JP6214976B2 - Construction machinery - Google Patents

Description

  The present invention relates to a construction machine equipped with a camera.

  There is known a construction machine monitor device that displays a camera image captured by a rear monitoring camera and a camera image captured by a right-side monitoring camera side by side on a display device (see, for example, Patent Document 1).

  This construction machine monitoring device is provided with two camera image orientations and relative directions so that a construction machine operator can intuitively understand the movement of a person passing through the respective imaging ranges of the rear monitoring camera and the right monitoring camera. Arrangement is decided.

JP 2009-113561 A

  However, the monitor device described in Patent Document 1 does not display which camera image relates to which camera. For this reason, the driver of the construction machine may not be able to recognize which direction the camera image is related.

  In particular, at a work site where excavation work by an excavator, loading work of earth and sand or gravel is performed, the excavator driver often looks at the ground below the driver's seat during the work. In such a work site, the periphery of the excavator is often the ground without the same feature in any direction, so that the camera image is displayed in a state including many ground images without the feature. There are many cases. For this reason, there is a possibility that the driver cannot identify the direction only by looking at the camera image.

  On the other hand, since the excavator is an excavating machine in which a turning operation is frequently performed, the driver needs to accurately determine in which direction the camera image is an image when viewing the camera image.

  In view of the above, it is desirable to provide a construction machine that allows a driver to more easily recognize which imaging device the captured image displayed on the display device relates to.

A construction machine according to an embodiment of the present invention includes a lower traveling body that performs a traveling operation, an upper revolving body that is rotatably mounted on the lower traveling body, a boom that is attached to the upper revolving body and is included in an attachment, An arm attached to the boom and included in the attachment, an internal combustion engine mounted on the upper swing body and controlled at a constant rotational speed, an imaging device mounted on the upper swing body, and the upper swing body A construction machine having a driver's cab mounted on the driver's cab and a display device installed in the driver's cab, wherein the display device has a captured image captured by the imaging device and the captured image captured by the captured image. is displayed and the orientation indicator icon representing the relative relationship between the direction and the attachment of the orientation of the upper revolving body of the imaging apparatus, the captured image, capturing a part of the body of the construction machine It includes body image, the orientation display icons that are displayed on the vehicle body image.

  By the above-described means, a construction machine is provided that allows the driver to more easily recognize which imaging device the captured image displayed on the display device relates to.

It is a side view of the shovel which concerns on the Example of this invention. It is a block diagram which shows the structural example of the drive system of the shovel shown in FIG. It is a side view of the upper revolving structure carrying a back surveillance camera. It is a top view of the upper revolving body carrying a back surveillance camera. It is a block diagram which shows an example of the connection of the controller of an shovel, and an image display apparatus. It is a figure which shows the structural example of the display screen displayed with an image display apparatus. It is a figure which shows the structural example of a direction display icon. It is a figure which shows another structural example of a display screen. It is a figure which shows another structural example of a direction display icon. It is a side view of the upper revolving body carrying a plurality of cameras. It is a top view of the upper revolving structure carrying a plurality of cameras. It is a block diagram which shows another example of the connection of the controller of an shovel, and an image display apparatus. It is a figure which shows another example of a structure of a display screen. It is a figure which shows another example of a structure of a direction display icon.

  FIG. 1 is a side view of an excavator according to an embodiment of the present invention. On the lower traveling body 1 that performs the traveling operation of the excavator, an upper revolving body 3 is rotatably mounted via a revolving mechanism 2. 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 is attached to the tip of the arm 5. The boom 4, arm 5, and bucket 6 constitute an attachment, and are hydraulically driven by the boom cylinder 7, arm cylinder 8, and bucket cylinder 9, respectively. The upper swing body 3 is provided with a cabin (operator's cab) 10 and is mounted with a power source such as an engine 11 that is an internal combustion engine. The cabin 10 is provided with a driver's seat, and the driver operates the shovel while sitting on the driver's seat.

  Further, regardless of the orientation of the upper swing body 3, the direction of the lower traveling body 1 is forward when the idler is disposed, and rearward when the traveling hydraulic motor is disposed. In FIG. 1, the idler 1Bx (for left) and the traveling hydraulic motor 1B (for left) are visible, but the idler 1Ax (for right) and the traveling hydraulic motor 1B (for left) are not visible. Therefore, when the driver tilts the traveling lever forward of the cabin 10, the lower traveling body 1 advances in the direction of the arrow AR1 regardless of which direction the attachment is directed.

  FIG. 2 is a block diagram showing a configuration example of the drive system of the shovel shown in FIG. In FIG. 2, the mechanical power system is indicated by a double line, the high-pressure hydraulic line is indicated by a thick solid line, the pilot line is indicated by a broken line, and the electric control system is indicated by a thin solid line.

  The drive system of the excavator is mounted on the upper swing body 3 and mainly includes an engine 11, a main pump 14, a pilot pump 15, a control valve 17, an operation device 26, a controller 30, and an engine control device (ECU) 74. The

  The engine 11 is a drive source for the excavator, and is, for example, a diesel engine that operates to maintain a predetermined rotational speed. The output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15.

  The main pump 14 is a hydraulic pump that supplies hydraulic oil to the control valve 17 via the high-pressure hydraulic line 16, and is, for example, a swash plate type variable displacement hydraulic pump. The pilot pump 15 is a hydraulic pump for supplying hydraulic oil to various hydraulic control devices via the pilot line 25, and is, for example, a fixed displacement hydraulic pump.

  The control valve 17 is a hydraulic control valve that controls a hydraulic system in the excavator. The control valve 17 is, for example, one or more of a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a traveling hydraulic motor 1A (for right), a traveling hydraulic motor 1B (for left), and a turning hydraulic motor 2A. The hydraulic oil supplied from the main pump 14 is selectively supplied to the engine. In the following description, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the traveling hydraulic motor 1A (for right), the traveling hydraulic motor 1B (for left), and the turning hydraulic motor 2A are collectively referred to as “hydraulic pressure”. It is called an “actuator”.

  The operating device 26 is a device used by the driver for operating the hydraulic actuator, and is disposed in the cabin 10. Further, the operating device 26 supplies the hydraulic oil supplied from the pilot pump 15 to the pilot ports of the flow rate control valves corresponding to the respective hydraulic actuators via the pilot line 25. The pressure of the hydraulic oil supplied to each pilot port is a pressure corresponding to the operation direction and the operation amount of the operation levers 26A to 26C corresponding to each of the hydraulic actuators. The operation lever 26C is a travel lever.

  The controller 30 is a control device for controlling the excavator, and includes, for example, a computer including a CPU, a RAM, a ROM, and the like. The CPU of the controller 30 reads out a program corresponding to the operation and function of the excavator from the ROM and loads the program into the RAM, thereby executing processing corresponding to each of the programs.

  The engine control device (ECU) 74 is a device that controls the engine 11. In the present embodiment, the ECU 74 collects various data indicating the state of the engine 11 and transmits the collected data to the controller 30. In FIG. 2, the ECU 74 and the controller 30 are configured separately, but the ECU 74 and the controller 30 may be configured integrally. For example, the ECU 74 may be integrated into the controller 30.

  In the excavator having the above-described configuration, the image display device is disposed in the vicinity of the driver's seat in order to assist the driver in driving the excavator. The driver can input information and commands to the shovel controller 30 using the input unit of the image display device. Further, by displaying the excavator driving status and control information on the image display unit of the image display device, information can be provided to the driver.

  FIG. 3 is a side view of the upper swing body 3 on which the imaging device 80 is mounted, and FIG. 4 is a plan view thereof. 3 and 4, the boom 4 is partially omitted for clarity of illustration. In FIG. 4, the periphery of the image display device 40 is shown transparently.

  The image display device 40 includes an image display unit 41 and an input unit 42. The image display device 40 is fixed to a frame (pillar) 10a of the cabin 10 in which the driver's seat 60 is provided.

  In general, the boom 4 is disposed on the right side when viewed from the driver seated in the driver's seat 60, and the driver drives the shovel while visually recognizing the arm 5 and the bucket 6 attached to the tip of the boom 4. There are many cases. The frame 10a in front of the right side of the cabin 10 is a part that obstructs the driver's field of view. In this embodiment, the image display device 40 is provided using this part. As a result, the image display device 40 is disposed in a portion that originally obstructed the field of view, so that the image display device 40 itself does not significantly disturb the driver's field of view. Depending on the width of the frame 10a, the image display device 40 may be configured such that the image display unit 41 is vertically long so that the entire image display device 40 falls within the width of the frame 10a.

  3 and 4 show a state in which the imaging device 80 is mounted on the cover 3a that covers the engine 11 and the like disposed on the upper swing body 3. 3 and 4 show that the imaging device 80 includes a rear monitoring camera 80B.

  FIG. 5 is a block diagram showing the connection between the shovel controller 30 and the image display device 40. In the present embodiment, the image display device 40 is connected to the controller 30 via a communication network such as a controller area network (CAN) or a local interconnect network (LIN). Note that the image display device 40 may be connected to the controller 30 via a dedicated line.

  The image display device 40 includes a conversion processing unit 40 a that generates an image to be displayed on the image display unit 41. In the present embodiment, the conversion processing unit 40 a generates a camera image as a captured image to be displayed on the image display unit 41 based on the output of the imaging device 80. Therefore, the imaging device 80 is connected to the image display device 40 through a dedicated line, for example.

  The conversion processing unit 40a converts data to be displayed on the image display unit 41 among data input to the image display device 40 into an image signal. Note that the data input to the image display device 40 includes, for example, image data output from the rear monitoring camera 80B.

  Further, the conversion processing unit 40 a generates an image to be displayed on the image display unit 41 based on the output of the controller 30. In the present embodiment, the conversion processing unit 40a converts data to be displayed on the image display unit 41 out of data input to the controller 30 into an image signal. The data input to the controller 30 includes, for example, data indicating the temperature of engine cooling water, data indicating the temperature of hydraulic oil, data indicating the remaining amount of fuel, and the like.

  Then, the conversion processing unit 40 a outputs the converted image signal to the image display unit 41 and displays a corresponding image on the image display unit 41.

  Note that the conversion processing unit 40a may be realized as a function of the controller 30 instead of a function of the image display device 40. In this case, the imaging device 80 is connected to the controller 30 instead of the image display device 40.

  The image display device 40 includes a switch panel 42 as the input unit 42. The switch panel 42 is a panel including various hardware switches. In this embodiment, the switch panel 42 includes a light switch 42a as a hardware button, a wiper switch 42b, a window washer switch 42c, and a menu switch 42d. The light switch 42 a is a switch for switching on / off of a light attached to the outside of the cabin 10. The wiper switch 42b is a switch for switching operation / stop of the wiper. Further, the window washer switch 42c is a switch for injecting window washer fluid. The menu switch 42d is a switch for calling a menu screen. The menu screen is a screen that allows the driver to set various parameters related to shovel control.

  Further, the image display device 40 operates by receiving power from the storage battery 70. The storage battery 70 is charged with electric power generated by the alternator 11a (generator) of the engine 11. The power of the storage battery 70 is also supplied to the electrical equipment 72 of the excavator other than the controller 30 and the image display device 40. Further, the starter 11 b of the engine 11 is driven by electric power from the storage battery 70 and starts the engine 11.

  The engine 11 is controlled by an engine control unit (ECU) 74. Various data indicating the state of the engine 11 (for example, data indicating the cooling water temperature (physical quantity) detected by the water temperature sensor 11c) is constantly transmitted from the ECU 74 to the controller 30. Therefore, the controller 30 can store this data in the temporary storage unit (memory) 30a and transmit it to the image display device 40 when necessary.

  Various data are supplied to the controller 30 as described below and stored in the temporary storage unit 30a of the controller 30.

  First, data indicating the swash plate angle is supplied to the controller 30 from the regulator 14 a of the main pump 14 which is a variable displacement hydraulic pump. Further, data indicating the discharge pressure of the main pump 14 is sent from the discharge pressure sensor 14b to the controller 30. These data (data representing physical quantities) are stored in the temporary storage unit 30a. An oil temperature sensor 14c is provided in a pipe line between the main pump 14 and a tank in which the hydraulic oil sucked by the main pump 14 is stored, and data representing the temperature of the hydraulic oil flowing through the pipe line. Is supplied to the controller 30 from the oil temperature sensor 14c.

  Further, data indicating the fuel storage amount is supplied to the controller 30 from the fuel storage amount detection unit 55 a in the fuel storage unit 55. In the present embodiment, data indicating the remaining amount of fuel is supplied to the controller 30 from a fuel remaining amount sensor 55a as a fuel storage amount detection unit in a fuel tank 55 as a fuel storage unit.

  Specifically, the fuel remaining amount sensor 55a includes a float that follows the liquid level, and a variable resistor (potentiometer) that converts the vertical fluctuation amount of the float into a resistance value. With this configuration, the fuel remaining amount sensor 55a can continuously display the remaining amount of fuel on the image display device 40. Note that the detection method of the fuel storage amount detection unit 55a can be appropriately selected according to the use environment and the like, and a detection method that can display the remaining fuel level in stages may be employed.

  Further, the pilot pressure sent to the control valve 17 when the operation levers 26 </ b> A to 26 </ b> C are operated is detected by the hydraulic pressure sensors 15 a and 15 b, and data indicating the detected pilot pressure is supplied to the controller 30. Note that the relationship between the tilting direction of the traveling lever 26C and the rotational direction of the traveling hydraulic motors 1A, 1B is determined separately from the direction of the upper swing body 3 relative to the lower traveling body 1.

  In this embodiment, as shown in FIG. 5, the shovel includes an engine speed adjustment dial 75 in the cabin 10. The engine speed adjustment dial 75 is a dial for adjusting the engine speed. In this embodiment, the engine speed can be switched in four stages. Further, data indicating the setting state of the engine speed is constantly transmitted from the engine speed adjustment dial 75 to the controller 30. Further, the engine speed adjustment dial 75 allows the engine speed to be switched in four stages of SP mode, H mode, A mode, and idling mode. FIG. 5 shows a state in which the H mode is selected with the engine speed adjustment dial 75.

  The SP mode is a rotation speed mode that is selected when priority is given to the amount of work, and uses the highest engine speed. The H mode is a rotation speed mode that is selected when both the work amount and the fuel consumption are desired, and uses the second highest engine speed. The A mode is a rotation speed mode that is selected when it is desired to operate the shovel with low noise while giving priority to fuel consumption, and uses the third highest engine speed. The idling mode is a rotation speed mode that is selected when the engine is desired to be in an idling state, and uses the lowest engine speed. The engine 11 is controlled at a constant rotation speed at the engine speed in the rotation speed mode set by the adjustment dial 75.

  Here, the display screen displayed on the image display unit 41 of the image display device 40 will be described with reference to FIG. FIG. 6 is a diagram illustrating a configuration example of the display screen.

  As shown in FIG. 6, the display screen 41V includes a date / time display area 41a, a travel mode display area 41b, an end attachment display area 41c, an engine control state display area 41e, an engine operating time display area 41f, a cooling water temperature display area 41g, and a fuel. It includes a remaining amount display area 41h, a rotation speed mode display area 41i, a hydraulic oil temperature display area 41k, a camera image display area 41m, an alarm display area 41p, and a direction display icon 41x.

  The date and time display area 41a is an area for displaying the current date and time as an image. In the embodiment shown in FIG. 6, digital display is adopted, the date is February 19, 2013, and the time is 23:59.

  The travel mode display area 41b is an area for displaying an image of the current travel mode. The traveling mode represents a set state of the traveling hydraulic motor using the variable displacement pump. Specifically, the traveling mode has a low speed mode and a high speed mode. The low-speed mode is displayed with a mark imitating “turtle”, and the high-speed mode is displayed with a mark imitating “兎”. In the embodiment shown in FIG. 6, a mark representing “turtle” is displayed, and the driver can recognize that the low speed mode is set.

  The end attachment display area 41c is an area for displaying an image representing the currently attached end attachment. End attachments attached to excavators include various end attachments such as buckets, rock drills, grapples, lifting magnets, and the like. The end attachment display area 41c displays, for example, marks that represent these end attachments. In the embodiment shown in FIG. 6, a mark that represents a rock drill is displayed.

  The engine control state display area 41e is an area for displaying an image of the control state of the engine 11. In the embodiment shown in FIG. 6, the driver can recognize that “automatic deceleration / automatic stop mode” is selected as the control state of the engine 11. The “automatic deceleration / automatic stop mode” means a control state in which the engine speed is automatically reduced and the engine 11 is automatically stopped according to the duration of the state where the engine load is low. In addition, the control state of the engine 11 includes “automatic deceleration mode”, “automatic stop mode”, “manual deceleration mode”, and the like.

  The engine operation time display area 41f is an area for displaying an image of the accumulated operation time of the engine 11. In the example shown in FIG. 6, a value using the unit “hr (hour)” is displayed.

  The cooling water temperature display area 41g is an area for displaying an image of the current temperature state of the engine cooling water. In the embodiment shown in FIG. 6, a bar graph representing the temperature state of the engine cooling water is displayed. The temperature of the engine coolant is based on data output from a water temperature sensor 11c attached to the engine 11.

  Specifically, the cooling water temperature display area 41g includes an abnormal range display 41g1, a caution range display 41g2, a normal range display 41g3, a segment display 41g4, and an icon display 41g5.

  The abnormal range display 41g1, the caution range display 41g2, and the normal range display 41g3 are displays for notifying the driver that the engine coolant temperature is in an abnormally high temperature state, a state requiring attention, and a normal state, respectively. The segment display 41g4 is a display for notifying the driver of the temperature level of the engine coolant. The icon display 41g5 is an icon such as a symbol figure indicating that the abnormal range display 41g1, the caution range display 41g2, the normal range display 41g3, and the segment display 41g4 are displays related to the engine coolant temperature. The icon display 41g5 may be character information indicating that the display is related to the temperature of the engine coolant.

  In the embodiment shown in FIG. 6, the segment display 41g4 is composed of eight segments whose lighting / extinguishing states are individually controlled, and the number of lighting segments increases as the cooling water temperature increases. In the embodiment of FIG. 6, four segments are lit. The segment display 41g4 forms a part (arc) of a predetermined circle, and is displayed so that the length of the arc expands and contracts according to the vertical movement of the engine coolant temperature. In the embodiment of FIG. 6, the temperature range represented by each segment is the same, but the temperature range may be changed for each segment.

  In the embodiment shown in FIG. 6, the abnormal range display 41g1, the caution range display 41g2, and the normal range display 41g3 are each arranged in a line along the expansion / contraction direction (circumferential direction of a predetermined circle) of the segment display 41g4. It is an arc shape and is displayed in red, yellow, and green. In the segment display 41g4, the first (lowest) to sixth segments belong to the normal range, the seventh segment belongs to the caution range, and the eighth (highest) segment belongs to the abnormal range.

  Note that the cooling water temperature display area 41g displays characters such as an abnormal level, a caution level, and a normal level, instead of displaying the abnormal range display 41g1, the caution range display 41g2, and the normal range display 41g3 as arcuate figures. It may be displayed at each boundary.

  The above-described configuration including the abnormal range display, the caution range display, the normal range display, the segment display, and the icon display is similarly employed in the remaining fuel amount display area 41h and the hydraulic oil temperature display area 41k. Further, in the remaining fuel amount display area 41h, instead of displaying arc-shaped figures representing the abnormal range, the caution range, and the normal range, the letter “F” or black circle (filled) indicating “Full (full tank state)” is displayed. (Circle)), the letter “E” representing “Empty (empty state)” or a white circle (unfilled circle) may be displayed at each boundary.

  The remaining fuel amount display area 41 h is an area for displaying an image of the remaining amount of fuel stored in the fuel tank 55. In the embodiment shown in FIG. 6, a bar graph representing the current remaining fuel level is displayed. The remaining amount of fuel is based on data output from the remaining fuel amount sensor 55a.

  The rotation speed mode display area 41i is an area for displaying an image of the current rotation speed mode. The rotation speed mode includes, for example, the above-described four modes: SP mode, H mode, A mode, and idling mode. In the embodiment shown in FIG. 6, the symbol “SP” representing the SP mode is displayed.

  The hydraulic oil temperature display area 41k is an area for displaying an image of the temperature state of the hydraulic oil in the hydraulic oil tank. In the embodiment shown in FIG. 6, a bar graph representing the temperature state of the hydraulic oil is displayed. The temperature of the hydraulic oil is based on data output from the oil temperature sensor 14c.

  In the cooling water temperature display area 41g, the remaining fuel amount display area 41h, and the hydraulic oil temperature display area 41k, needle display may be employed instead of bar graph display.

  The camera image display area 41m is an area for displaying a camera image. In this embodiment, the excavator includes an imaging device 80 (see FIGS. 3 to 5) for imaging a part other than the driver's field of view. Specifically, the imaging device 80 includes a rear monitoring camera 80B (see FIGS. 3 and 4) that captures a direction (backward) opposite to the direction in which the attachment is facing. Then, the imaging device 80 sends the captured camera image to the conversion processing unit 40a of the image display device 40. Accordingly, the driver can visually recognize the camera image captured by the imaging device 80 on the image display unit 41 of the image display device 40.

  In this embodiment, the camera image display area 41m displays a camera image (hereinafter referred to as “rear camera image”) captured by the rear monitoring camera 80B while the excavator is operating. The rear camera image is preferably displayed as a mirror image.

  Further, the relationship between the orientation of the imaging device 80 that captured the captured image and the orientation of the attachment of the upper swing body 3 is separated from the relationship between the tilting direction of the traveling lever 26C and the traveling direction of the lower traveling body 1. . For this reason, even if the image displayed in the camera image display area 41m is a rear camera image, an image in front of the lower traveling body 1 may be displayed.

  In the present embodiment, the camera image display area 41m occupies an area of about two-thirds on the right side of the display screen 41V. In an environment in which the image display device 40 is installed in front of the right side of the driver's seat, the fuel remaining amount display area 41h and the like are displayed on the side close to the driver's seat (driver), and the camera image is on the side far from the driver's seat (driver). This is because the display area 41m is displayed to improve the overall visibility. However, the size and arrangement of each display area on the display screen 41V may be changed as necessary.

  The alarm display area 41p is an area for displaying an alarm. In the embodiment shown in FIG. 6, a warning message indicating that an electric system abnormality has occurred is displayed superimposed on the camera image. Further, in the present embodiment, an alarm is displayed in the alarm display area 41p when the lever operation is performed without the camera image captured by the rear monitoring camera 80B being displayed in the camera image display area 41m. Is done. In the alarm display area 41p, when there is no alarm to be displayed, a camera image is displayed.

  The orientation display icon 41x is an icon that represents a relative relationship between the orientation of the imaging device that captured the captured image displayed on the display screen and the orientation of the excavator (attachment of the upper swing body 3). In the embodiment shown in FIG. 6, a direction display icon 41x indicating that the camera that captured the camera image displayed in the camera image display area 41m is the rear monitoring camera 80B is displayed in the lower right corner of the camera image display area 41m. Yes. The orientation display icon 41x may be displayed at a position other than the lower right corner, such as the lower center, lower left corner, upper right corner, upper left corner, etc. of the camera image display area 41m, and is displayed outside the camera image display area 41m. Also good.

  Here, the details of the orientation display icon 41x will be described with reference to FIG. FIG. 7 is a diagram illustrating a configuration example of the orientation display icon 41x, and the left diagram of FIG. 7 illustrates the orientation display icon 41x when the camera image of the rear monitoring camera 80B is displayed in the camera image display area 41m. 7 shows a camera image display of a camera image of the right side monitoring camera in an embodiment in which a right side monitoring camera (not shown) is installed at the upper right edge of the cover 3a of the upper swing body 3. An orientation display icon 41x when displayed in the area 41m is shown. 7 shows a camera image of the left-side monitoring camera in an embodiment in which a left-side monitoring camera (not shown) is installed on the upper left edge of the cover 3a of the upper swing body 3. An orientation display icon 41x when displayed in the area 41m is shown.

  The orientation display icon 41x includes a construction machine icon portion 41xM representing the shape of the construction machine, and an imaging device icon portion 41xS representing the orientation of the imaging device 80 that captured the displayed captured image. In the embodiment shown in FIG. 6, the orientation display icon 41x captures a shovel icon portion 41xM representing the shape of the top view of the shovel (the upper swing body 3 including the attachment) and a camera image displayed in the camera image display area 41m. Camera icon portion 41xS representing the direction of the rear monitoring camera 80B. Specifically, the camera icon portion 41xS includes a fan-shaped imaging range icon portion 41xB representing the imaging range of the rear monitoring camera 80B.

  As shown in FIG. 7, in the orientation display icon 41x, the orientation of the excavator icon portion 41xM is fixed, and the orientation of the camera icon portion 41xS is variable. Therefore, as shown in the center diagram of FIG. 7, when the camera image of the right side monitoring camera is displayed in the camera image display area 41m, the imaging range icon part 41xR representing the imaging range of the right side monitoring camera is the excavator icon part 41xM. Displayed on the right side. Further, as shown in the right diagram of FIG. 7, when the camera image of the left side monitoring camera is displayed in the camera image display area 41m, the imaging range icon part 41xL representing the imaging range of the left side monitoring camera is the excavator icon part 41xM. Displayed on the left side.

  In the present embodiment, the display position of the camera icon portion 41xS with respect to the excavator icon portion 41xM is determined regardless of the actual turning angle between the lower traveling body 1 and the upper turning body 3. Specifically, when the camera image of the right-side monitoring camera is displayed in the camera image display area 41m, for example, the right-side monitoring camera regardless of the turning angle of 0 °, 90 °, 180 °, 270 °, etc. The imaging range icon portion 41xR representing the imaging range is displayed on the right side of the excavator icon portion 41xM facing upward on the screen. More specifically, the excavator moves forward when the traveling lever 26C is tilted forward (when the turning angle is 0 °), and the shovel moves backward when the traveling lever 26C is tilted forward. In any case (when the turning angle is 180 °), the imaging range icon portion 41xR is displayed on the right side of the excavator icon portion 41xM facing the top of the screen. That is, the relative relationship between the orientation of the imaging device that captured the captured image displayed on the display screen and the orientation of the excavator is determined regardless of the traveling direction of the lower traveling body 1.

  Further, the display screen 41V may omit a part of the display areas 41a to 41k described above, and may include display areas other than those described above. For example, the display screen 41V may include an exhaust gas filter state display area that displays a clogging degree of an exhaust gas filter (for example, a diesel particulate filter (Diesel Particulate Filter (DPF))). Specifically, the exhaust gas filter state display area may display a bar graph indicating the ratio of the current usage time to the allowable maximum usage time of the exhaust gas filter. Moreover, the display screen 41V may omit the display of the temperature state of the hydraulic oil, and may omit the display of the temperature state of the hydraulic oil and the temperature state of the cooling water.

  Further, the lower part of the camera image display area 41m includes a cover image 41q as a vehicle body image that is an image of the upper edge of the rear end of the cover 3a of the upper swing body 3. Thereby, the image display device 40 allows the driver to more easily grasp the sense of distance between the object displayed in the camera image display area 41m and the shovel. In the present embodiment, the orientation display icon 41x is displayed in a superimposed manner on the cover image 41q. This is because the orientation color of the direction display icon 41x is always the same so as to improve the visibility. Another reason is to prevent the display icon 41x from hiding the portion of the camera image that the user wants to see. However, the direction display icon 41x may be displayed outside the camera image display area 41m.

  Next, another configuration example of the display screen displayed on the image display unit 41 of the image display device 40 will be described with reference to FIG. FIG. 8 is a diagram showing the display screen 41VA. Further, the display screen 41VA in FIG. 8 corresponds to the display screen 41V in FIG. Therefore, the reference numerals representing the components of the display screen 41VA in FIG. 8 are represented by adding “A” to the end of the reference numerals representing the corresponding components in the display screen 41V in FIG.

  As shown in FIG. 8, the display screen 41VA is different from the display screen 41V of FIG. 6 in that the orientation display icon 41xA is adopted instead of the orientation display icon 41x.

  Specifically, in the orientation display icon 41xA, the orientation of the camera icon portion 41xAS is fixed, the orientation of the excavator icon portion 41xAM is variable, and the orientation of the excavator icon portion 41xM is fixed, and the orientation of the camera icon portion 41xS is changed. Different from the orientation display icon 41x whose orientation is variable.

  Here, the details of the orientation display icon 41xA will be described with reference to FIG. FIG. 9 is a diagram illustrating a configuration example of the orientation display icon 41xA, and the left diagram in FIG. 9 illustrates the orientation display icon 41xA when the camera image of the rear monitoring camera 80B is displayed in the camera image display area 41mA. 9 shows a camera image display of a camera image of the right side monitoring camera in an embodiment in which a right side monitoring camera (not shown) is installed on the upper right edge of the cover 3a of the upper swing body 3. An orientation display icon 41xA for displaying in the area 41mA is shown. 9 shows a camera image of the left-side monitoring camera in an embodiment in which a left-side monitoring camera (not shown) is installed on the upper left edge of the cover 3a of the upper swing body 3. An orientation display icon 41xA for displaying in the area 41mA is shown.

  Similar to the orientation display icon 41x, the orientation display icon 41xA includes a construction machine icon portion 41xAM that represents the shape of the construction machine, and an imaging device icon portion 41xAS that represents the orientation of the imaging device 80 that captured the displayed captured image. In the embodiment shown in FIG. 8, the orientation display icon 41xA represents the orientation of the excavator icon portion 41xAM representing the shape of the top view of the excavator and the rear monitoring camera 80B that has captured the camera image displayed in the camera image display area 41mA. And a camera icon portion 41xAS. Specifically, the camera icon portion 41xAS includes an imaging range icon portion 41xAB that represents the imaging range of the rear monitoring camera 80B.

  Also, as shown in FIG. 9, in the orientation display icon 41xA, the orientation of the excavator icon portion 41xAM is variable, and the orientation of the camera icon portion 41xAS is fixed. Therefore, as shown in the center diagram of FIG. 9, when the camera image of the right side monitoring camera is displayed in the camera image display area 41mA, the excavator icon portion 41xAM is an imaging range icon portion 41xAR representing the imaging range of the right side monitoring camera. It is displayed facing left at the bottom. As shown in the right diagram of FIG. 9, when the camera image of the left side monitoring camera is displayed in the camera image display area 41mA, the excavator icon portion 41xAM is an imaging range icon portion 41xAL representing the imaging range of the left side monitoring camera. Displayed to face right below.

  In addition, the display screen 41VA is not a bar graph display that expands and contracts stepwise in the cooling water temperature display region 41gA, the fuel remaining amount display region 41hA, and the hydraulic oil temperature display region 41kA, but a bar graph that expands and contracts substantially steplessly. It is different from the display screen 41V of FIG. 6 in that the display is adopted.

  Specifically, the display screen 41VA is not a bar graph display composed of a relatively small number of segments of about 8 levels, as employed in the display screen 41V of FIG. Adopt bar graph display consisting of stages. However, the display screen 41VA may employ a bar graph display configured with a relatively small number of segments of about eight stages, as employed in the display screen 41V of FIG.

  Next, a configuration example of a display screen displayed on the image display unit 41 of the image display device 40 when a plurality of imaging devices are mounted on the upper swing body 3 will be described with reference to FIGS.

  FIG. 10 is a side view of the upper swing body 3 on which the plurality of imaging devices 80 are mounted, and corresponds to FIG. 11 is a plan view of the upper swing body 3 shown in FIG. 10, and corresponds to FIG. 10 and 11, the illustration of the boom 4 is partially omitted for clarity of illustration. Further, in FIG. 11, the periphery of the image display device 40 is shown transparently. FIG. 12 is a block diagram showing the connection between the shovel controller 30 and the image display device 40, and corresponds to FIG.

The upper revolving unit 3 shown in FIGS. 10 and 11 is mainly mounted with an imaging device 80 including a rear monitoring camera 80B, a left side monitoring camera 80L, a right side monitoring camera 80R, and a right front monitoring camera 80F. This is different from the configuration shown in FIGS. 3 and 4 in which the imaging device 80 configured only by the rear monitoring camera 80B is mounted, but is otherwise common. The rear monitoring camera 80B, the left side monitoring camera 80L, and the right side monitoring camera 80R are disposed on the same plane that forms the shape of the cover 3a of the upper swing body 3.
Further, the image display device 40 shown in FIG. 12 is mainly connected to the rear panel monitoring camera 80B, the left side monitoring camera 80L, the right side monitoring camera 80R, and the right front monitoring camera 80F, and the switch panel 42. Although it differs from the image display apparatus 40 shown in FIG. 5 in that the camera image changeover switch 42e is included, it is common in other points. Therefore, the differences will be described in detail while omitting the description of the common points.

  In the present embodiment, the image display device 40 always displays the rear camera image captured by the rear monitoring camera 80B while the excavator is operating. In addition, the image display device 40 has a camera image captured by any one of the left side monitoring camera 80L, the right side monitoring camera 80R, and the right front monitoring camera 80F (hereinafter referred to as “left side camera image”, “right side”). ”Direction camera image” or “right front camera image”).

  The camera image switching switch 42e is a switch for switching the camera image to be displayed on the image display unit 41. For example, the image display device 40 switches the camera image displayed on the image display unit 41 every time the camera image switching switch 42e is pressed. Specifically, the image display device 40 displays a rear camera image and a right camera image, displays a rear camera image and a left camera image, and displays a rear camera image and a right front camera image. Switch to etc. In addition, the image display device 40 displays a state in which the rear camera image and the right side camera image are displayed in any one of the rear camera image, the right side camera image, the left side camera image, and the right front camera image. May be switched to a state of displaying, or may be switched to a state of displaying three or more of the camera images.

  Next, a display screen displayed on the image display unit 41 of the image display device 40 when a plurality of imaging devices are mounted on the upper swing body 3 will be described with reference to FIG. 13 is a diagram illustrating a configuration example of a display screen displayed on the image display unit 41, and the display screen 41VC in FIG. 13 corresponds to the display screen 41V in FIG. For this reason, the reference numerals representing the components of the display screen 41VC in FIG. 13 are represented by adding “C” to the end of the reference numerals representing the corresponding components in the display screen 41V in FIG.

  As shown in FIG. 13, the display screen 41VC is different from the display screen 41V of FIG. 6 in that a camera image display area 41mC1 is arranged on the left half and a camera image display area 41mC2 is arranged on the right half.

  The camera image display area 41mC1 always displays a rear camera image captured by the rear monitoring camera 80B while the excavator is operating. Further, the camera image display area 41mC2 always displays a camera image captured by any of the left side monitoring camera 80L, the right side monitoring camera 80R, or the right front monitoring camera 80F while the excavator is operating. In the embodiment shown in FIG. 13, the camera image display area 41mC1 displays a rear camera image, and the camera image display area 41mC2 displays a right-side camera image.

  The display screen 41VC may display camera images captured by each of the three or more cameras. In this case, the display screen 41VC displays the left camera image in the left third, the rear camera image in the middle third, and the right camera image in the right third. May be. Further, the display screen 41VC may display a composite image such as a viewpoint conversion image or a bird's-eye image generated by combining a plurality of camera images captured by each of the plurality of cameras.

  Further, the display screen 41VC has other display areas 41aC to 41iC arranged at the upper edge portion thereof, and the segment display in the cooling water temperature display area 41gC and the remaining fuel amount display area 41hC expands and contracts along the horizontal direction of the figure. To place. In the display screen 41VC, the engine operating time display area and the hydraulic oil temperature display area are omitted.

  In the embodiment shown in FIG. 13, the cover image 41qC1, which is an image of the upper edge of the rear end of the cover 3a of the upper swing body 3, and the cover 3a of the upper swing body 3 are displayed below the camera image display areas 41mC1, 41mC2. A cover image 41qC2 that is an image of the upper right edge is included. Accordingly, the image display device 40 allows the driver to more easily grasp the sense of distance between the object displayed on the camera image display areas 41mC1 and 41mC2 and the shovel. The same applies when the camera image captured by the left side monitoring camera 80L or the right front monitoring camera 80F is displayed in the camera image display area. Specifically, when the left-side camera image is displayed in the camera image display area, the lower part of the camera image display area includes a cover image that is an image of the upper left edge of the cover 3a of the upper swing body 3. When the right front camera image is displayed in the camera image display area, the lower edge of the camera image display area is an image of the upper edge of the front end of step 3b (see FIGS. 10 and 11) of the upper swing body 3. A step image as a vehicle image is included. Step 3b is a part of the vehicle body that is used as a platform when the driver or the like climbs the upper swing body 3.

  In the embodiment shown in FIG. 13, the orientation display icon 41xC1 is displayed in the lower left corner of the camera image display area 41mC1, and the orientation display icon 41xC2 is displayed in the lower right corner of the camera image display area 41mC2. This is to convey the relative relationship between the orientation of the camera that captures each of the two camera images displayed on the display screen 41VC and the orientation of the excavator in an easy-to-understand manner.

  In addition, the orientation display icons 41xC1 and 41xC2 are displayed in a superimposed manner on the cover images 41qC1 and 41qC2. This is because the orientation colors of the orientation display icons 41xC1 and 41xC2 are always the same so as to improve the visibility. Another reason is to prevent the display icon 41x from hiding the portion of the camera image that the user wants to see. However, the orientation display icon 41xC1 may be displayed at a position other than the lower left corner, such as the lower right corner, the lower center, the upper left corner, and the upper right corner of the camera image display area 41mC1, and is displayed outside the camera image display area 41mC1. Also good. The same applies to the direction display icon 41xC2.

  With the above configuration, the image display device 40 mounted on the excavator according to the above-described embodiment displays which orientation display icon, thereby driving which camera the camera image displayed on the display screen relates to. Can be easily recognized by a person.

  Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, the orientation display icon includes an excavator icon portion representing the shape of the top view of the excavator and an imaging range icon portion representing the imaging range of the camera that captured the camera image displayed in the camera image display area. Including a camera icon part. However, the present invention is not limited to this configuration.

  FIG. 14 is a diagram illustrating another configuration example of the orientation display icon. Specifically, the left diagram of FIG. 14 shows an orientation display icon 41x including a rectangular camera icon portion 41xS representing the orientation and attachment position of the right side monitoring camera 80R that has captured the camera image displayed in the camera image display area. . 14 shows a direction display icon 41x including a circular imaging range icon 41xF representing the imaging range of the right front monitoring camera 80F that has captured the camera image displayed in the camera image display area. The right diagram in FIG. 14 shows a camera icon portion having an arrow shape indicating the orientation and attachment position of the front-end camera that captured the camera image displayed in the camera image display area, and a camera image not displayed in the camera image display area. An orientation display icon 41x including the orientation of the remaining seven cameras that have been imaged and arrow-shaped camera icon portions representing attachment positions is shown. The tip camera is a camera attached to the tip of the attachment.

  As described above, the camera icon portion may include an icon portion indicating the orientation and attachment position of the camera, but not an imaging range icon, as illustrated in the left diagram of FIG. 14 and the right diagram of FIG. 14. .

  Moreover, the shape of the shovel represented by the shovel icon portion may be a shape other than the shape of the top view, such as the shape of a front view, a side view, or a slope view. In addition, the shape of the shovel represented by the shovel icon portion may be any as long as the rough shape of the shovel can be understood.

  In addition, the orientation display icon typically does not include the camera icon portion or the imaging range icon portion corresponding to the camera that captured the camera image that is not displayed in the camera image display area, but includes them. Also good. In this case, a camera icon portion or an imaging range icon portion corresponding to a camera that has captured a camera image displayed in the camera image display area, and a camera icon corresponding to a camera that has captured a camera image not displayed in the camera image display area The part or the imaging range icon part is displayed in a distinguishable manner as shown in the right diagram of FIG.

  In the above-described embodiment, the excavator icon portion and the camera icon portion (imaging range icon portion) are expressed by a combination of different colors. However, if the driver can easily see, the same color is used. Also good. Further, part or all of the direction display icons may be displayed in a blinking manner.

  Further, in the above-described embodiment, the image display device 40 employs the horizontally long image display unit 41, but the vertically long image display unit 41 may be employed.

  In the embodiment of FIG. 13, the image display device 40 displays the camera image of the rear monitoring camera 80B on the left side of the horizontally long display screen 41VC, and displays the camera image of the right side monitoring camera 80R on the right side thereof. . However, the present invention is not limited to this configuration. For example, the image display device 40 displays only the camera image of any one camera (for example, the rear monitoring camera 80B) over the entire camera image display area including the two camera image display areas 41mC1 and 41mC2. May be. Even in this case, the image display device 40 may display an image of the remaining amount of fuel on the upper side of the display screen 41VC, and may display a camera image captured by the rear monitoring camera 80B on the lower side of the display screen 41VC. . Further, in this case, the image display device 40 may improve the segment display visibility in the cooling water temperature display region 41gC and the remaining fuel amount display region 41hC by using a vertically long display screen.

  In the above-described embodiment, the image display device 40 is installed in the excavator cabin 10, but other construction machines such as an aerial work machine equipped with a crusher and a lifting magnet machine equipped with an elevator cab. May be installed in the driver's cab. When installed in the cab of an aerial work machine, the image display device 40 may display a camera image captured by a camera attached to the front end of the attachment. Moreover, when installing in the cab of the lifting magnet machine provided with the elevator cab, the image display device 40 may display a camera image captured by a camera attached downward at the lower part of the elevator cab.

  DESCRIPTION OF SYMBOLS 1 ... Lower traveling body 1A, 1B ... Traveling hydraulic motor 1Ax, 1Bx ... Idler 2 ... Turning mechanism 2A ... Turning hydraulic motor 3 ... Upper turning body 3a ... Cover 3b ... Step 4 ... Boom 5 ... Arm 6 ... Bucket 7 ... Boom cylinder 8 ... Arm cylinder 9 ... Bucket cylinder 10 ... Cabin 10a ... Frame 11. -Engine 14 ... Main pump 14a ... Regulator 14b ... Discharge pressure sensor 14c ... Oil temperature sensor 15 ... Pilot pump 16 ... High pressure hydraulic line 17 ... Control valve 25 ...・ Pilot line 26 ・ ・ ・ Operating device 26A 、 26B ・ ・ ・ Operating lever 26C ・ ・ ・ Driving lever 30 ・ ・ ・ Control La 30a ... Temporary storage unit 40 ... Image display device 40a ... Conversion processing unit 41 ... Image display unit 41V, 41VA, 41VB, 41VC ... Display screen 41a ... Date / time display area 41b ..Running mode display area 41c ... End attachment display area 41e ... Engine control state display area 41f ... Engine operating time display area 41g ... Cooling water temperature display area 41h ... Remaining fuel display area 41i ... rotational speed mode display area 41k ... hydraulic oil temperature display area 41m ... camera image display area 41p ... alarm display area 41q, 41qC1, 41qC2 ... cover image 41x, 41xA, 41xC1, 41xC2, ..Direction display icons 41xM, 41xAM ... Construction machine icon part (shobe Icon part) 41xS (41xB, 41xR, 41xL), 41xAS (41xAB, 41xAR, 41xAL) ... Imaging device icon part (camera icon part) 42 ... Input part, switch panel 42a ... Light switch 42b ... -Wiper switch 42c ... Window washer switch 42d ... Menu switch 42e ... Camera image changeover switch 55 ... Fuel storage unit, fuel tank 55a ... Fuel storage amount detection unit, Fuel level sensor 60 ..Driver seat 70 ... Storage battery 72 ... Electrical component 74 ... Engine control unit (ECU) 75 ... Engine speed adjustment dial 80 ... Imaging device 80B ... Rear monitoring camera 80L ...・ Left side camera 80R ... Right side camera

Claims (12)

A lower traveling body that performs traveling operation;
An upper swing body that is rotatably mounted on the lower traveling body;
A boom attached to the upper swing body and included in the attachment;
An arm attached to the boom and included in the attachment;
An internal combustion engine mounted on the upper swing body and controlled at a constant rotational speed;
An imaging device mounted on the upper swing body;
A cab mounted on the upper swing body;
A construction machine having a display device installed in the cab,
Wherein the display device includes a captured image in which the imaging device takes an image, the direction display icons representing the relative relationship between the direction and front Kia Attachment orientation of the captured image the imaging apparatus of the captured is displayed,
The captured image includes a vehicle body image obtained by capturing a part of the vehicle body of the construction machine,
The orientation display icons that are displayed on the vehicle body image,
Construction machinery. A lower traveling body that performs traveling operation;
An upper swing body that is rotatably mounted on the lower traveling body;
A boom attached to the upper swing body and included in the attachment;
An arm attached to the boom and included in the attachment;
An internal combustion engine mounted on the upper swing body and controlled at a constant rotational speed;
An imaging device mounted on the upper swing body;
A cab mounted on the upper swing body;
A construction machine having a display device installed in the cab,
The display device displays a captured image captured by the imaging device, a direction display icon representing a relative relationship between the orientation of the imaging device that captured the captured image and the orientation of the attachment , and that is displayed simultaneously with the operation state information of the device provided in the construction machine is the captured image,
Construction machinery. A lower traveling body that performs traveling operation;
An upper swing body that is rotatably mounted on the lower traveling body;
A boom attached to the upper swing body and included in the attachment;
An arm attached to the boom and included in the attachment;
An internal combustion engine mounted on the upper swing body and controlled at a constant rotational speed;
An imaging device mounted on the upper swing body;
A cab mounted on the upper swing body;
A construction machine having a display device installed in the cab,
The display device displays a captured image captured by the imaging device, a direction display icon representing a relative relationship between the orientation of the imaging device that captured the captured image and the orientation of the attachment , and setting information the operator has set for the construction machine that is displayed simultaneously together with the captured image,
Construction machinery. A traveling lever is disposed in the cab,
The traveling direction of the lower traveling body is determined according to the tilting direction of the traveling lever,
The relative relationship between the direction and front Kia Attachment orientation of the captured image the imaging apparatus of the captured is determined separately from the relationship between the traveling direction of the lower traveling body and the tilting direction of the traveling lever ,
The construction machine according to any one of claims 1 to 3 . The orientation display icon includes a construction machine icon portion that represents the shape of the construction machine, and an imaging device icon portion that represents the orientation of the imaging device that captured the displayed captured image,
Even if the captured image is changed, the direction of the construction machine icon part is fixed to the same direction, and the direction of the imaging device icon part is changed.
The construction machine according to any one of claims 1 to 4 . The orientation display icon includes a construction machine icon portion that represents the shape of the construction machine, and an imaging device icon portion that represents the orientation of the imaging device that captured the displayed captured image,
Even if the captured image is changed, the orientation of the imaging device icon portion is fixed to the same orientation, and the orientation of the construction machine icon portion is changed.
The construction machine according to any one of claims 1 to 4 . The orientation display icon is displayed on the front Symbol IMAGING image,
The construction machine according to any one of claims 1 to 6 . The imaging device is composed of a plurality of imaging devices,
The display device displays a captured image captured by each of at least two of the plurality of imaging devices and the orientation display icon corresponding to each captured image.
The construction machine according to any one of claims 1 to 7 . The captured image displayed on the display device includes a camera image captured by a rear monitoring camera.
The construction machine according to claim 8 . The plurality of imaging devices include a left side monitoring camera, a right side monitoring camera, and a rear monitoring camera.
The construction machine according to claim 8 or 9 . The plurality of imaging devices further includes a right front monitoring camera,
The construction machine according to claim 10 . The display device displays an alarm superimposed on the captured image when an abnormality occurs during operation of the construction machine.
The construction machine according to any one of claims 1 to 11 .

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