JP2009197456A - Monitoring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a monitoring device which monitors the periphery of construction equipment, and allows the operator to keep track of an angular location of a lower traveling body. <P>SOLUTION: The monitoring device is mounted on the construction equipment 1 having the lower traveling body 2 and an upper revolving body 3. An image pick-up means 6 picks up an image of the periphery of the construction equipment 1, and a display means 7 displays a first image X picked up by the image pick-up means 6. An angle detecting means 14 detects the angle of the lower traveling body 2 with respect to the upper revolving body 3 to output angular data, and a control means 10 displays a second image B simulating the lower traveling body 2 on a display unit 7, based on the angular data. Further the control means 10 displays a mark C indicative of an advancing direction of the lower traveling body 2 on the display unit 7, and also displays an index portion E indicative of a working range of the upper revolving body 3 on the display unit 7. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a monitoring device mounted on a construction machine such as a hydraulic excavator.

Conventionally, various monitoring devices for monitoring the periphery of a construction machine with an imaging camera have been proposed. For example, Patent Document 1 discloses the monitoring device. The construction machine has a lower traveling body that can travel on an endless track (hereinafter referred to as a crawler) or the like, and the upper revolving body is installed on the lower traveling body so as to be able to swivel. The upper-part turning body includes a driver's cab in which the operator is boarded, and a front work machine that performs excavation work and the like. The driver's cab is provided with a large window so that the operator can check the surroundings, but there is a range that becomes a blind spot from the operator. Therefore, in order to check the range of blind spots, an imaging camera is installed on the upper revolving body, and the images captured by this imaging camera are displayed on the display in the cab and the object that obstructs the work is monitored. .
JP 2005-163370 A

However, since the forward / reverse movement of the lower traveling body is operated regardless of the turning angle of the upper revolving body, the relative position between the upper revolving body and the lower traveling body when the operator is working on the construction machine. For example, if the upper turning body is turning 180 degrees with respect to the forward direction of the lower traveling body and the cab is facing backward, the lower traveling body is intended to advance the lower traveling body. There was a risk of moving backwards.
The present invention has been made in view of this problem, and provides a monitoring device that allows the operator to grasp the angular position of the lower traveling body while monitoring the periphery of the construction machine.

  In order to solve the above-mentioned problem, the present invention is a monitoring device mounted on a construction machine 1 having a lower traveling body 2 and an upper turning body 3, an imaging means 6 for imaging the periphery of the construction machine 1, Display means 7 for displaying the first image X imaged by the imaging means 6, angle detection means 14 for detecting the angle of the lower traveling body 2 with respect to the upper swing body 3 and outputting angle data, and the angle data And a control means 10 for displaying the second image B imitating the lower traveling body 2 on the display 7.

  In the present invention, the control means 10 causes the display 7 to display a mark C indicating the forward traveling direction of the lower traveling body 2.

  In the present invention, the control means 10 causes the indicator 7 to display an indicator portion E indicating the work range of the upper swing body 3.

  By displaying on the display means an image that is imaged data output by the imaging means, the operator can monitor the surroundings of the construction machine, and by displaying an image simulating the lower traveling body on the display means. The operator can easily grasp the angular position of the lower traveling body.

  Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

  The hydraulic excavator 1 includes a lower traveling body 2 having a crawler 2a, and a rotatable upper revolving body 3 installed on the lower traveling body 2. The upper swing body 3 includes a front work machine 4 having a bucket 4a, an arm 4b, and a boom 4c, and a driver's cab 5 in which a driver is boarded. The operator gets into the cab and operates the front work machine 4 by operating means such as an operating lever to perform excavation work of earth and sand. An omnidirectional camera (imaging means) 6 is installed at the rear of the upper swing body 3, and the omnidirectional camera 6 images the surroundings of the hydraulic excavator 1 and outputs image data to the control means 10.

  The control means 10 is composed of a microcomputer having a CPU 11, a ROM 12, and a RAM 13. The control means 10 inputs image data output from the omnidirectional camera 6, and performs image processing such as distortion correction (first image) on the image data. The image (X) is output to the display (display means) 7. The angle detector (angle detection means) 14 is disposed in the upper swing body 3, detects the angle (turning angle) of the lower traveling body 3 with respect to the upper swing body 3, and outputs angle data to the control means 10. .

  The control means 10 superimposes on the image X, which is the imaging data output from the omnidirectional camera 6, and causes the display 7 to display an image A that imitates the overhead revolving body 3 that has been looked down, and the angle detector 14 outputs it. Based on the obtained angle data, an image (second image) B imitating the crawler 2 a of the lower traveling body 2 viewed from above is displayed on the display 7. The image B imitating the crawler 2a is displayed so as to be superimposed on the translucent image A, and is displayed so as to rotate around the point P that is the turning center based on the angle data output by the angle detector 14. Is done.

Further, the control means 10 includes an arrow mark C indicating the forward direction of the lower traveling body 2, an arrow mark D indicating the turning direction of the upper swing body 3, and an indicator portion E indicating the work range of the front work machine 4. Displayed on the display 7. The indicator portion E indicating the work range of the front work machine 4 has an arc shape having a radius corresponding to the angle of the arm 4b and the boom 4c with the point P as the center.
An image A simulating the upper swing body 3, an image B simulating the crawler 2a, an arrow mark C indicating the forward direction of the lower traveling body 2, an arrow mark D indicating the swing direction of the upper swing body 3, and the work range of the bucket 4a. The indicator part E shown is an image composed of image data stored in the ROM 12 of the control means 10.

When the upper turning body 3 turns, the image A imitating the upper revolving body 3 displayed on the display 7 is displayed statically, the image B imitating the crawler 2a, and the arrow mark indicating the forward direction of the lower traveling body 2 C is rotated about the point P. That is, when the upper swing body 3 turns left, the images B and C are rotated and displayed clockwise. When the upper swing body 3 rotates right, the images B and C are rotated and displayed counterclockwise. However, the image A remains stationary.
Further, when the upper swing body 3 turns, the omnidirectional camera 6 also turns, so that the image X that is the imaging data output by the omnidirectional camera 6 is displayed so as to rotate around the point P.

  According to this embodiment, the image X which is the imaging data output from the omnidirectional camera 6 can be displayed on the display 7 and the periphery of the excavator 1 can be monitored. In addition, by displaying the image B imitating the crawler 2a of the lower traveling body 2 and the arrow mark C indicating the forward direction of the lower traveling body 2 on the display 7, the operator of the excavator 1 can move the crawler 2a. It is possible to easily grasp the angular position and the forward traveling direction of the lower traveling body 2.

The side view of the construction machine which shows embodiment of this invention. The block diagram which shows embodiment same as the above. Explanatory drawing of the display screen which shows embodiment same as the above.

Explanation of symbols

1 Hydraulic excavator (Construction machinery)
2 Lower traveling body 3 Upper revolving body 6 Imaging camera (imaging means)
7 Display (display means)
10 control means 14 angle detector (angle detection means)
X First image B Second image C Arrow mark E Index section

Claims (3)

  A monitoring device mounted on a construction machine having a lower traveling body and an upper turning body, an imaging means for imaging the periphery of the construction machine, a display means for displaying a first image captured by the imaging means, Angle detecting means for detecting an angle of the lower traveling body with respect to the upper swing body and outputting angle data, and control means for causing the display to display a second image simulating the lower traveling body based on the angle data. And a monitoring device.   The monitoring device according to claim 1, wherein the control unit displays a mark indicating a forward direction of the lower traveling body on the display.   The monitoring device according to claim 1, wherein the control unit causes the indicator to display an indicator that indicates a work range of the upper swing body.

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