KR20170065337A

KR20170065337A - Excavator with improved visibility

Info

Publication number: KR20170065337A
Application number: KR1020150171626A
Authority: KR
Inventors: 김정윤; 박희정; 김재현; 노영흔; 김동규; 윤현중; 김진곤
Original assignee: 대구가톨릭대학교산학협력단
Priority date: 2015-12-03
Filing date: 2015-12-03
Publication date: 2017-06-13
Also published as: KR101783111B1

Abstract

The present invention provides an excavator that secures a field of view during excavation work and improves safety and work efficiency. The present invention relates to a vehicle comprising a traveling body, a main body rotatably mounted on the traveling body, a boom rotatably mounted on the main body, an arm having one end rotatably mounted on the boom, And a camera module mounted on one side of the arm for picking up the bucket.

Description

[0001] EXCAVATOR WITH IMPROVED VISIBILITY [0002]

And more particularly, to an excavator that improves the visibility of a driver by picking up an image of an excavating operation at the time of work.

An excavator is a machine that collects digging or digging the earth or rock. Generally, an excavator has a lower traveling body, an upper rotating body, an engine, a boom, an arm, and a bucket. Under the engine driving, the lower traveling body is moved to change the working position, And operates to transfer the digging or digging of the soil or rock to the bucket by the mutual action of the boom and the arm.

During the work of the excavator, a safety fence is installed around the excavator for the safety of other workers or pedestrians, or a separate safety guard prevents people or objects from entering the work radius of the excavator.

However, the working environment of the excavator does not have a safety fence installed or a separate safety personnel available. Therefore, there is a need for a safe working environment for an excavator in a work environment where a safety fence or safety personnel can not be used.

In addition, the excavator is used to dig the surrounding ground or rock at the excavation site, but it is not easy for the operator to grasp the whole situation around the excavation site. Normally, the operator should check the surrounding situation while rotating the excavator or take a look at the excavation site by getting off the excavator. However, such circumstance confirmation work often occurs when the excavator is not easily operated depending on the work environment (for example, a space in which the upper rotator of the excavator is not smoothly rotated or a floor around the excavator is filled with water or mud). In this way, a means for easily grasping the surrounding environment is required in the current excavator.

In addition, excavators should be parked at a designated parking spot or at a parking area of an arbitrary parking lot after the end of the work. In such a case, when the other vehicle or equipment is parked in the vicinity of the vehicle due to the difference in vehicle width or vehicle length, It is not easy to park next to equipment or equipment. Thus, in the current excavator, appropriate means for easily grasping the surrounding environment is required for the convenience of the user.

In Korean Patent Laid-Open Publication No. 10-2014-0052436 (a side view device for an excavator), a camera is installed on the side of an excavator to secure a view from the side of the excavator.

Korean Unexamined Patent Publication No. 10-2014-0052436 (Apr.

Embodiments of the present invention aim to provide an excavator that secures a field of view during excavation work and improves safety and work efficiency.

According to an aspect of the present invention, there is provided a vehicle including a traveling body, a main body rotatably mounted on the traveling body, a boom rotatably mounted on the main body, an arm having one end rotatably mounted on the boom, A bucket rotatably connected to the arm, and a camera module mounted on one side of the arm for picking up an image of the bucket.

In addition, the camera module may include an imaging unit for imaging the bucket, and a housing provided at one side of the arm and housing the imaging unit.

The camera module may further include a driving unit for driving at least one of the imaging unit and the housing to adjust the position of the camera module. The camera module can capture the bucket in conjunction with the rotation of the bucket.

Further, the housing may be installed in the inside of the arm, one end thereof may be rotated with respect to the arm and protrude to the outside of the arm, and the image sensing unit may be installed at one end of the housing and pivotable about the housing .

In addition, the camera module can capture an end of the bucket.

The display device may further include a display unit for displaying an image captured by the camera module.

Further, the display unit may have an end portion of the picked up bucket positioned at the center of the display unit.

The apparatus may further include an angle sensor installed at the other end of the arm and measuring an angle between the arm and the bucket.

The controller may further include a controller for calculating a rotation angle of the camera module from information about a rotation angle of the bucket received from the angle sensor.

The camera module may further include an illumination unit that is spaced apart from the camera module and installed in the arm.

The excavator according to the embodiment of the present invention can easily grasp the image of the excavation work to improve the work efficiency and prevent the safety accident in advance.

In addition, the excavator can continuously photograph the end portion of the bucket by the camera module, and can keep the working view of the driver constant, so that the excavator can perform the excavation even in a position where the fine operation and the field of view are not secured.

In addition, the camera module of the excavator can effectively prevent the image pickup section from being contaminated by the foreign matter from the outside by arranging the image pickup section inside the housing.

1 is a perspective view illustrating an excavator having improved visibility according to an embodiment of the present invention.
2 is a block diagram showing a configuration in which a camera module of an excavator with improved visibility according to an embodiment of the present invention captures an image of a bucket in conjunction with the rotation of the bucket.
3 is a plan view showing an arm and a camera module of an excavator having improved visibility according to an embodiment of the present invention.
4 is a plan view showing an arm and a bucket of an excavator having improved visibility according to an embodiment of the present invention.
5 is a perspective view illustrating a camera module of an excavator having improved visibility according to an exemplary embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and methods of achieving them will be apparent with reference to the embodiments described in detail below with reference to the drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or corresponding components throughout the drawings, and a duplicate description thereof will be omitted .

In the following embodiments, the terms first, second, and the like are used for the purpose of distinguishing one element from another element, not the limitative meaning.

In the following examples, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise.

In the following embodiments, terms such as inclusive or possessive are intended to mean that a feature, or element, described in the specification is present, and does not preclude the possibility that one or more other features or elements may be added.

In the following embodiments, when a part of a film, an area, a component or the like is on or on another part, not only the case where the part is directly on the other part but also another film, area, And the like.

In the drawings, components may be exaggerated or reduced in size for convenience of explanation. For example, the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of explanation, and thus the present invention is not necessarily limited to those shown in the drawings.

If certain embodiments are otherwise feasible, the particular process sequence may be performed differently from the sequence described. For example, two processes that are described in succession may be performed substantially concurrently, and may be performed in the reverse order of the order described.

FIG. 1 is a perspective view showing an excavator 100 with improved visibility according to an embodiment of the present invention. FIG. 2 is a plan view of a camera module of an excavator 100 having improved visibility shown in FIG. 1, Fig.

1 and 2, an excavator 100 includes a main body 10, a traveling body 20, a boom 30, an arm 40, a bucket 50, a control unit 60, a camera module 70, And a display unit 80.

The main body 10 can be rotatably connected to the traveling body 20. A driving device such as an engine may be mounted in the main body 10 and a cab may be installed on one side of the main body 10 to allow the driver to sit on the main body 10 to adjust the excavator 100.

The traveling body 20 can be driven by receiving the driving force from the main body 10. [ The traveling body 20 is a moving device for moving in a rough or flat place, and is not limited to a specific configuration. For example, it may have a plurality of wheels, a caterpillar, or a combination of a wheel and a caterpillar.

The boom (30) can be rotatably mounted on the main body (10). The first cylinder 31 connects the side surface of the boom 30 to the main body 10 and can move the boom 30 by the hydraulic pressure of the first cylinder 31. A first angle sensor (not shown) may be installed at a portion connecting the boom 30 and the main body 10. The first angle sensor can measure the angle at which the boom (30) is rotated by the main body (10).

FIG. 3 is a plan view showing the arm 40 and the camera module 70 of FIG. 1, and FIG. 4 is a plan view showing the arm 40 and the bucket 50 of FIG.

3 and 4, one end of the arm 40 is connected to the boom 30, and the other end of the arm 40 is connected to the bucket 50. The arm 40 can be installed to be rotatable on the boom 30. The arm 40 can rotate about the boom 30 by the hydraulic pressure of the second cylinder 32. [ A second angle sensor (not shown) may be installed at a portion connecting the arm 40 and the boom 30. The second angle sensor can measure the angle of rotation of the arm 40 about the boom 30.

In detail, the arm 40 may have a plurality of holes on the outer side of the body 40d. The arm 40 may be connected to the boom 30 by providing a joint member in the first hole 40a or the second hole 40b. The frame 43 may be installed in the fourth hole 40e and connected to the third cylinder 41 and the fourth cylinder 51. [

One end of the third cylinder 41 may be connected to the third hole 40c and the other end may be connected to the frame 43. [ A part of the bucket 50 may be connected to the fifth hole 40f and the other part may be connected to the fourth cylinder 51. [

A camera module 70 may be installed at one side of the arm 40 and an illumination unit 42 may be installed adjacent to the camera module 70. [ The illuminating unit 42 brightens the surroundings of the working environment and the imaging unit 73, so that the imaging unit 73 can capture a clear image. An air nozzle (not shown) may be provided on the arm 40 to remove foreign matter adhering to the camera module 70 or the illumination unit 42. [

The bucket 50 can lift or move the weight produced by the excavation work. The bucket 50 can be connected to the arm 40 by the third cylinder 41 and the fourth cylinder 51. [ The bucket 50 is installed at the other end of the arm 40 and can be rotated at a predetermined angle.

An angle sensor 45 may be installed at a portion where the bucket 50 and the arm 40 are connected. The angle sensor 45 can measure the rotation angle of the bucket 50. A torque sensor (not shown) may be installed at a portion where the bucket 50 and the arm 40 are connected. The torque sensor can detect the torque acting on the bucket 50 and measure the weight of the weight contained in the bucket 50.

The control unit 60 may include a rotation angle calculating unit 61 and a signal generating unit 62 and may be electrically connected to the angle sensor 45, the camera module 70, and the display unit 80. This will be described later.

5 is a perspective view showing the camera module 70 of FIG.

3 and 5, the camera module 70 can be installed on one side of the arm 40 to pick up an image of the bucket 50. The camera module 70 may be installed such that at least a part of the camera module 70 is inserted into the arm 40 and may be installed to be rotatable with respect to the arm 40.

The camera module 70 may include a housing 71, a driving unit 72, and an image pickup unit 73.

The housing 71 can be pivoted on the arm 40 about the rotation shaft 74. The imaging unit 73 and the driving unit 72 may be disposed in the inner space of the housing 71.

The driving unit 72 can rotate the housing 71 or the imaging unit 73. The driving unit 72 can rotate the housing 71 around the rotation shaft 74. [ Further, the driving unit 72 can rotate the imaging unit 73 inside the housing 71. The driving unit 72 rotates the housing 71 or the imaging unit 73 so that the camera module 70 can secure a wide viewing angle.

The image pickup section 73 can pick up an image of the bucket 50 in operation. The image pickup section 73 can enlarge or reduce the image through the zoom in or zoom out function by the operation of the driver.

The image pickup unit 73 can be installed inside the housing 71 and protected from foreign substances. The camera module 70 protrudes from the arm 40 during use, but is located inside the arm 40 when not in use. That is, the imaging unit 73 is inserted into the inner space of the housing 71 when not in use, and is not exposed to the outside. Therefore, the image pickup unit 73 is prevented from entering outside dust, rainwater, etc., and can be easily checked by the driver.

The camera module 70 can rotate at least one of the housing 71 and the imaging section 73 to keep the imaging position of the imaging section 73 constant. It is advantageous to acquire an image of the end portion 52 of the bucket 50 in order to confirm the operation state by the driver at the time of excavation work. At least one of the housing 71 and the image pickup unit 73 is rotated so that the image pickup unit 73 focuses on the end portion 52 of the bucket 50 to grasp the operation state.

The display unit 80 may be installed in the cabin cap of the main body 10. The display unit 80 may display an image acquired by the camera module 70. FIG.

At this time, the image photographed by the image pickup unit may be located at the center of the display unit 80. [ When the end portion 52 of the bucket 50 is positioned at the center of the display portion 80, the operator can easily and accurately observe the working environment.

Referring again to FIG. 2, a method of securing the working view of the excavator 100 using the camera module 70 can be described.

The camera module 70 is installed in the arm 40, and the bucket 50 rotates at the end of the arm 40. Therefore, if the angle sensor 45 rotates the camera module 70 corresponding to the rotation angle of the bucket 50, the driver can secure a certain field of view.

The angle sensor 45 can measure the rotation angle of the bucket 50. The angle sensor 45 is installed in the joint region between the arm 40 and the bucket 50 and can measure the rotation angle of the arm 40 and the bucket 50. The measured rotation angle is transmitted to the control unit 60.

The control unit 60 calculates the angle at which the camera module 70 should be rotated by the rotation angle calculating unit 61 when receiving information on the rotation angle of the end portion 52 of the bucket 50 measured by the angle sensor 45 do. The rotation angle calculating unit 61 may be connected to the signal generating unit 62 to generate a signal for driving the driving unit 72. The signal generating unit 62 transmits a signal for rotating the housing 71 or the imaging unit 73 to the driving unit 72 so that the imaging unit 73 can photograph the end 52 of the bucket 50. [

The image photographed by the image pickup unit 73 can be transmitted to the display unit 80 through the control unit 60 and the operator can observe the working environment through the display unit 80. [

The operator uses a tool mounted on the end 52 of the bucket 50 during the excavation work. Therefore, it is important for the driver to secure a view to the end portion 52 of the bucket 50.

The camera module 70 rotates in correspondence with the rotation angle of the bucket 50 and can continuously photograph the end portion 52 of the bucket 50. [ The camera module 70 rotates in conjunction with the rotation of the bucket 50 so that the image of the end portion 52 of the bucket 50 can be continuously maintained.

The excavator 100 can continuously photograph the end portion 52 of the bucket 50 by the camera module 70 to keep the driver's view constant. The excavator 100 can perform the excavation work even in a position where the visibility is improved and the fine work and the field of view are not ensured.

The camera module 70 of the excavator 100 can effectively prevent the image pickup portion 73 from being contaminated by the foreign substance by arranging the image pickup portion 73 inside the housing 71. [

The present invention has been described above with reference to preferred embodiments. It will be understood by those skilled in the art that the present invention may be embodied in various other forms without departing from the spirit or essential characteristics thereof. Therefore, the above-described embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is indicated by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

10: Body
20:
30: Boom
40: Cancer
45: Angle sensor
50: Bucket
60:
70: Camera module
71: housing
72:
73:
80:
100: Excavator

Claims

A traveling body;
A body pivotably mounted on the traveling body;
A boom rotatably mounted on the main body;
An arm whose one end is rotatably mounted on the boom;
A bucket rotatably connected to the arm at the other end of the arm; And
And a camera module mounted on one side of the arm for picking up an image of the bucket.

The method according to claim 1,
The camera module includes:
An imaging unit for imaging the bucket; And
And a housing which is installed on one side of the arm and accommodates the image pickup unit.

3. The method of claim 2,
The camera module includes:
Further comprising a driving unit for driving at least one of the imaging unit and the housing to adjust the position thereof,
And the camera module captures the bucket in association with the rotation of the bucket.

The method of claim 3,
The housing may be installed in the inside of the arm and may have one end pivotal relative to the arm and protrude to the outside of the arm,
Wherein the imaging unit is provided at one end of the housing and rotates with respect to the housing.

The method according to claim 1,
Wherein the camera module comprises: an excavator having an improved visibility for picking up an end portion of the bucket;

The method according to claim 1,
And a display unit for displaying an image captured by the camera module.

The method according to claim 6,
Wherein the display unit has an end portion of the picked up bucket positioned at the center of the display unit.

The method according to claim 1,
And an angle sensor installed at the other end of the arm and measuring an angle between the arm and the bucket.

9. The method of claim 8,
And a control unit for calculating a rotation angle of the camera module from information about a rotation angle of the bucket received from the angle sensor.

The method according to claim 1,
Further comprising: an illuminating unit that is spaced apart from the camera module and installed in the arm.