JP2020165235A - Shovel - Google Patents

Abstract

To provide a shovel capable of acquiring information about a space around the shovel over a wider range.SOLUTION: A shovel 100 in the embodiment of this invention includes a lower structure 1, a super structure 3 revolvably mounted on the lower structure 1, a boom 4 turnably attached to the super structure 3, an arm 5 turnably attached to the boom 4, and attachment cameras 70A as space recognition devices 70 attached close to a connection part between the boom 4 and the arm 5, the attachment cameras 70A being typically attached to the lateral faces on both sides of the boom 4 or the arm 5.SELECTED DRAWING: Figure 3

Description

This disclosure relates to excavators.

Conventionally, a shovel that uses a stereo camera slidably provided on a rail attached to the upper surface of the driver's cab is known (see Patent Document 1).

Japanese Unexamined Patent Publication No. 2013-36243

The excavator is configured so that the imaging position of the stereo camera can be changed by moving the stereo camera along the rail. With this configuration, the stereo camera can image the blind spot below the driver's cab.

However, the excavator is only configured to allow the stereo camera to move slightly around the upper surface of the driver's cab. Therefore, the image captured by the stereo camera is insufficient to be used to support various operations using the excavator.

Therefore, it is desirable to provide a shovel that can acquire information on a wider space around the shovel.

The excavator according to the embodiment of the present invention includes a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, a boom rotatably attached to the upper rotating body, and rotating on the boom. An arm that can be attached to the boom and a space recognition device that is attached in the vicinity of the connecting portion between the boom and the arm are provided.

The means described above provide a shovel capable of obtaining information about a wider space around the shovel.

It is a side view of the excavator which concerns on embodiment of this invention. It is a top view of the excavator of FIG. It is an enlarged view of the vicinity of the connection part between a boom and an arm. It is a figure which shows the configuration example of the basic system mounted on the excavator of FIG. It is a flowchart of a display switching process. It is a figure regarding an example of an image displayed on a display device during a turning operation. It is a figure regarding an example of an image displayed on a display device during excavation work. It is a figure regarding another example of the image displayed on the display device during excavation work. It is a figure regarding an example of an image displayed on a display device during a loading operation.

First, the excavator 100 as an excavator according to the embodiment of the present invention will be described with reference to FIGS. 1 to 4. FIG. 1 is a side view of the excavator 100. FIG. 2 is a top view of the excavator 100. FIG. 3 is an enlarged view of the vicinity of the connecting portion between the boom and the arm, and corresponds to an enlarged view of the range ZN of FIG. FIG. 4 shows a configuration example of the basic system mounted on the excavator 100 of FIG.

In the present embodiment, the lower traveling body 1 of the excavator 100 includes a crawler 1C. The crawler 1C is driven by a traveling hydraulic motor 2M as a traveling actuator mounted on the lower traveling body 1. Specifically, as shown in FIG. 2, the crawler 1C includes a left crawler 1CL and a right crawler 1CR, and the traveling hydraulic motor 2M includes a left traveling hydraulic motor 2ML and a right traveling hydraulic motor 2MR. The left crawler 1CL is driven by the left traveling hydraulic motor 2ML, and the right crawler 1CR is driven by the right traveling hydraulic motor 2MR.

An upper swivel body 3 is mounted on the lower traveling body 1 so as to be swivel via a swivel mechanism 2. The swivel mechanism 2 is driven by a swivel hydraulic motor 2A as a swivel actuator mounted on the upper swivel body 3. However, the swivel actuator may be a swivel motor generator as an electric actuator.

A boom 4 is attached to the upper swing body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 as an end attachment is attached to the tip of the arm 5. The boom 4, arm 5, and bucket 6 form an excavation attachment AT, which is an example of an attachment. The boom 4 is driven by the boom cylinder 7, the arm 5 is driven by the arm cylinder 8, and the bucket 6 is driven by the bucket cylinder 9. The boom cylinder 7, arm cylinder 8 and bucket cylinder 9 constitute an attachment actuator.

The boom 4 is rotatably supported up and down with respect to the upper swing body 3. A boom angle sensor S1 is attached to the boom 4. The boom angle sensor S1 can detect the boom angle θ1 which is the rotation angle of the boom 4. The boom angle θ1 is, for example, an ascending angle from the state in which the boom 4 is most lowered. Therefore, the boom angle θ1 becomes maximum when the boom 4 is raised most.

The arm 5 is rotatably supported with respect to the boom 4. An arm angle sensor S2 is attached to the arm 5. The arm angle sensor S2 can detect the arm angle θ2, which is the rotation angle of the arm 5. The arm angle θ2 is, for example, an opening angle from the most closed state of the arm 5. Therefore, the arm angle θ2 becomes maximum when the arm 5 is opened most.

The bucket 6 is rotatably supported with respect to the arm 5. A bucket angle sensor S3 is attached to the bucket 6. The bucket angle sensor S3 can detect the bucket angle θ3, which is the rotation angle of the bucket 6. The bucket angle θ3 is an opening angle from the most closed state of the bucket 6. Therefore, the bucket angle θ3 becomes maximum when the bucket 6 is opened most.

In the embodiment of FIG. 1, each of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 is composed of a combination of an acceleration sensor and a gyro sensor. However, it may be composed only of an acceleration sensor. Further, the boom angle sensor S1 may be a stroke sensor attached to the boom cylinder 7, a rotary encoder, a potentiometer, an inertial measurement unit, or the like. The same applies to the arm angle sensor S2 and the bucket angle sensor S3.

The upper swing body 3 is provided with a cabin 10 as a driver's cab, and is equipped with a power source such as an engine 11. Further, a space recognition device 70, an orientation detection device 71, a positioning device 73, an airframe tilt sensor S4, a swivel angular velocity sensor S5, and the like are attached to the upper swivel body 3. Inside the cabin 10, an operating device 26, an operating pressure sensor 29, a controller 30, an information input device 72, a display device D1, a voice output device D2, and the like are provided. In this document, for convenience, the side of the upper swing body 3 to which the excavation attachment AT is attached is referred to as the front, and the side to which the counterweight is attached is referred to as the rear.

The operating device 26 is a device used by the operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator includes at least one of a hydraulic actuator and an electric actuator. In the present embodiment, as shown in FIG. 4, the operating device 26 can supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the pilot line. It is configured. The pressure of the hydraulic oil (pilot pressure) supplied to each of the pilot ports is a pressure corresponding to the operation direction and the operation amount of the operation device 26 corresponding to each of the hydraulic actuators. However, the operating device 26 may be an electrically controlled type instead of such a pilot pressure type. In this case, the control valve in the control valve 17 may be an electromagnetic solenoid type spool valve.

Specifically, the operating device 26 includes a left operating lever 26L and a right operating lever 26R, as shown in FIG. The left operating lever 26L is used for turning and operating the arm 5. The right operating lever 26R is used for operating the boom 4 and the bucket 6.

The operating pressure sensor 29 is configured to be able to detect the content of the operation of the operating device 26 by the operator. In the present embodiment, the operating pressure sensor 29 detects the operating direction and operating amount of the operating device 26 corresponding to each of the actuators in the form of pressure (operating pressure), and outputs the detected value to the controller 30. The content of the operation of the operating device 26 may be detected by using a sensor other than the operating pressure sensor.

Specifically, the operating pressure sensor 29 includes a left operating pressure sensor 29L and a right operating pressure sensor 29R, as shown in FIG. The left operating pressure sensor 29L detects each of the contents of the operation in the front-rear direction with respect to the left operation lever 26L by the operator and the contents of the operation in the left-right direction with respect to the left operation lever 26L by the operator in the form of pressure. The detected value is output to the controller 30. The contents of the operation are, for example, the lever operation direction and the lever operation amount (lever operation angle). The same applies to the right operating lever 26R.

The space recognition device 70 is configured to acquire information about the three-dimensional space around the excavator 100. Further, the space recognition device 70 may be configured to calculate the distance from the space recognition device 70 or the excavator 100 to the object recognized by the space recognition device 70. The space recognition device 70 is, for example, an ultrasonic sensor, a millimeter wave radar, a monocular camera, a stereo camera, a LIDAR, a distance image sensor, an infrared sensor, or the like. In the present embodiment, the space recognition device 70 includes an attachment camera 70A attached to the excavation attachment AT, a front camera 70F attached to the upper front end of the cabin 10, and a rear camera 70B attached to the upper rear end of the upper swing body 3. , The left camera 70L attached to the upper left end of the upper swing body 3, and the right camera 70R attached to the upper right end of the upper swing body 3. The front camera 70F may be omitted.

The space recognition device 70 is, for example, a monocular camera having an image sensor such as a CCD or CMOS, and outputs the captured image to the display device D1. The space recognition device 70 not only uses the captured image, but also uses a large number of signals (laser light, etc.) when the space recognition device 70 uses a LIDAR, a millimeter-wave radar, an ultrasonic sensor, a laser radar, or the like. May be detected from the reflected signal by transmitting the laser toward the object and receiving the reflected signal.

The space recognition device 70 may be configured to detect an object existing around the excavator 100. The object is, for example, a terrain shape (inclination or hole, etc.), an electric wire, a utility pole, a person, an animal, a vehicle, a construction machine, a building, a wall, a helmet, a safety vest, work clothes, or a predetermined mark on the helmet. .. The space recognition device 70 may be configured to be able to identify at least one of the type, position, shape, and the like of the object. The space recognition device 70 may be configured so as to be able to distinguish between a person and an object other than a person.

As shown in FIG. 3, the attachment camera 70A is attached in the vicinity of the connecting portion CN between the boom 4 and the arm 5. The connecting portion CN is a portion where the boom 4 and the arm 5 are connected by the arm foot pin AP. The vicinity of the connecting portion CN is, for example, a region inside a circle having a radius R1 centered on the central axis of the arm foot pin AP. The radius R1 corresponds to, for example, the distance between the central axis of the arm foot pin AP and the central axis of the arm cylinder rod pin BP. The attachment camera 70A is attached so as not to interfere with the boom 4 when the arm 5 is opened and closed. The attachment camera 70A may be directly attached to the side surface of the boom 4 or the arm 5, or may be attached to the boom 4 or the arm 5 via a support such as a bracket. In this case, the connection position between the support and the boom 4 or the arm 5 may be other than the vicinity of the connection portion CN, but the attachment camera 70A is arranged in the vicinity of the connection portion CN. In this embodiment, the attachment camera 70A includes a left attachment camera 70AL and a right attachment camera 70AR. As shown in FIG. 3, the left attachment camera 70AL is attached to the left side surface of the boom 4 at a distance R2 (<R1) from the arm foot pin AP, and the right attachment camera 70AR is a distance R2 from the arm foot pin AP. It is attached to the right side surface of the boom 4 at the position (not visible in FIG. 3). That is, as shown in FIG. 2, the left attachment camera 70AL and the right attachment camera 70AR are arranged symmetrically with respect to the central axis of the excavation attachment AT. However, the left attachment camera 70AL may be attached to the left side surface of the arm 5 as shown by the dotted line circle DC in FIG. Similarly, the right attachment camera 70AR may be attached to the right side surface of the arm 5.

By attaching the attachment camera 70A to the vicinity of the connecting portion CN, the attachment camera 70A is less likely to be damaged even when excavation work or the like is performed. This is because it is difficult to come into contact with the excavated object such as earth and sand. Further, the attachment camera 70A can image an electric wire or the like directly above the excavation attachment by being attached to the vicinity of the connecting portion CN. This is because there is no shield above the attachment camera 70A.

The attachment camera 70A is typically a camera capable of capturing images in all directions. The attachment camera 70A may be replaced with a rider capable of measuring in all directions. In the present embodiment, each of the left attachment camera 70AL and the right attachment camera 70AR is a hemispherical camera. Therefore, the combination of the left attachment camera 70AL and the right attachment camera 70AR substantially constitutes a spherical camera. The left attachment camera 70AL and the right attachment camera 70AR may be replaced by a hemispherical rider. In this case, the combination of the two hemispherical riders substantially constitutes a spherical rider.

The attachment camera 70A may be a camera provided with a direction changing mechanism capable of changing the direction of the optical axis so as to be able to image in all directions. The orientation changing mechanism may include an electric motor that operates in response to a command from the controller 30 as a drive source. In this case, the attachment camera 70A does not have to be a hemispherical camera or a spherical camera. The attachment camera 70A is a fisheye lens, wide-angle lens, if, for example, an image relating to a range of 180 degrees or more around the axis AX (see FIG. 2) can be acquired by a plurality of imagings by using an orientation changing mechanism or the like. It may be a camera equipped with a lens, a standard lens, or the like. The axis AX is a virtual axis that is perpendicular to the side surface of the boom 4 and passes through the attachment camera 70A.

The orientation detection device 71 is configured to detect information regarding the relative relationship between the orientation of the upper swing body 3 and the orientation of the lower traveling body 1. The orientation detection device 71 may be composed of, for example, a combination of a geomagnetic sensor attached to the lower traveling body 1 and a geomagnetic sensor attached to the upper rotating body 3. Alternatively, the orientation detection device 71 may be composed of a combination of a GNSS receiver attached to the lower traveling body 1 and a GNSS receiver attached to the upper rotating body 3. The orientation detection device 71 may be a rotary encoder, a rotary position sensor, or the like. In a configuration in which the upper swing body 3 is swiveled and driven by a swivel motor generator, the orientation detection device 71 may be configured by a resolver. The orientation detection device 71 may be attached to, for example, a center joint provided in connection with the swivel mechanism 2 that realizes relative rotation between the lower traveling body 1 and the upper swivel body 3.

The orientation detection device 71 may be composed of a camera attached to the upper swing body 3. In this case, the orientation detection device 71 performs known image processing on the image (input image) captured by the camera attached to the upper swivel body 3 to detect the image of the lower traveling body 1 included in the input image. Then, the orientation detection device 71 identifies the longitudinal direction of the lower traveling body 1 by detecting the image of the lower traveling body 1 by using a known image recognition technique. Further, the orientation detection device 71 derives an angle formed between the direction of the front-rear axis of the upper swing body 3 and the longitudinal direction of the lower traveling body 1. The direction of the front-rear axis of the upper swing body 3 is derived from the mounting position of the camera. Since the crawler 1C protrudes from the upper swing body 3, the orientation detection device 71 can specify the longitudinal direction of the lower traveling body 1 by detecting the image of the crawler 1C. The orientation detection device 71 may be integrated with the controller 30.

The information input device 72 is configured so that the operator of the excavator can input information to the controller 30. In the present embodiment, the information input device 72 is a switch panel installed close to the display unit of the display device D1. However, the information input device 72 may be a touch panel arranged on the display unit of the display device D1, a dial or a cross button provided at the tip of the operation lever, or the like, and is arranged in the cabin 10. It may be a voice input device such as a microphone. Further, the information input device 72 may be a communication device. In this case, the operator can input information to the controller 30 via a communication terminal such as a smartphone.

The positioning device 73 is configured to measure the current position. In the present embodiment, the positioning device 73 is a GNSS receiver, detects the position of the upper swing body 3, and outputs the detected value to the controller 30. The positioning device 73 may be a GNSS compass. In this case, the positioning device 73 can detect the position and orientation of the upper swing body 3.

The airframe tilt sensor S4 detects the tilt of the upper swivel body 3 with respect to a predetermined plane. In the present embodiment, the airframe tilt sensor S4 is an acceleration sensor that detects the tilt angle (roll angle) around the front-rear axis and the tilt angle (pitch angle) around the left-right axis of the upper swing body 3 with respect to the horizontal plane. Each of the front-rear axis and the left-right axis of the upper swivel body 3 passes through the excavator center point, which is one point on the swivel axis of the shovel 100, and is orthogonal to each other.

The turning angular velocity sensor S5 detects the turning angular velocity of the upper swing body 3. In this embodiment, it is a gyro sensor. The turning angular velocity sensor S5 may be a resolver, a rotary encoder, or the like. The turning angular velocity sensor S5 may detect the turning velocity. The turning speed may be calculated from the turning angular velocity.

Hereinafter, at least one of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body tilt sensor S4, and the turning angular velocity sensor S5 is also referred to as an attitude detection device. The posture of the excavation attachment AT is detected based on, for example, the outputs of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3.

The display device D1 is a device that displays information. In the present embodiment, the display device D1 is a liquid crystal display installed in the cabin 10. However, the display device D1 may be a display of a communication terminal such as a smartphone.

The audio output device D2 is a device that outputs audio. The voice output device D2 includes at least one device that outputs voice to the operator inside the cabin 10 and a device that outputs voice to the operator outside the cabin 10. It may be a speaker attached to a communication terminal.

The controller 30 is a control device for controlling the excavator 100. In the present embodiment, the controller 30 is composed of a computer including a CPU, a volatile storage device, a non-volatile storage device, and the like. Then, the controller 30 reads the program corresponding to each function from the non-volatile storage device, loads it into the volatile storage device, and causes the CPU to execute the corresponding process. Each function is, for example, a machine guidance function for guiding the manual operation of the excavator 100 by the operator, supporting the manual operation of the excavator 100 by the operator, or operating the excavator 100 automatically or autonomously. Includes a machine control function.

Next, with reference to FIG. 4, the basic system mounted on the excavator 100 of FIG. 1 will be described. In FIG. 4, the mechanical power transmission line is indicated by a double line, the hydraulic oil line is indicated by a thick solid line, the pilot line is indicated by a broken line, the power line is indicated by a fine solid line, and the electric control line is indicated by a long-dot chain line.

The basic system is mainly engine 11, main pump 14, pilot pump 15, control valve 17, operating device 26, operating pressure sensor 29, controller 30, switching valve 35, engine control device 74, engine rotation speed adjustment dial 75, It includes a storage battery 80, a display device D1, an audio output device D2, an information acquisition device E1, and the like.

The engine 11 is a diesel engine that employs isochronous control that maintains the engine speed constant regardless of the increase or decrease in load. The fuel injection amount, fuel injection timing, boost pressure, and the like in the engine 11 are controlled by the engine control device 74.

The rotary shaft of the engine 11 is connected to the rotary shafts of the main pump 14 and the pilot pump 15 as hydraulic pumps. The main pump 14 is connected to the control valve 17 via a hydraulic oil line. The pilot pump 15 is connected to the operating device 26 via a pilot line.

The control valve 17 is a hydraulic control device that controls the hydraulic system of the excavator 100. The control valve 17 is connected to hydraulic actuators such as a left traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, and a swing hydraulic motor 2A.

Specifically, the control valve 17 includes a plurality of spool valves corresponding to each hydraulic actuator. Each spool valve is configured to be displaceable according to the pilot pressure so that the opening area of the PC port and the opening area of the CT port can be increased or decreased. The PC port is a port that communicates the main pump 14 and the hydraulic actuator. The CT port is a port for communicating the hydraulic actuator and the hydraulic oil tank.

The switching valve 35 is configured to be able to switch between the enabled state and the disabled state of the operating device 26. The effective state of the operating device 26 is a state in which the operator can operate the hydraulic actuator using the operating device 26. The invalid state of the operating device 26 is a state in which the operator cannot operate the hydraulic actuator using the operating device 26. In the present embodiment, the switching valve 35 is a gate lock valve configured to operate in response to a command from the controller 30. Specifically, the switching valve 35 is arranged in the pilot line connecting the pilot pump 15 and the operating device 26, and is configured so that the shutoff / communication of the pilot line can be switched in response to a command from the controller 30. The operating device 26 is activated when the gate lock lever (not shown) is pulled up and the gate lock valve is opened, and is disabled when the gate lock lever is pushed down and the gate lock valve is closed. ..

The display device D1 has a control unit 40, an image display unit 41, and a switch panel 42 as an input unit. The control unit 40 is configured to be able to control the image displayed on the image display unit 41. In the present embodiment, the control unit 40 is composed of a computer including a CPU, a volatile storage device, a non-volatile storage device, and the like. In this case, the control unit 40 reads the program corresponding to each functional element from the non-volatile storage device, loads it into the volatile storage device, and causes the CPU to execute the corresponding process. However, each functional element may be composed of hardware or may be composed of a combination of software and hardware. Further, the image displayed on the image display unit 41 may be controlled by the controller 30 or the space recognition device 70.

The switch panel 42 is a panel including a hardware switch. The switch panel 42 may be a touch panel. The display device D1 operates by receiving power supplied from the storage battery 80. The storage battery 80 is charged with electricity generated by the alternator 11a, for example. The electric power of the storage battery 80 is also supplied to the controller 30 and the like. For example, the starter 11b of the engine 11 is driven by the electric power from the storage battery 80 to start the engine 11.

The engine control device 74 transmits data regarding the state of the engine 11, such as the cooling water temperature, to the controller 30. The regulator 14a of the main pump 14 transmits data regarding the tilt angle of the swash plate to the controller 30. The discharge pressure sensor 14b transmits data regarding the discharge pressure of the main pump 14 to the controller 30. The oil temperature sensor 14c provided in the pipeline between the hydraulic oil tank and the main pump 14 transmits data regarding the temperature of the hydraulic oil flowing in the pipeline to the controller 30. The controller 30 can store these data in the volatile storage device and transmit them to the display device D1 when necessary.

The engine speed adjustment dial 75 is a dial for adjusting the speed of the engine 11. The engine speed adjustment dial 75 transmits data regarding the set state of the engine speed to the controller 30. The engine speed adjustment dial 75 is configured so that the engine speed can be switched in four stages of SP mode, H mode, A mode, and idling mode. The SP mode is a rotation speed mode selected when it is desired to prioritize the amount of work, and uses the highest engine speed. The H mode is a rotation speed mode selected when it is desired to achieve both work load and fuel consumption, and uses the second highest engine speed. The A mode is a rotation speed mode selected when it is desired to operate the excavator 100 with low noise while giving priority to fuel consumption, and uses the third highest engine speed. The idling mode is a rotation speed mode selected when the engine 11 is desired to be in an idling state, and the lowest engine speed is used. The engine 11 is controlled so as to be constant at the engine speed corresponding to the speed mode set by the engine speed adjustment dial 75.

The audio output device D2 is a device for drawing the attention of a person involved in the work of the excavator 100. The voice output device D2 may be composed of, for example, a combination of an indoor alarm device and an outdoor alarm device. The indoor alarm device is a device for calling the attention of the operator of the excavator 100 in the cabin 10, and includes, for example, at least one of a speaker, a vibration generator, and a light emitting device provided in the cabin 10. The indoor alarm device may be the display device D1. The outdoor alarm device is a device for calling the attention of an operator working around the excavator 100, and includes, for example, at least one of a speaker and a light emitting device provided outside the cabin 10. The speaker as the outdoor alarm device includes, for example, a traveling alarm device attached to the bottom surface of the upper swing body 3. Further, the outdoor alarm device may be a light emitting device provided on the upper swing body 3. However, the outdoor alarm device may be omitted. For example, when the space recognition device 70 functioning as an object detection device detects a predetermined object, the voice output device D2 may notify a person involved in the work of the excavator 100 to that effect.

In the example of FIG. 4, the controller 30 can receive a signal output by at least one of the information acquisition devices E1, execute various operations, and output a control command to at least one of the display device D1 and the audio output device D2. It is configured as follows.

The information acquisition device E1 detects information about the excavator 100. In the present embodiment, the information acquisition device E1 includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body tilt sensor S4, a turning angle speed sensor S5, a boom rod pressure sensor, a boom bottom pressure sensor, and an arm rod pressure sensor. , Arm bottom pressure sensor, bucket rod pressure sensor, bucket bottom pressure sensor, boom cylinder stroke sensor, arm cylinder stroke sensor, bucket cylinder stroke sensor, discharge pressure sensor, operating pressure sensor 29, space recognition device 70, orientation detection device 71, It includes at least one of an information input device 72, a positioning device 73, and a communication device. The information acquisition device E1 includes, for example, information about the excavator 100, such as boom angle, arm angle, bucket angle, body tilt angle, turning angular velocity, boom rod pressure, boom bottom pressure, arm rod pressure, arm bottom pressure, bucket rod pressure, Bucket bottom pressure, boom stroke amount, arm stroke amount, bucket stroke amount, discharge pressure of main pump 14, operating pressure of operating device 26, information on three-dimensional space around excavator 100, orientation of upper swivel body 3 and lower running Acquires at least one of information regarding the relative relationship with the orientation of the body 1, information input to the controller 30, information regarding the current position, and the like. Further, the information acquisition device E1 may obtain information from other construction machines, flying objects, or the like. The air vehicle is, for example, a multicopter or an airship that acquires information about the work site.

The controller 30 mainly includes a posture calculation unit 30A, a work identification unit 30B, and a display control unit 30C as functional elements. Each functional element may be composed of hardware or software. The function of the display control unit 30C may be realized by the control unit 40 of the display device D1.

The posture calculation unit 30A is configured to calculate the posture of the attachment camera 70A, which is one of the space recognition devices 70. In the present embodiment, the posture calculation unit 30A calculates the relative posture of the attachment camera 70A with respect to the upper swing body 3 based on the outputs of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3. The attitude calculation unit 30A may calculate the absolute attitude of the attachment camera 70A in the world coordinate system based on the outputs of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, and the body tilt sensor S4.

The attachment camera 70A may include a GNSS receiver. In this case, the posture calculation unit 30A may calculate the posture of the attachment camera 70A based on the signal output from the GNSS receiver.

The work identification unit 30B is configured to specify the type of work to be performed using the excavator 100. The work performed by using the excavator 100 includes, for example, turning work, excavation work, soil removal work, deep excavation work, loading work, and the like. In the present embodiment, the work identification unit 30B identifies the type of work currently being performed based on at least one output of the operating device 26, the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, and the like. For example, when the work specifying unit 30B detects that the left operating lever 26L is tilted in the left-right direction, the work specifying unit 30B identifies that the work currently being executed is a turning work. Alternatively, when the work specifying unit 30B detects that the current posture of the excavation attachment AT is a posture extending diagonally forward and downward, it identifies that the work currently being executed is the deep excavation work.

The display control unit 30C is configured so that the information acquired by the space recognition device 70 can be displayed on the display device D1. In the present embodiment, the display control unit 30C is configured so that the image captured by the attachment camera 70A can be displayed on the display device D1.

Specifically, the display control unit 30C determines which image portion of the image captured by the attachment camera 70A is to be displayed on the display device D1 according to the posture of the attachment camera 70A, which is a spherical camera. It is configured to do.

More specifically, the display control unit 30C can continuously display the same part of the ground on the display device D1 even when the posture of the excavation attachment AT changes during the excavation work, for example. To. Therefore, the display control unit 30C changes the image portion to be displayed on the display device D1 among the images captured by the attachment camera 70A according to the change in the posture of the excavation attachment AT, that is, the change in the posture of the attachment camera 70A. ..

Further, the display control unit 30C is configured to determine which image portion of the image captured by the attachment camera 70A is to be displayed on the display device D1 according to the type of work of the excavator.

Specifically, for example, during excavation work, the display control unit 30C displays a part of the image captured by the attachment camera 70A on the display device D1 so that the operator can visually recognize the vicinity of the bucket 6. Let me. Then, for example, during the turning operation, the display control unit 30C displays another part of the image captured by the attachment camera 70A on the display device D1 so that the operator can visually recognize the vicinity of the excavator 100. Display it.

The display control unit 30C may be configured to recognize an image of a predetermined object. Specifically, the display control unit 30C may be configured so that the image of a person existing around the excavator 100 can be recognized separately from the image of a person other than the person. In this configuration, the display control unit 30C may transmit a control command to the voice output device D2 to output an alarm when the image of a person is recognized. Alternatively, the display control unit 30C may be configured so that it can recognize an image of earth and sand inside the bucket 6 and calculate the volume of the earth and sand. In this configuration, the display control unit 30C may display the calculated volume of earth and sand on the display device D1. Alternatively, the display control unit 30C may be configured to recognize the image of the electric wire stretched on the excavation attachment AT and calculate the shortest distance between the electric wire and the excavation attachment AT. In this configuration, the display control unit 30C may display the calculated shortest distance on the display device D1. Then, the display control unit 30C may transmit a control command to the voice output device D2 to output an alarm when the shortest distance is less than a predetermined distance. In this way, the display control unit 30C calculates the distance between a predetermined portion of the excavator (counterweight, boom top, arm foot, bucket toe, etc.) and an object existing within a predetermined range from the excavator 100. It is determined whether or not the shortest distance among those distances is less than a predetermined distance.

Next, with reference to FIGS. 5 to 7, a process of switching the image to be displayed on the display device D1 by the controller 30 (hereinafter, referred to as “display switching process”) will be described. FIG. 5 is a flowchart of the display switching process. FIG. 6 includes FIGS. 6 (A) and 6 (B) with respect to the aircraft proximity image G1 displayed on the display device D1 so that the operator can easily visually recognize the vicinity of the excavator 100 during the turning operation. .. FIG. 6A shows an example of the aircraft proximity image G1. FIG. 6B is a side view of the excavator 100 showing the state of the excavator 100 when the aircraft proximity image G1 is displayed on the display device D1. FIG. 7 includes FIGS. 7 (A) to 7 (C) regarding the bucket neighborhood image G2 displayed on the display device D1 so that the operator can easily visually recognize the vicinity of the bucket 6 during the deep excavation work. .. FIG. 7A is an example of the bucket neighborhood image G2. 7 (B) and 7 (C) are side views of the excavator 100 showing the state of the excavator 100 when the bucket vicinity image G2 is displayed on the display device D1. The controller 30 repeatedly executes the display switching process at a predetermined control cycle while the excavator 100 is in operation.

First, the controller 30 determines whether or not the turning operation is in progress (step ST1). In the present embodiment, the work specifying unit 30B of the controller 30 determines that the turning work is in progress when it detects that the left operating lever 26L is tilted in the left-right direction based on the output of the left operating pressure sensor 29L. ..

When it is determined that the turning operation is not in progress (NO in step ST1), the controller 30 executes the task of step ST3 without switching the image displayed on the display device D1.

When it is determined that the turning operation is in progress (YES in step ST1), the controller 30 causes the display device D1 to display the aircraft proximity image G1 (step ST2).

As shown in FIG. 6A, the airframe proximity image G1 is an image of the front surface of the airframe including the lower traveling body 1 and the upper swivel body 3 and its vicinity from diagonally above, and is an image relating to the spaces on both sides of the airframe. Including the part. The display control unit 30C may graphically represent a portion not included in the image captured by the attachment camera 70A, such as the ventral surface of the boom 4 and the ventral surface of the arm 5.

FIG. 6B shows the state of the excavator 100 when the aircraft proximity image G1 shown in FIG. 6A is displayed. The dashed circle CL schematically shows that the hemispherical imaging range (excluding the range far from the attachment camera 70A) of the attachment camera 70A, which is an omnidirectional camera, extends in all directions. The fan-shaped FS1 schematically captures an imaging range (excluding a range far from the attachment camera 70A) corresponding to an image portion used for displaying the aircraft vicinity image G1 on the display device D1 among the images captured by the attachment camera 70A. It is shown in.

After that, the controller 30 determines whether or not the excavation work is in progress (step ST3). In the present embodiment, when the work specifying unit 30B detects that at least one of the boom 4, the arm 5, or the bucket 6 is being moved based on the outputs of the left operating pressure sensor 29L and the right operating pressure sensor 29R. Judge that excavation work is in progress. Therefore, in the present embodiment, the deep excavation work and the excavation work are included in the excavation work.

When it is determined that the excavation work is not in progress (NO in step ST3), the controller 30 executes the task of step ST5 without switching the image displayed on the display device D1.

When it is determined that the excavation work is in progress (YES in step ST3), the display control unit 30C of the controller 30 causes the display device D1 to display the bucket vicinity image G2 (step ST4).

As shown in FIG. 7A, the bucket neighborhood image G2 is an image obtained by capturing the vicinity of the bucket 6 from above, and includes image portions relating to the spaces on both the left and right sides of the bucket 6.

FIG. 7B shows the state of the excavator 100 when the bucket neighborhood image G2 shown in FIG. 7A is displayed. The fan-shaped FS2 schematically captures an imaging range (excluding a range far from the attachment camera 70A) corresponding to an image portion used for displaying the bucket neighborhood image G2 on the display device D1 among the images captured by the attachment camera 70A. It is shown in.

FIG. 7C shows the state of the excavator 100 after raising the excavation attachment AT from the state shown in FIG. 7B. The fan-shaped FS3 schematically defines an imaging range (excluding a range far from the attachment camera 70A) corresponding to an image portion used for displaying the bucket vicinity image G2 on the display device D1 among the images captured by the attachment camera 70A. It is shown in.

The display control unit 30C causes the bucket vicinity image G2 to be continuously displayed on the display device D1 during the excavation work. Therefore, when the posture of the excavation attachment AT changes, the display control unit 30C displays the image G2 in the vicinity of the bucket in the image captured by the attachment camera 70A as shown in FIGS. 7 (B) and 7 (C). The image part used for display is changed. The arrow AR1 in FIG. 7C is an image portion used to display the bucket vicinity image G2 when the posture of the excavation attachment AT changes from the state shown in FIG. 7B to the state shown in FIG. 7C. It is shown that the imaging range corresponding to is changed from the portion indicated by the fan-shaped FS2 (the portion separated by the alternate long and short dash line) to the portion indicated by the sector-shaped FS3.

The display control unit 30C may change the image portion used for displaying the bucket neighborhood image G2 so that the image of the bucket 6 or its toes is always at the center of the bucket neighborhood image G2. In this case, the display control unit 30C can continue to display the image of the bucket 6 or its toes on the display device D1 regardless of how the posture of the excavation attachment AT changes.

With this configuration, the display control unit 30C greatly changes the range of the real space corresponding to the image displayed on the display device D1 even when the posture of the excavation attachment AT changes during the excavation work. Can be prevented.

After that, the controller 30 determines whether or not the distance between the excavation attachment AT and a predetermined object such as the electric wire CB stretched on the excavator 100 is less than the predetermined distance (step ST5). The predetermined object may be a tree, a ceiling, a road sign, or the like. In the present embodiment, as shown in FIG. 6B, the display control unit 30C of the controller 30 is excavated whose posture is calculated based on the electric wire CB recognized by the image recognition technology and the output of the posture detection device. It is determined whether or not the distance GP to the attachment AT is less than a predetermined distance.

When it is determined that the distance GP is equal to or greater than a predetermined distance (NO in step ST5), the display control unit 30C ends the display switching process this time without switching the image displayed on the display device D1. This is because it can be determined that the possibility that the excavation attachment AT comes into contact with the electric wire CB is low.

When it is determined that the distance GP is less than a predetermined distance (YES in step ST5), the display control unit 30C displays an aerial image (step ST6). The sky image is an image of the space directly above the excavation attachment AT. In this case, the display control unit 30C may transmit a control command to the voice output device D2 to output an alarm.

The fan-shaped FS4 of FIG. 6B excludes an imaging range (a range far from the attachment camera 70A) corresponding to an image portion used for displaying an aerial image on the display device D1 among the images captured by the attachment camera 70A. ) Is schematically shown.

As described above, the display control unit 30C makes the aircraft proximity image G1 continuously displayed on the display device D1 during the turning operation. However, when the distance GP is less than a predetermined distance, as shown in FIG. 6B, the display control unit 30C uses the image captured by the attachment camera 70A to display the image G1 in the vicinity of the aircraft. Change the part. The arrow AR2 in FIG. 6B shows an image portion in which the imaging range corresponding to the image portion displayed on the display device D1 is used for displaying the image G1 in the vicinity of the aircraft when the distance GP is less than a predetermined distance. It shows how the imaging range corresponding to (see fan-shaped FS1) is changed (reversed) to the imaging range corresponding to the image portion indicated by the fan-shaped FS4.

With this configuration, the display control unit 30C can switch the airframe proximity image G1 to an aerial image when the excavation attachment AT approaches the electric wire CB. Therefore, the operator of the excavator 100 can quickly visually recognize the electric wire CB that may come into contact with the excavation attachment AT.

In the above-mentioned display switching process, the controller 30 makes determinations in the order of steps ST1, ST3, and ST5, but the determinations may be made in any other order, or two or more determinations may be made at the same time.

Next, with reference to FIG. 8, another example of the image displayed on the display device D1 during the excavation work will be described. The image shown in FIG. 8 is different from the image shown in FIG. 7A in that the bucket vicinity image G2 is displayed together with the bird's-eye view image G3.

The bird's-eye view image G3 is an image obtained by subjecting the images captured by the rear camera 70B, the left camera 70L, and the right camera 70R to a viewpoint conversion process and synthesizing them, and includes the excavator figure G31. The excavator figure G31 is a figure representing the shape of the excavator 100 when the excavator 100 is viewed from directly above, and is arranged in the upper center of the bird's-eye view image G3 in the image display unit 41. The excavator figure G31 is arranged so that the portion representing the excavation attachment AT faces upward on the screen. In the image display unit 41, the image portion based on the image captured by the rear camera 70B is arranged below the excavator figure G31, and the image portion based on the image captured by the left camera 70L is arranged on the left side of the excavator figure G31. The image portion based on the image captured by the right camera 70R is arranged on the right side of the excavator figure G31. The bucket neighborhood image G2 is arranged above the bird's-eye view image G3, that is, above the portion of the excavator figure G31 that represents the excavation attachment AT.

With this configuration, the operator of the excavator 100 can intuitively grasp the relative positional relationship between the excavator 100 and the objects around the excavator 100 by looking at the bird's-eye view image G3 including the excavator figure G31. Then, the operator can easily grasp the state of the ground vertically below the bucket 6 by looking at the image G2 near the bucket.

Next, another example of the display switching process will be described with reference to FIG. The controller 30 repeatedly executes this display switching process at a predetermined control cycle while the excavator 100 is in operation. FIG. 9 is a side view of the excavator 100 showing the state of the excavator 100 when the loading platform image is displayed on the display device D1. The loading platform image is an image obtained by capturing the loading platform of the dump truck DT related to the loading operation from directly above, and is configured to include an image portion relating to the space on both sides of the bucket 6.

In this display switching process, the controller 30 first determines whether or not the loading operation is in progress. In this example, the work identification unit 30B of the controller 30 determines that the loading work is in progress when it detects that the boom raising and turning operation has been performed based on the outputs of the left operation pressure sensor 29L and the right operation pressure sensor 29R. To do.

Then, when it is determined that the loading work is in progress, the display control unit 30C of the controller 30 causes the display device D1 to display the loading platform image until the controller 30 detects that the soil removal work is completed. After determining that the loading work is in progress, the controller 30 determines that the soil removal work is completed when the bucket angle θ3 becomes equal to or greater than a predetermined angle.

FIG. 9 shows the state of the excavator 100 when the loading platform image is displayed. The dashed circle CL schematically shows that the hemispherical imaging range (excluding the range far from the attachment camera 70A) of the attachment camera 70A, which is an omnidirectional camera, extends in all directions. The fan-shaped FS5 schematically shows an imaging range (excluding a range far from the attachment camera 70A) corresponding to the image portion used for displaying the loading platform image on the display device D1 among the images captured by the attachment camera 70A. ing.

With this configuration, the display control unit 30C can continuously display the loading platform image on the display device D1 until the controller 30 detects that the soil removal work is completed. Therefore, the operator of the excavator 100 can easily see the top of the loading platform of the dump truck DT, which cannot be seen from inside the cabin 10.

Further, the display control unit 30C changes the image portion used for displaying the loading platform image in the image captured by the attachment camera 70A in response to the change in the posture of the excavation attachment AT.

With this configuration, the display control unit 30C prevents the range of the real space corresponding to the image displayed on the display device D1 from being significantly changed when the posture of the excavation attachment AT changes during the loading operation. it can.

As described above, the excavator 100 according to the embodiment of the present invention is rotatably attached to the lower traveling body 1, the upper rotating body 3 rotatably mounted on the lower traveling body 1, and the upper rotating body 3. It includes a boom 4, an arm 5 rotatably attached to the boom 4, and a space recognition device 70 attached near the connecting portion CN between the boom 4 and the arm 5.

With this configuration, the excavator 100 can acquire information about a wider space around it. The attachment camera 70A, which is an example of the space recognition device 70 attached in the vicinity of the connecting portion CN, includes a rear camera 70B, a front camera 70F, a left camera 70L, a right camera 70R, and the like attached to the upper swing body 3 or the cabin 10. This is because it is located higher than other cameras and can capture a range that cannot be captured by other cameras. The range that cannot be imaged by other cameras includes, for example, the vicinity of the outside of the side surface of the cabin 10, the bottom of the hole for deep excavation, the space directly above the excavation attachment AT, and the like. Therefore, the operator of the excavator 100 can easily and more accurately grasp the surrounding situation by looking at the image captured by the attachment camera 70A.

The space recognition device 70 is preferably attached to both side surfaces of the boom 4 or arm 5. With this configuration, the excavator 100 can monitor the space on both sides of the excavation attachment AT. However, the space recognition device 70 may be attached only to one side surface of the boom 4 or the arm 5.

The space recognition device 70 may be a camera capable of photographing in all directions, or may be a rider capable of measuring all directions. With this configuration, the excavator 100 can monitor the space in all directions centered on the vicinity of the connecting portion CN.

The excavator 100 preferably includes a controller 30 as a control device for calculating the posture of the space recognition device 70, and a display device D1 for displaying the information acquired by the space recognition device 70. Then, the controller 30 is preferably configured to determine which part of the information acquired by the space recognition device 70 is to be displayed on the display device D1 according to the posture of the space recognition device 70.

When the assignment of the image portion to be displayed on the display device D1 in the image captured by the space recognition device 70 is fixed, when the posture of the excavation attachment AT changes, the display device D1 projects another area in the three-dimensional space. It ends up. Therefore, the operator of the excavator 100 may not know what is displayed on the display device D1.

On the other hand, the controller 30 changes the allocation of the image portion to be displayed on the display device D1 in the image captured by the space recognition device 70 according to, for example, the change in the posture of the excavation attachment AT. This is because the posture of the space recognition device 70 changes according to the change in the posture of the excavation attachment AT. Further, the controller 30 can cancel the change in the imaging target range due to the change in the posture of the space recognition device 70 by changing the allocation.

As a result, even if the posture of the space recognition device 70 changes, that is, even if the posture of the excavation attachment AT changes, the controller 30 continuously displays an image capturing a specific area in the three-dimensional space on the display device D1. It can be displayed. For example, the controller 30 provides good visibility of the bucket 6 by continuously displaying the bucket 6 even if the posture of the excavation attachment AT changes during deep digging work, loading work, or the like. It can be continuously secured, and by extension, the workability of the operator can be improved.

The excavator 100 preferably includes a controller 30 as a control device for identifying the work of the excavator 100, and a display device D1 for displaying information acquired by the space recognition device 70. Then, the controller 30 is preferably configured to determine which part of the information acquired by the space recognition device 70 is to be displayed on the display device D1 according to the type of work of the excavator 100.

The excavator 100 may include a mechanism for changing the direction of the space recognition device 70. With this configuration, for example, even if a wide-angle lens camera is adopted as the attachment camera 70A instead of the spherical camera, the controller 30 realizes the same function as when the spherical camera is adopted. it can. Specifically, the controller 30 can change the direction of the optical axis of the wide-angle lens in response to a change in the posture of the excavation attachment AT, for example. That is, the controller 30 does not electronically and virtually switch the angle of view by the image processing technology as in the case where the spherical camera is adopted, but mechanically and practically switches the angle of view by the orientation changing mechanism. It can be performed.

The preferred embodiment of the present invention has been described in detail above. However, the present invention is not limited to the embodiments described above. Various modifications, substitutions, etc. can be applied to the above-described embodiments without departing from the scope of the present invention. Also, the features described separately can be combined as long as there is no technical conflict.

For example, in the above-described embodiment, the controller 30 is configured to automatically switch the image to be displayed on the display device D1 according to the work of the excavator 100 or the like. However, the operator of the excavator 100 may manually switch the image to be displayed on the display device D1 via, for example, the information input device 72.

For example, the controller 30 may change the allocation of the image portion used for the display on the display device D1 in the image captured by the attachment camera 70A according to the rotation of the dial provided at the tip of the left operation lever 26L. .. In this case, by rotating the dial, the operator can adjust the imaging range (range represented by a predetermined angle of view) corresponding to the image portion displayed on the display device D1 while maintaining the angle of view. It can be rotated around AX (see FIG. 2). That is, the operator can display all the images captured by the attachment camera 70A on the display device D1 one by one.

Alternatively, the controller 30 changes the allocation of the image portion used for the display on the display device D1 in the image captured by the attachment camera 70A in response to the input to the touch panel arranged on the display unit of the display device D1. May be good. In this case, the operator can display all the images captured by the attachment camera 70A on the display device D1 by shifting the image portion by the swipe operation, albeit part by part. Further, the operator may increase the imaging range corresponding to the image portion by the pinch-in operation, or may decrease the imaging range corresponding to the image portion by the pinch-out operation.

Further, in the above-described embodiment, a hydraulic operating lever including a hydraulic pilot circuit is disclosed. For example, in the hydraulic pilot circuit related to the left operating lever 26L, the hydraulic oil supplied from the pilot pump 15 to the left operating lever 26L has an opening degree of a remote control valve that is opened and closed by tilting the left operating lever 26L in the arm opening direction. It is transmitted to the pilot port of the arm cylinder control valve at the corresponding flow rate. Alternatively, in the hydraulic pilot circuit related to the right operating lever 26R, the hydraulic oil supplied from the pilot pump 15 to the right operating lever 26R is set to the opening degree of the remote control valve that is opened and closed by tilting the right operating lever 26R in the boom raising direction. It is transmitted to the pilot port of the boom cylinder control valve at the corresponding flow rate.

However, instead of the hydraulic operating lever provided with such a hydraulic pilot circuit, an electric operating lever provided with an electric pilot circuit may be adopted. In this case, the lever operation amount of the electric operation lever is input to the controller 30 as an electric signal, for example. Further, an electromagnetic valve is arranged between the pilot pump 15 and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electrical signal from the controller 30. With this configuration, when a manual operation using an electric operating lever is performed, the controller 30 moves each control valve by controlling the solenoid valve by an electric signal corresponding to the lever operating amount to increase or decrease the pilot pressure. be able to.

1 ... Lower traveling body 1C ... Crawler 1CL ... Left crawler 1CR ... Right crawler 2 ... Swivel mechanism 2A ... Swivel hydraulic motor 2M ... Traveling hydraulic motor 2ML ... Left traveling Hydraulic motor 2MR ・ ・ ・ Right traveling hydraulic motor 3 ・ ・ ・ Upper swivel body 4 ・ ・ ・ Boom 5 ・ ・ ・ Arm 6 ・ ・ ・ Bucket 7 ・ ・ ・ Boom cylinder 8 ・ ・ ・ Arm cylinder 9 ・ ・ ・ Bucket cylinder 10 ... Cabin 11 ... Engine 11a ... Alternator 11b ... Starter 14 ... Main pump 14a ... Regulator 14b ... Discharge pressure sensor 14c ... Oil temperature sensor 15 ... Pilot Pump 17 ... Control valve 26 ... Operating device 26L ... Left operating lever 26R ... Right operating lever 29 ... Operating pressure sensor 29L ... Left operating pressure sensor 29R ... Right operating pressure sensor 30 ... Controller 30A ... Attitude calculation unit 30B ... Work identification unit 30C ... Display control unit 35 ... Switching valve 40 ... Control unit 41 ... Image display unit 42 ... Switch Panel 70 ... Space recognition device 70A ... Attachment camera 70B ... Rear camera 70F ... Front camera 70L ... Left camera 70R ... Right camera 71 ... Direction detection device 72 ...・ Information input device 73 ・ ・ ・ Positioning device 74 ・ ・ ・ Engine control device 75 ・ ・ ・ Engine speed adjustment dial 80 ・ ・ ・ Storage battery 100 ・ ・ ・ Excavator AT ・ ・ ・ Excavation attachment D1 ・ ・ ・ Display device D2 ・・ ・ Voice output device E1 ・ ・ ・ Information acquisition device S1 ・ ・ ・ Boom angle sensor S2 ・ ・ ・ Arm angle sensor S3 ・ ・ ・ Bucket angle sensor S4 ・ ・ ・ Aircraft tilt sensor S5 ・ ・ ・ Turning angle speed sensor

Claims (6)

With the lower running body,
An upper swivel body mounted on the lower traveling body so as to be swivel,
A boom that is rotatably attached to the upper swing body and
An arm that is rotatably attached to the boom
A space recognition device attached in the vicinity of the connecting portion between the boom and the arm is provided.
Excavator. The space recognition device is attached to both side surfaces of the boom or the arm.
The excavator according to claim 1. The space recognition device is a camera capable of capturing all directions or a rider capable of measuring all directions.
The excavator according to claim 1 or 2. A control device that calculates the posture of the space recognition device, and
A display device that displays information acquired by the space recognition device is provided.
The control device is configured to determine which part of the information acquired by the space recognition device is to be displayed on the display device according to the posture of the space recognition device.
The excavator according to any one of claims 1 to 3. A control device that identifies the work of the excavator and
A display device that displays information acquired by the space recognition device is provided.
The control device is configured to determine which part of the information acquired by the space recognition device is to be displayed on the display device according to the type of work of the excavator.
The excavator according to any one of claims 1 to 3. A mechanism for changing the orientation of the space recognition device is provided.
The excavator according to any one of claims 1 to 5.

Images