JP7422650B2 - construction machinery - Google Patents

Description

The present invention relates to construction machinery.

The hydraulic excavator for crane work described in Patent Document 1 includes a lower traveling body, an upper rotating body attached to the upper part of the lower traveling body, a working machine connected to the upper rotating body, and a monitor device. A hook is attached to the tip of the working machine. A hydraulic excavator that can also be used for crane work is capable of crane work. Parameters related to the load factor and the like are displayed on the monitor device. The parameters include actual load, rated load, lifting height (working height), working radius, rated load loading rate, etc.

Japanese Patent Application Publication No. 2003-13471

However, while the crane-working hydraulic excavator of Patent Document 1 performs crane work, the monitor device does not display an image showing the surrounding environment of the crane-working hydraulic excavator together with the parameters related to the load factor. Therefore, the worker operating the hydraulic excavator for crane work cannot check the surrounding environment of the hydraulic excavator for crane work using the monitor device.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a construction machine that can improve the safety of crane work using the construction machine.

According to one aspect of the present invention, a construction machine has a crane mode in which a crane operation for suspending an object is executed, and an excavation mode in which an excavation operation is executed. The construction machine includes a hook, an imaging section, a display section, and a control section. A hook suspends the object in the crane mode. The imaging unit images the surrounding environment of the construction machine. In the crane mode, the control unit controls the display unit to display work information regarding the crane work together with the captured image of the imaging unit.

According to the present invention, the safety of crane work using construction machinery can be improved.

1 is a side view showing an excavator according to Embodiment 1 of the present invention. FIG. 2 is a perspective view showing the cockpit of the excavator according to the first embodiment. 1 is a block diagram showing an excavator according to a first embodiment. FIG. (a) is a diagram showing the operating device according to the first embodiment. (b) is a diagram showing the operating device when a captured image is displayed in excavation mode. (a) is a diagram showing the operating device in crane mode. (b) is a diagram showing the operating device when the switch of the operating device shown in FIG. 5(a) is pressed. It is a figure which shows the operating device when the switch of the operating device shown in FIG.5(b) is pressed down. (a) is a diagram showing the operating device when the switch of the operating device is pressed in excavation mode. (b) is a diagram showing the operating device shown in FIG. 4(a) when the shovel is switched to crane mode. 3 is a transition diagram showing a display control method executed in the excavator 1 according to the first embodiment. FIG. It is a figure which shows the operating device when the switch of the operating device based on Embodiment 2 of this invention is pressed down in crane mode.

Embodiments of the present invention will be described below with reference to the drawings. However, the present invention is not limited to the following embodiments. Note that the description may be omitted as appropriate for parts where the description overlaps. Further, in the figures, the same or corresponding parts are given the same reference numerals and the description will not be repeated.

(Embodiment 1)
First, with reference to FIG. 1, a shovel 1 according to a first embodiment of the present invention will be described. FIG. 1 is a side view showing a shovel 1 according to the first embodiment. The shovel 1 is an example of a construction machine. Specifically, the shovel 1 is, for example, a hydraulic shovel. As shown in FIG. 1, the excavator 1 of the first embodiment includes a revolving body 2, a traveling body 7, and a working part 8.

The revolving body 2 is supported by a traveling body 7. Specifically, the rotating body 2 is disposed on top of the traveling body 7 via a rotating bearing, for example. The revolving body 2 is rotatably supported by the traveling body 7.

The revolving body 2 includes a hood 21 and a cockpit 6. The bonnet 21 covers the engine 71 of the excavator 1. The engine 71 will be described later. The hood 21 is located at the rear of the revolving body 2, for example. Specifically, the bonnet 21 is arranged on the opposite side of the operating section 8 with respect to the cockpit 6. The cockpit 6 will be described later.

Further, the rotating body 2 includes at least one imaging section 20. In the first embodiment, the rotating body 2 includes one imaging section 20. The imaging unit 20 images the surrounding environment of the excavator 1 and generates a captured image CG (video). The imaging unit 20 is, for example, a camera. In the first embodiment, the imaging unit 20 is mounted on the rotating body 2, for example. Specifically, the imaging unit 20 is attached to the hood 21, for example. That is, in the first embodiment, the imaging unit 20 images the rear of the cockpit 6, for example. Note that if the cockpit 6 has been subjected to anti-shake processing, the anti-shake processing for the imaging unit 20 may be omitted. The cockpit 6 is supported, for example, by a frame (turning frame) of the revolving body 2 via anti-vibration rubber.

The work unit 8 executes work. In the first embodiment, the working unit 8 includes a boom 3, an arm 4, a bucket 5, a hook 9, and an actuator 100. Actuator 100 is driven by hydraulic oil. The actuator 100 includes, for example, a boom actuator 30, an arm actuator 40, and an attachment actuator 50.

The boom 3 is supported by the revolving body 2 so as to be swingable about a first rotational support R1.

The boom actuator 30 operates the boom 3. Specifically, the boom actuator 30 is driven by hydraulic oil and swings the boom 3 about the first rotational support R1. The boom actuator 30 includes a boom cylinder 31 and a boom piston 32. The boom cylinder 31 operates the boom 3 by moving the boom piston 32 forward and backward using hydraulic oil.

The arm 4 is supported by the boom 3 so as to be swingable about a second rotation fulcrum R2.

The arm actuator 40 operates the arm 4. Specifically, the arm actuator 40 is driven by hydraulic oil and swings the arm 4 about the second rotation fulcrum R2. The arm actuator 40 includes an arm cylinder 41 and an arm piston 42. The arm cylinder 41 moves the arm piston 42 forward and backward using hydraulic oil to operate the arm 4.

Bucket 5 is a type of attachment. The bucket 5 is supported by the arm 4 so as to be swingable about a third rotation fulcrum R3.

The attachment actuator 50 operates the bucket 5. Specifically, the attachment actuator 50 is driven by hydraulic oil and swings the bucket 5 about the third rotational support R3. The attachment actuator 50 includes an attachment cylinder 51 and an attachment piston 52. The attachment cylinder 51 operates the bucket 5 by moving an attachment piston 52 forward and backward using hydraulic oil.

The hook 9 is rotatably arranged at the tip of the arm 4. Specifically, the hook 9 is arranged at the tip of the arm 4 so that it can be accommodated in the bucket link 5a arranged at the tip of the arm 4. The hook 9 performs a crane operation to suspend the object B in the crane mode. The hook 9 is, for example, a member having a hook shape. For example, the operator can manually accommodate the hook 9 in the bucket link 5a, or manually deploy the hook 9 accommodated in the bucket link 5a from the bucket link 5a. The hook 9 in FIG. 1 is in a state in which it is unfolded from the bucket link 5a.

The traveling body 7 causes the excavator 1 to travel. In the first embodiment, the traveling body 7 is a crawler type traveling body.

In the first embodiment, the shovel 1 has, for example, an excavation mode and a crane mode. In the excavation mode, the bucket 5 performs excavation work with the hook 9 housed in the bucket link 5a. Further, in the crane mode, the hook 9 executes a crane operation in which the object B is suspended in a state where the hook 9 is expanded from the bucket link 5a.

For example, the excavation mode and crane mode of the excavator 1 can be switched by a worker operating an operating device 60, which will be described later. Note that the shovel 1 may be switched from excavation mode to crane mode in response to the worker manually deploying the hook 9 from the bucket link 5a, or the worker may manually deploy the hook 9 to the bucket link 5a. The shovel 1 may be switched from the crane mode to the excavation mode depending on the situation.

Next, the cockpit 6 will be explained with reference to FIG. 2. FIG. 2 is a perspective view showing the cockpit 6. FIG. In addition, in FIG. 2, the roof of the cockpit 6 is omitted in order to make the drawing easier to see.

The cockpit 6 includes a cutoff lever 6a, a cockpit 6b, a plurality of operating levers 6c, and an operating device 60. In the first embodiment, the cutoff lever 6a, the plurality of operating levers 6c, and the operating device 60 are arranged in front of the cockpit 6b. The cutoff lever 6a is an example of a "switching section".

The cutoff lever 6a accepts an operation from an operator. The cutoff lever 6a is an operating member for operating the shovel 1. The cutoff lever 6a switches between supplying and stopping the supply of hydraulic oil to the actuator 100 (see FIG. 1).

The cutoff lever 6a is configured to be rotatable up and down, for example. In FIG. 2, when the cut-off lever 6a is moved toward the front in the paper, the cut-off lever 6a is rotated upward, and when the cut-off lever 6a is moved toward the back in the paper, the cut-off lever 6a is rotated upward. rotated downward.

A worker is seated in the cockpit 6b. The worker is the operator of the shovel 1. Each of the plurality of operating levers 6c receives an operation from an operator. The operating lever 6c is an operating member for operating the shovel 1.

The operating device 60, for example, accepts various operations on the shovel 1 and displays various information regarding the shovel 1. The operating device 60 includes a display section 61 and an operating section 62. The operation unit 62 is an example of a “reception unit”.

The display unit 61 is configured by, for example, a display such as a liquid crystal display or an organic EL display. The display unit 61 displays various information regarding the shovel 1, for example. Further, the display unit 61 displays, for example, a captured image CG captured by the imaging unit 20.

The operation unit 62 receives various operation instructions for the shovel 1. In this embodiment, the operation unit 62 includes a plurality of operation switches. In the first embodiment, the operation switch is, for example, a hard key (eg, a push button). Therefore, the operator can operate the operating section 62 while wearing protective equipment such as work gloves.

Note that when the display section 61 includes a touch panel, the operation section 62 may be displayed on the display section 61 as a GUI (Graphical User Interface) widget. In this case, the display unit 61 displays the operation unit 62 as a widget, for example. Further, the operation section 62 may function as a touch panel included in the display section 61.

Next, the shovel 1 will be further explained with reference to FIGS. 2 and 3. FIG. 3 is a block diagram showing the shovel 1. As shown in FIG. 3, the excavator 1 further includes a control device 10, an engine section 70, a hydraulic pump 200, a control valve 300, and a hydraulic oil tank 400. Control valve 300 is an example of a "directional switching valve."

The control device 10 controls, for example, the imaging section 20, the operating device 60, and the engine section 70. The control device 10 is, for example, an ECU (Electronic Control Unit). Specifically, the control device 10 includes a control section 11 and a storage section 12.

The storage unit 12 includes a storage device and stores data and computer programs. Specifically, the storage unit 12 includes a main storage device such as a semiconductor memory, and an auxiliary storage device such as a semiconductor memory, a solid state drive, and/or a hard disk drive. The storage unit 12 may include removable media. The storage unit 12 corresponds to an example of a non-transitory computer-readable storage medium.

The control unit 11 includes a processor such as a CPU (Central Processing Unit). The processor of the control unit 11 executes a computer program stored in the storage device of the storage unit 12 to control the imaging unit 20, the operating device 60, and the engine unit 70.

The engine section 70 includes an engine 71 and an engine control section 72. Engine control unit 72 is, for example, an ECU. The engine 71 is supplied with fuel from a fuel tank (not shown).

Engine 71 drives hydraulic pump 200. As a result, hydraulic pump 200 sends pressure oil to control valve 300. Pressure oil is hydraulic fluid under pressure. Control valve 300 controls the flow of pressure oil. Control valve 300 supplies pressure oil to actuator 100. Specifically, the control valve 300 controls the flow rate and direction of pressure oil supplied to the actuator 100. More specifically, the control valve 300 controls a hydraulic motor (not shown) for rotating the revolving body 2, a boom cylinder 31, an arm cylinder 41, an attachment cylinder 51, and each hydraulic motor (not shown) for the traveling body 7. (as shown). As a result, the hydraulic motor, the boom cylinder 31, the arm cylinder 41, the attachment cylinder 51, and the hydraulic motors of the traveling body 7 are driven. For example, as the rotational speed of the engine 71 decreases, the amount of oil discharged from the hydraulic pump 200 decreases, and the operating speeds of the rotating body 2, the traveling body 7, and the working section 8 decrease. Further, for example, in response to the rotation of the engine 71 stopping, the hydraulic pump 200 stops, and the operations of the rotating structure 2, the traveling structure 7, and the working part 8 stop.

The cutoff lever 6a switches between supplying and stopping the supply of hydraulic oil to the control valve 300. In other words, the cutoff lever 6a switches between an operable state of the control valve 300 and an inoperable state of the control valve 300. As a result, supply and stop of the supply of pressure oil from the control valve 300 to the actuator 100 are switched.

Specifically, for example, when the cut-off lever 6a is rotated upward, pilot pressure is not applied to the control valve 300, so the supply of hydraulic oil from the control valve 300 to the actuator 100 is stopped, and the actuator 100 is activated. It will be in a locked state. With the actuator 100 in the locked state, pressure oil from the hydraulic pump 200 is not supplied to the control valve 300 even if the operator operates the operating lever 6c, so pressure oil is not supplied from the control valve 300 to the actuator 100. First, the operation of the actuator 100 is restricted. As a result, the driving of the boom 3, arm 4, and bucket 5 is restricted. On the other hand, when the cut-off lever 6a is rotated downward, for example, pilot pressure is applied to the control valve 300, the stoppage of the supply of hydraulic oil from the control valve 300 to the actuator 100 is released, and the actuator 100 can be operated. state. With the actuator 100 in the operable state, pressure oil from the hydraulic pump 200 is supplied to the control valve 300 in response to the operator operating the operating lever 6c. Pressure oil is supplied, and the actuator 100 operates. As a result, the boom 3, arm 4, and bucket 5 are driven.

Next, the operating device 60 will be explained with reference to FIGS. 3 to 6. FIG. 4(a) is a diagram showing the operating device 60 when the cutoff lever 6a is rotated upward in the excavation mode.

As shown in FIG. 4, the display unit 61 displays a screen SC. Hereinafter, in this specification, the screen SC may be described separately from the screens SC1 to SC6. When the cutoff lever 6a is rotated upward in the excavation mode, the display unit 61 displays, for example, the screen SC1. Screen SC1 includes a time display area 80, a first notification area 81, a second notification area 82, an operating time display area 84, a fuel information display area 86, an image display area 88, an icon display area 90, It has a rotation speed display area 94 and a selection area 95.

The time is displayed in the time display area 80. The operating time display area 84 displays the operating time of the shovel 1. In the fuel information display area 86, information regarding the fuel of the engine 71 is displayed. Specifically, for example, the fuel information display area 86 displays the remaining amount of fuel and the available operating time of the engine 71.

The first notification area 81 is arranged adjacent to the image display area 88, for example. Specifically, the first notification area 81 is arranged, for example, below the image display area 88 and adjacent to the image display area 88. In the excavation mode, for example, information regarding the excavation mode is displayed in the first notification area 81. On the other hand, in the crane mode, the first notification area 81 displays, for example, information regarding crane work. Information regarding crane work is, for example, work information WI. The work information WI will be described later.

The second notification area 82 is arranged adjacent to the image display area 88, for example. Further, the second notification area 82 is arranged adjacent to the image display area 88 on the side opposite to the first notification area 81 . Specifically, the second notification area 82 is arranged, for example, above the image display area 88 and adjacent to the image display area 88. In the excavation mode, the second notification area 82 displays, for example, information regarding the excavation mode. On the other hand, in the crane mode, the second notification area 82 displays, for example, information regarding crane work. That is, the second notification area 82 displays, for example, work information WI.

In the image display area 88, for example, a meter image MG or a captured image CG generated by the imaging unit 20 is displayed. The meter image MG includes, for example, a cooling water temperature gauge and a hydraulic oil temperature gauge. When the cutoff lever 6a is rotated upward, the image display area 88 displays, for example, a meter image MG or a captured image CG. Furthermore, when the cutoff lever 6a is rotated downward, the image display area 88 displays, for example, a captured image CG. In the example shown in FIG. 4A, a meter image MG is displayed in the image display area 88.

In the icon display area 90, various icons indicating each function and the status of each part of the excavator 1 are displayed. The rotation speed of the engine 71 is displayed in the rotation speed display area 94.

The selected area 95 includes a plurality of selected parts 96 (for example, six selected parts 961 to 966). The selected area 95 is an area where one of the plurality of selected parts 96 is selected by the operator. In the first embodiment, the plurality of selected parts 96 are arranged, for example, on a substantially straight line. Each of the plurality of selected parts 96 is, for example, an object. Each of the plurality of selected parts 96 is assigned, for example, a function related to screen operation or a function related to settings for the shovel 1.

In the first embodiment, the operation unit 62 includes a plurality of switches 621 to 626. In the first embodiment, each of the plurality of switches 621 to 626 is a hard key. In the first embodiment, the plurality of switches 621 to 626 are arranged below the display section 61 in plan view. Further, in the first embodiment, the plurality of switches 621 to 626 are arranged, for example, substantially in a straight line.

The switches 621 to 626 correspond to the plurality of selected parts 961 to 966, respectively. The switches 621 to 626 are respectively arranged below the corresponding selected portions 961 to 966 in plan view. The switches 621 to 626 each receive an instruction to select the corresponding selected portion 961 to selected portion 966, respectively. Therefore, the operator can easily understand the relationship between each of the switches 621 to 626 and each of the selected portions 961 to 966. As a result, the operator can easily select the desired selected portion 961.

For example, in response to the switch 622 being pressed, the switch 622 receives an instruction to select the selected portion 962. The selected section 962 is an item for switching from excavation mode to crane mode. In other words, pressing the switch 622 corresponds to the switch 622 receiving an instruction to switch from excavation mode to crane mode. For example, in response to the switch 622 being pressed, the control device 10 switches the shovel 1 from excavation mode to crane mode.

FIG. 4(b) is a diagram showing the operating device 60 when the captured image CG is displayed in the excavation mode. As shown in FIG. 4(b), when the cutoff lever 6a is rotated downward in the excavation mode, the display unit 61 displays the screen SC2. Screen SC2, like screen SC1, includes a time display area 80, a first notification area 81, a second notification area 82, an operating time display area 84, a fuel information display area 86, an image display area 88, It has an icon display area 90, a rotation speed display area 94, and a selection area 95. On the screen SC2, the captured image CG is displayed in the image display area 88.

That is, in the operating device 60 shown in FIG. 4(a), in response to the operator rotating the cutoff lever 6a downward, the control device 10 causes the image display area 88 to display the captured image CG. Controls the display section 61. That is, in response to the cutoff lever 6a switching from stopping the supply of hydraulic oil to the actuator 100 to supplying it, the control device 10 controls the display unit 61 to display the captured image CG in the image display area 88. Therefore, while the boom 3, arm 4, and bucket 5 are in a drivable state, the operator can check the surrounding environment of the shovel 1 via the operating device 60. As a result, the safety of work with the shovel 1 is improved. Note that when the meter image MG is displayed in the excavation mode, the control device 10 may control the display unit 61 to display the screen SC2 in response to the switch 624 being pressed.

FIG. 5(a) is a diagram showing the operating device 60 when the cutoff lever 6a is rotated downward in the crane mode. As shown in FIG. 5(a), when the cutoff lever 6a is rotated downward in the crane mode, the display unit 61 displays a screen SC3. Screen SC3, like screen SC1, includes a time display area 80, a first notification area 81, a second notification area 82, an operating time display area 84, a fuel information display area 86, an image display area 88, It has an icon display area 90, a rotation speed display area 94, and a selection area 95. In the screen SC3, the captured image CG is displayed in the image display area 88.

That is, the control is performed in response to the cut-off lever 6a being rotated downward in the crane mode, or the excavator 1 being switched from the excavation mode to the crane mode with the cut-off lever 6a being rotated downward. The device 10 controls the display unit 61 to display the captured image CG in the image display area 88. Further, in the crane mode, the control device 10 controls the display unit 61 to display work information WI regarding crane work in at least one of the first notification area 81 and the second notification area 82. For example, in the example shown in FIG. 5A, work information WI is displayed in each of the first notification area 81 and the second notification area 82 along with the captured image CG. Note that in the crane mode, the work information WI may be displayed in either the first notification area 81 or the second notification area 82.

Specifically, the control device 10 controls the display unit 61 to display the work information WI together with the captured image CG in the crane mode. For example, in the example shown in FIG. 5A, work information WI (information WI1 and information WI2) is displayed together with the captured image CG. Therefore, the worker can execute the crane work while checking the surrounding environment of the shovel 1 and checking the work information WI. As a result, the safety of crane work using the shovel 1 can be improved.

The work information WI includes information WI1 regarding the rated load determined for crane work, information WI2 indicating the load on the hook 9 (for example, information indicating the weight of the object B hanging on the hook 9), Alternatively, it is information WI3 indicating a warning in crane work. In the example shown in FIG. 5A, for example, information WI1 and information WI2 are displayed in the first notification area 81, and information WI3 is displayed in the second notification area 82. Therefore, the operator can operate the shovel 1 while confirming information that is preferably taken into consideration during crane work. As a result, safety in crane work is improved.

Specifically, the information WI1 is information indicating the rated load determined for crane work. Here, the rated load is a value predetermined according to the posture of the working unit 8 and the operating state of the shovel 1. For example, it is predetermined in advance that the larger the working radius of the working part 8, the smaller the rated load. Further, it is predetermined in advance that the higher the working position of the working part 8 is, the smaller the rated load is. In addition, the rated load when the excavator 1 is running is determined to be smaller than the rated load when the excavator 1 is stopped.

Further, the information WI3 is, for example, a character string image indicating a warning in crane work. As shown in FIG. 5(a), the information WI3 is a character string image indicating "suspended travel is not possible." The character string image shown in FIG. 5A is an example, and other character string images may be displayed depending on the state of the shovel 1.

By displaying the information WI3 in the second notification area 82, the operator can visually see what to be careful of during crane work. As a result, the operator can easily understand what to be careful of during crane work. Note that the background color of the character string image may be changed depending on the situation of the crane work. For example, if the crane work situation is such that the worker is strongly urged to pay attention, the background color of the character string image may be changed to red. Further, for example, when the crane work situation is such that it is desired to urge the worker's attention, the background color of the character string image may be changed to white. Therefore, the operator can visually recognize the degree of caution during crane work based on the background color of the character string image.

In the first embodiment, the control device 10 controls the display unit 61 to display the captured image CG and the work information WI adjacent to each other. That is, the display unit 61 displays the captured image CG and the work information WI adjacent to each other. Specifically, for example, the captured image CG and each of the information WI1 to WI3 are displayed on the display section 61 adjacent to each other in the vertical direction. Therefore, when viewing the operating device 60 during crane work, the worker can easily confirm both the work information WI and the captured image CG. As a result, the safety of the shovel 1 during crane work is improved.

Further, in the first embodiment, the control device 10 controls the display unit 61 to display the captured image CG arranged between the plural pieces of work information WI. That is, the captured image CG is arranged between the plural pieces of work information WI. Specifically, in the example shown in FIG. 5(a), the captured image CG is placed between the information WI1 and the information WI2, and the information WI3. Further, the captured image CG is arranged at the center of the display section 61. Therefore, the worker can check the information WI1 and the information WI2 while checking the captured image CG, or can check the information WI3 while checking the captured image CG. As a result, the worker can easily check the surrounding environment of the shovel 1, which improves the safety of the shovel 1 during crane work.

Here, in response to the switch 626 being pressed, the switch 626 receives an instruction to select the selected portion 966. The selected section 966 is an item for switching the work information WI displayed in the first notification area 81, for example. In other words, pressing the switch 626 corresponds to the switch 626 receiving an instruction to switch the work information WI displayed in the first notification area 81. In the first embodiment, each time the switch 626 is pressed, the control device 10 switches the work information WI displayed in the first notification area 81 to other work information WI.

FIG. 5(b) is a diagram showing the operating device 60 when the switch 626 of the operating device 60 shown in FIG. 5(a) is pressed. In response to the switch 626 being pressed, the control device 10 changes the information WI1 and the information WI2 displayed in the first notification area 81 to the information WI4 and the information WI5, for example, as shown in FIG. 5(b). Switch. Information WI4 and information WI5 each relate to the rated load determined for the crane operation. Specifically, the information WI4 indicates, for example, the length in the horizontal direction from the center of the traveling body 7 to the tip of the working part 8. Further, the information WI5 indicates, for example, the length in the vertical direction from the ground in contact with the traveling body 7 to the hook 9. Note that the information WI5 may indicate, for example, the length in the vertical direction from the ground to the contact position between the hook 9 and the arm 4.

FIG. 6 is a diagram showing the operating device 60 when the switch 626 of the operating device 60 shown in FIG. 5(b) is pressed. In response to the switch 626 being pressed, as shown in FIG. 6, the control device 10 switches, for example, information WI4 and information WI5 displayed in the first notification area 81 to information WI6. Information WI6 relates to the posture of the working unit 8. Specifically, the information WI6 indicates, for example, the angle of the boom 3 with respect to the horizontal plane or the angle of the arm 4 with respect to the boom 3.

Next, the size of the captured image CG displayed on the display section 61 will be described with reference to FIGS. 3, 4(b), 5(a), and 7(a). FIG. 7A is a diagram showing the operating device 60 when the switch 624 of the operating device 60 is pressed in the excavation mode.

In the first embodiment, the switch 624 receives an instruction to select the selected portion 964 in response to the switch 624 being pressed. The selected section 964 is an item for switching the size of the captured image CG displayed in the image display area 88. In other words, pressing the switch 624 corresponds to the switch 624 receiving an instruction to change the size of the captured image CG displayed in the image display area 88. For example, in the excavation mode, in response to the switch 624 being pressed, the control device 10 controls the display unit 61 to switch the size of the captured image CG to be displayed in the image display area 88.

Specifically, as shown in FIG. 4(b), when the screen SC2 is displayed, that is, when the captured image CG of the second size SZ2 is displayed in the image display area 88 in the excavation mode, In response to the switch 624 being pressed, the control device 10 controls the display unit 61 to display the screen SC4 shown in FIG. 7(a). Screen SC4 has an image display area 88 and an icon display area 90. The image display area 88 of the screen SC4 is larger than the image display area 88 of the screen SC2. The display unit 61 displays the captured image CG according to the size of the image display area 88. Specifically, the control device 10 controls the display unit 61 to display the captured image CG in the first size SZ1 on the screen SC4. Furthermore, the control device 10 controls the display unit 61 to display the captured image CG in the second size SZ2 on the screen SC2. That is, the first size SZ1 is larger than the second size SZ2.

For example, if the switch 626 is pressed while the screen SC2 is displayed on the display unit 61, that is, when the captured image CG of the second size SZ2 is displayed in the image display area 88 in the excavation mode, the control The device 10 controls the display unit 61 to display the captured image CG in the first size SZ1. Therefore, the captured image CG can be displayed in a large size on the display unit 61 at the timing desired by the operator. As a result, the captured image CG can be easily viewed by the operator.

In the first embodiment, the shape of the icon display area 90 on the screen SC4 is different from the shape of the icon display area 90 on the screen SC2. The icon displayed in the icon display area 90 of the screen SC4 and the icon displayed in the icon display area 90 of the screen SC2 may be the same or different.

Here, when the display unit 61 displays the captured image CG in the first size SZ1, the control device 10 displays the time display area 80, the first notification area 81, the second notification area 82, and the The time display area 84, fuel information display area 86, rotation speed display area 94, and selected area 95 are hidden. Note that even if the selected area 95 is hidden, in response to pressing any of the plurality of switches 621 to 626, one of the plurality of pressed switches 621 to 626 will be displayed. The selected portion 96 corresponding to is selected. Therefore, the operator can operate the operating device 60 without giving an instruction to change the captured image CG displayed at the first size SZ1 to the second size SZ2. As a result, the effort required by the operator to operate the operating device 60 is reduced.

As shown in FIG. 7A, when the captured image CG is displayed in the image display area 88 in the first size SZ1 in the excavation mode, in response to the switch 624 being pressed, the control device 10: As shown in FIG. 4(b), the display unit 61 is controlled to display the captured image CG in the second size SZ2. That is, in response to the switch 624 being pressed while the display unit 61 is displaying the screen SC4, the control device 10 controls the display unit 61 to display the screen SC2 instead of the screen SC4. . Therefore, the captured image CG displayed on the display section 61 can be made smaller at the timing desired by the operator. As a result, for example, the operator can operate the operating device 60 while visually recognizing the selected portion 96 of the selected region 95, and can display the captured image CG in a large size when not operating the operating device 60.

As shown in FIG. 5(a), when the switch 624 is pressed while the display unit 61 is displaying the screen SC3 in the crane mode, that is, the captured image CG is displayed in the first size SZ1 in the crane mode. When the switch 624 receives an instruction to display the image on the display section 61, the control device 10 controls the display section 61 to display the captured image CG in the second size SZ2. Specifically, in the crane mode, even if the switch 624 is pressed while the captured image CG of the second size SZ2 is displayed in the image display area 88, the control device 10 The display unit 61 is controlled to maintain the size of the captured image CG displayed in SZ2 and to maintain the display of the work information WI. Therefore, the display of the work information WI is maintained in the crane mode. As a result, in the crane mode, the worker can operate the operating device 60 and/or the operating lever 6c while checking the work information WI, improving the safety of crane work.

Further, when the display unit 61 is displaying the captured image CG in the first size SZ1 in the excavation mode, in response to the shovel 1 switching from the excavation mode to the crane mode, the control device 10 displays the captured image CG in the first size SZ1. 2 size SZ2. That is, when the display unit 61 is displaying the screen SC4 in the excavation mode, in response to the shovel 1 being switched from the excavation mode to the crane mode, the control device 10 displays the screen shown in FIG. ) The display section 61 is controlled to display the screen SC3 shown in ). Therefore, even if the captured image CG of the first size SZ1 is displayed on the display unit 61 and the work information WI is not displayed, the work information WI is displayed on the display unit 61 simply by switching the excavator 1 to the crane mode. is maintained. As a result, it is possible to reduce the effort required by the worker to display information that is preferably considered during crane work.

Next, with reference to FIGS. 1, 3, 4(a), and 7(b), the operation device 60 when the cutoff lever 6a is rotated upward in the crane mode will be described. FIG. 7(b) shows the operating device 60 when the cutoff lever 6a is rotated upward in the crane mode.

As shown in FIG. 4(a), when the display section 61 is displaying the screen SC1, that is, when the display section 61 is displaying the meter image MG in the excavation mode, the switch 622 is pressed, In response to the worker deploying the hook 9 from the bucket link 5a, the control device 10 switches the shovel 1 from excavation mode to crane mode. That is, in response to switching the excavator 1 from the excavation mode to the crane mode while the cutoff lever 6a is rotated upward in the excavation mode, the control device 10 performs the following operations as shown in FIG. 7(b). The display section 61 is controlled to display the screen SC5 instead of the screen SC1. Screen SC5, like screen SC1, includes a time display area 80, a first notification area 81, a second notification area 82, an operating time display area 84, a fuel information display area 86, an image display area 88, It has an icon display area 90, a rotation speed display area 94, and a selection area 95. In the screen SC5, work information WI is displayed in the first notification area 81. Further, in the screen SC5, a meter image MG is displayed in the image display area 88.

Therefore, even if the cutoff lever 6a is rotated upward and the boom 3, arm 4, and bucket 5 cannot be driven, the display unit 61 displays the work information WI as long as the excavator 1 is in the crane mode. As a result, in the crane mode, the worker can check the work information WI even while the work unit 8 is stopped, thereby improving the safety of the crane work.

Next, a display control method executed in the excavator 1 will be described with reference to FIGS. 3, 4(a), and 8. FIG. 8 is a transition diagram showing a display control method executed in the shovel 1. As shown in FIG. 8, the display control method includes steps S1 to S13.

When the shovel 1 is set to the excavation mode and the cutoff lever 6a is rotated upward, the display unit 61 displays the screen SC1, for example. A meter image MG is displayed on the screen SC1. In step S1, in response to the switch 624 being pressed, the control device 10 controls the display unit 61 to display the screen SC2 instead of the screen SC1. As a result, the display unit 61 displays the screen SC2. Alternatively, in step S2, in response to the cutoff lever 6a being rotated downward, the control device 10 controls the display unit 61 to display the screen SC2 instead of the screen SC1. As a result, the display unit 61 displays the screen SC2. A captured image CG of a second size SZ2 is displayed on the screen SC2.

In step S3, in response to the switch 624 being pressed, the control device 10 controls the display unit 61 to display the screen SC1 instead of the screen SC2. As a result, the display unit 61 displays the screen SC1.

In step S4, in response to the shovel 1 being switched from the excavation mode to the crane mode, the control device 10 controls the display unit 61 to display the screen SC5 instead of the screen SC1. As a result, the display unit 61 displays the screen SC5. Work information WI is displayed on the screen SC5.

In step S5, in response to the shovel 1 being switched from the crane mode to the excavation mode, the control device 10 controls the display unit 61 to display the screen SC1 instead of the screen SC5. As a result, the display unit 61 displays the screen SC1.

In step S6, in response to the switch 624 being pressed, the control device 10 controls the display unit 61 to display the screen SC3 instead of the screen SC5. As a result, the display unit 61 displays the screen SC3. Alternatively, in step S7, in response to the cutoff lever 6a being rotated downward, the control device 10 controls the display unit 61 to display the screen SC3 instead of the screen SC5. As a result, the display unit 61 displays the screen SC3. The work information WI and the captured image CG generated by the imaging unit 20 are displayed on the screen SC3.

In step S8, in response to the switch 624 being pressed while the cutoff lever 6a is rotated upward, the control device 10 controls the display unit 61 to display the screen SC5 instead of the screen SC3. do. As a result, the display unit 61 displays the screen SC5.

In step S9, in response to the shovel 1 being switched from the excavation mode to the crane mode, the control device 10 controls the display unit 61 to display the screen SC3 instead of the screen SC2. As a result, the display unit 61 displays the screen SC3.

In step S10, in response to the shovel 1 being switched from the crane mode to the excavation mode, the control device 10 controls the display unit 61 to display the screen SC2 instead of the screen SC3. As a result, the display unit 61 displays the screen SC2.

In step S11, in response to the switch 624 being pressed, the control device 10 controls the display unit 61 to display the screen SC4 instead of the screen SC2. As a result, the display unit 61 displays the screen SC4. The captured image CG of the first size SZ1 is displayed on the screen SC4. That is, in step S11, the captured image CG displayed by the display section 61 is enlarged from the second size SZ2 to the first size SZ1.

In step S12, in response to the switch 624 being pressed, the control device 10 controls the display unit 61 to display the screen SC2 instead of the screen SC4. As a result, the display unit 61 displays the screen SC2. That is, in step S12, the captured image CG displayed by the display section 61 is reduced from the first size SZ1 to the second size SZ2.

In step S13, in response to the shovel 1 being switched from the excavation mode to the crane mode, the control device 10 controls the display unit 61 to display the screen SC3 instead of the screen SC4. As a result, the display unit 61 displays the screen SC3. That is, in step S13, the captured image CG displayed by the display section 61 is reduced from the first size SZ1 to the second size SZ2.

(Embodiment 2)
The screen SC displayed by the display unit 61 of the operating device 60 according to the second embodiment will be described with reference to FIG. 5(a) and FIG. 9. FIG. 9 is a diagram showing a screen SC6 displayed by the display unit 61 of the operating device 60 according to the second embodiment. Since the display unit 61 according to the second embodiment has the same configuration as the operating device 60 according to the first embodiment, except that the display unit 61 displays the captured image CG of the first size SZ1 in the crane mode, the overlapping parts will not be explained. Omitted.

As shown in FIG. 5(a), in the crane mode, when the cutoff lever 6a is rotated downward and the display unit 61 displays the captured image CG of the second size SZ2, the switch In response to the button 624 being pressed, the control device 10 controls the display unit 61 to display the screen SC6 instead of the screen SC3, as shown in FIG. As a result, the display unit 61 displays the screen SC6.

Screen SC6 has a first notification area 81a, a second notification area 82a, an image display area 88a, and an icon display area 90a. Image display area 88a of screen SC6 is larger than image display area 88 of screen SC3. Further, each of the first notification area 81a and the second notification area 82a overlaps with the image display area 88a. The control device 10 controls the display unit 61 to display the captured image CG in the first size SZ1 on the screen SC6.

When the screen SC3 is displayed on the display unit 61, that is, when the display unit 61 displays the captured image CG of the second size SZ2 in the crane mode, in response to the switch 626 being pressed, the control device 10 , controls the display unit 61 to display the work information WI superimposed on the captured image CG of the first size SZ1. Therefore, while allowing the worker to visually recognize the work information WI, it is possible to improve the visibility of the captured image CG for the worker. As a result, safety during crane work is further improved.

The embodiments of the present invention have been described above with reference to the drawings. However, the present invention is not limited to the above-described embodiments, and can be implemented in various forms without departing from the spirit thereof. Further, the plurality of components disclosed in the above embodiments can be modified as appropriate. For example, some of the components shown in one embodiment may be added to the components of another embodiment, or some of the components shown in one embodiment may be configured. Elements may be deleted from the embodiment.

The drawings mainly schematically show each component in order to facilitate understanding of the invention, and the thickness, length, number, period, etc. of each illustrated component may vary depending on the convenience of drawing the drawings. The above image may differ from the actual one. Further, the configuration of each component shown in the above embodiment is an example, and is not particularly limited, and it goes without saying that various changes can be made without substantially departing from the effects of the present invention. .

For example, as described with reference to FIG. 1, the excavator 1 includes one imaging unit 20. However, as long as the shovel 1 includes at least one imaging section 20, the shovel 1 may include a plurality of imaging sections 20. That is, the shovel 1 may include two or more imaging units 20. Specifically, one of the plurality of imaging units 20 is arranged, for example, on the left side when looking forward from the cockpit 6, above the front side of the cockpit 6, and located on the left side of the excavator 1. image the surrounding environment. Further, another one of the plurality of imaging units 20 is arranged, for example, on the right side when looking forward from the cockpit 6, above the rear side of the cockpit 6, and on the right side of the excavator 1. image the surrounding environment. Furthermore, still another one of the plurality of imaging units 20 is arranged, for example, below the rear side of the cockpit 6, and images the environment behind the shovel 1. Note that the arrangement of each of the plurality of imaging units 20 changes depending on the structure of the shovel 1.

Further, as described with reference to FIG. 3, the control section 11 of the control device 10 controlled the display section 61 and the operation section 62 of the operating device 60. However, as long as the control section 11 controls the display section 61 and the operation section 62, the operation device 60 may include a control section having a function of controlling the display section 61 and the operation section 62 of the control section 11.

Further, as described with reference to FIG. 2, in the first embodiment, the revolving body 2 includes the cockpit 6. However, as long as the shovel 1 includes the cockpit 6b, the revolving body 2 does not need to include the cockpit 6.

Further, as described with reference to FIG. 7A, when the display section 61 displays the captured image CG in the first size SZ1, the control device 10 displays the time display area 80 and the first size on the screen SC4. The notification area 81, the second notification area 82, the operating time display area 84, the fuel information display area 86, the rotation speed display area 94, and the selected area 95 are hidden. Even if the selected area 95 is hidden, in response to pressing any of the plurality of switches 621 to 626, any one of the plurality of pressed switches 621 to 626 is pressed. The selected portion 96 corresponding to is selected. However, when the display unit 61 displays the captured image CG in the first size SZ1, in response to pressing any of the plurality of switches 621 to 626, the number of the pressed plurality of switches 621 to 626 is The selected portion 96 corresponding to either one may not be selected. For example, when the display section 61 displays the captured image CG in the first size SZ1, in response to pressing any of the plurality of switches 621 to 626, the control device 10 displays the screen instead of the screen SC4. The display unit 61 may be controlled to display the screen SC1 or the screen SC2. As a result, the display unit 61 reduces the captured image CG from the first size SZ1 to the second size SZ2, and displays the time display area 80, the first notification area 81, the second notification area 82, and the operating time display area. 84, a fuel information display area 86, a rotation speed display area 94, and a selection area 95. Therefore, the operator can select any one of the plurality of switches 621 to 626 while visually recognizing the selected portion 96 of the selected area 95.

Furthermore, in the first and second embodiments described with reference to FIGS. 1 to 9, the excavator 1 is used as an example of the construction machine, but the construction machine is not limited to the excavator 1. The construction machine is, for example, a backhoe loader.

The present invention relates to construction machinery and has industrial applicability.

1 Excavator (construction equipment)
5 Bucket 8 Working part 9 Hook 11 Control part 20 Imaging part 6a Cut-off lever (switching part)
60 Operation section (reception section)
61 Display section 100 Actuator 300 Control valve (directional switching valve)
CG Captured image S1 First size S2 Second size WI Work information

Claims (7)

A construction machine having a crane mode for performing crane work to suspend an object, and an excavation mode for performing excavation work,
a hook for suspending the object in the crane mode;
an imaging unit that captures an image of the surrounding environment of the construction machine;
A display section;
a working part that performs the crane work and the excavation work and includes the hook;
an actuator that is driven by hydraulic oil and causes the working part to perform work;
a directional switching valve that controls the flow rate and direction of the hydraulic oil supplied to the actuator;
a switching unit that switches the directional switching valve between inoperable and operable;
In the crane mode, in response to the switching unit switching the directional control valve from inoperable to operable, the display unit is controlled to display work information regarding the crane work together with the captured image of the imaging unit. A construction machine equipped with a control section and. In the crane mode, in response to the switching unit switching the directional control valve from operable to inoperable, the control unit displays the work information without displaying the captured image on the display unit. The construction machine according to claim 1, wherein the display unit is controlled so that the display section is displayed. The control unit controls the display unit to arrange the captured image between a plurality of pieces of work information and display the captured image and the work information adjacently. Construction machinery. Claims 1 to 3, wherein the work information is information regarding a rated load determined for the crane work, information indicating a load on the hook, or information indicating a warning in the crane work. The construction machine described in any one of paragraphs. a bucket that performs the excavation operation in the excavation mode;
further comprising a reception unit that receives an instruction to display the captured image on the display unit in a first size,
The control unit includes:
In the excavation mode, when the receiving unit receives the instruction, controlling the display unit to display the captured image in the first size;
In the crane mode, when the receiving unit receives the instruction, controlling the display unit to display the captured image in a second size;
The construction machine according to any one of claims 1 to 4, wherein the first size is larger than the second size. When the display unit is displaying the captured image in the first size in the excavation mode, in response to the construction machine switching from the excavation mode to the crane mode, the control unit may display the captured image in the first size. The construction machine according to claim 5, wherein the display unit is controlled so as to display in the second size. further comprising a reception unit that receives an instruction to display the captured image on the display unit in a first size,
In the crane mode, in response to the reception unit accepting the instruction when the display unit displays the captured image in the second size, the control unit adjusts the operation to the captured image in the first size. controlling the display unit to display information in a superimposed manner;
The construction machine according to any one of claims 1 to 4, wherein the first size is larger than the second size.

Images