JP2019116343A - Information display device of working machine, working machine with the same and information display method - Google Patents

Abstract

To provide an information display device, a working machine with the same and an information display method capable of displaying necessary information for an operator while preventing the field of view of the operator from being continuously obstructed by display information.SOLUTION: The information display devise comprises a display information determination unit, a projector 60 and a display information control unit 83. The display information determination unit generates an image for projection including working information of a crane. The projector 60 projects the image for projection generated by the display information determination unit onto a front window 51 of a cab 50. The display information control unit 83 can switch the projection of the image for projection by the projector 60 and the stopping of the projection according to a prescribed command.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an information display device, a working machine provided with the same, and an information display method.

  A working machine such as a crane generally comprises an airframe and a work attachment provided on the airframe. An operator's cab on which a worker boardes is disposed on the machine body. When the operator operates the operation lever provided in the cab, the work attachment is driven to execute a predetermined work operation. Transparent windows are disposed on the front, top, and left and right sides of the cab, respectively, to ensure operator visibility.

  Patent Document 1 discloses a working machine provided with a display device disposed in front of a driver's seat in a cab. The display device displays the posture of the work attachment during work and the load information of the suspended load lifted by the work attachment and the like to assist the worker. Further, Patent Document 2 discloses a working machine provided with a front display device disposed in front of a cab and near the foot of a worker and a side display device disposed on the left side surface of the cab. It is done. The front display device displays information on travel of the work machine, and the side display device displays information on work content of the work machine.

JP, 2013-76381, A JP, 2015-59022, A

  In the technique described in Patent Document 1, a part of the window in front of the operator is covered by the display device. Therefore, there is a problem that a part of the visual field of the worker is blocked, and the operability of the working machine by the worker is deteriorated. Further, in the technology described in Patent Document 2, it is necessary for the operator to largely move the line of sight during work in order to view the front display device and the side display device. For this reason, there existed a problem that the operativity of a working machine deteriorated similarly to the above.

  The present invention has been made in view of the above problems, and is an information display apparatus capable of displaying information necessary for the operator while preventing the operator from continuously interrupting the view of the operator by the display information. It is an object of the present invention to provide a working machine and an information display method provided with the same.

  An information display device according to one aspect of the present invention is an information display device provided in a working machine having a machine body and a driver's cab including a driver's seat on which a worker is seated, wherein at least the driver's cab The transparent window portion disposed in front of the driver's seat for securing the field of view of the worker, an image generation unit for generating a projection image including work information of the work machine, and the image generated by the image generation unit An image projection unit for projecting a projection image onto the window unit; and a projection control unit capable of switching between projection of the projection image by the image projection unit and stopping of the projection according to a predetermined command. Prepare.

  According to this configuration, the image projection unit can project the projection image including the work information of the work machine generated by the image generation unit onto the transparent window. For this reason, the operator can confirm the work information of the work machine while looking at the projection image projected on the window part. Further, the projection control unit can switch between projection of the projection image by the image projection unit and stop of the projection according to a predetermined command. Therefore, when it is not necessary to project the projection image on the window portion, the projection can be stopped and the projection can be started when the projection image is required. As a result, the projection image prevents the operator's field of vision from being interrupted continuously.

  In the above configuration, the apparatus further comprises a switching command receiving unit disposed in the driver's cab and receiving the command for switching between projection of the projection image and stopping of the projection, wherein the projection control unit predetermined is the switching command. It is desirable to switch between the projection of the projection image by the image projection unit and the stop of the projection according to the command input to the reception unit.

  According to this configuration, the operator can instruct switching between projection of the projection image and stop of the projection through the switching command receiving unit. As a result, it is possible to project work information according to the request of the worker.

  In the above configuration, the image generation unit further includes a projection information reception unit disposed in the driver's cab and receiving an instruction regarding at least one of the type and arrangement of the work information projected onto the window unit. Preferably, the projection image is generated based on the command input to the information receiving unit.

  According to this configuration, the projection information receiving unit receives an instruction regarding at least one of the type and the arrangement of the work information projected on the window portion. For this reason, the worker can select the work information to be projected through the projection information receiving unit and project the necessary work information on the window part.

  In the above configuration, the image projection unit is a light projection unit that emits light for projecting the image, and a light projection angle change that changes a light projection angle of the light projected from the light projection unit. It is preferable to further include a projection position adjustment unit that includes a unit, and adjusts the projection position of the projection image in the window unit by controlling the projection angle change unit.

  According to this configuration, the projection position adjustment unit can adjust the projection position of the work information on the window unit by controlling the light projection angle change unit.

  In the above configuration, the projection position adjustment unit is connected to an operation device of the work machine which is disposed in the cab and receives an operation for operating the work machine, according to the operation received by the operation device. It is desirable to adjust the projection position of the work information by controlling the light projection angle changing unit so that the work information projected on the window moves on the window in a predetermined direction.

  According to this configuration, it is possible to move the work information on the window according to the operation received by the operation device of the work machine. Therefore, it is possible to move the work information on the window so as to follow the viewpoint of the worker who moves with the operation of the operation device, and to temporarily move projected work information away from the viewpoint of the worker .

  In the above configuration, the projection position adjustment unit is an operation device of the work machine disposed in the operator's cab, and is an operation device that is provided to the work machine and receives an operation for operating a work member capable of moving up and down. The light projection angle is changed so that the work information projected on the window moves in the upward direction on the window in response to an operation of upward movement of the work member received by the operation device. The control unit controls the projection position of the work information, and the work information projected onto the window in accordance with the downward movement operation of the work member received by the operation device is directed downward on the window. It is desirable to adjust the projection position of the work information by controlling the projection angle changing unit so as to move.

  According to this configuration, when the working member moves upward, the projected work information ascends on the window, and when the working member moves downward, the projected work information descends on the window Do. For this reason, it is possible to project work information to a position close to the viewpoint, following up and down movement of the viewpoint of the worker.

  In the above configuration, the detection unit provided in the work machine is connected to a detection unit that detects an operation characteristic value that is a characteristic value related to the operation of the work machine, and the operation detected by the detection unit It is preferable that the image generation unit further includes an operation information input unit that inputs the characteristic value to the image generation unit, and the image generation unit generates the projection image including the operation characteristic value as the work information.

  According to this configuration, an image including the operation characteristic value of the work machine can be displayed on the window portion.

  The above configuration further includes a camera information input unit connected to a camera provided in the work machine and capturing a predetermined target, and inputting a camera image captured by the camera to the image generation unit. Preferably, the image generation unit generates the projection image including the camera image as the work information.

  According to this configuration, it is possible to display an image including a camera image on the window.

  In the above configuration, it is preferable to further include a monitor disposed inside the driver's cab and displaying a simulation image corresponding to the projection image displayed on the window unit by the image projection unit.

  According to this configuration, the worker can confirm the image displayed on the window in advance before the work.

  In the above configuration, the apparatus further includes a simulated image operated unit that receives an operation for editing the simulated image displayed on the monitor, and the image generation unit is configured to receive the operation input to the simulated image operated unit. It is desirable to edit the simulated image displayed on the monitor and the projection image projected on the window portion in accordance with an operation.

  According to this configuration, the operator can adjust the projection image so as to be easily viewed during the operation by editing the projection image displayed on the window in advance before the operation.

  In the above configuration, the apparatus further includes a projection image operated unit disposed in the driver's cab and receiving an operation for editing the projection image projected onto the window unit by the image projection unit, the image generation unit Preferably, according to the operation input to the projection image operated unit, the projection image to be projected onto the window unit is edited.

  According to this configuration, the operator can edit in the driver's cab so that the image displayed in the window can be easily viewed.

  In the above configuration, it is desirable that the projection image operated unit be provided in an operation device which is disposed in the driver's cab and receives an operation for operating the work machine.

  According to this configuration, the operator can edit the image displayed on the window portion so as to be easily viewable while operating the work machine in the cab.

  A work machine according to another aspect of the present invention includes a machine body and a driver's seat on which an operator is seated, and a working member mounted on the machine body and the machine body disposed on the machine body and performing a predetermined operation operation And the information display device for a work machine according to any one of the above 1 to project an image including work information on the window portion.

  According to this configuration, the operator can confirm the work information of the work machine by looking at the projection image projected on the window, and there is no need to project the projection image on the window Can stop the projection. As a result, it is possible to prevent the projected image from continuously interrupting the view of the worker.

  Further, an information display method according to another aspect of the present invention includes a machine body and a driver's seat on which an operator is seated, and is mounted on a driver's cab arranged in the machine body and the machine body to execute a predetermined work operation. An information display method for projecting an image on the window portion of a working machine having a working member, generating an image including work information of the working machine, and at least the driver's seat in the cab Projecting the generated image onto a transparent window disposed in front of and securing the field of view of the worker, and during operation of the work machine, projecting the image and the projection of the image according to predetermined requirements. And switching between stopping.

  According to this configuration, the operator can confirm the work information of the work machine by looking at the projection image projected on the window, and there is no need to project the projection image on the window Can stop the projection. As a result, the display information is prevented from continuously blocking the operator's view.

  According to the present invention, an information display device capable of displaying information necessary for the operator while preventing the operator's field of vision from being continuously interrupted by the display information, and a working machine including the same, and information A presentation method is provided.

It is a side view of a work machine concerning one embodiment of the present invention. It is a side sectional view showing the inside of the driver's cab of the working machine concerning one embodiment of the present invention. It is a rear view which shows the inside of the cab of the working machine which concerns on one Embodiment of this invention, Comprising: It is the figure seen from the eyes X of FIG. It is an enlarged view of the to-be-operated part with which the operating device of the working machine which concerns on one Embodiment of this invention was equipped. It is a schematic diagram which shows the monitor of the working machine which concerns on one Embodiment of this invention. It is a schematic diagram which shows the operation | work information displayed on the display part of FIG. It is a block diagram of a control part of a work machine concerning one embodiment of the present invention.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view of a crane 100 (working machine) according to an embodiment of the present invention. In addition, although the direction of "upper", "lower", "front", and "rear" is shown by FIG. 1, the said direction shows for convenience for the purpose of demonstrating the structure of the crane 100 which concerns on this embodiment. It is shown and the usage mode etc. of the working machine which concerns on this invention are not limited.

  The crane 100 includes a lower traveling body 1 capable of traveling on the ground, an upper revolving superstructure 2 disposed above the lower traveling body 1, a boom 3 as a raising and lowering member, a gantry 4 and a counterweight 5 Prepare. The upper swing body 2 has a swing frame 21 (airframe) and a cab 50. Also, the cab 50 is provided at the front end of the swing frame 21. The cab 50 corresponds to the cab of the crane 100. The counterweight 5 is disposed at the rear end of the swing frame 21 and has a function of maintaining the balance of the crane 100.

  The boom 3 (work attachment) shown in FIG. 1 is a so-called lattice type, and includes a lower boom 3A and an upper boom 3B. The boom 3 is pivotally supported (mounted) on the swing frame 21 of the upper swing body 2 with the boom foot 3S provided at the lower end as a fulcrum. The boom 3 also has a boom point sheave 11, an idler sheave 12 and an auxiliary sheave 13 disposed at the tip of the boom 3. The boom 3 ascends (performs a predetermined work operation) on the swing frame 21 to enable lifting of the suspended load 16 as a working member according to the present invention.

  The crane 100 further includes a boom guy line 6, an upper spreader 7, a lower spreader 8, a compression member 4A and a tension member 4B constituting a gantry 4, a boom hoisting winch 24 and a boom hoisting rope 9. The upper spreader 7 and the lower spreader 8 each comprise a plurality of sheaves. Further, the upper spreader 7 is connected to the tip of the boom 3 by the boom guy line 6. The compression member 4A is a post erected upward and rearward from a substantially central portion of the upper swing body 2. Similarly, the tension member 4B is a support erected vertically upward from the rear end of the upper swing body 2 and is connected to the upper end of the compression member 4A. The gantry 4 has a gantry sieve 10. The gantry sieve 10 is disposed at the tip of the gantry 4. The boom hoisting winch 24 is disposed on the upper swing body 2. The boom undulation rope 9 is pulled out from the boom undulation winch 24 and hung on the gantry sheave 10 of the gantry 4 and then hung around between the lower spreader 8 and the upper spreader 7 multiple times. Note that, in FIG. 1, the boom undulation winch 24 is disposed between the compression member 4A and the tension member 4B for the sake of explanation, but in fact the boom undulation winch 24 is not closer to the turning center than the cab 50. It is disposed on the illustrated center section (pivotal frame 21). The boom undulation winch 24 changes the distance between the upper spreader 7 and the lower spreader 8 by winding and unwinding the boom undulation rope 9, and rotates the boom 3 relative to the gantry 4. Uneven 3

  The crane 100 further includes a main winding winch 22, an auxiliary winding winch 23, a main hook 14, a main winding rope 15, an auxiliary hook 17, and an auxiliary winding rope 18. In the crane 100 according to the present embodiment, the main winding winch 22 and the auxiliary winding winch 23 are provided on the upper revolving unit 2. After the main winding rope 15 pulled out of the main winding winch 22 is hung on the idler sheave 12 and the boom point sheave 11, the main hook 14 for hanging load is provided at the tip thereof. Then, the main winding rope 15 is stretched between the boom point sheave 11 at the tip of the boom 3 and the sheave of a sheave block (not shown) provided on the main hook 14. Therefore, when the main winding winch 22 winds up or unwinds the main winding rope 15, the distance between the boom point sheave 11 and the sheave of the main hook 14 changes, and the load 16 connected to the main hook 14 changes. Winding up and lowering takes place. Similarly, after the auxiliary winding rope 18 pulled out from the auxiliary winding winch 23 is hung on the idler sheave 12 and the auxiliary sheave 13, the auxiliary hook 17 is provided at the tip thereof.

  FIG. 2 is a side sectional view showing the inside of the cab 50 of the crane 100 according to the present embodiment. FIG. 3 is a rear view showing the inside of the cab 50 of the crane 100, as viewed from the line of sight X in FIG. FIG. 4 is an enlarged view of a mode changeover switch 29 (a command receiving unit, a projection image operated unit) provided on the turning operation lever 25 of the crane 100 according to the present embodiment.

  Referring to FIG. 2, cab 50 includes a driver's seat 53 on which an operator is seated, and a transparent window disposed around driver's seat 53. The window portion includes a front window 51, a skylight 52, and a left window portion 50L. In addition, the right window part not shown is arrange | positioned also on the right side of the cab 50. As shown in FIG. The front window 51 is disposed on the entire front surface of the cab 50, and the skylight 52 is disposed on the front portion of the upper surface of the cab 50. In addition, the window part of the cab 50 comprises a part of information display apparatus 100S of this invention. The window portion is disposed in front of at least the driver's seat 53 in the cab 50 and is transparent so as to secure the visibility of the operator.

  The crane 100 is provided with a turning operation lever 25, a main winding operation lever 26, a supplementary winding operation lever 27, and a relief operation lever 28 (FIG. 3). The turning operation lever 25 receives an operation for turning operation in which the upper turning body 2 turns relative to the lower traveling body 1. The turning operation lever 25 is capable of tilting in the front-rear direction, and the upper swing body 2 turns left and right relative to the lower traveling body 1 according to the tilting direction of the turning operation lever 25. The main winding operation lever 26 receives an operation for winding and unwinding the main winding rope 15 by the main winding winch 22. The main winding operation lever 26 is capable of tilting in the front-rear direction, and the winding and unwinding operations of the main winding winch 22 are respectively executed according to the tilting direction of the main winding operation lever 26. The auxiliary winding control lever 27 receives an operation for winding up and unwinding the auxiliary winding rope 18 by means of the auxiliary winding winch 23. The auxiliary winding control lever 27 is capable of tilting in the front-rear direction, and the winding and unwinding operations of the auxiliary winding winch 23 are respectively executed according to the tilting direction of the auxiliary winding operation lever 27. The up and down operation lever 28 receives an operation for winding and unrolling the boom up and down rope 9 by the boom up and down winch 24. The up and down operation lever 28 is capable of tilting in the front and rear direction, and the winding up and down operation of the boom up and down winch 24, that is, the up and down movement of the boom 3 is executed according to the tilting direction of the up and down operation lever 28. Ru. As shown in FIGS. 2 and 3, the turning operation lever 25 and the main winding operation lever 26 are disposed in front of and to the left of the driver's seat 53, and the supplementary winding operation lever 27 and the elevation operation lever 28 are The driver's seat 53 is arranged in front of and to the right of the driver's seat 53. Further, as shown in FIG. 2 to FIG. 4, a mode changeover switch 29 for operating the information display device 100S described later is disposed in the grip portion 25A of the turning operation lever 25.

  The turning operation lever 25, the main winding operation lever 26, the auxiliary winding operation lever 27, and the up and down operation lever 28 function as the operation device of the present invention. The operating device is disposed in the cab 50 and receives an operation for operating the crane 100. Each of these levers functions as a detection unit of the present invention. The detection unit detects an operation characteristic value related to the operation of the crane 100. In the present embodiment, the operation direction received by each operation lever and the operation amount correspond to the operation characteristic value. Each detection unit inputs the detected operation characteristic value to the crane control unit 81 described later. In addition, another sensor etc. may be used as a detection part.

  Furthermore, the crane 100 is provided with a boom angle detector 85, a tension detector 86, a main winding drum camera 91, an auxiliary winding drum camera 92, an undulating drum camera 93, and a rear camera 94 (FIG. 1). .

  The boom angle detector 85 is provided on the boom foot 3S of the boom 3 and detects the ground angle of the boom 3 (the angle of the center line of the boom 3 with respect to the ground). The tension detector 86 is provided at the tip of the gantry 4 and detects the tension of the boom relief rope 9. The main winding drum camera 91 is provided at the base end of the compression member 4A, and photographs the drum portion of the main winding winch 22 from above. In addition, the auxiliary winding drum camera 92 is provided on the compression member 4A, and shoots the drum portion of the auxiliary winding winch 23 from above. The hoisting drum camera 93 is provided on the engine guard on the revolving frame 21 and captures the drum portion of the boom hoisting winch 24 from behind. The main winding drum camera 91, the auxiliary winding drum camera 92, and the undulating drum camera 93 are disposed in order to confirm the rotation state of each drum, the random winding of the rope, and the like. The rear camera 94 is disposed at the upper end of the tension member 4B, and images the rear portion of the crane 100. In FIG. 1, the main photographing directions of the main winding drum camera 91 to the rear camera 94 are indicated by arrows. The main winding drum camera 91, the auxiliary winding drum camera 92, the relief drum camera 93 and the rear camera 94 function as the camera of the present invention. The camera inputs image information (camera image) of the photographed object to a camera image control unit 82 of the crane 100 described later.

  The crane 100 further includes a control unit 80 and an information display device 100S. FIG. 5 is a schematic view showing the monitor 70 of the crane 100. As shown in FIG. FIG. 6 is a schematic view showing the work information displayed on the monitor 70 of FIG. FIG. 7 is a block diagram of the information display device 100S of the crane 100 according to the present embodiment.

  The control unit 80 controls the operation of the crane 100 in a centralized manner, and receives the control signal and the like as the above-mentioned turning operation lever 25, main winding operation lever 26, winding operation lever 27, undulation operation lever 28, The mode switching switch 29, boom angle detector 85, tension detector 86, main winding drum camera 91, auxiliary winding drum camera 92, rising and falling drum camera 93, rear camera 94 and monitor 70 described later are connected. The control unit 80 is electrically connected to a projector 60, a projector drive unit 60S, and a monitor 70 described later, and transmits various control signals, image signals, and the like to these members. The control unit 80 is also electrically connected to the other units provided in the crane 100.

  The control unit 80 includes a central processing unit (CPU), a read only memory (ROM) for storing a control program, and a random access memory (RAM) used as a work area of the CPU, and the CPU executes the control program. Thus, the crane control unit 81, the camera image control unit 82, and the display information control unit 83 are functionally provided.

  The crane control unit 81 controls a swing motor (not shown) according to an operation received by the swing operation lever 25, and executes a swing operation of the upper swing body 2 with respect to the lower traveling body 1. In addition, the crane control unit 81 controls the main winding winch 22 and the auxiliary winding winch 23 according to the operation received by the main winding operating lever 26 and the auxiliary winding operating lever 27, and the suspension by the main winding rope 15 and the auxiliary winding rope 18 Control the winding and lowering operations of the load 16. Furthermore, the crane control unit 81 controls the boom hoisting winch 24 according to the operation received by the hoisting operation lever 28 to control the hoisting operation of the boom 3. The crane control unit 81 also uses the crane 100 based on detection signals received from the turning operation lever 25, the main winding operation lever 26, the supplementary winding operation lever 27, the up and down operation lever 28, the boom angle detector 85 and the tension detector 86. Calculates the working posture of, the load factor to the lifting load, etc. The calculated information is input to the display information determination unit 831 of the display information control unit 83. The crane control unit 81 functions as an operation information input unit of the present invention. The crane control unit 81 is connected to a detection unit (swing operation lever 25 to elevation operation lever 28) for detecting an operation characteristic value related to the operation of the crane 100, and the operation characteristic value (operation amount detected by the detection unit) , Operation direction) is input to a display information determination unit 831 of a display information control unit 83 described later.

  The camera image control unit 82 controls the photographing operation of each of the main winding drum camera 91, the auxiliary winding drum camera 92, the rising and falling drum camera 93, and the rear camera 94. The camera image control unit 82 also functions as a camera information input unit of the present invention. The camera image control unit 82 is connected to each of the above-mentioned cameras provided in the crane 100 and shooting a predetermined target, and the display information determination unit of the display information control unit 83 described later in the image information shot by the camera Enter 831.

  The information display device 100S includes a projector 60 (image projection unit), a monitor 70, the crane control unit 81 described above, a camera image control unit 82, and a display information control unit 83.

  The projector 60 (FIG. 2, FIG. 3) is fixed to the lower surface of the skylight 52 of the cab 50. The projector 60 projects the image generated by the display information determination unit 831 of the display information control unit 83 on the front window 51 and the skylight 52. The projector 60 can project the image 63 (FIG. 3) without reducing the visibility of the real image seen through the front window 51 and the skylight 52. In addition, in another embodiment, by using a special material for the front window 51 and the skylight 52, the visibility of the above real image and image may be improved.

  The projector 60 includes a light emitting unit 61 and a projector driving unit 60S (light emitting angle changing unit). The light projecting unit 61 projects light for projecting the image. The projector drive unit 60S changes the projection angle of the light 62 emitted from the light projection unit 61. Specifically, the projector drive unit 60S includes a motor (not shown) and a transmission unit that rotates the light projection unit 61 by the driving force of the motor. The projector drive unit 60S swings the light emitting unit 61 in the arrow DR direction of FIG. 2 and in the arrow DH direction of FIG. As a result, the projection position of the image projected on the front window 51 can be adjusted.

  The monitor 70 is a touch panel type display unit fixed to the inner wall surface of the left side of the cab 50. The monitor 70 is located to the left of the operator sitting on the driver's seat 53. The operator can view the information displayed on the monitor 70 by shifting his / her viewpoint from the front to the left. In the present embodiment, the monitor 70 displays a simulated image of a projection image projected on the front window 51 by the projector 60. Therefore, the operator can set the image projected on the front window 51 in advance on the monitor 70.

  Specifically, referring to FIG. 5, the monitor 70 has a monitor operating unit 701 (simulated image operated unit), a first monitor display unit 70A, and a second monitor display unit 70B. The monitor operation unit 701 receives an operation for editing an image displayed on the monitor 70.

  The first monitor display unit 70A displays the work information projected on the left display area 51L (FIG. 3) of the front window 51. In the present embodiment, each operation characteristic value is displayed as work information of the crane 100 on the first monitor display unit 70A. Similarly, the second monitor display unit 70B displays the work information projected on the right display area 51R of the front window 51. In the present embodiment, on the second monitor display unit 70B, photographed images (still images and moving images) of each camera (main winding drum camera 91 to rear camera 94) are displayed as work information of the crane 100. Note that FIG. 5 shows that the two captured images are displayed vertically side by side on the second monitor display unit 70B.

  The monitor operation unit 701 has a plurality of icons 702 and a mode switching auxiliary switch 703. The icons 702 are arranged corresponding to a plurality of pieces of work information displayed in the first monitor display unit 70A (the left display area 51L). When the worker selects (presses) each icon 702 on the screen, work information corresponding to the icon 702 is displayed on the first monitor display unit 70A (left display area 51L). FIG. 6 is a schematic view showing the work information displayed on the first monitor display unit 70A of FIG. 5 in an enlarged manner. In FIG. 6, the side view of the crane 100 is schematically shown, and the rated total load K1 (11.4 t) and the point height K2 (5.5 m) are displayed, respectively. In addition, the operation | work information which can be displayed on the 1st monitor display part 70A is not limited to these, The following information is further illustrated. The load factor of the crane 100, the wind speed around the crane 100, the length of the boom 3, the working radius of the crane 100, the number of the main winding rope 15 in the boom point sheave 11, the number of the auxiliary winding rope 18 in the auxiliary sheave 13, The types (corresponding load) of the main winding rope 15 and the supplementary hooks 17, the actual load to which the main winding rope 15 and the supplementary hook 17 are subjected, the ground angle of the boom 3 and the like can be mentioned.

  The mode switching auxiliary switch 703 can be pressed by the operator and can be tilted in the vertical and horizontal directions. Every time the operator presses the mode switching auxiliary switch 703, an editing instruction (editing mode) of work information displayed on the monitor 70 is input to the display information control unit 83. As a result, the display information determination unit 831 and the display position determination unit 832 edit the displayed image. Specifically, each time the mode switching auxiliary switch 703 is pressed, each editing mode is selected in the order of “image position mode”, “enlargement / reduction mode”, “interlocking mode”, and “image position mode” again. When the “image position mode” is selected, the operator turns the mode switching auxiliary switch 703 up, down, left, or right in any of the indicated directions, whereby the image displayed on the monitor 70 moves in the indicated directions. As a result, the image can be displayed at a position where the operator can easily view. When the “enlargement / reduction mode” is selected, the operator can enlarge or reduce the image displayed on the monitor 70 by tilting the mode switching auxiliary switch 703 up or down. Furthermore, when the “link mode” is selected, the image displayed on the monitor 70 (the front window 51) moves in conjunction with the operation received by the relief operation lever 28 (see the arrow DV in FIG. 3). For example, when the relief operation lever 28 is operated in the direction in which the boom 3 is laid down, the image displayed on the monitor 70 (the front window 51) moves downward from above. On the contrary, when the hoisting operation lever 28 is operated in the direction in which the boom 3 is raised, the image displayed on the monitor 70 (the front window 51) moves upward from below. As a result, the arrangement of the image 63 can be made to follow the position close to the viewpoint of the worker. In another embodiment, the image 63 may be moved away from the worker's viewpoint temporarily. Furthermore, if the main winding operation lever 26, the auxiliary winding operation lever 27 and the ups and downs operation lever 28 are operated by the operator while the "interlocking mode" is selected, the second monitor display is interlocked with the operation. Photographed images of the main winding drum camera 91, the auxiliary winding drum camera 92, and the undulating drum camera 93 are displayed in the section 70B (right display area 51R). Therefore, the operator can operate the operation lever while confirming the state of each drum.

  On the other hand, the mode switching switch 29 (image operated portion) has the same function as the mode switching auxiliary switch 703 of the monitor operation unit 701 described above, and the image projected onto the front window 51 by the projector 60 is Operations for editing can be accepted directly during work. The mode switching switch 29 can be pressed by the operator and can be tilted in the vertical and horizontal directions. Every time the operator presses the mode changeover switch 29, an editing command (editing mode) of work information projected on the front window 51 is directly input to the display information control unit 83. Specifically, each time the mode changeover switch 29 is pressed, each editing mode is selected in the order of “image position mode”, “enlargement / reduction mode”, “interlocking mode”, and “image position mode” again. The details of each mode are the same as those of the mode switching auxiliary switch 703 described above. As described above, the mode change switch 29 and the monitor operation unit 701 according to the present embodiment function as a projection information reception unit of the present invention. The projection information receiving unit is disposed in the cab 50 and receives an instruction regarding at least one of the type and the arrangement of the operation information to be projected on the front window 51. Then, an image generation unit configured by a display information determination unit 831 and a display position determination unit 832 described later generates the projection image based on the command input to the projection information reception unit.

  The display information control unit 83 is provided with a storage unit (not shown). Therefore, even when the power supply of the crane 100 is turned off, the editing instruction of the image input by the monitor operation unit 701 and the mode switching switch 29 is stored in the storage unit, and is set when the next power supply is turned on. The form of the captured image is made reproducible.

  Referring to FIG. 7, display information control unit 83 controls display and projection of an image by monitor 70 and projector 60. In addition, the display information control unit 83 includes a display information determination unit 831, a display position determination unit 832, a monitor output unit 834, a projector output unit 835, and a drive control unit 836.

  The display information determination unit 831 functions as an image generation unit of the present invention that generates an image including work information of the crane 100. In order to generate an image including such work information, the display information determination unit 831 uses the crane control unit 81 to set information such as the above-described operation characteristic value, work posture of the crane 100, and load factor for the calculated lifting load. receive. The display information determination unit 831 also receives from the camera image control unit 82 the image information captured by each camera. As a result, the display information determining unit 831 can generate an image (projection image) including the operation characteristic value and the image information of each camera as the operation information.

  The display position determination unit 832 determines the arrangement of the image (work information) projected on the front window 51 in accordance with the operation information input to the mode switch 29. Similarly, the display position determination unit 832 determines the arrangement of the image (work information) displayed on the monitor 70 according to the operation information input to the monitor operation unit 701. Furthermore, the display position determination unit 832 is connected to the main winding operation lever 26, the secondary winding operation lever 27, and the relief operation lever 28 (all are operation devices) described above, and the front window is selected according to the operation received by the operation device. The arrangement of work information to be projected on 51 is determined. Further, the display position determination unit 832 determines the arrangement of the work information so that the work information projected on the front window 51 moves on the front window 51 according to the operation received by the operation device. The display position determination unit 832 functions as an image generation unit of the present invention that generates an image including work information of the crane 100.

  The display information determination unit 831 also adjusts the projection position of the work information in the front window 51 according to the arrangement of the work information determined by the display position determination unit 832. Function. In this case, the display information determining unit 831 edits in advance an image to be input to the projector 60 in accordance with the arrangement of the work information determined by the display position determining unit 832. The display information determination unit 831 receives an editing instruction for the editing from the monitor operation unit 701 or the mode switching switch 29.

  The monitor output unit 834 inputs the image determined by the display information determination unit 831 and the display position determination unit 832 to the monitor 70 and causes the monitor 70 to display the image.

  The projector output unit 835 inputs the image determined by the display information determination unit 831 and the display position determination unit 832 to the projector 60 and causes the front window 51 and the skylight 52 to project the image.

  The drive control unit 836 drives the projector drive unit 60S according to the projection position of the image determined by the display position determination unit 832, and the light projection direction of the light projected from the light projection unit 61 to the front window 51 Adjust the angle). As a result, the projection position of the image in the front window 51 is adjusted. That is, the drive control unit 836 also functions as a projection position adjustment unit that adjusts the projection position of the work information in the front window 51 according to the arrangement of the work information determined by the display position determination unit 832. That is, drive control unit 836 is connected to an operating device (turning operation lever 25 to up-and-down operating lever 28) disposed in cab 50 and receiving an operation for operating crane 100, and according to the operation received by the operating device. The projector drive unit 60S is controlled to adjust the projection position of the work information so that the work information projected on the front window 51 moves on the front window 51 in a predetermined direction.

  Further, in the present embodiment, the display information control unit 83 (projection control unit) can switch between the projection of the image by the projector 60 and the stop of the projection while the crane 100 is in operation. As one example, the projection of the image and the stop of the projection are selected by long press of the mode switching switch 29 (switching command receiving unit). When the operator presses the mode switch 29 for a long time, the display information control unit 83 forcibly stops the output of the image signal from the projector output unit 835 to the projector 60. When the operator again presses the mode switch 29 for a long time, the display information control unit 83 resumes the output of the image signal from the projector output unit 835 to the projector 60. When the main switch (not shown) of the crane 100 is pressed or when the engine of the crane 100 is activated, the image may be projected onto the front window 51 initially. In the above case, the mode switching switch 29 functions as a switching command receiving unit of the present invention that receives the command for switching between projection of the projection image and stopping of the projection. Then, the display information control unit 83 switches between the projection of the projection image by the projector 60 and the stop of the projection according to the command input to the mode switch 29.

  As described above, according to the present embodiment, the information display device 100S includes the display information control unit 83 including the display information determination unit 831 and the projector 60. The projector 60 can project the projection image including the operation information of the crane 100 generated by the display information determination unit 831 and the display position determination unit 832 onto the front window 51 (skylight 52). For this reason, the operator can confirm the operation information of the crane 100 by viewing the projection image projected on the front window 51. Further, the display information control unit 83 can switch between projection of the projection image by the projector 60 and stop of the projection in accordance with the command received during operation. Therefore, while the projection by the projector 60 is started when the work information is required, the projection can be stopped when it is not necessary to project the projection image on the front window 51. As a result, the display information is prevented from continuously blocking the operator's view. Further, in the present embodiment, an image including the operation characteristic value of the crane 100 can be displayed on the front window 51, and an image including camera images of the respective cameras can be displayed on the front window 51.

  Further, in the present embodiment, the mode switching switch 29 is provided which is disposed in the cab 50 and receives the command for switching between the projection of the projection image and the stop of the projection. Therefore, the operator can instruct switching between projection of the projection image and stop of the projection through the mode changeover switch 29. As a result, it is possible to project work information according to the request of the worker.

  Further, in the present embodiment, the display information determination unit 831 and the display position determination unit 832 or the drive control unit 836 can adjust the projection position of the work information projected on the front window 51. As a result, it is possible to project work information on the window as needed while ensuring the necessary view during work. In order to adjust the projection position of the work information, the projection position of the work information can be adjusted by the display information determination unit 831 and the display position determination unit 832 editing the projection image. In addition, the drive control unit 836 can control the projector drive unit 60S to adjust the projection position of the work information.

  Furthermore, in the present embodiment, it is possible to move the work information on the front window 51 in accordance with the operation received by the turning operation levers 25 and 26, the auxiliary winding operation lever 27 and the hoisting operation lever 28 (operation device) of the crane 100. it can. Therefore, it is possible to move the work information on the front window 51 so as to follow the viewpoint of the worker who moves with the operation of the operation device, or to temporarily move the projected work information away from the worker's viewpoint. it can.

  Furthermore, in the present embodiment, a monitor 70 is provided which displays a simulated image corresponding to the projection image projected onto the front window 51. Therefore, the operator can confirm in advance the image displayed on the front window 51 before the work. Furthermore, the operator can adjust the image displayed in the front window 51 in advance through the monitor operation unit 701 so that the user can easily view the image during the operation. In addition, while operating the crane 100 in the cab 50, the operator can edit the image displayed on the front window 51 so as to be easily viewable through the mode switching switch 29.

  Further, the operator can edit the cab 50 so that the image displayed on the front window 51 can be easily viewed through the mode switch 29. Furthermore, since the mode switching switch 29 is provided in the operation device, for example, the turning operation lever 25, the image displayed on the front window 51 can be edited to be easy to view while operating the crane 100. As an example, the operation information projected on the front window 51 moves upward on the front window 51 in response to the operation of upward movement (stand up) of the boom 3 (work member) received by the elevation operation lever 28. The drive control unit 836 controls the projector drive unit 60S to adjust the projection position of the work information. On the other hand, the drive control unit 836 is a projector so that the work information projected on the front window 51 moves downward on the front window 51 according to the downward movement (falling) of the boom 3 received by the elevation operation lever 28. The control unit 60S is controlled to adjust the projection position of the work information. In this case, when the boom 3 stands up, the projected work information rises on the front window 51, and when the boom 3 falls, the projected work information descends on the front window 51. For this reason, it is possible to project work information to a position close to the viewpoint, following up and down movement of the viewpoint of the worker who looks at the suspended load 16. The projection position of the work information may be moved up and down in response to the vertical movement of the load 16 corresponding to the winding and lowering operations of the main winding winch 22 and the auxiliary winding winch 23. In this case, the main hooks 14 and the complementary hooks 17 constitute the working member of the present invention.

  Moreover, the information display method in the crane 100 using the information display apparatus 100S which concerns on this embodiment is the upper swing body 2, the driver's seat 53 where an operator sits, and the transparent window part arrange | positioned around the driver's seat 53 An information display method for projecting an image on the window portion of a crane 100 having a cab 50 including (a front window 51 and a skylight 52) and a boom 3 mounted on the upper swing body 2 and performing a predetermined operation operation It is. The information display method includes generating an image including work information of the crane 100, projecting the generated image onto the window, and generating the image according to a predetermined request during operation of the crane 100. Switching between the projection and the stop of the projection.

  According to such a method, the operator can confirm the operation information of the crane 100 by looking at the projection image projected on the window, and it is not necessary to project the projection image on the window If this is the case, the projection can be stopped. As a result, the display information is prevented from continuously blocking the operator's view. The other operations performed by the information display device 100S described above are also included in part of the information display method.

  In the above, the information display apparatus 100S which concerns on one Embodiment of this invention, the crane 100 provided with this, and the information display method by the information display apparatus 100S were demonstrated. The present invention is not limited to these embodiments. In the present invention, the following modified embodiments are possible.

  (1) In the above embodiment, the image is projected on the left display area 51L and the right display area 51R of the front window 51 by the single projector 60, but the present invention is limited thereto is not. The aspect may be such that two (plural) projectors 60 are provided for the left display area 51L and the right display area 51R. Further, the projection position of the image is not limited to the left display area 51L and the right display area 51R. The image may be projected on the upper end and the lower end of the front window 51, or may be projected on the skylight 52 or other windows.

  (2) In the above embodiment, when the operator long-presses the mode switch 29, the projection of the image by the projector 60 is switched during the operation of the crane 100 (on, off). The projection of the image by the projector 60 may be switched according to other requests (commands). As an example, when the load factor of the crane 100 exceeds a preset threshold value, the display information control unit 83 may start the projection of the image by the projector 60. In this case, the worker can recognize the high load factor state by the image and safely continue or interrupt the work based on the projected work information.

1 Lower traveling vehicle 100 Crane 100S Information display device 2 Upper revolving unit (airframe)
21 pivoting frame 22 main winding winch 23 supplementary winding winch 24 boom hoisting winch 3 boom (work member)
3S Boom foot 9 Boom undulation rope 25 Turn control lever (operation device)
25A grip 26 main winding control lever (operation device)
27 Auxiliary winding control lever (operating device)
28 undulation control lever (operation device)
29 Mode selector switch (Switching command reception unit, projection information reception unit, operation unit for projection image)
50 cab (driver's cab)
50L Left window 51 Front window 51L Left display area 51R Right display area 52 Skylight 53 Driver's seat 60 Projector (image projection unit)
60S Projector Drive (Projection Angle Changer)
61 light projection unit 62 light 63 image 70 monitor 70A first monitor display unit 70B second monitor display unit 701 monitor operation unit (simulated image operated unit, projection information reception unit)
702 Icon (Operated part for simulated image)
703 Mode switching auxiliary switch (simulated image operated part)
80 control unit 81 crane control unit (operation information input unit)
82 Camera image control unit (camera information input unit)
83 Display Information Control Unit (Projection Control Unit)
831 Display information determination unit (image generation unit, projection position adjustment unit)
832 Display position determination unit (image generation unit)
834 Monitor output unit 835 Projector output unit 836 Drive control unit (light projection position adjustment unit)
85 boom angle detector 86 tension detector 91 main winding drum camera 92 auxiliary winding drum camera 93 undulating drum camera 94 rear camera K1 rated total load (operating characteristic value)
K2 point height (operating characteristic value)

Claims (14)

The aircraft,
A driver's cab including a driver's seat on which a worker sits;
An information display device provided to a working machine having
A transparent window disposed at least in front of the driver's seat in the driver's cab for securing a view of the operator;
An image generation unit configured to generate a projection image including work information of the work machine;
An image projection unit that projects the projection image generated by the image generation unit onto the window unit;
A projection control unit capable of switching between projection of the projection image by the image projection unit and stopping of the projection according to a predetermined command;
An information display device for a working machine, comprising: And a switching command receiving unit disposed in the driver's cab for receiving the command for switching between projection of the projection image and stopping of the projection.
The information of the work machine according to claim 1, wherein the projection control unit switches between projection of the projection image by the image projection unit and stop of the projection according to the command input to the switching command reception unit. Display device. The projector further includes a projection information reception unit disposed in the driver's cab and receiving a command regarding at least one of the type and arrangement of the work information projected onto the window portion
The information display device for a working machine according to claim 1, wherein the image generation unit generates the projection image based on the command input to the projection information reception unit. The image projection unit includes a light projecting unit that projects light for projecting the image, and a light projection angle changing unit that changes a light projection angle of the light projected from the light projecting unit. ,
The information of the working machine according to any one of claims 1 to 3, further comprising: a projection position adjustment unit configured to adjust a projection position of the projection image in the window unit by controlling the projection angle change unit. Display device.   The projection position adjustment unit is connected to an operation device of the work machine which is disposed in the cab and receives an operation for operating the work machine, and the projection position adjustment unit is projected on the window according to the operation received by the operation device. The information display of the work machine according to claim 4, wherein the projection position of the work information is adjusted by controlling the projection angle changing unit so that the work information to be moved moves in the predetermined direction on the window portion. apparatus.   The projection position adjustment unit is an operation device of the work machine disposed in the cab and is connected to the operation device provided in the work machine and receiving an operation for operating a work member capable of moving up and down. Controlling the light projection angle changing unit such that the work information projected on the window moves upward on the window in response to an operation of upward movement of the working member received by the operation device. The projection position of the work information is adjusted, and the work information projected on the window moves in the downward direction on the window in response to an operation of downward movement of the work member received by the operating device. The information display device for a working machine according to claim 4, wherein the projection position of the work information is adjusted by controlling a projection angle changing unit. The detection unit provided in the work machine is connected to a detection unit that detects an operation characteristic value that is a characteristic value related to the operation of the work machine, and the operation characteristic value detected by the detection unit is the image The system further comprises an operation information input unit input to the generation unit;
The information display device for a working machine according to any one of claims 1 to 6, wherein the image generation unit generates the projection image including the operation characteristic value as the work information. The camera further includes a camera information input unit connected to a camera provided in the work machine for photographing a predetermined object and inputting a camera image photographed by the camera to the image generation unit.
The information display device for a working machine according to any one of claims 1 to 7, wherein the image generation unit generates the projection image including the camera image as the work information.   The monitor according to any one of claims 1 to 8, further comprising: a monitor disposed inside the driver's cab and displaying a simulation image corresponding to the projection image displayed on the window unit by the image projection unit. Work machine information display device. It further comprises a simulated image operated unit for receiving an operation for editing the simulated image displayed on the monitor,
The image generation unit edits the simulation image displayed on the monitor and the projection image projected on the window unit in accordance with the operation input to the simulation image operated unit. The information display apparatus of the working machine according to 9. The apparatus further comprises a projection image operated unit disposed in the cab and receiving an operation for editing the projection image projected onto the window unit by the image projection unit.
The image generation unit according to any one of claims 1 to 4, wherein the image for projection projected on the window unit is edited according to the operation input to the operation unit for projection image. Work machine information display device.   The information display device for a working machine according to claim 11, wherein the projection image operated unit is provided in an operating device which is disposed in the cab and receives an operation for operating the working machine. The aircraft,
A driver's cab including a driver's seat on which an operator is seated and disposed on the machine;
A work member attached to the machine body to execute a predetermined work operation;
The information display device for a work machine according to any one of claims 1 to 12, wherein an image including work information is projected on the window portion.
Work machine with. The aircraft,
A driver's cab including a driver's seat on which an operator is seated and disposed on the machine;
A work member attached to the machine body to execute a predetermined work operation;
An information display method for projecting an image on the window portion of a working machine having
Generating an image including work information of the work machine;
Projecting the generated image onto a transparent window disposed at least in front of the driver's seat in the cab and securing a view of the operator;
During operation of the work machine, switching between the projection of the image and the stopping of the projection according to a predetermined demand;
An information display method comprising:

Images