JP7474024B2 - Excavator - Google Patents

Description

This disclosure relates to a shovel.

Conventionally, there is known an excavator in which cameras are attached to the sides and rear of an upper rotating body so that blind spots to the sides and rear of the upper rotating body can be monitored (see Patent Document 1). With this excavator, the operator operates the attachment while viewing the bucket with the naked eye from a cab located at the front left of the upper rotating body.

JP 2012-109741 A

However, with the above-mentioned excavator, the operator is looking at the bucket from diagonally behind and to the left, which can make it difficult for the operator to check, for example, whether the edge line of the bucket in the width direction is horizontal. This can make it difficult to operate the attachment.

Therefore, it is desirable to provide an excavator that can capture images of the attachment movement from behind.

A shovel according to an embodiment of the present invention comprises a lower running body, an upper rotating body mounted on the lower running body so as to be freely rotatable, a boom attached to the upper rotating body, and an imaging device attached to the upper rotating body on the ventral side of the boom, and images output by the imaging device include an image of a hydraulic oil hose, an image of a rotating frame, an image of the boom, an image of an arm, an image of a bucket, and an image of the cab which results in an area where occlusion by the cab occurs, and the proportion of the area where occlusion by the cab occurs in the images output by the imaging device is less than 25%.

The above-mentioned means provide a shovel that can image the movement of the attachment from behind.

FIG. 1 is a side view of a shovel according to an embodiment of the present invention. FIG. 2 is a diagram showing a configuration example of a basic system mounted on the excavator shown in FIG. FIG. 2 is a front view of the shovel of FIG. FIG. 1 is an example of a digital image output by a front camera.

Below, a description of an embodiment of a shovel according to the present invention will be given with reference to the drawings. In each drawing, the same components are given the same reference numerals, and duplicate descriptions may be omitted.

Figure 1 is a side view of an excavator PS according to an embodiment of the present invention. An upper rotating body 3 is mounted on a lower traveling body 1 of the excavator PS so as to be freely rotatable via a rotating mechanism 2. A boom 4 is attached to the upper rotating body 3. An arm 5 is attached to the tip of the boom 4. A bucket 6 is attached to the tip of the arm 5 as an end attachment.

The boom 4, arm 5, and bucket 6 constitute an excavation attachment as an example of an attachment, and are hydraulically driven by the boom cylinder 7, arm cylinder 8, and bucket cylinder 9, respectively. The boom cylinder 7 includes a left boom cylinder 7L and a right boom cylinder 7R (not visible in FIG. 1). A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6. The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 are sometimes collectively referred to as the "posture sensor." The posture sensor detects the posture of the attachment. For example, this is to enable the position of the working part of the attachment, including the tip of the bucket 6, to be derived.

The boom angle sensor S1 detects the rotation angle of the boom 4. The boom angle sensor S1 is, for example, an acceleration sensor that detects the inclination with respect to the horizontal plane and detects the rotation angle of the boom 4 with respect to the upper rotating body 3.

The arm angle sensor S2 detects the rotation angle of the arm 5. The arm angle sensor S2 is, for example, an acceleration sensor that detects the inclination with respect to the horizontal plane and detects the rotation angle of the arm 5 with respect to the boom 4.

The bucket angle sensor S3 detects the rotation angle of the bucket 6. The bucket angle sensor S3 is, for example, an acceleration sensor that detects the inclination with respect to the horizontal plane and detects the rotation angle of the bucket 6 with respect to the arm 5.

The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may be a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, a rotary encoder that detects the rotation angle around the connection, an inertial measurement device including a combination of an acceleration sensor and a gyro sensor, etc.

The upper rotating body 3 is equipped with a cabin 10 as a driver's room, an engine 11 as a power source, an inertial measurement unit S4, an imaging device 80, etc.

The inertial measurement unit S4 measures the inertia of the upper rotating body 3. In this embodiment, the inertial measurement unit S4 is configured with a combination of a gyro sensor and an acceleration sensor. Specifically, the inertial measurement unit S4 is configured with, for example, a combination of a three-axis gyro sensor and a three-axis acceleration sensor. However, the three-axis gyro sensor may be a two-axis gyro sensor, and the three-axis acceleration sensor may be a two-axis acceleration sensor. Furthermore, the inertial measurement unit S4 may be configured with only an acceleration sensor, or may be configured with other sensors such as a GNSS sensor. The inertial measurement unit S4 outputs measurement data to the controller 30.

The imaging device 80 is a device that captures images of the surroundings of the shovel. In this embodiment, the imaging device 80 includes a front camera 80F that captures images of the space in front of the shovel, a left camera 80L that captures images of the space on the left side, a right camera 80R that captures images of the space on the right side, and a rear camera 80B that captures images of the space behind the shovel. The front camera 80F, the left camera 80L, the right camera 80R, and the rear camera 80B are monocular digital cameras having imaging elements such as CCD or CMOS, for example, and each outputs the captured digital image to the controller 30. The images may also be output directly to the display device 40. The imaging device 80 may be a laser range finder, a distance imaging camera, a stereo camera, an infrared camera, or the like.

A positioning device G1 and a communication device T1 are provided at the top of the cabin 10. The positioning device G1 is, for example, a GNSS receiver, which detects the position of the excavator PS and outputs data related to the detected position to the controller 30. The communication device T1 controls communication with the outside and outputs data acquired from the outside to the controller 30. The communication device T1 may be configured to transmit measurement data output by the inertial measurement unit S4, digital images output by the imaging device 80, etc. to the outside. This is to allow external administrators, etc. to use the measurement data, digital images, etc.

Inside the cabin 10, a controller 30, a display device 40, an audio output device 43, etc. are provided. The controller 30 functions as a main control unit that controls the drive of the excavator PS. The controller 30 is composed of an arithmetic processing device including a CPU and an internal memory. The various functions of the controller 30 are realized by the CPU executing programs stored in the internal memory. The display device 40 displays images including various work information in response to commands from the controller 30. The display device 40 is, for example, a liquid crystal display connected to the controller 30. The audio output device 43 outputs audio information in response to commands from the controller 30. The audio output device 43 includes, for example, a speaker connected to the controller 30. The audio output device 43 may be an alarm such as a buzzer.

The controller 30 is also configured to record the acquired data in chronological order. In this embodiment, the controller 30 is configured to synchronously record the measurement data output by the inertial measurement unit S4 and the digital image output by the imaging device 80. "Recording data" means, for example, saving data stored in a volatile storage medium to a non-volatile storage medium. Data output by other sensors such as the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, etc. may also be recorded synchronously.

The controller 30 may be configured to continuously record data while the excavator PS is in operation, or may be configured to record data only when a predetermined condition is met. The predetermined condition may include, for example, a case where the measurement data output by the inertial measurement unit S4 exceeds a threshold value. It may also include a case where the measurement data output by the inertial measurement unit S4 indicates an abnormal value. In this case, the controller 30 may be configured to record the digital image DG for a predetermined time period including the moment when the measurement data output by the inertial measurement unit S4 indicates an abnormal value together with the measurement data, etc. The digital image DG recorded together with the measurement data, etc. may be transferred from the temporary storage device to a permanent storage device (non-volatile storage device) after being recorded in a temporary storage device (volatile storage device), or may be recorded directly in the permanent storage device.

Figure 2 is a diagram showing an example of the configuration of a basic system mounted on an excavator PS. The basic system includes an engine 11, a controller 30, a display device 40, etc. The display device 40 is connected to the controller 30 via a communication network such as CAN or LIN, a dedicated line, etc. The display device 40 displays an image including work information, etc., supplied from the controller 30.

Specifically, the display device 40 includes an image display unit 41, an input unit 42, and a conversion processing unit 40a that generates an image to be displayed on the image display unit 41.

The conversion processing unit 40a generates an image including, for example, a digital image output by the imaging device 80. Digital images are input to the display device 40 from each of the front camera 80F, the left camera 80L, the right camera 80R, and the rear camera 80B. The conversion processing unit 40a also converts data to be displayed on the image display unit 41, among the data input to the display device 40 from the controller 30, into an image signal. The data input to the display device 40 from the controller 30 includes, for example, data indicating the temperature of the engine coolant, data indicating the temperature of the hydraulic oil, data indicating the remaining amount of urea water, data indicating the remaining amount of fuel, etc.

The conversion processing unit 40a outputs the converted image signal to the image display unit 41, and causes the image display unit 41 to display the digital image from the imaging device 80 and the image generated based on the data from the controller 30. The conversion processing unit 40a may be provided in the controller 30 instead of the display device 40.

The input unit 42 is a device that allows the operator of the excavator PS to input information to the controller 30. In the example of FIG. 2, the input unit 42 includes a push button switch provided on a switch panel. The input unit 42 may be a membrane switch or a touch panel. In this embodiment, the input unit 42 has a display switching button 42a and a direction button 42b.

The display switch button 42a is an example of an operation unit for switching the image displayed on the image display unit 41. The display switch button 42a is configured to switch the screen displayed on the image display unit 41 each time it is pressed. The screens displayed on the image display unit 41 include a main screen and a forward display screen.

The direction button 42b is an example of an operation unit for inputting directions. In this embodiment, a cross button configured to allow input of four directions, up, down, left, and right, is used. It may also be four independent buttons, an up button, a down button, a left button, and a right button. By operating the direction button 42b, the operator can switch screens, move the cursor displayed on the screen, and change the numerical value of an item selected by moving the cursor.

The display device 40 operates by receiving power from the storage battery 70. The storage battery 70 is charged with power generated by the alternator 11a (generator) of the engine 11. The power of the storage battery 70 is also supplied to the starter 11b, electrical equipment 72, etc. The starter 11b is driven by the power from the storage battery 70 to start the engine 11.

The engine 11 is connected to a main pump 14 and a pilot pump 15. It is controlled by an engine control unit 74. The engine control unit 74 outputs data indicating the state of the engine 11 to the controller 30 at a predetermined control period. The data indicating the state of the engine 11 includes data indicating the cooling water temperature detected by the water temperature sensor 11c. The controller 30 stores this data in an internal memory unit 30a, and displays information related to this data on the display device 40 as necessary.

The main pump 14 supplies hydraulic oil to the control valve 17 via a hydraulic oil line. The main pump 14 is, for example, a swash plate type variable displacement hydraulic pump.

The pilot pump 15 supplies hydraulic oil to the hydraulic control device via a pilot line. The pilot pump 15 is, for example, a fixed displacement hydraulic pump.

The control valve 17 is a hydraulic control device that controls the hydraulic system in the excavator PS. In this embodiment, the control valve 17 is a valve block including multiple spool valves, and can selectively supply hydraulic oil discharged by the main pump 14 to one or more hydraulic actuators. The hydraulic actuators include, for example, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the traveling hydraulic motor, and the swing hydraulic motor.

The operating device 26 is provided in the cabin 10 and is used by the operator to operate the hydraulic actuators. When the operating device 26 is operated, hydraulic oil is supplied from the pilot pump 15 to the pilot port of the spool valve corresponding to each hydraulic actuator. Each pilot port is supplied with hydraulic oil at a pressure (pilot pressure) according to the operation direction and amount of the corresponding operating device 26.

The controller 30 acquires, for example, the data described below. The data acquired by the controller 30 is stored in the memory unit 30a.

The regulator 14a of the main pump 14, which is a variable displacement hydraulic pump, outputs data indicating the swash plate angle to the controller 30. The discharge pressure sensor 14b outputs data indicating the discharge pressure of the main pump 14 to the controller 30. The oil temperature sensor 14c, which is provided in the pipeline between the main pump 14 and a tank storing the hydraulic oil to be sucked by the main pump 14, outputs data indicating the temperature of the hydraulic oil flowing through the pipeline to the controller 30. The operating pressure sensors 15a and 15b detect the pilot pressure generated when the operating device 26 is operated, and output data indicating the detected pilot pressure to the controller 30.

The control lever serving as the operating device 26 is provided with a switch button 26S, which is another example of the input unit 42. The operator can input a command signal to the controller 30 by operating the switch button 26S while operating the control lever.

The engine speed adjustment dial 75 is a dial for adjusting the engine speed. In this embodiment, it is provided inside the cabin 10. The engine speed adjustment dial 75 is configured to be able to change the engine speed in stages. Specifically, the engine speed adjustment dial 75 is configured to be able to change the engine speed in four stages: SP mode, H mode, A mode, and idling mode. The engine speed adjustment dial 75 outputs data indicating the setting state of the engine speed to the controller 30. Figure 2 shows the state in which the H mode is selected by the engine speed adjustment dial 75.

SP mode is the rotation speed mode selected when prioritizing the amount of work, and uses the highest engine rotation speed. H mode is the rotation speed mode selected when prioritizing both the amount of work and fuel economy, and uses the second highest engine rotation speed. A mode is the rotation speed mode selected when prioritizing fuel economy while operating the excavator PS with low noise, and uses the third highest engine rotation speed. Idling mode is the rotation speed mode selected when idling the engine, and uses the lowest engine rotation speed. The engine 11 is controlled to a constant engine rotation speed at the rotation speed mode set by the engine speed adjustment dial 75.

Next, an example of the installation of the front camera 80F will be described with reference to Figures 3 and 4. Figure 3 is a front view of the excavator PS, drawn so that the ventral side of the boom 4 is visible. Figure 4 is a top view of the upper rotating body 3, with the boom 4 and boom cylinder 7 omitted. In Figures 3 and 4, a fine dot pattern is applied to the rotating frame 3F, and a coarse dot pattern is applied to the boom foot bracket 3B, the boom 4, the boom cylinder 7, and the boom cylinder foot bracket 60.

The front camera 80F is configured to be attached to the upper rotating body 3 on the ventral side of the boom 4. In this embodiment, it is attached to the upper rotating body 3 between a pair of boom cylinder foot brackets 60 arranged in front of the boom foot bracket 3B. In other words, compared to the rear camera 80B, left camera 80L, and right camera 80R, it is positioned in a position less likely to come into contact with other objects such as obstacles. Other objects include, for example, stones that are bounced off the bucket 6 or the like during excavation work and fly toward the shovel PS.

Specifically, the front camera 80F is attached to the top surface (+Z side surface) of the housing of the inertial measurement unit S4, which is rigidly connected to the rotating frame 3F between the left boom cylinder foot bracket 60L and the right boom cylinder foot bracket 60R. It is also attached so that its optical axis passes through the center plane A1 of the upper rotating body 3. It is also located below (-Z side) the hydraulic oil hose 65, which is routed along the ventral surface of the boom 4 between the left boom cylinder 7L and the right boom cylinder 7R.

As shown in FIG. 4, the boom foot bracket 3B includes a left boom foot bracket 3BL, a right boom foot bracket 3BR, and a center plate 3BC. The left boom cylinder foot bracket 60L is disposed in front of the left boom foot bracket 3BL. The right boom cylinder foot bracket 60R is disposed in front of the right boom foot bracket 3BR.

The front camera 80F may be rigidly connected to the rotating frame 3F. In this case, the inertial measurement unit S4 may be rigidly connected to the rotating frame 3F or a member rigidly connected to the rotating frame 3F, such as the boom cylinder foot bracket 60. The inertial measurement unit S4 may be disposed near the front camera 80F. That is, the inertial measurement unit S4 may be rigidly connected to a position other than the position to which the front camera 80F is rigidly connected. For example, the inertial measurement unit S4 may be rigidly connected to the rotating frame 3F between the cabin 10 constituting the left front part 3LF of the upper rotating body 3 and the right front part 3RF of the upper rotating body 3. For example, a tool box covered with a stepped cover is disposed on the right front part 3RF of the upper rotating body 3. Specifically, the inertial measurement unit S4 may be rigidly connected to the left boom cylinder foot bracket 60L between the cabin 10 and the left boom cylinder foot bracket 60L, as shown by the dashed block. In the following, the inertial measurement unit S4 rigidly connected to a position other than the position to which the front camera 80F is rigidly connected is referred to as the inertial measurement unit S4A. The inertial measurement unit S4A is preferably placed in a position close to the cabin 10. This is because the closer it is to the cabin 10, the more accurately it can detect vibrations and the like felt by the operator of the excavator PS.

The front camera 80F and the inertial measurement unit S4 are preferably attached to one rigid body. One rigid body is, for example, composed of at least one of the rotating frame 3F, the boom foot bracket 3B, and the boom cylinder foot bracket 60. In this embodiment, the cabin 10 is not included in the elements that make up one rigid body. This is because it is attached to the rotating frame 3F via a shock absorber. In other words, if the inertial measurement unit S4 is attached to the cabin 10, it will not be possible to accurately detect the impact force acting on the rotating frame 3F. Specifically, this is because it detects not the direct (primary) vibration acting on the rotating frame 3F, but the secondary vibration caused by the primary vibration. For the same reason, the stepped cover, upper rotating body cover 3V, engine hood 3E, and other members that make up the right front part 3RF are also not included in the elements that make up one rigid body.

Furthermore, the front camera 80F and the inertial measurement unit S4 are preferably arranged to move together. In other words, they are arranged so that when the shovel PS vibrates, the front camera 80F and the inertial measurement unit S4 vibrate in the same direction. This is to match the vibration detected by the inertial measurement unit S4 with the change in the scene captured by the front camera 80F (digital image showing the cause of the vibration). If the timing of the vibration detected by the inertial measurement unit S4 corresponds to the timing of the change in the scene captured by the front camera 80F, the manager can check the state of the attachment at the moment the vibration occurred simply by looking at the digital image recorded in a short period of time including the moment the vibration occurred.

In this embodiment, the front camera 80F and the inertial measurement unit S4 are both disposed in front of the rotation axis A2 (+X side) and across the central plane A1. Alternatively, as shown in FIG. 4, the front camera 80F and the inertial measurement unit S4A may be disposed in front of the rotation axis A2 (+X side) and such that the angle θ formed between the line segment connecting the front camera 80F and the rotation axis A2 and the line segment connecting the inertial measurement unit S4A and the rotation axis A2 is 90 degrees or less. More preferably, the angle θ may be disposed so that it is 30 degrees or less. In addition, the front camera 80F and the inertial measurement unit S4A are preferably disposed at approximately the same height in the Z-axis direction. In addition, the inertial measurement unit S4 is preferably disposed as close as possible to the rotation axis 2A. This is to measure the movement of the upper rotating body 3 as accurately as possible. For example, the force moment regarding the rotation axis A2 increases the farther it is from the rotation axis 2A.

In addition, both the front camera 80F and the inertial measurement unit S4 are arranged so that the signal cable CB used for connecting to the controller 30 can be easily routed. The same applies to a power cable (not shown) connected to a power source such as a storage battery 70. The signal cable CB includes a signal cable CB1 that connects the front camera 80F and the controller 30, a signal cable CB2 that connects the inertial measurement unit S4 and the controller 30, and a signal cable CB3 that connects the controller 30 and the display device 40. In this embodiment, both the signal cables CB1 and CB2 pass through an opening 3H1 formed in the center plate 3BC and extend through the space to the left of the turning hydraulic motor 21, as shown in FIG. 4. Then, they pass through an opening 3H2 formed in the left boom foot bracket 3BL and extend through an opening (not shown) formed in the right side wall of the cabin 10, and are connected to the controller 30 installed in the cabin 10. In the case of the inertial measurement unit S4A that is rigidly connected to the left boom cylinder foot bracket 60L, the signal cable CB2 extends, for example, between the cabin 10 and the left boom foot bracket 3BL and is connected to the controller 30 installed in the cabin 10. This routing path of the signal cable CB1 ensures that the front camera 80F is connected to the controller 30. The same is true for the signal cable CB2 related to the inertial measurement unit S4. The signal cable CB3 extending from the controller 30 installed in the cabin 10 extends, for example, along the right inner wall of the cabin 10 and is connected to the display device 40 installed in the cabin 10.

Next, the digital image DG output by the front camera 80F will be described with reference to FIG. 5. FIG. 5 shows an example of the digital image DG displayed on the image display section 41 of the display device 40. The controller 30 is configured to display the digital image DG on the image display section 41 of the display device 40 when, for example, the switch button 26S provided at the tip of the operating lever is pressed.

As shown in FIG. 5, the digital image DG includes an image G3F of the rotating frame 3F, an image G4 of the boom 4, an image G5 of the arm 5, an image G6 of the bucket 6, an image G7L of the left boom cylinder 7L, an image G7R of the right boom cylinder 7R, an image G10 of the cabin 10, and an image G65 of the hydraulic oil hose 65. The area VA surrounded by a dashed line represents an area where no occlusion occurs. "Occlusion" refers to a state in which a component of the excavator PS in the foreground hides an object behind it so that it cannot be seen. The area VB surrounded by a dashed line represents an area where occlusion by the cabin 10 occurs. Note that in this embodiment, the dashed line representing the range of the area VA is not displayed on the image display unit 41. The same applies to the dashed line representing the range of the area VB.

As shown in FIG. 5, the front camera 80F is positioned so that it can output a digital image DG capturing the inside of the bucket 6 from directly behind. This positioning allows the operator of the excavator PS looking at the digital image DG to more accurately grasp the angle formed between the edge line 6E of the width direction of the bucket 6 and the horizontal plane. In other words, it is possible to more accurately grasp whether the edge line 6E of the width direction of the bucket 6 is horizontal or not. The edge line 6E and the horizontal auxiliary line may be displayed on the image display unit 41. In this case, the controller 30 determines the position and inclination of the edge line 6E based on the output of the attitude sensor, for example, and determines the position and inclination of the horizontal auxiliary line based on the output of the inertial measurement unit S4.

In addition, the operator can see in the digital image DG how the image G6 of the bucket 6 moves upwards, rather than diagonally upwards, on the screen when the boom 4 is raised. This allows the operator to more accurately and comfortably grasp the change in the distance between the bucket 6 and the ground than when the bucket 6 is viewed with the naked eye from inside the cabin 10, i.e., when the bucket 6 is viewed from diagonally rear left.

In addition, the images of the attachments, including image G4 of boom 4, image G5 of arm 5, and image G6 of bucket 6, are captured from directly behind, so they do not obscure images of features on the left and right sides of the attachments. Therefore, for example, when the operator is looking at the bucket 6 with the naked eye from inside the cabin 10, the presence of the bucket 6 prevents the operator from seeing the worker working in the space diagonally in front of the bucket 6 to the right, but the operator can see the worker by looking at the digital image DG. In this way, the front camera 80F can reliably capture images of features that are hidden by the attachments when viewed from inside the cabin 10.

The digital image DG is also configured so that the image of the attachment overlaps with the vertical center line VL of the digital image DG. In this embodiment, the vertical center line VL is not displayed on the image display unit 41. With this configuration, an operator looking at the digital image DG can operate the attachment while simultaneously viewing both the left and right sides of the attachment.

The front camera 80F is positioned so that the area VB where occlusion by the cabin 10 occurs is less than one-fourth of the entire digital image DG. In other words, the front camera 80F is positioned so that the ratio of the area VB to the digital image DG output by the front camera 80F is less than 25%. Therefore, the front camera 80F can capture almost the entire range that the bucket 6 can reach.

In addition, managers such as construction companies, construction management companies, shovel rental companies, shovel leasing companies, and shovel repair companies can check how the shovel was operated by looking at the digital images DG. Therefore, the controller 30 transmits a combination of the recorded digital images DG and measurement data, etc. to an external manager at a predetermined timing.

For example, the manager can check whether the attachment is being operated appropriately by looking at the digital image DG. If the manager recognizes that an inappropriate operation is being performed, the manager can instruct the operator of the excavator PS on the appropriate operation.

In addition, the administrator can, for example, check whether the movement of the attachment is the cause of the abnormal value by viewing the digital image DG covering a predetermined period of time including the moment when the measurement data output by the inertial measurement unit S4 showed an abnormal value. In addition, in this embodiment, the measurement data and the digital image DG are configured to be synchronized, so the administrator can selectively view only the digital image DG covering a predetermined period of time including the moment when the measurement data showed an abnormal value. In other words, there is no need to view the digital image DG relating to the period when the measurement data did not show an abnormal value. Therefore, the administrator can efficiently view only the images recorded during the period to be checked. The excavator PS may be configured to transmit only the digital image DG covering a predetermined period of time including the moment when the measurement data showed an abnormal value together with the measurement data to the outside. This is to reduce the amount of communication as much as possible.

The manager may also check whether the standard bucket has been replaced with a larger bucket without authorization by looking at the digital image DG.

As described above, the excavator PS according to the embodiment of the present invention includes a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, a boom 4 attached to the upper rotating body 3, and an imaging device 80 (front camera 80F) attached to the upper rotating body 3 on the ventral side of the boom 4. With this configuration, the excavator PS can capture images of the movement of the attachment from behind. Therefore, the operator of the excavator PS can more accurately determine whether the edge line 6E in the width direction of the bucket 6 is horizontal by looking at the digital image DG output by the front camera 80F as shown in FIG. 5, for example. In addition, the operator can more accurately determine the change in the distance between the bucket 6 and the ground.

The excavator PS may be provided with an inertial measurement unit S4 attached to the upper rotating body 3. In this case, the inertial measurement unit S4 is preferably attached to the rotating frame 3F between the cabin 10 constituting the left front part 3LF of the upper rotating body 3 and the right front part 3RF of the upper rotating body 3. More preferably, it is attached to one rigid body together with the front camera 80F. First, this is to enable the inertial measurement unit S4 to measure the primary vibration acting on the rotating frame 3F, not the secondary vibration acting on the rotating frame 3F. Second, this is to correspond the primary vibration detected by the inertial measurement unit S4 to the change in the scene captured by the front camera 80F (digital image showing the cause of the vibration). In other words, this is to enable the operator to confirm the state of the attachment at the moment the vibration occurred simply by looking at the digital image recorded in a short period of time including the moment the vibration occurred. Therefore, in the above embodiment, the front camera 80F is attached to the top surface (+Z side surface) of the housing of the inertial measurement unit S4, which is rigidly connected to the rotating frame 3F, and is arranged so as to move integrally with the inertial measurement unit S4. With this arrangement, when an impact is applied that lifts the front of the upper rotating body 3, the front camera 80F can capture a series of digital images in which the image reflected in the area VA moves downward on the screen.

The digital image DG output by the front camera 80F is preferably configured so that the proportion of the area VB where occlusion by the cabin 10 occurs is less than 25%. This is to allow the operator looking at the digital image DG to easily grasp the positional relationship between the cabin 10 and the attachment, and to easily grasp the state of both the left and right sides of the attachment. Note that the operator can see with the naked eye the parts of the digital image DG that are blocked by the image G10 of the cabin 10 and cannot be seen. This is because the parts that are blocked by the image G10 of the cabin 10 and cannot be seen correspond to the space in front of the cabin 10.

The digital image DG shown in FIG. 5 is displayed not only on the display device 40 arranged in the cabin 10 of the excavator PS, but also on the display device of the management device. It may also be displayed on the display device of the support device. In this case, the excavator PS, the management device, and the mobile terminal (support device) constitute a management system for the excavator PS. The management device is a device that manages the work of the excavator PS, and is, for example, a computer equipped with a display device that is installed in a management center (office) located outside the work site. The management device may be a portable computer that can be carried by the user. The mobile terminal is a communication terminal equipped with a display device, and includes a smartphone, a tablet terminal, a notebook computer, etc. This allows the manager to check the digital image DG even outside the excavator PS.

The above describes the preferred embodiments of the present invention in detail. However, the present invention is not limited to the above-described embodiments. Various modifications, substitutions, etc. may be applied to the above-described embodiments without departing from the scope of the present invention. Furthermore, features described separately may be combined as long as no technical contradiction occurs.

For example, in the above embodiment, the front camera 80F is attached directly to the inertial measurement unit S4 or the rotating frame 3F, but it may also be attached via a mounting stay. It may also be attached to the center plate 3BC of the boom foot bracket 3B.

The inertial measurement unit S4 is rigidly connected to the rotating frame 3F or the boom cylinder foot bracket 60, but may also be rigidly connected to the boom foot bracket 3B.

In addition, the signal cable CB1 connecting the front camera 80F and the controller 30 and the signal cable CB2 connecting the inertial measurement unit S4 and the controller 30 may be combined into a single signal cable. In addition, the front camera 80F and the inertial measurement unit S4 may each be connected to the controller 30 via wireless communication.

1: Lower running body 2: Swing mechanism 3: Upper rotating body 3B: Boom foot bracket 3BC: Center plate 3BL: Left boom foot bracket 3BR: Right boom foot bracket 3E: Engine hood 3F: Swing frame 3H1, 3H2: Opening 3LF: Left front part 3RF: Right front part 3V: Upper rotating body cover 4: Boom 5: Arm 6: Bucket 7: Boom cylinder 7L: Left boom cylinder 7R: Right boom cylinder 8: Arm cylinder 9: Bucket cylinder 10: Cabin 11: Engine 11a: Alternator 11b: Starter 11c: Water temperature sensor 14: Main pump 14a: Regulator 14b: Discharge pressure sensor 14c: Oil temperature sensor 15: Pilot pump 15a, 15b: Operating pressure sensor 17: Control valve 21: Swing hydraulic motor 26: Operating device 26S... Switch button 30... Controller 30a... Memory unit 40... Display device 40a... Conversion processing unit 41... Image display unit 42... Input unit 42a... Display switching button 42b... Direction button 43... Audio output device 60... Boom cylinder foot bracket 60L... Left boom cylinder foot bracket 60R... Right boom cylinder foot bracket 65... Hydraulic oil hose 70... Storage battery 72... Electrical equipment 74... Engine control unit 75... Engine speed adjustment dial 75 80... Imaging device 80F... Front camera 80B... Rear camera 80L... Left camera 80R... Right camera CB, CB1 to CB3... Signal cable G1... Positioning device PS... Shovel S1... Boom angle sensor S2... Arm angle sensor S3... Bucket angle sensor S4, S4A... Inertial measurement device T1... Communication device

Claims (4)

A lower running body;
An upper rotating body rotatably mounted on the lower traveling body;
A boom attached to the upper rotating body;
an imaging device attached to the upper rotating body on the ventral side of the boom,
the images output by the imaging device include an image of a hydraulic oil hose, an image of a rotating frame, an image of the boom, an image of an arm, an image of a bucket, and an image of the cab resulting in an area of occlusion by the cab;
The ratio of an area in which occlusion by the cab occurs to an image output by the imaging device is less than 25%.
Shovel. A lower running body;
An upper rotating body rotatably mounted on the lower traveling body;
A boom attached to the upper rotating body;
an imaging device attached to the upper rotating body on the ventral side of the boom and configured to output an image capturing an inside of a bucket from directly behind ;
an inertial measurement unit attached to the upper rotating body;
the inertial measurement unit is attached to a rotating frame which constitutes the single rigid body together with a boom foot bracket, between a driver's cab which constitutes a left front portion of the upper rotating body but does not constitute a single rigid body, and a right front portion of the upper rotating body ;
The measurement data output by the inertial measurement unit and the image output by the imaging device are recorded in synchronization with each other .
Shovel. the imaging device and the inertial measurement unit are attached to the one rigid body;
The shovel according to claim 2. The ratio of an area in which occlusion by the cab occurs to an image output by the imaging device is less than 25%.
The shovel according to claim 2 or 3.

Images