JP2017152840A - Fitting structure of overhead image generation device for construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To freely fit and remove a plurality of cameras or each kinds of units used for an overhead image generation for a construction machine.SOLUTION: A fitting structure of an overhead image generation device for a construction machine, comprises a plurality of camera detaching mechanism 52, 54, 56, and 58 for detachably fitting a plurality of cameras 42, 44, 46, and 48 for imaging the circumference of the construction machine to a main body 10A of a backhoe 10 in each camera, and further comprises: an overhead image generation unit 62 that generates an overhead image including the backhoe by synthesizing an image imaged by the plurality of cameras; a transmission and reception unit 64 that transmits the over head image to a remote control center, and receives a construction machine operation command signal from the remote control signal; and a rack detachable mechanism 70 that detachably fits a rack 72 housing each camera and an electric power source unit 68 supplying an electric power to each unit to a main body 10A of the backhoe 10.SELECTED DRAWING: Figure 1

Description

  TECHNICAL FIELD The present invention relates to a mounting structure for a construction machine overhead image generation apparatus mounted on a construction machine, and more particularly, to a construction machine overhead image generation apparatus that can be freely attached to and detached from various construction machines. About.

In an emergency disaster recovery work, when a remotely operated construction machine is operated remotely, the operator needs to operate it from a safe place sufficiently away from the work place.
Although it is possible to perform visual operation in places where the construction range is narrow, it is usually remote controlled by presenting the image from the video camera mounted on the construction machine, the image from the moving camera, the image from the fixed camera, etc. to the operator. Construction will be possible by performing.
However, these cameras are likely to generate blind spots every time the construction machine moves or turns, which is disadvantageous for remote operation.
On the other hand, conventionally, a plurality of cameras that capture the periphery of a passenger car are provided in the passenger car, images supplied from each camera are processed, and an overhead image as seen from above the passenger car is created and provided to the driver. A driving support device is provided (see Patent Document 1).

  It is considered to apply such overhead image generation display technology to construction machines including general purpose heavy machinery such as backhoes. In other words, by providing a bird's-eye view image to the construction machine at the construction site, the surrounding situation can be grasped instantly, safety can be confirmed, and images of obstacles and pedestrians can be confirmed, and parking in narrow spaces is possible. (See Patent Document 2).

JP 2006-121587 A Japanese Patent No. 4995139

  In the bird's-eye view image generation and display apparatus shown in Patent Document 2, the plurality of cameras that capture the periphery of the work machine are directly connected to the front, rear, left and right portions of the upper swing body of the work machine so that the four periphery of the work machine can be captured. An image processing apparatus, a monitor television, and the like that are fixed and generate a bird's-eye view image by combining images from a plurality of cameras are installed in a cab. That is, the bird's-eye view image generation and display apparatus shown in Patent Document 2 is incorporated exclusively for each work machine and cannot be diverted to other work machines.

Since the overhead image generation and display apparatus of Patent Document 2 is incorporated exclusively for each work machine, whether or not to be attached must be selected at the time of ordering or at the production stage. In addition, if the camera or the like is damaged during the work of the work machine attached in advance, the work machine must be repaired. Therefore, since it is necessary to stop and repair the work, it is necessary to replace the work machine. In addition, devices (especially cameras) that make up images have been evolving day by day, and there has been a problem that work must be stopped even in the case of replacement of cameras and devices whose resolution becomes more sophisticated.
Furthermore, the four cameras must be assembled into the work machine main body at the time of production constituting the overhead image generation and display device, and become an option at the time of purchase, and therefore cannot be attached after purchase. Even if possible, there is a problem that it is not realistic because remodeling is necessary and takes a lot of time and money.

  The present invention has been made in view of such circumstances, and the purpose thereof is, for various construction machines including general purpose heavy machinery such as a backhoe, a plurality of cameras used for generating an overhead image, an overhead image generation unit, It is an object of the present invention to provide a construction machine mounting structure for a construction machine overhead image generation apparatus capable of freely and easily mounting, removing and replacing a communication unit and a power supply unit.

  In order to achieve the above-mentioned object, the present invention provides a mounting structure for an overhead image generation apparatus for construction machines, comprising a main body that travels on the ground and a construction work member provided on the main body. A plurality of cameras for picking up a picked-up image are detachably attached to each of the cameras by being positioned at least at the front and rear parts of the main body and the right and left parts of the main body so that the surroundings of the construction machine can be picked up. The camera attachment / detachment mechanism, the overhead image generation unit that generates a bird's-eye view of the entire construction machine around the construction machine by synthesizing captured images of the surroundings of the construction machine taken by the plurality of cameras, and the Transmits a bird's-eye view image to the remote control center and receives a construction machine control command signal from the remote control center and supplies power to each camera and the front. The rack accommodating the power supply unit for supplying power to the overhead image creating unit and the image transmitting unit and the receiving unit, characterized by comprising a detachably attached rack detaching mechanism to the body.

  According to the present invention, a plurality of cameras, an overhead image generation unit, and a communication unit that constitute an overhead image generation device for a construction machine can be used for various construction machines by using the mounting structure of the overhead image generation device for a construction machine. In addition, it is possible to freely and easily attach, remove, retrofit, replace and change the power supply unit.

It is a side view of the backhoe to which the mounting structure of the overhead image generation device for construction machines of the embodiment is applied. It is a top view of a backhoe. It is a front view of a backhoe. It is explanatory drawing which shows the example of arrangement | positioning to the backhoe main body of each component of the overhead image generation apparatus for construction machines which produces | generates the overhead image of a construction machine. It is a front view of the principal part which shows an example of the front camera attachment / detachment mechanism at the time of attaching a front camera to the front surface of the windshield of a backhoe operation room. It is the side view of the principal part containing the front camera attachment / detachment mechanism which looked at FIG. 5 from the left side. It is a disassembled perspective view of the principal part containing the front camera attachment / detachment mechanism shown in FIG. It is a front view of the camera attachment / detachment mechanism incorporating a camera. It is a side view of the camera attachment / detachment mechanism incorporating a camera. It is explanatory drawing in the case of attaching a front camera directly to the windshield of a backhoe operation room by a front camera attachment / detachment mechanism. It is explanatory drawing of the magnet unit in the case of attaching a back camera, a left camera, and a right camera directly to the main body of a backhoe with a camera attachment / detachment mechanism. It is explanatory drawing of the magnet unit in the case of attaching a back camera, a left camera, and a right camera directly to the main body of a backhoe with a camera attachment / detachment mechanism. It is a front view which shows an example of a rack attachment / detachment mechanism. It is explanatory drawing of the magnet unit in the case of attaching a rack directly to the main body of a backhoe by a rack attachment / detachment mechanism. It is a front view of the principal part which shows the other example of the front camera attachment / detachment mechanism at the time of attaching a front camera to the front surface of a backhoe operation room. It is the side view of the principal part containing the front camera attachment / detachment mechanism which looked at FIG. 15 from the left side. It is a disassembled perspective view of the principal part containing the front camera attachment / detachment mechanism shown in FIG. It is a rear view which shows the other example of a rack attachment / detachment mechanism. It is the side view of the rack attachment / detachment mechanism which looked at FIG. 18 from the left side.

(Embodiment)
Hereinafter, the present embodiment will be described with reference to the drawings.
First, a construction machine on which the overhead image generation device for construction machine according to the present invention is mounted will be described.
In the present embodiment, a case will be described in which a construction machine used in a dangerous construction site such as an emergency disaster recovery construction is a backhoe that is operated unattended by remote control.
In this case, the operator can remotely operate the backhoe from a safe place sufficiently away from the construction place.

First, the configuration of the backhoe will be described.
As shown in FIGS. 1, 2, and 3, the backhoe 10 includes a lower traveling body 12, an upper swing body 14, a boom 16, an arm 18, and a bucket 20.
In the present specification, the left-right direction is defined in a state in which the front is viewed from the back of the backhoe 10.

The lower traveling body 12 travels on the ground G by the rotation of the crawler 1202.
The upper turning body 14 is provided on the upper part of the lower traveling body 12 so as to be horizontally turnable around a turning axis.
Therefore, in the present embodiment, the lower traveling body 12 and the upper swing body 14 constitute a main body 10A that travels on the ground G.
The upper swing body 14 is provided with an operation chamber 1402, and the operation chamber 1402 travels the lower traveling body 12, swings the upper swing body 14, swings the boom 16, swings the arm 18, swings the bucket 20. A plurality of operation devices such as operation levers and operation pedals (not shown) are provided for operating the devices.

The boom 16 is swingably supported by the upper swing body 14 via a support shaft whose base end extends in the horizontal direction.
The arm 18 is swingably supported at the distal end of the boom 16 via a support shaft whose base end extends in the horizontal direction.
The bucket 20 is swingably supported at the distal end of the arm 18 via a support shaft whose base end extends in the horizontal direction.
A boom cylinder 1602 that swings the boom 16 is provided between the upper swing body 14 and the boom 16.
An arm cylinder 1802 that swings the arm 18 is provided between the boom 16 and the arm 18.
A bucket cylinder 2002 that swings the bucket 20 is provided between the arm 18 and the bucket 20.
These boom cylinder 1602, arm cylinder 1802, and bucket cylinder 2002 are hydraulic cylinders.
Therefore, the boom 16 is swung with respect to the upper swing body 14 by the expansion and contraction of the boom cylinder 1602.
Further, the arm 18 is swung with respect to the boom 16 by the expansion and contraction of the arm cylinder 1802.
Further, the bucket 20 is swung with respect to the arm 18 by the expansion and contraction of the bucket cylinder 2002.
In the present embodiment, the boom 16, the arm 18, and the bucket 20 constitute a construction work member 10B.

  As shown in FIG. 1 to FIG. 3, the mounting structure of the overhead image generation device for a construction machine includes a plurality of cameras 42, 44, 46, and 48 that capture captured images around the backhoe 10. Imaging of the surroundings of the backhoe 10 taken by a plurality of cameras attaching / detaching mechanisms 52, 54, 56, and 58 that are detachably attached to each other and a plurality of cameras 42, 44, 46, and 48 as shown in FIGS. A rack attachment / detachment for detachably attaching a rack 72 containing an overhead image generation unit 62, a transmission / reception unit 64, an image transmission unit 66, and a power supply unit 68 for synthesizing images and generating an overhead image centering on the backhoe 10 to the main body 10A. And a mechanism 70.

Before describing the mounting structure of the overhead image generation apparatus for construction machines, the overhead image generation apparatus for construction machines that generates an overhead image of the construction machine will be described.
As shown in FIG. 1 to FIG. 4, the overhead image generation apparatus for a construction machine has a plurality of overhead-view image cameras 42, 44, 46, and 48 with fisheye lenses and an operation room imaging that images the operation room 1402 of the backhoe 10. The camera 50, the overhead image generation unit 62, the transmission / reception unit 64, the image transmission unit 66, and the power supply unit 68 are comprised.
Among the plurality of overhead view image cameras, the camera 42 captures the front of the backhoe 10, and the front camera 42 has an outer surface of the windshield 1404 of the operation room 1402 of the backhoe 10, as shown in FIGS. And is detachably attached to the windshield 1404 by the front camera attaching / detaching mechanism 52.
The camera 44 images the back of the backhoe 10, and the rear camera 44 is positioned at the rear of the upper swing body 14 and is detachably attached by a rear camera attaching / detaching mechanism 54 as shown in FIGS. ing.
The camera 46 images the left side of the backhoe 10, and the left camera 46 is located on the left side of the upper swing body 14 and is attached and detached by the left camera attaching / detaching mechanism 56 as shown in FIGS. It is attached as possible.
The camera 48 images the right side of the backhoe 10, and the right camera 48 is located on the right side of the upper swing body 14 and is attached / detached by the right camera attaching / detaching mechanism 58 as shown in FIGS. 2 and 3. It is attached as possible.

The overhead image generation unit 62 combines the captured images around the backhoe 10 captured by the cameras 42, 44, 46, and 48, and generates an overhead image covering a range of a plurality of meters including the backhoe 10 around the backhoe 10. As shown in FIG. 4, these are connected to cameras 42, 44, 46, and 48 via separate communication cables 4202, 4402, 4602, and 4802, respectively.
The transmission / reception unit 64 transmits the overhead view image generated by the overhead view image generation unit 62 and the operation room image captured by the operation room imaging camera 50 to a remote control center (not shown) and controls the construction machine from the remote control center. A command signal is received, and is connected to the image transmission unit 66 via the communication cable 6402 and further connected to the transmission / reception antenna 6406 via the communication cable 6404.
The image transmission unit 66 transmits the overhead image generated by the overhead image generation unit 62 and the operation room image captured by the operation room imaging camera 50 to the transmission / reception unit 64, and the overhead image is transmitted via the transmission cable 6604. It is connected to the generation unit 62 and is connected to the operation room imaging camera 50 via the communication cable 6606.
The power supply unit 68 supplies power to the cameras 42, 44, 46, and 48 via a power supply cable (not shown), supplies power to the operation room imaging camera 50 via the power supply cable 6802, and an overhead view image. Electric power is supplied to the generation unit 62, the transmission / reception unit 64, and the image transmission unit 66 via power supply cables 6804, 6806, and 6808.

The overhead image generation unit 62, the transmission / reception unit 64, the image transmission unit 66, and the power supply unit 68 are separately housed and supported in boxes 74, 75, 76, 77 with open / close lids schematically shown in FIG. As shown in FIG.
Details of the rack attaching / detaching mechanism 70 for detachably attaching the rack 72 to the main body 10A will be described later.

Next, an embodiment of the front camera attaching / detaching mechanism 52 of the front camera 42 will be described.
As shown in FIGS. 5 to 9, the front camera attaching / detaching mechanism 52 includes a support plate 5202, a plurality of (for example, three) outer magnet units 5204, a pan head 5206, a camera storage box 5208, and a plurality (for example, three). ) Inner magnet units 5210.
The support plate 5202 supports the plurality of outer magnet units 5204 and is disposed to face the outer surface of the windshield 1404 of the operation chamber 1402 of the backhoe 10. Three outer magnet units 5204 are fixed to the surface of the support plate 5202 facing the windshield 1404 so as to be positioned at the apexes of the triangle.
The pan head 5206 supports the front camera 42 including the camera storage box 5208 so that the photographing direction can be adjusted arbitrarily. The pan head 5206 is connected to the fixed side of the outer magnet unit 5204 of the support plate 5202. It is attached to the opposite surface via a pan head base 5212. The pan head 5206 can be yawed (horizontal turning direction) about the axis 5214 and can be pitched (forward and backward tilt direction) about the axis 5216 in order to arbitrarily adjust the shooting direction of the front camera 42. It is configured.
The camera storage box 5208 stores and supports the front camera 42 in an imageable state and in an attachable / detachable manner, and is attached to the upper end of the camera platform 5206 via a camera base 5218. The camera storage box 5208 is waterproof and dustproof, and includes an opening / closing lid 5208A that can be opened and closed by a hinge 5220. The opening / closing lid 5208A can be locked by a hook 5222. Yes.

The outer magnet unit 5204 is disposed so as to contact the outer surface of the windshield 1404. As shown in FIG. 10, a nonmagnetic plate member 5204C is interposed between a pair of semi-cylindrical magnetic blocks 5204A and 5204B. A base member 5204D joined in a cylindrical shape, a magnet 5204E rotatably fitted in a base member 5204D opposite to the contact surface of the base member 5204D with the windshield 1404, and an outer periphery of the magnet 5204E A protruding lever 5204F is provided.
The inner magnet unit 5210 is disposed so as to abut against the inner surface of the windshield 1404 so as to face each other of the outer magnet units 5204, and is not interposed between the pair of semi-cylindrical magnetic blocks 5210A and 5210B. A base member 5210D joined in a cylindrical shape via a magnetic plate 5210C, and a magnet 5210E rotatably fitted in a base member 5210D on the side opposite to the contact surface of the base member 5210D with the windshield 1404; An attachment / detachment lever 5210F provided on the outer periphery of the magnet 5210E is provided.

Next, a case where the front camera 42 is attached to the windshield 1404 using the front camera attaching / detaching mechanism 52 will be described.
First, the base member 5204D of the outer magnet unit 5204 is pressed against the outer surface of the windshield 1404, and the base member 5210D of the inner magnet unit 5210 is pressed against the inner surface of the windshield 1404 so as to face the base member 5204D. In this state, by operating the attachment / detachment lever 5204F of the outer magnet unit 5204 and the attachment / detachment lever 5210F of the inner magnet unit 5210, the respective magnets 5204E and 5210E are rotated, and the N pole of the magnet 5204E and the magnet 5210E are rotated. The south poles are opposed to each other. As a result, the lines of magnetic force emitted from the N pole of the magnet 5204E enter the S pole of the magnet 5210E through the magnetic block 5204B, the windshield 1404, and the magnetic block 5210B as shown by the arrows in FIG. 10, and further from the N pole of the magnet 5210E. As shown by the arrows in FIG. 10, the magnetic field lines that have entered the S pole of the magnet 5204E through the magnetic block 5210D, the windshield 1404, and the magnetic block 5204A form a magnetic circuit. Thereby, the front camera attaching / detaching mechanism 52 including the front camera 42 is fixed to the windshield 1404 by strongly attracting the inner and outer magnet units to each other.
On the other hand, by rotating the magnet 5204E and the magnet 5210E so that the north poles and the south poles face each other, the north pole and the south pole of the magnet 5204E are opposed to the non-magnetic plate material 5204C, and the magnet 5210E has an N pole. When the pole and the S pole are opposed to the nonmagnetic plate material 5210C, the magnetic field lines indicated by the arrows in FIG. 10 do not occur, and the front camera attaching / detaching mechanism 52 including the front camera 42 is attracted to the windshield 1404. The magnetic circuit necessary for the above is not formed. As a result, the front camera attaching / detaching mechanism 52 including the front camera 42 can be easily detached from the windshield 1404.

As described above, according to the method in which the front camera 42 that captures an image for generating a bird's-eye view image is attached to the windshield 1404 by the front camera attaching / detaching mechanism 52, the front camera 42 is mounted using the outer magnet unit 5204 and the inner magnet unit 5210. Since it can be detachably attached directly to the windshield 1404, it is not necessary to provide a front camera dedicated attachment mechanism in front of the front of the operation room 1402, and the front camera 42 can be freely attached to or removed from the windshield 1404. be able to. Along with this, general construction machines including general-purpose heavy machinery such as backhoes or existing construction machines can be used as construction machines with a bird's-eye view image generation device regardless of the model, and installation and removal are actually It can be done freely and easily at the work site.
In addition, since the camera storage box 5208 with an opening / closing lid has waterproofness and dustproofness, the front camera 42 accommodated therein can be protected from an external adverse environment such as wind and rain or inadvertent external force. Moreover, since the front camera 42 is detachably stored in the camera storage box 5208 with an open / close lid, even when the front camera 42 is repaired or replaced, it can be directly performed on the site, which may affect the progress of field work. Absent.

Next, the rear camera attaching / detaching mechanism 54 of the rear camera 44 will be described.
The rear camera attaching / detaching mechanism 54 includes the same elements as those obtained by omitting the inner magnet unit 5210 from the front camera attaching / detaching mechanism 52 shown in FIGS. 8 and 9. For this reason, description of the configuration of the rear camera attaching / detaching mechanism 54 is omitted. However, when the rear camera 44 is attached to and detached from the upper swing body 14 by the rear camera attaching / detaching mechanism 54, description will be made using the reference numerals of the constituent elements attached to the front camera attaching / detaching mechanism 52.

When the rear camera 44 is attached to the rear part of the upper turning body 14 by the rear camera attaching / detaching mechanism 54, the plurality of magnet units 5204 constituting the rear camera attaching / detaching mechanism 54 are positioned at the optimum position of the rear part made of the magnetic material of the upper turning body 14. 11 and 12, a base member 5204D made up of magnetic blocks 5204A and 5204B and a non-magnetic plate material 5204C of the magnet unit 5204 has a lower surface directly on the upper surface of the magnetic body 14A at the rear of the upper swing body 14. Place. In this state, by operating the attaching / detaching lever 5204F of the magnet unit 5204, the magnet 5204E is rotated so that the N pole and S pole of the magnet 5204E are opposed to the magnetic blocks 5204A and 5204B as shown in FIG. Along with this, the magnetic field lines coming out from the N pole of the magnet 5204E enter the S pole of the magnet 5204E through the magnetic block 5204A, the magnetic body 14A, and the magnetic block 5204B as shown by the arrows in FIG. Thereby, since a plurality of magnet units are strongly attracted to the magnetic body 14A, the rear camera attaching / detaching mechanism 54 including the rear camera 44 can be firmly fixed to the rear part of the upper swing body 14.
On the other hand, when the magnet 5204E is rotated so that the N-pole and S-pole of the magnet 5204E are opposed to the non-magnetic plate material 5204C at a position 90 degrees apart, the magnetic lines generated from the N-pole of the magnet 5204E become the magnetic blocks 5204A and 5204B. Go through and enter S pole. As a result, the attractive force of the magnet 5204E on the magnetic body 14A is drastically reduced, so that the rear camera attaching / detaching mechanism 54 including the rear camera 44 can be easily detached from the rear part of the upper swing body 14.

Next, the left camera attaching / detaching mechanism 56 of the left camera 46 and the right camera attaching / detaching mechanism 58 of the right camera 48 will be described.
The left camera attaching / detaching mechanism 56 and the right camera attaching / detaching mechanism 58 are composed of the same elements as those obtained by omitting the inner magnet unit 5210 from the front camera attaching / detaching mechanism 52 shown in FIGS. For this reason, description of the configuration of the left camera attaching / detaching mechanism 56 and the right camera attaching / detaching mechanism 58 is omitted. Further, when the left camera 46 is attached to and detached from the left side of the upper swing body 14 by the left camera attaching / detaching mechanism 56, and when the right camera 48 is attached to and detached from the right side of the upper swing body 14 by the right camera attaching / detaching mechanism 58. Although the attachment positions of the left camera 46 and the right camera 48 to the upper swing body 14 are different, these cameras are attached to and detached from the upper swing body 14 of the backhoe 10 using the respective camera attaching / detaching mechanisms 56 and 58. The operation method is the same as that when the rear camera 44 is attached to and detached from the rear part of the upper swing body 14 by the rear camera attaching / detaching mechanism 54, and the explanation of the operation is omitted.

As described above, the rear camera 44 that captures an image for generating an overhead view image is detachably attached to the upper swing body 14 by a magnet unit that constitutes the rear camera attaching / detaching mechanism 54, and the left camera 46 is a right camera attaching / detaching mechanism. The right camera 48 is detachably attached to the upper swing body 14 by the magnet unit constituting the right camera attachment / detachment mechanism 58. Therefore, there is no need to previously provide a rear, left and right camera mounting mechanism on the rear and left and right sides of the upper swing body 14, and the rear camera 44 and the left and right cameras are connected to the upper swing body. 14 can be freely attached or detached. As a result, general construction machines including general-purpose heavy machinery such as backhoes or existing construction machines can be used as construction machines with a bird's-eye view image generation device, regardless of the model. It can also be done freely and easily at the work site.
Since the rear camera 44 and the left and right cameras 46 and 48 are detachably housed in respective camera storage boxes with open / close lids, the rear camera 44 and the left and right cameras 46 and 48 are protected from wind and rain, inadvertent external force, etc. In addition to being able to protect from an adverse external environment, even when these cameras are repaired or replaced, they can be carried out directly on the site, without affecting the progress of field work.

Next, the rack attaching / detaching mechanism 70 will be described.
4 and 13, the rack attaching / detaching mechanism 70 includes a rack 72, a plurality of magnet units 73, a box 74 with an open / close lid 7402 that detachably accommodates and supports the overhead view image generating unit 62, and a transmission / reception function. A box 75 with an opening / closing lid 7502 that detachably accommodates and supports the unit 64, a box 76 with an opening / closing lid 7602 that detachably accommodates and supports the image transmission unit 66, and a power supply unit 68 that is detachably accommodated and supported. And a box 77 with an opening / closing lid 7702 to be opened.

The rack 72 includes an open / close lid box 74 for the overhead image generation unit 62, an open / close lid box 75 for the transmission / reception unit 64, an open / close lid box 76 for the image transmission unit 66, and an open / close lid box 77 for the power supply unit 68. As shown in FIG. 13, a plurality of, for example, two, rectangular shelf frames 7202 arranged in parallel at regular intervals in the vertical direction, as shown in FIG. The frame 7202 is configured to include a plurality of, for example, six support columns 7204 that are vertically arranged at four peripheral positions including the four corner positions, for example, six peripheral positions and support each shelf frame 7202.
The plurality of magnet units 73 are for detachably attaching the rack 72 to the magnetic body portion 14 </ b> B of the upper swing body 14 of the backhoe 10, and are attached to the lower ends of the respective columns 7204.
An open / close lid box 74 for the overhead image generation unit 62 and an open / close lid box 75 for the transmission / reception unit 64 are detachably installed on an upper shelf frame 7202 of the rack 72. A box 76 with an open / close lid for the image transmission unit 66 and a box 77 with an open / close lid for the power supply unit 68 are detachably installed on a shelf frame 7202 at the lower stage of the rack 72.

A terminal 7404 to which communication cables 4202, 4402, 4602, and 4802 are connected to the cameras 42, 44, 46, and 48, and a communication cable 6604 to the image transmission unit 66 are connected to the side wall of the box 74 with an open / close lid. And a terminal 7408 to which a power supply cable 6804 to the power supply unit 68 is connected.
On the side wall of the box 75 with an open / close lid, power is supplied to the power supply unit 68, a terminal 7504 to which a communication cable 6402 to the image transmission unit 66 is connected, a terminal 7506 to which a communication cable 6404 to a transmission / reception antenna 6406 is connected. A terminal 7508 to which the cable 6806 is connected is provided.
On the side wall of the box 76 with an open / close lid, a terminal 7604 to which a communication cable 6604 to the overhead image generation unit 62 is connected, a terminal 7606 to which a communication cable 6402 to the transmission / reception unit 64 is connected, and an imaging camera 50 for the operation room A terminal 7608 to which a communication cable 6606 is connected, a terminal 7610 to which a power supply cable 6808 to the power supply unit 68 is connected, and the like are provided.
On the side wall of the box 77 with an opening / closing lid, there are a terminal 7704 to which a power supply cable to each camera 42, 44, 46, 48 and a power supply cable 6802 to the operation room imaging camera 50 are connected, and an overhead image generation unit 62. A terminal 7706 to which the power supply cable 6804 is connected, a terminal 7708 to which the power supply cable 6806 to the transmission / reception unit 64 is connected, a terminal 7710 to which the power supply cable 6808 to the image transmission unit 66 is connected, and the like are provided.

  As shown in FIG. 14, the magnet unit 73 includes a base member 7308 formed by joining a pair of semi-cylindrical magnetic blocks 7302 and 7304 in a cylindrical shape via a nonmagnetic plate material 7306, and a base member 7308. A magnet 7310 rotatably fitted in a base member 7308 opposite to the contact surface of the upper revolving body 14 with the magnetic body portion 14B, an attaching / detaching lever 7312 projecting from the outer periphery of the magnet 7310, and a magnet 7310. A cover member 7314 that covers the upper end portion of the cover member 7314, and a coupling member 7316 that is provided on the upper end surface of the cover member 7314 and connects the magnet unit 73 to the lower end of the column 7204.

In the rack attaching / detaching mechanism 70 configured as described above, when the rack 72 is mounted on the upper swing body 14 by the magnet unit 73, each magnet unit 73 is positioned on the magnetic body portion 14B of the upper swing body 14. The rack 72 is placed on the upper swing body 14, and the lower surface of the base member 7308 is brought into contact with the magnetic body portion 14B. In this state, by operating the attaching / detaching lever 7312 of the magnet unit 73, the magnet 7310 is rotated so that the N pole and the S pole of the magnet 7310 are opposed to the magnetic blocks 7302 and 7304 as shown in FIG. As a result, the lines of magnetic force emitted from the north pole of the magnet 7310 enter the south pole of the magnet 7310 through the magnetic block 7302, the magnetic body portion 14B, and the magnetic block 7304 as shown by the arrows in FIG. 14, thereby forming a magnetic circuit. Accordingly, each magnet unit 73 is strongly attracted to the magnetic body portion 14B, so that the rack 72 containing the overhead image generation unit 62, the transmission / reception unit 64, the image transmission unit 66, and the power supply unit 68 is placed on the upper swing body 14. It becomes possible to fix firmly to the.
On the other hand, when the magnet 7310 is rotated so that the N-pole and S-pole of the magnet 7310 are opposed to the non-magnetic plate material 7306 at a position 90 degrees apart (see FIG. 12), the lines of magnetic force emitted from the N-pole of the magnet 7310 are Passes magnetic blocks 7302 and 7304 and enters the south pole. As a result, the attractive force of the magnet 7310 to the magnetic body portion 14B is drastically reduced, so that the rack 72 can be easily detached from the upper swing body 14.

According to the rack attaching / detaching mechanism 70 as described above, since the rack 72 is configured to be detachably attached to the upper swing body 14 by the plurality of magnet units 73, an attachment mechanism dedicated to the rack is provided on the upper swing body 14. The rack 72 can be freely attached to or removed from the upper swing body 14 without any special processing. Along with this, it is not necessary to provide rear, left and right camera mounting mechanisms on the rear and left and right sides of the upper swing body 14, and only a rack 72 is attached to the upper swing body, a backhoe or the like. General construction machines including general-purpose heavy machinery or existing construction machines can be used as construction machines with a bird's-eye view image generation device regardless of the model, and they can be installed and removed freely at the actual work site. It can also be done easily.
A box 74 with an open / close lid for the overhead image generation unit, a box 75 with an open / close lid for the transmission / reception unit, a box 76 with an open / close lid for the image transmission unit, and a box 77 with an open / close lid for the power supply unit can be attached to and detached from the rack 72. Therefore, it is possible to arbitrarily replace or remove these boxes with opening / closing lids.
Further, the box 74 with an open / close lid for the overhead image generation unit, the box 75 with an open / close lid for the transmission / reception unit, the box 76 with the open / close lid for the image transmission unit, and the box 77 with the open / close lid for the power supply unit are waterproof and dustproof. Therefore, it is possible to protect the overhead view image generation unit 62, the transmission / reception unit 64, the image transmission unit 66, and the power supply unit 68 housed in each box with an open / close lid from an external adverse environment such as wind and rain or inadvertent external force. . In addition, since the overhead image generation unit 62, the transmission / reception unit 64, the image transmission unit 66, and the power supply unit 68 are detachably accommodated in the respective boxes with opening / closing lids, even when these units are repaired or replaced, they can be directly repaired on site. Can be implemented without affecting the progress of field work.

Next, another embodiment of the front camera attaching / detaching mechanism when the front camera 42 is attached to the front surface of the operation chamber 1402 of the backhoe 10 will be described with reference to FIGS.
The front camera attaching / detaching mechanism 80 in this embodiment includes a support base 82 (corresponding to a magnetic body described in claims) and a camera unit 84, as shown in FIGS.
The support frame 82 detachably supports the camera unit 84 including the front camera 42 on the front surface of the operation chamber 1402 of the backhoe 10.

As shown in FIGS. 15 to 17, the support frame 82 includes a bar member 8202 made of a magnetic material, a plurality of first magnet bases 8204, a plurality of fixing bolts 8206, a camera unit support plate 8208, a plurality of A second magnet base 8210.
The bar member 8202 is for supporting the camera unit 84 including the front camera 42 on the front surface portion of the operation chamber 1402 of the backhoe 10, and has a length extending along the width direction of the windshield 1404. A plurality of elongated holes 8202 A are formed in the bar member 8202 at regular intervals along the length direction of the bar member 8202.
Such a bar member 8202 is arranged along the lateral width direction of the windshield 1404 at a front surface position below the windshield 1404 of the frame body 1410 made of a magnetic material constituting the operation chamber 1402 of the backhoe 10. Further, the bar member 8202 is fixed to the frame body by screwing and fastening the fixing bolts 8206 respectively inserted into the long holes 8202A located at both ends of the bar member 8202 into the screw holes of the coupling member 8212 protruding from the front surface portion of the frame body 1410. 1410 is fixed. In this case, the spacer 8214 is interposed between the bar member 8202 and the distal end surface of the coupling member 8212 facing the bar member 8202, so that the bar member 8202 can be more securely fixed to the frame body 1410. .
The first magnet base 8204 is attached so as to be offset from the center of the bar member 8202 fixed to the frame body 1410 toward the fixed end of the bar member 8202. The first magnet base 8204 is attracted to the frame body 1410. Accordingly, the bar member 8202 in the both-ends state can be prevented from performing an amplitude motion, and at the same time, the camera unit 84 can be prevented from shaking.

  The camera unit support plate 8208 supports the camera unit 84 in a detachable manner. The camera unit support plate 8208 protrudes horizontally and perpendicularly from the front surface of the camera unit support plate 8208 on the front surface in the longitudinal direction of the camera unit support plate 8208. A camera unit mounting plate 8208A made of a magnetic material is provided.

The camera unit support plate 8208 having such a structure is such that the camera unit mounting plate 8208A protrudes forward of the windshield 1404 and the upper end thereof is fixed to the central portion of the bar member 8202 by a bolt 8216. A member 8202 is attached in a suspended state. In addition, a plurality of second magnet bases 8210 are attached to the hanging lower end portion of the camera unit support plate 8208. The second magnet base 8210 is attracted to the front surface portion 14C made of a magnetic material of the upper revolving body 14 opposed to the second magnet base 8210, thereby preventing the cantilevered camera unit support plate 8208 from performing an amplitude motion, and at the same time The unit 84 is configured to prevent blurring.
In addition, after the fixing bolt 8206 of the bar member 8202 is removed from the coupling member 8212, the first magnet base 8204 is peeled off from the frame body 1410 against the attractive force of the first magnet base 8204, thereby including the camera unit 84. The support frame 82 can be removed from the frame body 1410.

Next, the camera unit 84 will be described.
The camera unit 84 includes a front camera 42, a support plate 8402, a plurality of (for example, two) magnet units 8404, a single installation pad 8406 having magnets, a pan head 8408, and a camera storage box 8410. It consists of

The support plate 8402 supports the magnet unit 8404 and the installation pad 8406, and is disposed to face the upper surface of the camera unit placement plate 8208A of the support base 82. Two magnet units 8404 and installation pads 8406 are fixed to the lower surface of the support plate 8402 facing the camera unit placement plate 8208A so as to be positioned at each vertex of the triangle.
The pan head 8408 supports the front camera 42 including the camera storage box 8410 so that the photographing direction can be arbitrarily adjusted. The pan head 8408 is an upper surface opposite to the magnet unit fixing side of the support plate 8402. Is attached. In addition, the pan head 8408 is configured to be capable of yawing (horizontal turning direction) and pitching (forward and backward tilt direction) in order to arbitrarily adjust the shooting direction of the front camera 42.
The camera storage box 8410 stores and supports the front camera 42 in an imageable state and attachable / detachable, and is attached to the upper end of the pan head 8408 via the camera base 8412. The camera storage box 8410 is waterproof and dustproof, and includes an open / close lid 8410A that can be opened and closed by a hinge 8410C. The open / close lid 8410A is configured to be locked by a hook 8410B. Yes.

Next, a case where the camera unit 84 is attached to the support base 82 will be described.
First, the camera unit 84 is mounted on the camera unit mounting plate 8408A so that the lower ends of the magnet unit 8404 and the installation pad 8406 of the camera unit 84 are in contact with the upper surface of the camera unit mounting plate 8408A. In this state, the attaching / detaching lever 8404A of the magnet unit 8404 is operated so that the magnetic lines of force of the magnet unit 8404 pass through the camera unit mounting plate 8408A, thereby forming a magnetic circuit similar to that shown in FIG. Accordingly, the magnet unit 8404 is attracted to the camera unit mounting plate 8408A, and the magnet of the installation pad 8406 is attracted to the camera unit mounting plate 8408A, so that the camera unit 84 including the front camera 42 is attached to the camera unit mounting plate 8408A. Fixed.
On the other hand, by operating the attaching / detaching lever 8404A in the same manner as described with reference to FIG. 12, the magnetic circuit caused by the magnetic field lines passing through the camera unit mounting plate 8408A is released. As a result, the camera unit 84 including the front camera 42 can be easily detached from the camera unit mounting plate 8408A.

According to the front camera attaching / detaching mechanism 80 shown in the other embodiments as described above, the cylindrical coupling member 8212 and the fixing bolt 8206 having a simple structure provided in the frame body 1410 of the operation chamber 1402 are connected to the first and second members. Since the camera unit support base 82 is supported on the frame body 1410 and the upper swing body 14 of the operation chamber 1402 using the magnet bases 8204 and 8210, a coupling member 8212 having a simple structure is attached to the frame body 1410. In addition to being added, the cost can be reduced, and the camera unit support frame 82 can be attached to a general construction machine such as a backhoe or an existing construction machine by simply providing the coupling member 8212 on the frame body 1410 in advance. It is possible to attach and remove it freely and easily at an actual work site.
Further, since the camera unit 84 is detachably attached to the support frame 82 using the magnet unit 8404, the same effect as that shown in the front camera attaching / detaching mechanism 52 can be obtained.

Next, another embodiment of the rack attaching / detaching mechanism will be described with reference to FIGS.
18 and 19, the rack attaching / detaching mechanism 90 has a rack 92, a plurality of installation pads 94, two types of tightening bands 96 and 98, and an overhead view configured similarly to the case shown in FIG. A box 74 with an opening / closing lid that detachably accommodates and supports the image generation unit 62, a box 75 with an opening / closing lid that detachably accommodates and supports the transmission / reception unit 64, and an image transmission unit 66 that is detachably accommodated and supported. And a box 76 with an opening / closing lid that detachably accommodates and supports the power supply unit 68.

The rack 92 detachably supports each of the boxes 74, 75, 76, and 77 with open / close lids, and is arranged in parallel in the vertical direction at a certain interval as shown in FIGS. A plurality of, for example, six, vertically arranged two or more rectangular shelf frames 9202 and a plurality of surrounding locations including four corners of each shelf frame 9202, for example, six at the periphery, are vertically arranged. The support post 9204 is included.
The plurality of installation pads 94 are for bringing the rack 92 into close contact with the upper surface 14 </ b> C of the upper swing body 14 of the backhoe 10, and are attached to the lower ends of the columns 9204.
The two types of tightening bands 96 and 98 are for detachably attaching the rack 92 placed on the upper surface 14C of the upper swing body 14 via the installation pad 94 to the upper swing body 14.

Of the two types of tightening bands, one of the tightening bands 96 is wound around in a direction crossing the outer periphery of the upper swing body 14 in the left-right direction and in a direction crossing the outer periphery of the upper swing body 14 in the front-rear direction. At the same time, both ends of the tightening bands 96 are detachable from the rack 92, more specifically, to the horizontal member 9206 that connects the columns 9204 at the mounting position to the column 9204 where the upper shelf frame 9202 is supported. The rack 92 is fixed to the upper swing body 14 by engaging and operating the fastening tool 9602 provided in the middle of the fastening band 96 to fasten the fastening band 96.
Further, of the two types of tightening bands, the other tightening band 98 is bridged between the transverse member 9206 of the rack 92 and the eyebolt 9802 that is detachably attached to the upper surface 14C of the upper revolving structure 14, and the tightening band. By operating a fastener 9804 provided in the middle of 98, the tightening band 98 is tightened to fix the rack 92 to the upper swing body 14.
When the rack 92 fixed to the upper swing body 14 is removed from the upper swing body 14 as described above, the tightening band 96 is loosened by the fastening tool 9602 and both ends of the tightening band 96 are removed from the lateral members 9206 of the rack. . Further, the tightening band 98 is loosened by the fastening tool 9804, and one end of the tightening band 98 is removed from the lateral member 9206 of the rack. Thereby, the rack 92 can be removed from the upper swing body 14.

  According to the rack attaching / detaching mechanism 90 shown in the other examples as described above, the same effect as the rack attaching / detaching mechanism 70 shown in the embodiment of FIG. 13 can be obtained.

  The camera attaching / detaching mechanism and the rack attaching / detaching mechanism constituting the attachment structure of the overhead image generating apparatus for construction machinery are not limited to the structures shown in the camera attaching / detaching mechanisms 52 and 80 and the rack attaching / detaching mechanisms 70 and 90 described above. Needless to say, various modifications can be made without departing from the technical constituents described in the claims.

10 Backhoe (construction machine)
10A body 12 lower traveling body 14 part revolving body 1402 operation room 1404 windshield 42 front camera 44 rear camera 46 left camera 48 right camera 52 front camera attaching / detaching device 54 rear camera attaching / detaching mechanism 56 left camera attaching / detaching mechanism 58 right camera Attachment / detachment mechanism 62 Overhead image generation unit 64 Transmission / reception unit 66 Image transmission unit 68 Power supply unit 70 Rack attachment / detachment mechanism 72 Rack 73 Magnet unit 74, 75, 76, 77 Box with open / close lid 80 Front camera attachment / detachment device 82 Support stand 84 Camera unit 90 Rack Detachable mechanism 92 Rack 96, 98 Tightening band

Claims (8)

A plurality of cameras that capture a captured image around a construction machine including a main body that travels on the ground and a construction work member provided on the main body, at least before and after the main body so as to capture the periphery of the construction machine A plurality of camera attaching and detaching mechanisms that are detachably attached to each of the cameras by being positioned at each of the parts and left and right parts of the main body,
The bird's-eye view image generation unit that generates a bird's-eye view image of the entire circumference of the construction machine centered on the construction machine by synthesizing images taken around the construction machine taken by the plurality of cameras, and the remote control center for the bird's-eye view image Transmitting and receiving a construction machine control command signal from the remote control center and supplying power to each camera and supplying power to the overhead image generation unit, the image transmission unit and the transmission / reception unit A rack attaching / detaching mechanism for detachably attaching a rack for housing the unit to the main body;
An installation structure of an overhead image generation apparatus for construction machines, comprising: A front camera attaching / detaching mechanism for detachably attaching the camera to the front portion of the main body among the plurality of camera attaching / detaching mechanisms,
A magnetic body disposed on the outer surface of the windshield of the operation chamber provided at the front of the main body;
Supporting a plurality of magnet units that are attracted to the magnetic body by forming a magnetic circuit with magnetic lines of force with the magnetic body and that can be detached from the magnetic body by releasing the magnetic circuit with magnetic lines of force with the magnetic body A support plate;
A pan head that is provided on the surface of the support plate opposite to the surface that supports the magnet unit, and removably supports the camera;
The mounting structure of the overhead image generation apparatus for construction machines according to claim 1, comprising: A front camera attaching / detaching mechanism for detachably attaching the camera to the front portion of the main body among the plurality of camera attaching / detaching mechanisms,
A support plate that supports a plurality of outer magnet units and is capable of contacting these outer magnet units to the outer surface of the windshield of the operation chamber provided at the front of the main body;
A magnetic circuit is formed on the inner surface of the windshield in opposition to each of the outer magnet units so as to form a magnetic circuit with magnetic lines of force with the outer magnet unit, and is attracted to the windshield and with magnetic lines of force with the outer magnet unit. A plurality of inner magnet units that can be detached from the windshield by releasing the magnetic circuit;
A pan head provided on the support plate and detachably supporting the camera;
The mounting structure of the overhead image generation apparatus for construction machines according to claim 1, comprising: Of the plurality of camera attaching / detaching mechanisms, the rear and left and right camera attaching / detaching mechanisms for detachably attaching the camera to the rear part of the main body and the left and right parts of the main body are:
A plurality of magnets that are attracted to the magnetic part by forming a magnetic circuit with magnetic lines with the magnetic part of the main body, and that can be detached from the main body by releasing the magnetic circuit with magnetic lines with the magnetic part A support plate for supporting the unit;
A pan head provided on the support plate and detachably supporting the camera;
The mounting structure of the overhead image generation apparatus for construction machines according to claim 1, comprising: The camera attaching / detaching mechanism includes a plurality of boxes with open / close lids for storing and supporting the plurality of cameras in a state where they can be imaged,
The mounting structure of the overhead image generation device for construction machine according to any one of claims 1 to 4, wherein the camera is attached to the main body by attaching the box to the main body by the camera attaching / detaching mechanism. .   The rack attachment / detachment mechanism is provided at each of lower ends of a plurality of support columns constituting the rack and is attracted to the magnetic body portion by forming a magnetic circuit by a magnetic force line with the magnetic body portion of the main body, and the magnetic body portion The mounting structure of the overhead image generating apparatus for construction machines according to claim 1, further comprising a plurality of magnet units that can be detached from the main body by releasing a magnetic circuit by magnetic lines of force.   The rack attachment / detachment mechanism is provided at a lower end of a plurality of support columns constituting the rack and is installed on a top surface of the main body, and is stretched in a tensioned state at a plurality of positions between the rack and the main body. The attachment of the overhead image generation apparatus for construction machines according to claim 1, further comprising a plurality of tightening bands that detachably attach the rack to the main body by pressing the installation pad against the upper surface of the main body. Construction.   The said rack attaching / detaching mechanism includes a box with an open / close lid for storing and supporting the overhead image generation unit, the transmission / reception unit, and the power supply unit for each unit. Mounting structure of an overhead image generation device for construction machinery.

Images