JP2020162145A - Fitting structure of overhead image generation device for construction machine - Google Patents

Abstract

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

The present invention relates to an attachment structure of a bird's-eye view image generator for a construction machine mounted on a construction machine, and more particularly, an attachment structure of a bird's-eye view image generator for a construction machine that can be freely attached to and detached from various construction machines. Regarding.

In emergency disaster recovery work, when operating a remote-controlled construction machine remotely, the operator needs to operate it from a safe place sufficiently far from the construction place.
Although it is possible to operate visually in places where the construction range is narrow, it is usually operated remotely by having the operator present images from a video camera mounted on a construction machine, images from a mobile camera, images from a fixed camera, etc. Construction is possible by doing.
However, these cameras have a high possibility of creating a blind spot each time the construction machine moves or turns, which is disadvantageous for remote control.
On the other hand, conventionally, a plurality of cameras for capturing the surroundings of a passenger car are provided in the passenger car, the images supplied from the cameras are processed, and a bird's-eye view 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 a bird's-eye view image generation display technology to construction machines including general-purpose heavy machines such as backhoes. In other words, by providing a bird's-eye view image to the construction machinery at the construction site, the surrounding situation can be instantly grasped, safety can be confirmed, and images of obstacles and pedestrians approaching can be confirmed, and parking in a narrow space. (See Patent Document 2).

Japanese Unexamined Patent Publication No. 2006-121587 Patent No. 4951639

In the bird's-eye view image generation display device shown in Patent Document 2, a plurality of cameras that image the surroundings of the work machine are directly attached to the front, rear, left, and right parts of the upper swivel body of the work machine so that the four surroundings of the work machine can be imaged. An image processing device, a monitor TV, or the like that is fixed and combines images from a plurality of cameras to generate a bird's-eye view image is installed in the driver's cab. That is, the bird's-eye view image generation display device shown in Patent Document 2 is incorporated exclusively for each work machine and cannot be diverted to another work machine.

Since the bird's-eye view image generation display device of Patent Document 2 is incorporated exclusively for each work machine, it is necessary to select whether or not to install it 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 installed in advance, the entire work machine must be repaired. Therefore, since it is necessary to stop the work and repair it, it is necessary to replace the work machine. In addition, the devices (especially cameras) that compose images are evolving day by day, and there is a problem that the work must be stopped even when the cameras and devices whose resolutions are becoming more sophisticated are replaced.
Furthermore, the four cameras must be incorporated into the main body of the work machine at the time of production to form the bird's-eye view image generation display device, which is an option at the time of purchase, and therefore cannot be installed after purchase. Even if it can be done, there is a problem that it is not realistic because it requires modification and it takes a lot of time and cost.

The present invention has been made in view of such circumstances, and an object thereof is a plurality of cameras used for generating a bird's-eye view image, a bird's-eye view image generation unit, for various construction machines including a general-purpose heavy machine such as a backhoe. It is an object of the present invention to provide a mounting structure for a bird's-eye view image generator for construction machinery, which allows the mounting, removal and replacement of a communication unit and a power supply unit to be freely and easily performed.

In order to achieve the above object, the present invention is a mounting structure of a bird's-eye view image generating device for a construction machine, and is around a construction machine including a main body traveling on the ground and a construction work member provided on the main body. A plurality of cameras for capturing captured images are positioned at least in front and rear parts of the main body and in each part on the left and right sides of the main body so as to be able to image the surroundings of the construction machine, and are detachably attached to each of the cameras. The bird's-eye view image generation unit and the bird's-eye view image generation unit that generate a bird's-eye view image of the entire circumference of the construction machine centered on the construction machine by synthesizing the camera attachment / detachment mechanism of The transmission / reception unit that transmits the bird's-eye view image to the remote control center and receives the construction machine operation command signal from the remote control center, supplies power to each camera, and the bird's-eye view image generation unit, the image transmission unit, and the transmission / reception unit. It is characterized by including a rack attachment / detachment mechanism for detachably attaching a rack accommodating a power supply unit for supplying power to the main body.

According to the present invention, by using the mounting structure of the bird's-eye view image generation device for construction machinery, a plurality of cameras, a bird's-eye view image generation unit, and a communication unit constituting the bird's-eye view image generation device for construction machinery are used for various construction machines. And the power supply unit and the like can be attached, removed, retrofitted, replaced and changed freely and easily.

It is a side view of the backhoe to which the mounting structure of the bird's-eye view image generation device for construction machinery 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 arrangement example to the backhoe main body of each component of the bird's-eye view image generation apparatus for a construction machine which generates the bird's-eye view image of a construction machine. It is a front view of the main part which shows an example of the front camera attachment / detachment mechanism when the front camera is attached to the front of the windshield of the backhoe operation room. FIG. 5 is a side view of a main part including a front camera attachment / detachment mechanism as viewed from the left side. It is an exploded perspective view of the main part including the front camera attachment / detachment mechanism shown in FIG. It is a front view of the camera attachment / detachment mechanism which incorporated a camera. It is a side view of the camera attachment / detachment mechanism which incorporated a camera. It is explanatory drawing when the front camera is directly attached to the windshield of the backhoe operation room by the front camera attachment / detachment mechanism. It is explanatory drawing of the magnet unit in the case where the rear camera, the left camera and the right camera are directly attached to the main body of the backhoe by the camera attachment / detachment mechanism. It is explanatory drawing of the magnet unit in the case where the rear camera, the left camera and the right camera are directly attached to the main body of the backhoe by the 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 when the rack is directly attached to the main body of the backhoe by the rack attachment / detachment mechanism. It is a front view of the main part which shows another example of the front camera attachment / detachment mechanism when the front camera is attached to the front of the backhoe operation room. FIG. 15 is a side view of a main part including a front camera attachment / detachment mechanism when viewed from the left side. It is an exploded perspective view of the main part including the front camera attachment / detachment mechanism shown in FIG. It is a rear view which shows another example of a rack attachment / detachment mechanism. FIG. 18 is a side view of the rack attachment / detachment mechanism as viewed from the left side.

(Embodiment)
Hereinafter, the present embodiment will be described with reference to the drawings.
First, a construction machine equipped with a bird's-eye view image generator for a construction machine according to the present invention will be described.
In the present embodiment, a case where a construction machine used in a dangerous construction place such as an emergency disaster recovery work is a backhoe that is operated unmanned by remote control will be described.
In this case, the operator can remotely control the backhoe from a safe place sufficiently far 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 swinging body 14, a boom 16, an arm 18, and a bucket 20.
In this specification, the left-right direction is defined as looking forward 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 swivel body 14 is provided above the lower traveling body 12 so as to be able to swivel horizontally around a swivel shaft.
Therefore, in the present embodiment, the lower traveling body 12 and the upper rotating body 14 constitute the main body 10A traveling on the ground G.
The operation chamber 1402 is provided in the upper swing body 14, and the lower traveling body 12 travels, the upper swing body 14 swings, the boom 16 swings, the arm 18 swings, and the bucket 20 swings in the operation chamber 1402. A plurality of operation devices such as operation levers and operation pedals (not shown) are installed for operating the above.

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 by the tip of the boom 16 via a support shaft whose base end extends in the horizontal direction.
The bucket 20 is swingably supported by the tip of the arm 18 via a support shaft whose base end extends in the horizontal direction.
A boom cylinder 1602 for swinging the boom 16 is provided between the upper swing body 14 and the boom 16.
An arm cylinder 1802 for swinging 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.
The boom cylinder 1602, arm cylinder 1802, and bucket cylinder 2002 are hydraulic cylinders.
Therefore, as the boom cylinder 1602 expands and contracts, the boom 16 swings with respect to the upper swing body 14.
Further, the arm 18 is swung with respect to the boom 16 by expanding and contracting the arm cylinder 1802.
Further, as the bucket cylinder 2002 expands and contracts, the bucket 20 swings with respect to the arm 18.
In the present embodiment, the boom 16, the arm 18, and the bucket 20 form the construction work member 10B.

As shown in FIGS. 1 to 3, the mounting structure of the bird's-eye view image generator for construction machinery is such that a plurality of cameras 42, 44, 46, 48 for capturing an image taken around the back hoe 10 are mounted on the main body 10A of the back hoe 10. Multiple camera attachment / detachment mechanisms 52, 54, 56, 58 that are detachably attached to each camera, and as shown in FIGS. 4 and 13, images of the surroundings of the back hoe 10 taken by the plurality of cameras 42, 44, 46, 48. The rack 72 that houses the bird's-eye view image generation unit 62, the transmission / reception unit 64, the image transmission unit 66, and the power supply unit 68 that synthesizes the images to generate a bird's-eye view image centered on the back ho 10 is detachably attached to the main body 10A. It is equipped with a mechanism 70.

Before explaining the mounting structure of the bird's-eye view image generator for construction machinery, the bird's-eye view image generator for construction machinery that generates the bird's-eye view image of the construction machine will be described.
As shown in FIGS. 1 to 4, the bird's-eye view image generator for construction machinery includes a plurality of bird's-eye view image cameras 42, 44, 46, 48 with a fisheye lens and an operation room image capturing the inside of the operation room 1402 of the backhoe 10. The camera 50, the bird's-eye view image generation unit 62, the transmission / reception unit 64, the image transmission unit 66, and the power supply unit 68 are included.
Of the plurality of cameras for bird's-eye view images, the camera 42 images the front of the back hoe 10, and the front camera 42 captures the front surface of the windshield 1404 of the operation room 1402 of the back hoe 10 as shown in FIGS. It is detachably attached to the windshield 1404 by the front camera attachment / detachment mechanism 52.
The camera 44 captures an image of the rear of the backhoe 10, and as shown in FIGS. 1 to 3, the rear camera 44 is located at the rear of the upper swing body 14 and is detachably attached by the rear camera attachment / detachment mechanism 54. ing.
The camera 46 captures the left side of the backhoe 10, and as shown in FIGS. 1 to 3, the left camera 46 is located on the left side of the upper swing body 14 and is attached / detached by the left camera attachment / detachment mechanism 56. It is installed 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 attachment / detachment mechanism 58 as shown in FIGS. 2 and 3. It is installed as possible.

The bird's-eye view image generation unit 62 synthesizes the captured images around the backhoe 10 captured by the cameras 42, 44, 46, and 48 to obtain a bird's-eye view image over a range of a plurality of meters including the backhoe 10 centered on the backhoe 10. It is generated and is connected to the cameras 42, 44, 46, 48, respectively, via separate communication cables 4202, 4402, 4602, 4802, as shown in FIG.
The transmission / reception unit 64 transmits the bird's-eye view image generated by the bird's-eye view image generation unit 62 and the operation room image captured by the operation room imaging camera 50 to the remote control center (not shown) and controls the construction machine from the remote control center. It receives a command signal, is connected to the image transmission unit 66 via a communication cable 6402, and is further connected to a transmission / reception antenna 6406 via a communication cable 6404.
The image transmission unit 66 transmits the bird's-eye view image generated by the bird's-eye view 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 bird's-eye view image 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 each of the cameras 42, 44, 46, and 48 via a power supply cable (not shown), supplies power to the operating room imaging camera 50 via the power supply cable 6802, and provides a bird's-eye view image. Power is supplied to the generation unit 62, the transmission / reception unit 64, and the image transmission unit 66 via the power supply cables 6804, 6806, and 6808.

The bird's-eye view 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 the boxes 74, 75, 76, and 77 with opening / closing lids schematically shown in FIG. As shown in the above, the rack 72 is housed and supported.
The details of the rack attachment / detachment mechanism 70 for attaching / detaching the rack 72 to the main body 10A will be described later.

Next, an embodiment of the front camera attachment / detachment mechanism 52 of the front camera 42 will be described.
As shown in FIGS. 5 to 9, the front camera attachment / detachment 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, 3). It is configured to include the inner magnet unit 5210.
The support plate 5202 supports a plurality of outer magnet units 5204, and is arranged so as 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 surfaces of the support plate 5202 facing the windshield 1404 so as to be located at each apex of the triangle.
The pan head 5206 supports the front camera 42 including the camera storage box 5208 so that the shooting direction thereof can be adjusted arbitrarily, and 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. Further, the pan head 5206 is capable of yawing (horizontal turning direction) around the axis 5214 and pitching (front-back tilting direction) around the axis 5216 in order to arbitrarily adjust the shooting direction of the front camera 42. It is configured in.
The camera storage box 5208 accommodates and supports the front camera 42 in a state in which an image can be taken and can be attached and detached, and is attached to the upper end of the pan head 5206 via a camera base 5218. Further, the camera storage box 5208 is waterproof and dustproof, and is provided with an opening / closing lid 5208A that is openable / closable by a hinge 5220. The opening / closing lid 5208A is configured to be locked by a hook 5222. There is.

The outer magnet unit 5204 is arranged so as to abut on the outer surface of the windshield 1404, and as shown in FIG. 10, a non-magnetic plate material 5204C is placed between the pair of semi-cylindrical magnetic blocks 5204A and 5204B. A magnet 5204E rotatably fitted in the base member 5204D on the side opposite to the contact surface between the base member 5204D formed by joining the base member 5204D in a cylindrical shape and the windshield 1404 of the base member 5204D, and a magnet 5204E on the outer periphery. It is equipped with a protruding detachable lever 5204F.
The inner magnet unit 5210 is arranged so as to face and abut each of the outer magnet units 5204 on the inner surface of the front glass 1404, and is not between the pair of semi-cylindrical magnetic blocks 5210A and 5210B. A base member 5210D formed by joining in a cylindrical shape via a magnetic plate member 5210C, and a magnet 5210E rotatably fitted in the base member 5210D on the side opposite to the contact surface of the base member 5210D with the front glass 1404. The magnet 5210E is provided with a detachable lever 5210F projecting from the outer periphery.

Next, a case where the front camera 42 is attached to the windshield 1404 by using the front camera attachment / detachment 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 further, 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 north pole of the magnet 5204E and the magnet 5210E The S poles are opposed to each other. As a result, the magnetic field lines emitted from the north pole of the magnet 5204E enter the south pole of the magnet 5210E through the magnetic block 5204B, the front glass 1404, and the magnetic block 5210B as shown by the arrow in FIG. 10, and further from the north pole of the magnet 5210E. As shown by the arrow in FIG. 10, the generated magnetic field lines enter the S pole of the magnet 5204E through the magnetic block 5210D, the front glass 1404, and the magnetic block 5204A, and a magnetic circuit is formed. As a result, the inner and outer magnet units are strongly attracted to each other, so that the front camera attachment / detachment mechanism 52 including the front camera 42 is fixed to the windshield 1404.
On the other hand, by rotating the magnet 5204E and the magnet 5210E so that the N poles and the S poles face each other, the N poles and the S poles of the magnet 5204E are opposed to the non-magnetic plate material 5204C, and the N of the magnet 5210E. When the pole and the south pole are opposed to the non-magnetic plate material 5210C, the magnetic field lines shown by the arrows in FIG. 10 do not occur, and the front camera attachment / detachment mechanism 52 including the front camera 42 is attracted to the front glass 1404. The magnetic circuit required for is not formed. As a result, the front camera attachment / detachment mechanism 52 including the front camera 42 can be easily detached from the windshield 1404.

According to the method of attaching the front camera 42 that captures the image for generating the bird's-eye view image to the windshield 1404 by the front camera attachment / detachment mechanism 52 as described above, the front camera 42 is mounted by using the outer magnet unit 5204 and the inner magnet unit 5210. Since it can be directly attached to and detached from the windshield 1404, it is not necessary to provide a mounting mechanism dedicated to the front camera on the front front of the operation room 1402 in advance, 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 machines such as backhoes or existing construction machines can be used as construction machines with a bird's-eye view image generator regardless of the model, and the installation and removal thereof are actually performed. It can also be done freely and easily at the work site.
Further, since the camera storage box 5208 with an opening / closing lid has waterproof and dustproof properties, the front camera 42 housed in the camera storage box 5208 can be protected from an external adverse environment such as wind and rain or careless external force. Moreover, since the front camera 42 is detachably stored in the camera storage box 5208 with an opening / closing lid, even when the front camera 42 is repaired or replaced, it can be directly carried out on site, which may affect the progress of on-site work. Absent.

Next, the rear camera attachment / detachment mechanism 54 of the rear camera 44 will be described.
The rear camera attachment / detachment mechanism 54 is composed of the same elements as those in which the inner magnet unit 5210 is omitted from the front camera attachment / detachment mechanism 52 shown in FIGS. 8 and 9. Therefore, the description of the configuration of the rear camera attachment / detachment mechanism 54 will be omitted. However, when the rear camera 44 is attached / detached to / from the upper swing body 14 by the rear camera attachment / detachment mechanism 54, the reference numerals of the components attached to the front camera attachment / detachment mechanism 52 will be described.

When the rear camera 44 is attached to the rear part of the upper swing body 14 by the rear camera attachment / detachment mechanism 54, the plurality of magnet units 5204 constituting the rear camera attachment / detachment mechanism 54 are positioned at the optimum positions in the rear portion made of the magnetic body of the upper swing body 14. Then, as shown in FIGS. 11 and 12, the base member 5204D composed of the magnetic blocks 5204A and 5204B of the magnet unit 5204 and the non-magnetic plate material 5204C is directly attached to the upper surface of the magnetic body 14A at the rear of the upper swing body 14. Place it. In this state, by operating the attachment / detachment lever 5204F of the magnet unit 5204, the magnet 5204E is rotated so that the north and south poles of the magnet 5204E face the magnetic blocks 5204A and 5204B as shown in FIG. Along with this, the magnetic field lines emitted from the north pole of the magnet 5204E enter the south 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. 11, and a magnetic circuit is formed. As a result, since the plurality of magnet units are strongly attracted to the magnetic body 14A, the rear camera attachment / detachment mechanism 54 including the rear camera 44 can be firmly fixed to the rear portion of the upper swing body 14.
On the other hand, when the magnet 5204E is rotated so that the north and south poles of the magnet 5204E face each other with the non-magnetic plate material 5204C located 90 degrees apart, the magnetic lines of force emitted from the north pole of the magnet 5204E are magnetic blocks 5204A and 5204B. Pass through and enter the 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 attachment / detachment mechanism 54 including the rear camera 44 can be easily removed from the rear portion of the upper swing body 14.

Next, the left camera attachment / detachment mechanism 56 of the left camera 46 and the right camera attachment / detachment mechanism 58 of the right camera 48 will be described.
The left camera attachment / detachment mechanism 56 and the right camera attachment / detachment mechanism 58 are composed of the same elements as those in which the inner magnet unit 5210 is omitted from the front camera attachment / detachment mechanism 52 shown in FIGS. 8 and 9. Therefore, the configuration description of the left camera attachment / detachment mechanism 56 and the right camera attachment / detachment mechanism 58 will be omitted. Further, when the left camera 46 is attached / detached to / from the left side of the upper swivel body 14 by the left camera attachment / detachment mechanism 56, or when the right camera 48 is attached / detached to / from the right side portion of the upper swivel body 14 by the right camera attachment / detachment mechanism 58. Although the attachment points 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 back hoe 10 by using the respective camera attachment / detachment mechanisms 56 and 58. Since the operation method for attaching / detaching the rear camera 44 to / from the rear portion of the upper swing body 14 by the rear camera attachment / detachment mechanism 54 described above is the same as the operation for attaching / detaching the rear camera 44, the operation description thereof will be omitted.

As described above, the rear camera 44 that captures the image for generating the bird's-eye view image is directly detachably attached to the upper swing body 14 by the magnet unit constituting the rear camera attachment / detachment mechanism 54, and the left camera 46 is attached to the right camera attachment / detachment mechanism. The right camera 48 is directly detachably attached to the upper swing body 14 by the magnet unit constituting the 56, and the right camera 48 is directly detachably attached to the upper swing body 14 by the magnet unit constituting the right camera attachment / detachment mechanism 58. Therefore, it is not necessary to provide in advance mounting mechanisms dedicated to the rear, left, and right cameras on the rear and left and right sides of the upper swivel body 14, and the rear camera 44 and the left and right cameras are mounted on the upper swivel body. It can be freely attached to and detached from 14. As a result, general construction machines including general-purpose heavy machines such as backhoes or existing construction machines can be used as construction machines with a bird's-eye view image generator regardless of the model, and the installation and removal thereof are actually performed. It can also be done freely and easily at the work site.
Further, since the rear camera 44 and the left and right cameras 46 and 48 are detachably stored in the respective camera storage boxes with opening / closing lids, the rear camera 44 and the left and right cameras 46 and 48 are subjected to wind and rain, careless external force, etc. In addition to being able to protect from an external adverse environment, even when repairing or replacing these cameras, they can be carried out directly on site and do not affect the progress of on-site work.

Next, the rack attachment / detachment mechanism 70 will be described.
As shown in FIGS. 4 and 13, the rack attachment / detachment mechanism 70 transmits / receives the rack 72, a plurality of magnet units 73, and a box 74 with an opening / closing lid 7402 that detachably accommodates and supports the bird's-eye view image generation unit 62. 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. It is provided with a box 77 with an opening / closing lid 7702.

The rack 72 includes a box 74 with an opening / closing lid for the bird's-eye view image generation unit 62, a box 75 with an opening / closing lid for the transmission / reception unit 64, a box 76 with an opening / closing lid for the image transmission unit 66, and a box 77 with an opening / closing lid for the power supply unit 68. As shown in FIG. 13, a plurality of shelves, for example, two-tiered rectangular shelf frames 7202 and each shelf, which are arranged in parallel at regular intervals in the vertical direction, and each shelf are detachably supported. It is configured to include a plurality of peripheral locations including the four corners of the frame 7202, for example, a plurality of locations vertically arranged at six peripheral locations to support each shelf frame 7202, for example, six columns 7204.
The plurality of magnet units 73 are for attaching and detaching the rack 72 to the magnetic body portion 14B of the upper swing body 14 of the backhoe 10, and are attached to the lower ends of the respective columns 7204.
The box 74 with an opening / closing lid for the bird's-eye view image generation unit 62 and the box 75 with an opening / closing lid for the transmission / reception unit 64 are detachably installed on the upper shelf frame 7202 of the rack 72. Further, the box 76 with an opening / closing lid for the image transmission unit 66 and the box 77 with an opening / closing lid for the power supply unit 68 are detachably installed on the lower shelf frame 7202 of the rack 72.

On the side wall of the box 74 with an opening / closing lid, a terminal 7404 to which the communication cables 4202, 4402, 4602, and 4802 with the cameras 42, 44, 46, and 48 are connected and a communication cable 6604 with the image transmission unit 66 are connected. Terminal 7406 and terminal 7408 to which the power supply cable 6804 for connecting the power supply unit 68 is connected are provided.
On the side wall of the box 75 with an opening / closing lid, power is supplied to the terminal 7504 to which the communication cable 6402 with the image transmission unit 66 is connected, the terminal 7506 to which the communication cable 6404 with the transmission / reception antenna 6406 is connected, and the power supply unit 68. A terminal 7508 or the like to which the cable 6806 is connected is provided.
On the side wall of the box 76 with an opening / closing lid, a terminal 7604 to which the communication cable 6604 with the bird's-eye view image generation unit 62 is connected, a terminal 7606 to which the communication cable 6402 with the transmission / reception unit 64 is connected, and a camera 50 for imaging in the operation room. A terminal 7608 to which the communication cable 6606 is connected to and a terminal 7610 to which the power supply cable 6808 to and from the power supply unit 68 is connected are provided.
On the side wall of the box 77 with an opening / closing lid, a terminal 7704 to which a power supply cable for each camera 42, 44, 46, 48 and a power supply cable 6802 for the operation room imaging camera 50 are connected, and a bird's-eye view 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 be connected 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 cylindrically joining a pair of semi-cylindrical magnetic blocks 7302 and 7304 via a non-magnetic plate member 7306, and a base member 7308. A magnet 7310 rotatably fitted in a base member 7308 on the side opposite to the contact surface with the magnetic body portion 14B of the upper swing body 14, a detachable lever 7312 projecting from the outer periphery of the magnet 7310, and a magnet 7310. A cover member 7314 that covers the upper end 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 support column 7204 are provided.

In the rack attachment / detachment 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 at 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 attachment / detachment lever 7312 of the magnet unit 73, the magnet 7310 is rotated so that the north and south poles of the magnet 7310 face the magnetic blocks 7302 and 7304 as shown in FIG. As a result, the magnetic field lines 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, and a magnetic circuit is formed. Along with this, each magnet unit 73 is strongly attracted to the magnetic body portion 14B, so that the rack 72 containing the bird's-eye view 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 firmly fix it.
On the other hand, when the magnet 7310 is rotated so that the north and south poles of the magnet 7310 face each other with the non-magnetic plate material 7306 located 90 degrees apart (see FIG. 12), the magnetic field lines emitted from the north pole of the magnet 7310 are It passes through the magnetic blocks 7302 and 7304 and enters the S pole. As a result, the attractive force of the magnet 7310 on the magnetic body portion 14B is drastically reduced, so that the rack 72 can be easily removed from the upper swing body 14.

According to the rack attachment / detachment mechanism 70 as described above, since the rack 72 is configured to be detachably attached to the upper swing body 14 by a plurality of magnet units 73, a rack-dedicated attachment mechanism is attached to the upper swing body 14. It is not necessary to provide it in advance, and the rack 72 can be freely attached to and detached from the upper swing body 14 without any special special processing. Along with this, it is no longer necessary to provide rear, left and right camera-dedicated mounting mechanisms on the rear and left and right sides of the upper swivel body 14, and the rack 72 can be simply mounted on the upper swivel body to provide a backhoe or the like. General construction machines including general-purpose heavy machines or existing construction machines can be used as construction machines with a bird's-eye view image generator regardless of the model, and their installation and removal can be done freely at the actual work site. It can also be done easily.
Further, the box 74 with an opening / closing lid for the bird's-eye view image generation unit, the box 75 with an opening / closing lid for the transmission / reception unit, the box 76 with an opening / closing lid for the image transmission unit, and the box 77 with an opening / closing lid for the power supply unit can be attached to and detached from the rack 72. Since it is configured so that it can be installed in, these boxes with open / close lids can be replaced or removed at will.
Further, the box 74 with an opening / closing lid for the bird's-eye view image generation unit, the box 75 with an opening / closing lid for the transmission / reception unit, the box 76 with an opening / closing lid for the image transmission unit, and the box 77 with an opening / closing lid for the power supply unit are waterproof and dustproof. It is possible to protect the bird's-eye view image generation unit 62, the transmission / reception unit 64, the image transmission unit 66, and the power supply unit 68 housed in the respective boxes with open / close lids from external adverse environments such as wind and rain and careless external force. .. Moreover, since the bird's-eye view image generation unit 62, the transmission / reception unit 64, the image transmission unit 66, and the power supply unit 68 are detachably housed in their respective boxes with open / close lids, they can be directly repaired or replaced at the site. It can be carried out and does not affect the progress of on-site work.

Next, another embodiment of the front camera attachment / detachment 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. 15 to 17.
As shown in FIGS. 15 to 17, the front camera attachment / detachment mechanism 80 in this embodiment includes a support stand 82 (corresponding to the magnetic material described in the claims) and a camera unit 84.
The support pedestal 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 pedestal 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, and a plurality of support plates 82. It includes 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 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 8202A 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 width direction of the windshield 1404 at a front portion located 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 a frame body by screwing and tightening fixing bolts 8206 inserted into elongated holes 8202A located at both ends thereof into screw holes of a coupling member 8212 projecting from a front portion of the frame body 1410. It is fixed at 1410. In this case, by interposing the spacer 8214 between the bar member 8202 and the tip surface of the connecting member 8212 facing the bar member 8202, it becomes possible to more reliably fix the bar member 8202 to the frame body 1410. ..
Further, the first magnet base 8204 is attached so as to be offset from the central portion of the bar member 8202 fixed to the frame body 1410 to the fixed end of the bar member 8202. The first magnet base 8204 is attracted to the frame body 1410. As a result, it is possible to prevent the bar member 8202 in the double-sided state from swinging in an amplitude manner, and at the same time, prevent the camera unit 84 from shaking.

The camera unit support plate 8208 detachably supports the camera unit 84, and projects horizontally and at right angles from the front surface of the camera unit support plate 8208 to the front surface of the intermediate portion of the camera unit support plate 8208 in the long direction. A camera unit mounting plate 8208A made of a magnetic material is provided.

The camera unit support plate 8208 having such a structure is a bar by having the camera unit mounting plate 8208A project forward of the windshield 1404 and fixing the upper end portion thereof to the central portion of the bar member 8202 with a bolt 8216. It is attached in a hanging state from the member 8202. Further, 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 portion 14C made of the magnetic material of the upper swing body 14 facing the second magnet base 8210 to prevent the camera unit support plate 8208 in the cantilever state from swinging in amplitude, and at the same time, the camera. It is configured to prevent blurring of the unit 84.
After the fixing bolt 8206 of the bar member 8202 is pulled out 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 to include the camera unit 84. The support stand 82 is configured to be removable 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, one installation pad 8406 having magnets, a pan head 8408, and a camera storage box 8410. It is composed of.

The support plate 8402 supports the magnet unit 8404 and the installation pad 8406, and is arranged so as to face the upper surface of the camera unit mounting plate 8208A of the support stand 82. Two magnet units 8404 and an installation pad 8406 are fixed to the lower surface of the support plate 8402 facing the camera unit mounting plate 8208A so as to be located at each apex of the triangle.
The pan head 8408 supports the front camera 42 including the camera storage box 8410 so that the shooting direction thereof can be adjusted arbitrarily, and the pan head 8408 is an upper surface opposite to the magnet unit fixed side of the support plate 8402. It is attached to. Further, the pan head 8408 is configured to be capable of yawing (horizontal turning direction) and pitching (front-back tilting direction) in order to arbitrarily adjust the shooting direction of the front camera 42.
The camera storage box 8410 accommodates and supports the front camera 42 in a state in which an image can be taken and can be attached and detached, and is attached to the upper end of the pan head 8408 via a camera base 8412. Further, the camera storage box 8410 is waterproof and dustproof, and has an opening / closing lid 8410A that is openable / closable by a hinge 8410C. The opening / closing lid 8410A is configured to be locked by a hook 8410B. There is.

Next, a case where the camera unit 84 is attached to the support frame 82 will be described.
First, the camera unit 84 is placed 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 attachment / detachment lever 8404A of the magnet unit 8404 is operated, and the magnetic field lines of the magnet unit 8404 pass through the camera unit mounting plate 8408A to form a magnetic circuit similar to that shown in FIG. As a result, 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 attracted to the camera unit mounting plate 8408A. It is fixed.
On the other hand, by operating the attachment / detachment lever 8404A in the same manner as described with reference to FIG. 12, the magnetic circuit due to 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 separated from the camera unit mounting plate 8408A.

According to the front camera attachment / detachment mechanism 80 shown in the other embodiment as described above, the cylindrical connecting member 8212 and the fixing bolt 8206 having a simple structure provided in the frame body 1410 of the operation chamber 1402 and the first and second Since the camera unit support frame 82 is supported on the frame body 1410 and the upper swivel body 14 of the operation chamber 1402 by using the magnet bases 8204 and 8210, the connecting member 8212 having a simple structure is attached to the frame body 1410. The camera unit support pedestal 82 can be attached to a general construction machine such as a back hoe or an existing construction machine by simply adding the coupling member 8212 to the frame body 1410 in advance. It will be possible, and its installation and removal can be done freely and easily in the actual work site.
Further, since the camera unit 84 is detachably attached to the support frame 82 by using the magnet unit 8404, the same effect as that shown in the front camera attachment / detachment mechanism 52 can be obtained.

Next, another embodiment of the rack attachment / detachment mechanism will be described with reference to FIGS. 18 and 19.
As shown in FIGS. 18 and 19, the rack attachment / detachment mechanism 90 includes a rack 92, a plurality of installation pads 94, two types of tightening bands 96 and 98, and a bird's-eye view configured in the same manner as in 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 a detachably accommodating and supporting image transmission unit 66. A box 76 with an opening / closing lid and a box 77 with an opening / closing lid that detachably accommodates and supports the power supply unit 68 are provided.

The rack 92 detachably supports each of the boxes 74, 75, 76, and 77 with open / close lids, and is arranged in parallel at regular intervals in the vertical direction as shown in FIGS. 18 and 19. Multiple stages, for example, a rectangular shelf frame 9202 with two upper and lower stages, and a plurality of peripheral locations including the four corners of each shelf frame 9202, for example, a plurality of vertically arranged around 6 locations to support each shelf frame 9202, for example, 6. It is configured to include the support 9204 of.
The plurality of installation pads 94 are for bringing the rack 92 into close contact with the upper surface 14C of the upper swing body 14 of the backhoe 10, and are attached to the lower ends of the respective columns 9204.
The two types of tightening bands 96 and 98 are for attaching and detaching the rack 92 mounted on the upper surface 14C of the upper swing body 14 to the upper swing body 14 via the installation pad 94.

Of the two types of tightening bands, one of the tightening bands 96 is wound in a direction that crosses the outer circumference of the upper swivel body 14 in the left-right direction and a direction that crosses the outer circumference of the upper swivel body 14 in the front-rear direction. At the same time, both ends of the winding of these tightening bands 96 can be engaged with and detached from the rack 92, specifically, the horizontal member 9206 connecting the respective columns 9204 at the attachment points to the columns 9204 on which the upper shelf frame 9202 is supported. By engaging and operating the tightening tool 9602 provided in the middle of the tightening band 96, the tightening band 96 is tightened and the rack 92 is fixed to the upper swing body 14.
Further, of the two types of tightening bands, the other tightening band 98 is bridged between the lateral member 9206 of the rack 92 and the eyebolt 9802 detachably attached to the upper surface 14C of the upper swing body 14, and is a tightening band. The tightening band 98 is tightened by operating the fastener 9804 provided in the middle of the 98, and the rack 92 is fixed to the upper swing body 14.
Further, 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 fastener 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 tightening tool 9804, and one end of the tightening band 98 is removed from the lateral member 9206 of the rack. As a result, the rack 92 can be removed from the upper swing body 14.

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

The camera attachment / detachment mechanism and the rack attachment / detachment mechanism constituting the attachment structure of the bird's-eye view image generator for construction machinery are not limited to those having the structures shown in the camera attachment / detachment mechanisms 52 and 80 and the rack attachment / detachment mechanisms 70 and 90 described above, and are patented. Of course, various changes can be made without departing from the technical configuration requirements described in the claims.

10 Backhoe (construction machinery)
10A Main body 12 Lower traveling body 14 Part swivel body 1402 Operation room 1404 Front glass 42 Front camera 44 Rear camera 46 Left camera 48 Right camera 52 Front camera attachment / detachment device 54 Rear camera attachment / detachment mechanism 56 Left camera attachment / detachment mechanism 58 Right camera Detachment mechanism 62 Bird's-eye view 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 opening / closing lid 80 Front camera attachment / detachment device 82 Support stand 84 Camera unit 90 Rack Detachable mechanism 92 Rack 96,98 Tightening band

In order to achieve the above object, the present invention uses a plurality of cameras for capturing an image of the surroundings of a construction machine including a main body traveling on the ground and a construction work member provided on the main body of the construction machine. A plurality of camera attachment / detachment mechanisms positioned at least in front and rear parts of the main body and each part on the left and right sides of the main body so as to be able to image the surroundings, and detachably attached to each camera, and images taken by the plurality of cameras. the remote control sends the overhead image and俯瞰image generating unit that generates a construction machine the entire circumference of the overhead images captured image synthesized by the centering on the construction machine around the construction machine to the remote control center The transmission / reception unit that receives the construction machine operation command signal from the center, the image transmission unit that transmits the bird's-eye view image from the bird's-eye view image generation unit to the transmission / reception unit , the power supply to each camera, and the bird's-eye view image generation unit and the above. A rack attachment / detachment mechanism for detachably attaching a rack accommodating an image transmission unit and a power supply unit for supplying power to the transmission / reception unit to the main body is provided, and the plurality of camera attachment / detachment mechanisms attach the camera to the front of the main body. The front camera attachment / detachment mechanism includes a front camera attachment / detachment mechanism that is detachably attached to the front glass of the operation room provided in the portion, and the front camera attachment / detachment mechanism supports the camera and is an outer magnet unit arranged on the outer surface of the front glass. The outer magnet is attracted to the front glass by forming a magnetic circuit formed by magnetic lines of magnetic force with the outer magnet unit, which is arranged on the inner surface of the front glass so as to face the outer magnet unit across the front glass. The outer magnet unit is provided with an inner magnet unit that can be separated from the front glass by releasing a magnetic circuit due to magnetic lines of force with the unit, and the outer magnet unit has a non-magnetic outer plate material between a pair of semi-cylindrical outer magnetic blocks. An outer base member that is joined in a cylindrical shape through a magnet and one end in the axial direction serves as a contact surface with the outer surface of the front glass, and the outer base member in the outer base member at the other end in the axial direction of the outer base member. The inner magnet unit is provided with an outer magnet that is rotatably fitted to the member and has an S pole in one half in the circumferential direction and an N pole in the other half. The inner magnet unit has a pair of semi-cylindrical inner magnetisms. With an inner base member that is joined between blocks in a cylindrical shape via a non-magnetic inner plate material and one end in the axial direction serves as a contact surface with the inner surface of the front glass At the other end of the inner base member in the axial direction, the inner base member is rotatably fitted in the inner base member coaxially with the inner base member, and a half portion in the circumferential direction constitutes an S pole and the other half constitutes an N pole. It is characterized in that the magnetic circuit is formed and released by rotating the outer magnet and the inner magnet .

Claims (8)

A plurality of cameras that capture images of the surroundings of a construction machine including a main body traveling on the ground and a construction work member provided on the main body are at least in front of and behind the main body so as to be able to image the surroundings of the construction machine. A plurality of camera attachment / detachment mechanisms that are positioned in each part of the main body and the left and right parts of the main body and are detachably attached to each camera.
The bird's-eye view image generation unit for generating a bird's-eye view image of the entire circumference of the construction machine centered on the construction machine by synthesizing the captured images around the construction machine captured by the plurality of cameras, and the bird's-eye view image at the remote control center. Power supply that supplies power to the transmission / reception unit and each camera that receives the construction machine operation command signal from the remote control center and supplies power to the bird's-eye view image generation unit, the image transmission unit, and the transmission / reception unit. A rack attachment / detachment mechanism that detachably attaches the rack that houses the unit to the main body,
The mounting structure of the bird's-eye view image generator for construction machinery, which is characterized by being equipped with. Among the plurality of camera attachment / detachment mechanisms, the front camera attachment / detachment mechanism for detachably attaching the camera to the front portion of the main body is
A magnetic material disposed on the outer surface of the windshield of the operation room provided at the front of the main body, and
By forming a magnetic circuit with magnetic lines of force with the magnetic body, a plurality of magnet units that are attracted to the magnetic body and released from the magnetic circuit by the magnetic lines of force with the magnetic body support a plurality of magnet units that can be separated from the magnetic body. Support plate and
A pan head provided on the surface of the support plate opposite to the surface supporting the magnet unit and detachably supporting the camera.
1. The mounting structure of the bird's-eye view image generating device for construction machinery according to claim 1. Among the plurality of camera attachment / detachment mechanisms, the front camera attachment / detachment mechanism for detachably attaching the camera to the front portion of the main body is
A support plate that supports a plurality of outer magnet units and allows the outer magnet units to come into contact with the outer surface of the windshield of the operation chamber provided at the front of the main body.
The inner surface of the windshield is brought into contact with each of the outer magnet units so as to face each other and a magnetic circuit is formed by the magnetic field lines with the outer magnet unit, so that the windshield is attracted to the windshield and the magnetic field lines with the outer magnet unit are used. A plurality of inner magnet units that can be separated from the windshield by releasing the magnetic circuit,
A pan head provided on the support plate to detachably support the camera,
1. The mounting structure of the bird's-eye view image generating device for construction machinery according to claim 1. Among the plurality of camera attachment / detachment mechanisms, the rear and left and right camera attachment / detachment mechanisms for detachably attaching the camera to the rear portion of the main body and the left and right portions of the main body are
A plurality of magnets that are attracted to the magnetic body portion by forming a magnetic circuit with magnetic lines of force with the magnetic body portion of the main body and can be separated from the main body by releasing the magnetic circuit formed by the magnetic field lines with the magnetic body portion. A support plate that supports the unit and
A pan head provided on the support plate to detachably support the camera,
1. The mounting structure of the bird's-eye view image generating device for construction machinery according to claim 1. The camera attachment / detachment mechanism includes a plurality of boxes with opening / closing lids that store and support the plurality of cameras in a state in which they can take an image.
The attachment structure of the bird's-eye view image generation device for construction machinery 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 attachment / detachment mechanism. .. The rack attachment / detachment mechanism is provided at the lower ends of a plurality of columns constituting the rack, and is attracted to the magnetic body portion by forming a magnetic circuit with magnetic lines of magnetic force with the magnetic body portion of the main body, and is attracted to the magnetic body portion. The mounting structure of the bird's-eye view image generation device for construction machinery according to claim 1, further comprising a plurality of magnet units that can be detached from the main body by releasing the magnetic circuit due to the magnetic field lines. The rack attachment / detachment mechanism bridges a plurality of installation pads provided on the lower ends of a plurality of columns constituting the rack and mounted on the upper surface of the main body, and a plurality of locations between the rack and the main body in a tense state. The attachment of the bird's-eye view image generation device for construction machinery according to claim 1, further comprising a plurality of tightening bands for pressing the installation pad against the upper surface of the main body and detachably attaching the rack to the main body. Construction. The rack attachment / detachment mechanism according to any one of claims 1 to 7, wherein the rack attachment / detachment mechanism includes a box with an opening / closing lid that houses and supports the bird's-eye view image generation unit, the transmission / reception unit, and the power supply unit for each unit. Installation structure of the bird's-eye view image generator for construction machinery.

Images