the normal operation state display screen remains. Therefore, there is a problem that the display screen of the monitor panel cannot be used effectively and appropriately.

An object of the present invention is to reduce the burden on an operator when capturing and displaying an image in a work area during work of a work machine. Another object of the present invention is to effectively and appropriately use a display screen of a monitor panel.

[0007]

According to the first aspect of the present invention, at least one proximity sensor for detecting an object existing within a certain area with respect to the work machine is provided at a predetermined position of the work machine. In response to the proximity sensor, an imaging unit that captures an image in a detection area of the proximity sensor is provided, and when an object existing in a certain area with respect to the work machine is detected by the proximity sensor,
An image picked up by an image pickup means corresponding to the proximity sensor is displayed on a display.

The first invention will be described with reference to FIG.

According to the first invention, the proximity sensor 1d (1
(a, 1b, 1c), when an object existing in the fixed area E4 (E1, E2, E3,) is detected for the work machine 3 with respect to the work machine 3, the imaging corresponding to the proximity sensor 1d (1a, 1b, 1c). The image captured by the means 4d (4a, 4b, 4c) is automatically displayed on the display 20.

Therefore, according to the first aspect of the invention, the operator does not need to perform the switching operation when capturing and displaying the image in the work area during the operation of the work machine, so that the burden on the operator can be reduced. it can.

In a second aspect of the present invention, a monitor panel for displaying a state of the work machine is provided on a display device of the work machine mounted on the work machine, at a predetermined position of the work machine, within a certain area with respect to the work machine. At least one proximity sensor that detects an existing object is provided, and an imaging unit that captures an image in a detection area of the proximity sensor is provided corresponding to the proximity sensor, and the imaging sensor is fixed to the work machine by the proximity sensor. When an object present in the area is detected, an image picked up by an image pickup means corresponding to the proximity sensor is displayed on a display screen of a monitor panel.

The second invention will be described with reference to FIG.

According to the second invention, the proximity sensor 1d (1
(a, 1b, 1c), when an object present in the fixed area E4 (E1, E2, E3,) is detected with respect to the work machine 3 by the work machine 3, the imaging corresponding to the proximity sensor 1d (1a, 1b, 1c). The image captured by the means 4d (4a, 4b, 4c) is automatically displayed on the display screen 21 of the monitor panel 20.

Therefore, according to the second aspect, the same effects as those of the first aspect can be obtained.

According to the second invention, the monitor panel 20
In the case where the operating state of the working machine is displayed, when the proximity sensor 1d detects that an object is present in the fixed area E4, all or a part of the operating state display screen is displayed by the imaging unit. The image is switched to the captured image according to 4d. Therefore, the display screen of the monitor panel can be used effectively and appropriately. The existing monitor panel 20
In addition, since the image picked up by the image pickup means 4d can be displayed, there is no need to prepare a new monitor panel 20 for displaying the image picked up by the image pickup means 4d.
Therefore, according to the second aspect, no space is required.

According to a third aspect, in the first aspect or the second aspect, the work machine is provided with a revolving body.

According to the third aspect, the revolving superstructure is provided in the work machine. Therefore, if there is a driver's cab on the revolving superstructure, an obstacle or a person in the work area may not enter the field of view of the operator. Further, even if there is no obstacle or person behind the revolving structure, for example, before the turning operation, there is a possibility that an obstacle or person enters during turning and the revolving structure collides with the obstacle or person. . However, even in these cases, the third
According to the present invention, an obstacle or a person in the work area can be reliably monitored in advance via an image captured by the imaging unit, so that a collision accident can be prevented beforehand and safety can be further improved. .

In the third invention, the same effects as those of the first invention or the second invention can be obtained.

According to a fourth aspect of the present invention, in the first aspect or the second aspect of the present invention, the relative position of the detection area of the proximity sensor with respect to the work machine is displayed on the display screen of the display or the monitor panel together with the image picked up by the imaging means. Position
It shall be displayed.

In the fourth invention, the operator not only monitors the image picked up by the image pickup means but also checks the relative position of the detection area of the proximity sensor with respect to the work machine on the display screen of the display or the monitor panel. be able to.

Further, in the fourth invention, the same effect as in the first invention or the second invention is obtained.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A display device for a working machine according to the present invention will be described below with reference to the drawings.

In this embodiment, a hydraulic shovel of a construction machine is assumed as a working machine.

FIG. 1 is a view of a hydraulic excavator 3 according to an embodiment of the present invention as viewed from above. FIG. 1 shows the proximity sensors 1a to 1a.
1d, the arrangement positions of the CCD cameras 4a to 4d and the monitor panel 20 and the relative positions of the detection areas E1 to E4 of the proximity sensors 1a to 1d with respect to the excavator 3 are shown. In FIG. 1, the upper part of the excavator 3 of the excavator 3 is shown on the upper side.
1, and the lower side in FIG. 1 is the rear side of the revolving unit 3a of the excavator 3.

The proximity sensors 1a, 1b, 1c, and 1d are provided with flasher lamps 10a, 10b, 10c, and 10d on the rear side of the revolving unit 3a of the excavator 3 so as to detect an obstacle or a person that is out of view of the operator. A plurality is provided correspondingly.

The proximity sensors 1a to 1d determine the distance from the proximity sensors 1a to 1d to the object based on, for example, the time from when the ultrasonic wave is emitted toward the object until the ultrasonic wave is reflected by the object and returns. When the distance is equal to or less than a predetermined distance, it is detected that an object exists in the detection areas E1 to E4.

The proximity sensor 1a detects an object existing within a certain area E1 with respect to the excavator 3. The proximity sensor 1b detects an object existing within a certain area E2 with respect to the excavator 3. The proximity sensor 1c detects an object existing within a certain area E3 with respect to the excavator 3. The proximity sensor 1d detects an object existing in the fixed area E4 with respect to the excavator 3.

The CCD cameras 4a, 4b, 4c, 4d
In correspondence with the proximity sensors 1a, 1b, 1c, 1d and the flasher lamps 10a, 10b, 10c, 10d,
A plurality of hydraulic excavators 3 are provided behind the revolving superstructure 3a.

The CCD camera 4a captures an image in the detection area E1 of the proximity sensor 1a. CCD camera 4b
Captures an image in the detection area E2 of the proximity sensor 1b. The CCD camera 4c captures an image in the detection area E3 of the proximity sensor 1c. The CCD camera 4d captures an image in the detection area E4 of the proximity sensor 1d.

The CCD cameras 4a, 4b, 4c, 4
d captures images in the detection areas E1, E2, E3, and E4 such that the detection areas E1 and E2 overlap, E2 and E3 overlap, and E3 and E4 overlap.

The monitor panel 20 is mounted in the cab 8 of the excavator 3.

FIG. 2 is a block diagram showing a display device of the hydraulic shovel according to the embodiment of the present invention. In FIG. 2, the same components as those in FIG. 1 described above are given the same reference numerals, and descriptions of these components will be omitted as appropriate.

As shown in FIG. 2, the display device 9 of the embodiment
Is roughly the proximity sensors 1a, 1b, 1c, 1d and C
CD cameras 4a, 4b, 4c, 4d and switcher 5
, Monitor controller 6 and communication controller 7
, A monitor panel 20, a fingerprint collating unit 10, and a vehicle controller 16.

The fingerprint collating unit 10 can transmit and receive various data and various signals to and from the monitor controller 6 by connecting the connector 14 and the connector 15.

The fingerprint collating unit 10 includes a sensor unit 11
, A data storage unit 12 and a fingerprint matching unit 13.

The sensor section 11 detects fingerprint data of an operator's finger.

In the data storage section 12, fingerprint data of the operator is stored in advance.

The fingerprint collating unit 10 performs a process of collating the fingerprint data detected by the sensor unit 11 with the fingerprint data stored in the data storage unit 12.

The fingerprint collation process proceeds according to the display on the display screen 21 of the monitor panel 20.

As a result of the collation, when it is determined that both fingerprint data match, a “collation OK signal” is transmitted from the fingerprint collation unit 10 to the monitor controller 6.

When the proximity sensors 1a, 1b, 1c, and 1d detect that an object is present in the fixed areas E1, E2, E3, and E4 with respect to the excavator 3, a detection signal S is generated.
1, S2, S3, and S4 are transmitted to the switcher 5, respectively.

The CCD cameras 4a, 4b, 4c, 4d
The detection areas E1, of the proximity sensors 1a, 1b, 1c, 1d,
Images V1, V2, V3, and V4 captured in E2, E3, and E4 are transmitted to the switcher 5, respectively. Captured images V1, V2,
V3 and V4 may be moving images or still images.

The detection signals S 1, S 2, S 3, S 4 correspond to the imaging signal V
1, V2, V3, and V4, respectively.

When the detection signal S1 is received, the switcher 5 selects the imaging signal V1 and sends it to the monitor controller 6, and similarly, when the detection signal S2 is received, the switching device 5 selects the imaging signal V2 and sends it to the monitor controller 6. In the same manner, when the detection signal S3 is received, the imaging signal V3 is selected and transmitted to the monitor controller 6. Similarly, when the detection signal S4 is received, the imaging signal V4 is selected and transmitted to the monitor controller 6. .

A touch switch 23 is arranged on the display screen 21 of the monitor panel 23.

The monitor controller 6 includes the monitor panel 2
The transition of the display screen 21 of 0 is controlled.

The monitor controller 6 changes the display screen 21 of the monitor panel 20 to the “normal screen” shown in FIG. 3 on condition that the verification OK signal is input from the fingerprint verification unit 10.

A sensor group 17 and an actuator group 117 are connected to the vehicle body controller 16. The vehicle controller 16 takes in the signal detected by the sensor group 17 and outputs a drive command signal to the actuator group 117.

The detection signal of the sensor group 17 is used as a vehicle state signal indicating the state of the hydraulic excavator 3 as a vehicle state signal.
6 to the monitor controller 6. The monitor controller 16 transmits a vehicle state signal to the monitor panel 20.

Therefore, as shown in FIG. 3, the state of the hydraulic excavator 3 is displayed in the state display area 18 of the "normal screen" of the display screen 21.

When the touch switch 23 on the “normal screen” of the display screen 21 shown in FIG. 3 is operated, the corresponding control signal K is sent from the monitor panel 20 to the monitor controller 6.
Sent to. Further, a control signal K is transmitted from the monitor controller 6 to the vehicle body controller 16, and the vehicle body controller 16 responds to the control signal K by the actuator group 117.
Drive control. An image pickup signal V1 through the switcher 5,
One of V2, V3, and V4 is the monitor controller 6
Is received by the monitor controller 6
Is transmitted to the monitor panel 20 and to the communication controller 7.

The detection signals S from the proximity sensors 1a to 1d are
When 1, S2, S3 and S4 are output, this detection signal is transmitted to the monitor panel 20 via the switcher 5 and the monitor controller 6.

The communication controller 7 transmits the received image signals V 1, V 2, V 3, V 4 to a server installed outside the excavator 3.

Next, the operation of the above-described display device 9 will be described.

The detection signals S1 to S1 from the proximity sensors 1a to 1d
When none of S4 is output, the display screen 21 of the monitor panel 20 is maintained at the "normal screen" as shown in FIG. By visually recognizing the state display area 18 on the “normal screen”, the operator can monitor the state of the excavator 3 in the vehicle body, and operate the touch switch 23 to operate the traveling body or the revolving body 3 a of the excavator 3. Can be activated.

Therefore, for example, when the detection signal S4 is output from the proximity sensor 4d, the detection signal S4 is input to the monitor panel 20. The following processing is performed for other detection signals S1 to S3.
The same applies to the case where the detection signal S4 is output. The detection signal S4 is sent to the monitor panel 20.
Is input, the display screen 2 of the monitor panel 20 is displayed.
1, a sub-window 22 is displayed as shown in FIG. That is, the display screen 21 is the “normal screen” shown in FIG.
Is switched to the "abnormal screen" shown in FIG.

As shown in FIG. 4, the subwindow 22
It is arranged at a position off the touch switch 23 while covering the state display area 18 shown in FIG.

The sub window 22 includes a detection display unit 24
And a captured image display unit 25.

The detection display section 24 includes a display section 24a for displaying a schematic upper surface of the excavator 3 and detection areas E1 to E4.
And a confirmation switch 24c. Further, the captured image display unit 25 displays the captured images V1 to
This is a display section for displaying V4.

When the detection signal S 4 is output from the proximity sensor 1 d, the imaging signal V 4 is input to the monitor panel 20. Therefore, the captured image in the detection area E4 is displayed on the captured image display unit 25 of the sub window 22 based on the image signal V4.

On the other hand, the detection display section 2 of the subwindow 22
The detection area E4 of the proximity sensor 1d is displayed on the fourth detection area display section 24b based on the detection signal S4.
The detection area E4 is displayed based on hue, color, and brightness that can be distinguished from the background color.

Accordingly, the operator can monitor the detection area E4 where the abnormality has occurred and check the direction and position of the abnormality, that is, the relative position of the detection area E4 with respect to the excavator 3 on the "abnormal screen". Can be.

Further, according to this embodiment, since the sub window 22 is separated from the touch switch 23, the excavator 3 can be controlled on this "abnormal screen" in the same manner as the "normal screen" shown in FIG. It becomes possible.

When the safety is confirmed, the confirmation switch 24c on the detection display unit 24 is pressed. In response to the pressing of the confirmation switch 24c, the sub window 22 is deleted from the display screen 21, and the display returns to the "normal screen" shown in FIG.

The imaging signal V 4 is transmitted to the server device outside the excavator 3 via the communication controller 7 as described above. A captured image corresponding to the image signal V4 is displayed on the display screen of the display device of the server device.

Here, if the excavator 3 is left out of sight or in a time zone and cannot be monitored, the excavator 3 may be stolen. Therefore, if the server device is installed in a security company or a police station, for example, the excavator 3 can always be monitored even if the excavator 3 is left out of sight or in a time zone.

Therefore, in this embodiment, the proximity sensor 1
By transmitting data of an image captured in the detection area E4 of d to a server device installed outside the excavator 3, the display device 9 can also be used as an anti-theft device.

As described above, according to the present embodiment, when the proximity sensor 1d detects a person existing in the fixed area E4 with respect to the hydraulic excavator 3, the proximity sensor 1d
An image picked up by the CCD camera 4d corresponding to d is automatically displayed on the monitor panel 20.

Therefore, in the present embodiment, when an image in the work area is picked up and displayed during the work of the hydraulic excavator 3, the operator does not need to perform the switching operation, so that the burden on the operator can be reduced. .

In this embodiment, since the monitor panel 20 for displaying the "normal screen" is also used as a display for displaying the "abnormal screen", it is not necessary to separately prepare a new display. Therefore, the equipment can be arranged in a small space of the excavator 3. Further, only when the proximity sensor 1d detects that an object is present in the certain area E4, the "normal screen" of the monitor panel 20 is switched to the "abnormal screen". The display screen 21 can be used effectively and appropriately. In FIG. 4, the touch switch 23 is removed from the display screen 21 to dispose the sub-window 22. However, the entire display screen 21 may be a screen corresponding to the sub-window 22.

In the present embodiment, the hydraulic shovel 3 is provided with a revolving unit 3a. Therefore, as shown in FIG. 1, the field of view from the driver's cab 8 may be obstructed by the revolving superstructure 3a, making it impossible to directly see an obstacle or a person in the work area E4. Further, even if there is no obstacle or person behind the revolving unit 3a before the turning operation, there is a possibility that the obstacle or person enters during turning and the revolving unit 3a collides with the obstacle or person. is there.

However, even in these cases, the CCD
Obstacles and people in the work area E4 can be reliably monitored in advance via the image captured by the camera 4d, so that a collision accident can be prevented beforehand and safety can be further improved.

In this embodiment, the proximity sensors 1a, 1a
Although b, 1c, and 1d are provided on the rear side of the revolving unit 3a of the excavator 3, they may be provided at any positions on the excavator 3 as long as they can detect an obstacle or a person who is not in the field of view of the operator. Good.

The proximity sensors 1a, 1b, 1c, 1d
May be configured by an ultrasonic sensor that detects a frequency change due to the Doppler effect, for example.

In this embodiment, the proximity sensor 1a,
Although a plurality of 1b, 1c, and 1d are provided, only one may be provided.

In this embodiment, the CCD camera 4
Although a plurality of a, 4b, 4c, and 4d are provided, only one may be provided.

In the case where only one CCD camera is provided, the CCD cameras correspond to the detection areas E1, E2, E3, E4 corresponding to the detection signals S1, S2, S3, S4 transmitted from the proximity sensors 1a, 1b, 1c, 1d. The photographing angle of the CCD camera may be changed so as to face the camera.

In this embodiment, any one of the image pickup signals V1, V2, V3, and V4 selected by the switcher 5 is converted into still image data by the monitor controller 6 for each set time and transmitted to the communication controller 7. You may make it transmit sequentially.

In the present embodiment, the confirmation switch 24
After pressing c, the selected imaging signals V1, V2, V
3, V4 may be received by the communication controller 7 and transmitted to a server device installed outside the excavator 3.

In this embodiment, the sub window 2
Although the image captured in one detection area E4 is displayed on the second captured image display section 25, the captured image display section 25 may be divided to display images captured in a plurality of detection areas.

In the present embodiment, one detection area display section 24b is connected to the detection area E4 of one proximity sensor 1d.
However, a plurality of detection area display units may be displayed corresponding to the detection areas of the plurality of proximity sensors.

[Brief description of the drawings]

FIG. 1 is a top view of a hydraulic excavator according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a display device of the excavator according to the embodiment of the present invention.

FIG. 3 is a diagram illustrating a display example of a display screen of a monitor panel.

FIG. 4 is a diagram illustrating a display example of a display screen of a monitor panel.

[Explanation of symbols]

 1a, 1b, 1c, 1d: proximity sensor 3: hydraulic excavator 3a: revolving unit 4a, 4b, 4c, 4d: CCD camera 20: monitor panel

Claims (4)

[Claims] At least one proximity sensor for detecting an object present in a certain area with respect to the work machine is provided at a predetermined position of the work machine, and the proximity sensor corresponds to the proximity sensor. An image pickup means for picking up an image in the detection area is provided, and when an object present in a certain area is detected for the work machine by the proximity sensor, an image picked up by the image pickup means corresponding to the proximity sensor is provided. A display device for a working machine, wherein the display is displayed on a display. 2. A work machine display device having a monitor panel for displaying a state of a work machine mounted on the work machine, wherein an object present in a predetermined location of the work machine and within a certain area with respect to the work machine. At least one proximity sensor for detecting the proximity sensor is provided, and corresponding to the proximity sensor, an imaging unit for capturing an image in a detection area of the proximity sensor is provided. A display device for a work machine, wherein, when an existing object is detected, an image captured by an imaging unit corresponding to the proximity sensor is displayed on a display screen of a monitor panel. 3. The display device for a work machine according to claim 1, wherein the work machine is provided with a revolving body. 4. A relative position of a detection area of the proximity sensor with respect to the work machine, together with a captured image of the imaging unit, is displayed on a display screen of the display or the monitor panel. Or the display device of the work machine according to 2.