JP2022028379A - Imaging system of work machine - Google Patents

Abstract

To realize an imaging system of a work machine that can continue imaging a specific part by a simpler method even when a rotary unit is rotating, by a camera set in the rotary unit which rotates in a horizontal direction of the machine body of the work machine.SOLUTION: The imaging system of a work machine includes: a camera (30); a support body (31) set in a rotary unit rotatable in a horizontal direction located in the upper side of a travel device, the supporting body rotatably supporting the camera (30) in a horizontal direction; a revolution angle detector (33) as an angle detector for detecting the angle of the horizontal rotation of the rotary unit; and a camera controller (35) as a control unit for performing a first control for driving the support body (31) and rotating the camera (30) in an opposite direction to the direction of rotation of the rotary unit to cancel out the angle of the horizontal rotation of the rotary unit detected by the revolution angle detector (33).SELECTED DRAWING: Figure 3

Description

The present invention relates to, for example, an imaging system for a working machine attached to a working machine such as a backhoe.

Conventionally, a camera viewing angle control device for a remote-controlled machine disclosed in Patent Document 1 is known. The camera viewing angle control device disclosed in Patent Document 1 photographs a predetermined portion of the working device with a camera attached to a pan head (support). Based on the video signal transmitted from the camera, the control device determines whether the direction of the predetermined position of the work device is within the viewing angle range (in the field of view) of the camera, and if it is not in the field of view, the field of view of the camera. Change the corner. Furthermore, if the direction of the predetermined position of the work device is not within the viewing angle of the camera even at the maximum viewing angle after changing the viewing angle, the control device drives the pan head so that it is within the viewing angle of the camera. Change the direction. As a result, it is possible to keep a predetermined position of the work device within the field of view of the camera and continue shooting.

Japanese Unexamined Patent Publication No. 1997-270945

In various works using a work machine, such as waterworks, it is conceivable to install a camera on the work machine for monitoring. In such construction of excavating the ground with a work device, it is desirable to continue to photograph the excavated part with a camera. When installing the camera on the work machine, by installing it on the traveling device, the camera is maintained in a specific direction with respect to the traveling device regardless of the turning movement of the aircraft, etc., and a specific location such as an excavation point is photographed. You can continue. However, the camera installed in the traveling device may not be able to photograph the excavated part or the like at an angle, and the camera needs to be installed in the airframe or the like above the traveling device.

However, in order to continue shooting a specific part such as an excavated part with a camera installed on a turning aircraft, it is necessary to maintain the direction of the camera in the direction to shoot the specific part regardless of the turning of the aircraft. It becomes.

One aspect of the present invention is a work in which a camera installed in a rotating part of a working machine or the like that rotates in the horizontal direction can continue to take a picture of a specific part by a simpler method even if the rotating part rotates. The purpose is to realize a shooting system for the machine.

In order to solve the above problems, the photographing system of the working machine according to one aspect of the present invention is installed on a camera and a rotating portion that can rotate in the horizontal direction provided on the upper side of the traveling device, and the camera is placed horizontally. A support base that rotatably supports in a direction, an angle detection unit that detects the horizontal rotation angle of the rotating portion, and a support base that drives the support base to cancel the rotation angle detected by the angle detection unit. The camera is provided with a control unit that performs first control to rotate the camera in a direction opposite to the rotation direction of the rotation unit.

According to the above configuration, the angle detection unit detects the rotation angle of the rotating unit that rotates in the horizontal direction, and the control unit drives the support base so as to offset this rotation angle to rotate the camera in the rotation direction of the rotating unit. The first control for rotating in the opposite direction is performed. That is, the control unit rotates the camera by an angle equivalent to the rotation angle detected in the direction opposite to the rotation direction of the rotation unit. As a result, even if the rotating portion is rotated, the orientation of the camera can be returned to the orientation before rotation, that is, a specific orientation in which a specific portion can be continuously photographed. This orientation is determined with respect to the traveling device regardless of the rotation of the rotating portion. Therefore, it is possible to continue shooting a specific location with a camera mounted on the rotating part of the working machine with a simpler configuration than a configuration using image recognition technology.

In the photographing system of the working machine according to one aspect of the present invention, the angle detection unit further includes a geomagnetic sensor that moves integrally with the camera, and the control unit has the orientation detected by the geomagnetic sensor. The camera may be rotated in the horizontal direction so as to have a predetermined orientation set according to the shooting location of the camera.

According to the above configuration, since the camera is provided with a geomagnetic sensor that moves integrally with the camera, the geomagnetic sensor can detect the direction in which the camera is facing. The control unit rotates the camera in the horizontal direction so that the detected camera orientation becomes a predetermined orientation set according to the shooting location of the camera. This makes it possible to maintain the orientation of the camera in a specific orientation in which a specific location can be continuously photographed by using one geomagnetic sensor mounted on the camera.

In the photographing system of the working machine according to one aspect of the present invention, the angle detection unit further includes a first geomagnetic sensor that moves integrally with the camera, and is integrated with the traveling device, which is different from the first geomagnetic sensor. Further, the control unit further includes a second geomagnetic sensor that moves to, and the control unit sets the orientation detected by the first geomagnetic sensor and the orientation detected by the second geomagnetic sensor according to the shooting location of the camera. It is also possible to rotate the camera in the horizontal direction so as to satisfy the predetermined relationship.

According to the above configuration, a second geomagnetic sensor that moves integrally with the traveling device is separately provided, and the orientation of the camera for photographing a specific location is set in relation to the orientation of the camera and the orientation of the traveling device. The control unit rotates the camera in the horizontal direction so that the orientation of the camera detected by the first geomagnetic sensor and the orientation of the traveling device detected by the second geomagnetic sensor satisfy a predetermined relationship. This makes it possible to continue shooting a specific location without resetting the direction of the camera even if the traveling direction of the traveling device changes.

Further, in the photographing system of the working machine according to one aspect of the present invention, the rotating portion is provided on the machine body so as to be rotatable in the horizontal direction on the upper side of the traveling device, and at least a part thereof is provided on the machine body. A work device that rotates horizontally with respect to the machine body is included, the support base is installed in the work device, and the angle detection unit is used for the turning angle of the machine body and the horizontal direction of the work device with respect to the machine body. The device rotation angle, which is a rotation angle, is detected, and the control unit calculates the total horizontal rotation angle of the rotation unit from the rotation angle detected by the angle detection unit and the device rotation angle. The camera may be rotated in the horizontal direction using the calculated total rotation angle as the rotation angle.

According to the above configuration, the angle detection unit detects the turning angle of the machine body and the device rotation angle which is the horizontal rotation angle of the working device with respect to the machine body. Then, the control unit calculates the total horizontal rotation angle of the rotating unit from the detected turning angle and the device rotation angle, and rotates the camera in the horizontal direction using the calculated total rotation angle as the rotation angle of the rotating unit. .. As a result, even when the camera is set in the work device, the direction of the camera can be maintained in a specific direction in consideration of the horizontal rotation of the work device. By installing the camera in the work equipment, there is an advantage that an image closer to a specific place can be taken.

In the imaging system of the working machine according to one aspect of the present invention, the support base further supports the camera so as to be rotatable in the horizontal and vertical directions, and the control unit is vertical in addition to the first control. It is possible to execute a second control for rotating the camera in the vertical direction according to the movement of a predetermined object moving in a direction. In the second control, the control unit detects the object with the camera and of the object. The camera may be rotated in the vertical direction according to the movement in the vertical direction.

According to the above configuration, a configuration for maintaining the horizontal orientation of the camera by a simple method and a configuration for rotating the camera in the vertical direction using image recognition technology are combined to provide a work tool or the like for working at a specific location. It is possible to shoot according to the movement in the vertical direction.

The working machine according to one aspect of the present invention is equipped with a photographing system for the working machine according to one aspect of the present invention. According to the above configuration, it is possible to obtain the same operation as the photographing system of the above-mentioned working machine.

According to one aspect of the present invention, with a camera installed in a rotating portion of a working machine or the like that rotates in the horizontal direction, even if the rotating portion rotates, a specific location can be continuously photographed by a simpler method. ..

It is a schematic side view which shows the whole structure of the work machine equipped with the photographing system of the work machine which concerns on Embodiment 1 of this invention. It is a schematic plan view of the working machine shown in FIG. It is a block diagram which shows the control system of the camera of the photographing system of the working machine which concerns on Embodiment 1 of this invention. It is a flowchart which shows the processing procedure of the drive control of the support stand of the photographing system of the working machine which concerns on Embodiment 1 of this invention. It is a block diagram which shows the control system of the camera of the photographing system of the working machine which concerns on Embodiment 2 of this invention. It is a flowchart which shows the processing procedure of the drive control of the support stand of the photographing system of the working machine which concerns on Embodiment 2 of this invention. It is a block diagram which shows the control system of the camera of the photographing system of the working machine which concerns on Embodiment 3 of this invention. It is a flowchart which shows the processing procedure of the drive control of the support stand of the photographing system of the working machine which concerns on Embodiment 3 of this invention. It is a block diagram which shows the control system of the camera of the photographing system of the working machine which concerns on Embodiment 4 of this invention. It is a flowchart which shows the processing procedure of the drive control of the support stand of the photographing system of the working machine which concerns on Embodiment 4 of this invention. It is explanatory drawing which shows the difference of the fulcrum of the horizontal rotation of a work apparatus by the difference of the type of a work machine. It is a block diagram which shows the control system of the camera of the photographing system of the working machine which concerns on Embodiment 5 of this invention. It is a flowchart which shows the processing procedure of the drive control of the support stand of the photographing system of the working machine which concerns on Embodiment 5 of this invention.

[Embodiment 1]
Hereinafter, one embodiment of the present invention will be described in detail.

(1. Overall configuration of work machine 1)
FIG. 1 is a schematic side view showing an overall configuration of a working machine 1 equipped with a photographing system for the working machine according to the present embodiment. FIG. 2 is a schematic plan view of the working machine 1. In the present embodiment, a backhoe, which is a turning work machine, is exemplified as the work machine 1.

As shown in FIGS. 1 and 2, the working machine 1 includes a machine body (rotating part) 2, a traveling device 3, and a working device (rotating part) 4. The aircraft 2 is equipped with a driver's seat 6 and a cabin 5. The driver's seat 6 is a seat on which an operator (driver) is seated, and is arranged in the cabin 5. The cabin 5 is a device that surrounds and protects the driver's seat 6. A canopy may be used instead of the cabin 5. The details will be described later, but in the present embodiment, the camera 30 is installed on the cabin 5. The camera 30 is installed via a support base 31 that rotatably supports the camera 30 in the horizontal direction.

In the present embodiment, the front side of the operator seated in the driver's seat 6 of the work machine 1 (direction of arrow A1 in FIGS. 1 and 2) is forward, and the rear side of the operator (direction of arrow A2 in FIGS. 1 and 2) is rearward. It is explained as. Further, the left side of the operator (direction of arrow B1 in FIG. 2) will be described as the left side, and the right side of the operator (direction of arrow B2 in FIG. 2) will be described as the right side. Further, as shown in FIG. 2, the horizontal direction, which is a direction orthogonal to the front-rear direction K1, will be described as the machine width direction K2 (width direction of the machine 2).

As shown in FIGS. 1 and 2, the traveling device 3 is a device that supports the machine body 2 so as to be able to travel. The traveling device 3 has a traveling frame 3A, a left traveling device 3L provided on the left side of the traveling frame 3A, and a right traveling device 3R provided on the right side of the traveling frame 3A. The left side traveling device 3L and the right side traveling device 3R are crawler type traveling devices. The left side traveling device 3L is driven by the left side traveling motor ML. The right side traveling device 3R is driven by the right side traveling motor MR. The right side traveling motor MR and the left side traveling motor ML are composed of a hydraulic motor (hydraulic actuator). The traveling device 3 is not limited to the crawler type, and may be, for example, a wheel type traveling device. A dozer device 7 is attached to the front portion of the traveling device 3. The dozer device 7 can be raised and lowered (blades are raised and lowered) by expanding and contracting the dozer cylinder (hydraulic actuator).

As shown in FIG. 1, the machine body 2 is rotatably installed on the upper side of the traveling device 3. More specifically, the machine body 2 is supported on the traveling frame 3A so as to be able to turn around the vertical axis center J1 via the turning bearing 8. A swivel angle detector 33 (see FIG. 3) composed of an angle sensor such as an encoder is provided on a support shaft (not shown) of a swivel bearing 8 that rotatably supports the machine body 2, and the machine body 2 is swiveled relative to a traveling device 3. The angle can be detected.

A weight 25 is provided at the rear of the machine body 2, and a prime mover E1 is mounted. The prime mover E1 is a diesel engine. The prime mover E1 may be a gasoline engine, an LPG engine, or an electric motor, or may be a hybrid type having an engine and an electric motor.

The machine body 2 has a support bracket 9 at the front portion. The support bracket 9 is provided so as to project forward from the machine body 2. A swing bracket 10 is swingably attached to the front portion of the support bracket 9 around the center of the vertical axis J2. The working device 4 is attached to the swing bracket 10.

The working device 4 has a boom 11, an arm 12, and a working tool 13. The boom 11 has a base pivotally supported on the upper part of the swing bracket 10 via the pivot 14A and can swing in the vertical direction. The arm 12 is pivotally supported on the tip end side of the boom 11 via a pivot axis 14B, and can swing in a direction approaching (cloud direction) and a direction away from the boom 11 (dump direction).

The work tool 13 is pivotally supported on the tip end side of the arm 12 via a pivot axis 14C, and can swing in a direction approaching (cloud direction) and a direction away from the arm 12 (dump direction). A bucket is attached as the work tool 13. Further, instead of the bucket, a work tool (hydraulic attachment) having a hydraulic actuator such as a hydraulic crusher, an angle bloom, an earth auger, a snow blower, a sweeper, a mower, or a hydraulic breaker can be attached.

The swing bracket 10 can swing in the horizontal direction by expanding and contracting the swing cylinder C2 (see FIG. 2) provided in the machine body 2. The boom 11 can swing in the vertical direction by expanding and contracting the boom cylinder C3. The arm 12 can swing in the vertical direction by expanding and contracting the arm cylinder C4. The work tool 13 can swing in the vertical direction by expanding and contracting the work tool cylinder (bucket cylinder) C5. The swing cylinder C2, the boom cylinder C3, the arm cylinder C4, and the work tool cylinder C5 are composed of a hydraulic cylinder (hydraulic actuator).

(2. Camera 30 and support stand 31)
As shown in FIG. 2, in the present embodiment, the camera 30 is installed on the cabin 5. More specifically, it is located above the cabin 5 and in the left corner of the front. By attaching the camera 30 to such a position, it is possible to prevent the camera 30 from interfering with the working device 4 and to secure a wide range in which the image can be taken. However, the installation position of the camera 30 is not limited to this.

The support base 31 is a device that actively rotates the camera 30 in the horizontal direction (horizontal direction) and the vertical direction (vertical direction) based on a command from the camera control device (control unit) 35 (see FIG. 3) described later. be. However, in the configuration of the present embodiment, the support base 31 may be equipped with at least a function of actively rotating the camera 30 in the horizontal direction.

As shown in FIG. 1, the support base 31 is installed on the cabin 5 of the machine body 2 and includes a fixed portion 31a and a movable portion 31b that is movable with respect to the fixed portion 31a. The fixed portion 31a is installed on the machine body 2, and the camera 30 is attached to the movable portion 31b. The movable portion 31b is driven in the vertical direction and the horizontal direction by a motor (not shown) built in the support base 31. Further, the rotation angle of the movable portion 31b with respect to the fixed portion 31a is detected by a camera angle detector 32 (see FIG. 3) including an angle sensor such as an encoder built in the support base 31.

(3. Control device for camera 30)
FIG. 3 is a block diagram showing a control system of the camera 30 of the photographing system of the working machine according to the present embodiment. As shown in FIG. 3, a control signal is output from the camera control device 35 to the camera 30 and the support base 31. The turning angle of the machine body 2 is input to the camera control device 35 from the turning angle detector (angle detection unit) 33. The camera control device 35 drives the support base 31 to rotate the camera 30 in the horizontal direction so as to cancel the turning angle (rotation angle) detected by the turning angle detector 33. When the camera 30 is attached to the machine body 2, the machine body 2 is a rotating portion, and the turning angle of the machine body 2 corresponds to the horizontal rotation angle of the rotating portion.

Specifically, the camera control device 35 has a camera rotation control unit 35a, and the camera rotation control unit 35a is opposite to the turning direction by an angle equivalent to the turning angle based on the input turning angle. A command to rotate the camera 30 in the direction is generated and output to the support base 31. That is, when the machine body 2 rotates α ° to the right with respect to the traveling device 3, the camera control device 35 rotates the support base 31 to the left by α ° with respect to the machine body 2. Further, when the machine body 2 is rotated by β ° to the left with respect to the traveling device 3, the camera control device 35 rotates the support base 31 by β ° to the right with respect to the machine body 2. The camera rotation control unit 35a repeatedly generates and outputs a command to rotate the camera 30 based on the input turning angle in short time units or small turning angle units. As a result, the camera 30 can be rotated in the direction opposite to the turning direction according to the turning of the machine body 2.

In the configuration of FIG. 3, the image taken by the camera 30 is transmitted to the outside from the transmitter 36 and can be received via the receiver 37 when necessary, but the configuration is limited to this. It's not something. Further, the operation instruction to the camera control device 35 is received via the receiver 37, but the present invention is not limited to this, and an instruction input device or the like may be connected.

(4. Processing procedure for drive control of support base 31)
FIG. 4 is a flowchart showing a processing procedure of drive control of the support base 31 of the photographing system of the working machine according to the present embodiment. First, before starting the work, the operator or the like sets the orientation of the camera 30 so that the specific portion to be photographed is within the field of view of the camera 30 (S1). For example, when the work performed by the work machine 1 is a work for excavating a groove for burying a water pipe such as a water service, the direction of the camera 30 is set so that the inside of the groove is within the field of view of the camera 30. The orientation of the camera 30 is set by using a mobile terminal in which a dedicated application is installed, an instruction input device installed in the cabin of the work machine 1, or the like. Using such a device, the camera 30 is intentionally rotated in the horizontal direction and the vertical direction while checking the captured image of the camera 30 to set the orientation of the camera 30. If the support base 31 does not have a function of actively rotating the camera 30 in the vertical direction, the angle in the vertical direction may be adjusted manually. When the orientation of the camera 30 is set in S1, the camera control device 35 stores the set orientation of the camera 30 in a storage unit (not shown) (S2).

After that, shooting with the camera 30 is started (S3). After starting the shooting in S3, the camera control device 35 determines whether or not the turning angle is input from the turning angle detector 33 (S4). If YES is determined in S4, the process proceeds to S5, and if NO is determined in S4, the process proceeds to S6. In S5, the camera control device 35 rotates the camera 30 in the horizontal direction so as to cancel the input turning angle. Specifically, the support base 31 is driven to rotate the camera 30 in the direction opposite to the turning direction by an angle equivalent to the turning angle based on the input turning angle. After that, the camera control device 35 advances the processing to S6. In S6, the camera control device 35 determines whether or not the camera 30 has input an instruction to end shooting. If NO is determined in S6, the process returns to S4. On the other hand, if YES is determined in S6, the process ends. The processes of S4 to S6 are repeated in short time units or small turning angle units.

(5. Effects, etc.)
According to the above configuration, the orientation of the camera 30 installed on the machine 2 can be maintained in the set direction (direction in which a specific location can be photographed) regardless of the turning of the machine 2 with a simple configuration that does not use image recognition technology. can.

In this embodiment, the turning angle detector 33 and the camera angle detector 32 made of an angle sensor such as an encoder are exemplified, but a geomagnetic sensor may be used instead of the angle sensor. When a geomagnetic sensor is used, the turning angle of the airframe 2 and the rotation angle of the camera 30 are detected from the detected change in direction. However, in order to detect the vertical angle of the camera 30, an angle sensor, a gyro sensor, or the like is required. Further, in the example of FIG. 1, only one camera 30 is installed in the working machine 1, but it is also possible to install a plurality of cameras 30 in the working machine 1.

[Embodiment 2]
Other embodiments of the present invention will be described below. For convenience of explanation, the same reference numerals are given to the members having the same functions as the members described in the above-described embodiment, and the description thereof will not be repeated.

FIG. 5 is a block diagram showing a control system of the camera 30 of the photographing system of the working machine according to the present embodiment. As shown in FIG. 5, in the photographing system of the working machine according to the present embodiment, the first movement is performed integrally with the camera 30 instead of the above-mentioned turning angle detector 33 and the camera angle detector 32 (see FIG. 3). A geomagnetic sensor (geomagnetic sensor) 38 is provided. The first geomagnetic sensor 38 is mounted on the camera 30 and is rotated integrally with the camera 30 on the support base 31. The first geomagnetic sensor 38 detects the direction in which the camera 30 is facing. The orientation detected by the first geomagnetic sensor 38 is input to the camera control device 35.

The camera control device 35 drives the support base 31 and rotates the camera 30 in the horizontal direction so that the orientation detected by the first geomagnetic sensor 38 becomes a predetermined orientation set according to the shooting location of the camera. Let me. That is, when the direction of the camera 30 deviates from the predetermined direction due to the turning of the machine body 2, the camera 30 is rotated in the horizontal direction so as to return to the predetermined direction to cancel the turning angle.

Specifically, the camera control device 35 has a camera rotation control unit 35b instead of the camera rotation control unit 35a. The camera rotation control unit 35b compares the orientation detected by the first geomagnetic sensor 38 with the orientation corresponding to the orientation of the camera 30 set before the start of work. When there is a deviation in the direction, the camera rotation control unit 35b generates a command to rotate the camera 30 in the horizontal direction so that the deviation disappears, and outputs the command to the support base 31.

The command to rotate the camera 30 in the horizontal direction so as to eliminate the deviation is that, in the configuration where the support base 31 does not have the camera angle detector 32, the camera 30 is moved horizontally in a predetermined angle unit in the direction in which the displacement is eliminated. It is a command to rotate until there is no deviation. In the configuration in which the support base 31 is provided with the camera angle detector 32, it is a command to rotate the camera 30 at an angle at which the deviation disappears in the direction at which the deviation disappears.

FIG. 6 is a flowchart showing a processing procedure of drive control of the support base 31 of the photographing system of the working machine according to the present embodiment. As shown in FIG. 6, in the present embodiment, S2-1, S4-1, and S5-1 are executed instead of S2, S4, and S5 in FIG. In S2-1, the camera control device 35 stores the orientation corresponding to the direction of the camera set in S1 in a storage unit (not shown). In S4-1, the camera control device 35 determines whether or not there is a deviation between the orientation detected by the first geomagnetic sensor 38 and the orientation stored in S2-1. In S5-1, the camera control device 35 rotates the camera 30 in the horizontal direction so that the orientation shift is eliminated. The processing of S4-1 to S6 is repeated in a short time unit or a small deviation amount unit.

According to the above configuration, the orientation of the camera 30 can be photographed at a specific location by using one first geomagnetic sensor 38 mounted on the camera 30 without detecting at least the turning angle of the aircraft 2. Can be maintained at.

[Embodiment 3]
Other embodiments of the present invention will be described below. For convenience of explanation, the same reference numerals are given to the members having the same functions as the members described in the above-described embodiment, and the description thereof will not be repeated.

FIG. 7 is a block diagram showing a control system of the camera 30 of the photographing system of the working machine according to the present embodiment. As shown in FIG. 7, in the photographing system of the working machine according to the present embodiment, in addition to the first geomagnetic sensor 38 that moves integrally with the camera 30, a second geomagnetic sensor 40 that moves integrally with the traveling device 3 is provided. The second geomagnetic sensor 40 is installed in the traveling device 3 and detects the direction of the traveling device 3 in the traveling direction. The orientation detected by the second geomagnetic sensor 40 is input to the camera control device 35.

The camera control device 35 drives the support base 31, and the orientation detected by the first geomagnetic sensor 38 and the orientation detected by the second geomagnetic sensor 40 are set according to the shooting location of the camera 30. The camera 30 is rotated in the horizontal direction so as to satisfy the predetermined relationship. That is, when the direction of the camera 30 deviates due to the turning of the machine body 2, the camera 30 is rotated in the horizontal direction so as to satisfy a predetermined relationship with the direction of the traveling device 3 as a reference, and the turning angle is offset.

The predetermined relationship may be, for example, a relationship in which the orientation detected by the first geomagnetic sensor 38 and the orientation detected by the second geomagnetic sensor 40 match. Alternatively, the difference between the orientation detected by the first geomagnetic sensor 38 and the orientation detected by the second geomagnetic sensor 40 may be a predetermined angle.

Specifically, the camera control device 35 has a camera rotation control unit 35c instead of the camera rotation control unit 35b. The camera rotation control unit 35c compares the relationship between the orientation detected by the first geomagnetic sensor 38 and the orientation detected by the second geomagnetic sensor 40 with a predetermined relationship set before the start of work. When there is a deviation in the relationship, the camera rotation control unit 35c generates a command to rotate the camera 30 in the horizontal direction so that the deviation disappears, and outputs the command to the support base 31.

The command to rotate the camera 30 in the horizontal direction so as to eliminate the deviation is that, in the configuration where the support base 31 does not have the camera angle detector 32, the camera 30 is moved horizontally in a predetermined angle unit in the direction in which the displacement is eliminated. It is a command to rotate until there is no deviation. In the configuration in which the support base 31 is provided with the camera angle detector 32, it is a command to rotate the camera 30 at an angle at which the deviation disappears in the direction at which the deviation disappears.

FIG. 8 is a flowchart showing a processing procedure of drive control of the support base 31 of the photographing system of the working machine according to the present embodiment. As shown in FIG. 8, in the present embodiment, S2-2, S4-2, and S5-2 are executed instead of S2-1, S4-1, and S5-1 in FIG. In S2-2, the camera control device 35 establishes a relationship between the direction corresponding to the direction of the camera set in S1 and the direction of the traveling device 3 (a predetermined relationship set according to the shooting location of the camera 30). Store in the storage unit. In S4-2, the camera control device 35 determines whether or not there is a deviation from the orientation relationship stored in S2-2 based on the orientation detected by the first geomagnetic sensor 38 and the second geomagnetic sensor 40. In S5-2, the camera control device 35 rotates the camera 30 in the horizontal direction so as not to deviate from the directional relationship. The processing of S4-2 to S6 is repeated in a short time unit or a small deviation amount unit.

In the photographing system of the working machine according to the second embodiment, when the traveling direction of the traveling device 3 changes so that the specific portion is out of the field of view of the camera 30, it is necessary to reset the orientation of the camera 30 in S1. On the other hand, in the above configuration, since the direction of the camera 30 is set based on the traveling direction of the traveling device 3, even if the traveling direction of the traveling device 3 changes, the direction of the camera 30 in S1 is not set again. You can continue shooting. As a result, for example, when excavation work is performed while moving along the groove in the traveling device 3, the direction of the camera 30 with reference to the orientation of the traveling device 3 even when the extension direction of the groove is bent or curved. You can continue to shoot the groove by controlling.

[Embodiment 4]
Other embodiments of the present invention will be described below. For convenience of explanation, the same reference numerals are given to the members having the same functions as the members described in the above-described embodiment, and the description thereof will not be repeated.

In the first embodiment described above, the camera 30 is installed on the cabin 5. On the other hand, in the photographing system of the working machine according to the present embodiment, the camera 30 is installed on the boom 11 or the arm 12 of the working device 4. FIG. 1 shows an example of an installation location when the camera 30 is installed on the boom 11 as P1, and an example of an installation location when the camera 30 is installed on the arm 12 as P2. The camera 30 is installed, for example, on a surface facing downward of the boom 11 or the arm 12. By installing the camera 30 on the boom 11 or the arm 12, there is an advantage that an image closer to a specific location can be taken than when the camera 30 is installed on the cabin 5.

However, as described above, the boom 11 or the arm 12 is attached to the swing bracket 10 which is swingably attached to the machine body 2 about the vertical axis, and these themselves also rotate in the horizontal direction. Therefore, it is necessary to detect the actual horizontal rotation angle by adding the horizontal rotation angle of the boom 11 or the arm 12 to the turning angle of the machine body 2, and rotate the camera 30 in the horizontal direction so as to offset this. There is.

FIG. 9 is a block diagram showing a control system of the camera 30 of the photographing system of the working machine according to the present embodiment. As shown in FIG. 9, the horizontal rotation angle of the work device 4 is further input to the camera control device 35 from the device rotation angle detector (angle detection unit) 41. The device rotation angle detector 41 is attached to a fulcrum of the vertical axis center J2 of the swing bracket 10 (see FIG. 1). The camera control device 35 is a horizontal direction of the rotating portion with respect to the traveling device 3 from the turning angle detected by the turning angle detector 33 and the horizontal rotation angle of the working device 4 detected by the device rotation angle detector 41. Calculate the total rotation angle of. The camera control device 35 drives the support base 31 to rotate the camera 30 in the horizontal direction using the calculated total rotation angle as the total rotation angle of the rotating unit with respect to the traveling device 3.

Specifically, the camera control device 35 has a camera rotation control unit 35d instead of the camera rotation control unit 35a. The camera rotation control unit 35d determines the total horizontal rotation angle of the rotating unit (machine 2 and the working device 4) with respect to the traveling device 3 based on the input turning angle and the rotation angle (horizontal direction) of the working device 4. calculate. The camera rotation control unit 35d generates a command to rotate the camera 30 in the direction opposite to the rotation direction by an angle equivalent to the calculated total rotation angle, and outputs the command to the support base 31.

FIG. 10 is a flowchart showing a processing procedure of drive control of the support base 31 of the photographing system of the working machine according to the present embodiment. As shown in FIG. 10, in the present embodiment, S4-3 and S5-3 are executed instead of S4 and S5 in FIG. 4, and S10 is executed between S4-3 and S5-3. In S4-3, the camera control device 35 determines whether or not the turning angle is input from the turning angle detector 33 or the rotation angle of the working device 4 is input from the device rotation angle detector 41. If YES is determined in S4-3, the process proceeds to S10. In S10, the camera control device 35 calculates the total rotation angle of the rotating portion based on the turning angle and the rotation angle of the working device 4. In S5-3, the camera control device 35 rotates the camera 30 in the horizontal direction so as to cancel the total rotation angle calculated in S10. The processing of S4-3 to S6 is repeated in a short time unit or a small deviation amount unit.
Wear.

For example, if the work device 4 is further rotated 10 ° to the right while the machine body 2 is rotated 5 degrees to the right, the total rotation angle of the rotating portion is 15 ° to the right. In this case, the support base 31 rotates the camera 30 to the left by 15 °. As another example, when the work device 4 is rotated 10 ° to the left while the machine body 2 is rotated 5 ° to the right, the total rotation angle of the rotating portion is 5 ° to the left. In this case, the support base 31 rotates the camera 30 to the right by 5 °.

In the photographing system of the working machine according to the second and third embodiments, the first geomagnetic sensor 38 is installed in the camera 30. Since the orientation of the camera 30 detected by the first geomagnetic sensor 38 has already added the rotation angle of the working device 4 to the turning angle of the machine body 2, this cannot be done.

(Modification example)
FIG. 11 is an explanatory diagram showing the difference in the fulcrum of the horizontal rotation of the working devices 4 and 4'due to the difference in the type of the working machines 1 and 1'. In the case of the working machine 1 illustrated in FIG. 1, as shown by reference numeral 1000 in FIG. 11, the working device 4 rotates horizontally with the vertical axis center J2 of the swing bracket 10 in the front portion of the machine body 2 as a fulcrum. As the working machine, as shown by reference numeral 1001 in FIG. 11, the working device 4'is provided on the side of the central portion of the machine body 2, and the boom 11 is provided with an offset mechanism. There is also a type. In the case of the working machine 1', the boom 11 is divided into a first portion 11a'extending from the machine body 2 and a second portion 11b' connected to the arm 12. A joint component 43 instead of the swing bracket 10 is provided between the first portion 11a'and the second portion 11b', and the second portion 11b'with respect to the first portion 11a'with the vertical axis center J3 as a fulcrum. Rotate horizontally. In the working machine 1', the first portion 11a' and the arm 12 always face the front surface of the machine body 2. In such a working machine 1', the device rotation angle detector 41 is attached to the fulcrum of the vertical axis center J3 of the joint component 43.

[Embodiment 5]
Other embodiments of the present invention will be described below. For convenience of explanation, the same reference numerals are given to the members having the same functions as the members described in the above-described embodiment, and the description thereof will not be repeated.

In the above-described embodiments 1 to 4, the horizontal angle change of the camera 30 accompanying the turning of the machine body 2 or the angle change obtained by adding the horizontal rotation of the working device 4 to the turning of the machine body 2 is the changed direction. It is configured to cancel out by rotating by the angle changed in the opposite direction. As a result, the horizontal orientation of the camera 30 can be maintained by a method simpler than the method using the image recognition technique.

In the photographing system of the working machine in the present embodiment, a configuration in which the horizontal orientation of the camera 30 is maintained by a simple method and a designated object are detected by using an image recognition technique, and the object is adjusted to the vertical movement of the object. It is used in combination with a configuration in which the camera 30 is rotated in the vertical direction.

FIG. 12 is a block diagram showing a control system of the camera 30 of the photographing system of the working machine according to the present embodiment. As shown in FIG. 12, the camera control device 35 includes an image recognition unit 35f that performs image recognition processing. The camera control device 35 drives the support base 31 to perform the first control of rotating the camera 30 in the horizontal direction so as to cancel the turning angle detected by the turning angle detector 33. Further, the camera control device 35 detects an object in the image taken by the camera 30 by using the image recognition unit 35f, and drives the support base 31 when the object is in the field of view of the camera 30. According to the vertical movement of the object, for example, the camera so that the specified object comes to the center (or a predetermined position) of the field of view of the camera 30 in the vertical direction, or does not deviate vertically from the field of view of the camera 30. The second control for rotating 30 in the vertical direction is performed. As the designated moving object, for example, there is a work tool 13 in the work device 4. In the present embodiment, it is essential that the support base 31 can actively rotate the camera 30 in the vertical direction. Further, it is essential to detect the vertical angle of the camera 30 by the camera angle detector 32.

Specifically, the camera control device 35 has a camera rotation control unit 35e instead of the camera rotation control unit 35a. The camera rotation control unit 35e generates a command to rotate the camera 30 in the direction opposite to the turning direction by an angle equivalent to the turning angle based on the input turning angle, and outputs the command to the support base 31. Further, the camera rotation control unit 35e detects a designated object from the image taken by the camera 30 by using the image recognition unit 35f. The camera control device 35 drives the support base 31 to generate a command to rotate the camera 30 in the vertical direction according to the vertical movement of the detected object, and outputs the command to the support base 31.

The photographing system of the working machine according to the present embodiment has a predetermined object that moves in a designated vertical direction in addition to the first control of rotating the camera 30 in the horizontal direction so as to cancel the rotation angle of the rotating body such as the machine 2. The second control is performed to rotate the camera 30 in the vertical direction according to the movement of the camera 30.

FIG. 13 is a flowchart showing a processing procedure of drive control of the support base 31 of the photographing system of the working machine according to the present embodiment. As shown in FIG. 13, in this embodiment, S11 is executed between S5 and S6 in FIG. In S11, the camera control device 35 rotates the camera 30 in the vertical direction according to the vertical movement of the designated object based on the result of the image recognition processing of the image recognition unit 35f. The processing of S4 to S6 is repeated in a short time unit or a small deviation amount unit.

[Example of implementation by software]
The control block of the camera control device 35 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software. In the latter case, the camera control device 35 includes a computer that executes instructions of a program that is software that realizes each function. The computer includes, for example, one or more processors and a computer-readable recording medium that stores the program. Then, in the computer, the processor reads the program from the recording medium and executes the program, thereby achieving the object of the present invention. As the processor, for example, a CPU (Central Processing Unit) can be used. As the recording medium, a "non-temporary tangible medium", for example, a ROM (Read Only Memory) or the like, a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. Further, a RAM (Random Access Memory) for expanding the above program may be further provided. Further, the program may be supplied to the computer via any transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program. It should be noted that one aspect of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the above program is embodied by electronic transmission.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the embodiments obtained by appropriately combining the technical means disclosed in the different embodiments. Is also included in the technical scope of the present invention.

1 Working machine 2 Machine (rotating part)
3 Traveling device 4 Working device (rotating part)
5 Cabin 30 Camera 31 Support base 32 Camera angle detector (angle detector)
33 Turning angle detector 35 Camera control device 35a, 35b, 35c, 35d, 35e Camera rotation control unit 35f Image recognition unit 38 1st geomagnetic sensor 40 2nd geomagnetic sensor 41 Device rotation angle detector (angle detector)
43 Joint parts

Claims (6)

With the camera
A support base installed on a horizontally rotatable rotating portion provided on the upper side of the traveling device to rotatably support the camera, and a support base.
An angle detection unit that detects the horizontal rotation angle of the rotation unit,
A control unit that drives the support base and performs first control to rotate the camera in the direction opposite to the rotation direction of the rotation unit so as to cancel the rotation angle detected by the angle detection unit. A shooting system for working machines. The angle detector includes a geomagnetic sensor that moves integrally with the camera.
The working machine according to claim 1, wherein the control unit rotates the camera in a horizontal direction so that the direction detected by the geomagnetic sensor becomes a predetermined direction set according to a shooting location of the camera. Shooting system. The angle detector includes a first geomagnetic sensor that moves integrally with the camera.
Further, a second geomagnetic sensor that moves integrally with the traveling device, which is different from the first geomagnetic sensor, is provided.
The control unit so that the orientation detected by the first geomagnetic sensor and the orientation detected by the second geomagnetic sensor satisfy a predetermined relationship set according to the shooting location of the camera. The imaging system for a working machine according to claim 1, wherein the camera is rotated in the horizontal direction. The rotating portion includes a machine body provided on the upper side of the traveling device so as to be able to turn horizontally, and a working device provided on the machine body and at least a part of which rotates horizontally with respect to the machine body.
The support is installed on the work equipment and
The angle detection unit detects the turning angle of the machine and the device rotation angle which is the horizontal rotation angle of the work device with respect to the machine.
The control unit calculates the total horizontal rotation angle of the rotation unit from the rotation angle detected by the angle detection unit and the rotation angle of the device, and the calculated total rotation angle is used as the rotation angle of the camera. The photographing system for the working machine according to claim 1, wherein the machine is rotated in the horizontal direction. The support base rotatably supports the camera in the horizontal and vertical directions.
In addition to the first control, the control unit can execute a second control for rotating the camera in the vertical direction according to the movement of a predetermined object moving in the vertical direction.
The second control according to any one of claims 1 to 4, wherein the control unit detects the object with the camera and rotates the camera in the vertical direction according to the vertical movement of the object. Working machine photography system. A working machine equipped with the photographing system of the working machine according to any one of claims 1 to 5.

Images