WO2016047806A1 - クローラ式作業機械の周辺監視装置 - Google Patents
クローラ式作業機械の周辺監視装置 Download PDFInfo
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- WO2016047806A1 WO2016047806A1 PCT/JP2015/077871 JP2015077871W WO2016047806A1 WO 2016047806 A1 WO2016047806 A1 WO 2016047806A1 JP 2015077871 W JP2015077871 W JP 2015077871W WO 2016047806 A1 WO2016047806 A1 WO 2016047806A1
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- crawler
- image
- work machine
- monitoring device
- camera
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- 238000012806 monitoring device Methods 0.000 title claims abstract description 27
- 238000012544 monitoring process Methods 0.000 claims description 11
- 230000002093 peripheral effect Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 description 20
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- 238000006243 chemical reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
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- 238000010276 construction Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
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- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/28—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with an adjustable field of view
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/24—Safety devices, e.g. for preventing overload
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- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/272—Means for inserting a foreground image in a background image, i.e. inlay, outlay
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- H—ELECTRICITY
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- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
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- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R2021/0065—Type of vehicles
- B60R2021/0074—Utility vehicles
- B60R2021/0081—Working vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/306—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using a re-scaling of images
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
- B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
- E02F3/963—Arrangements on backhoes for alternate use of different tools
- E02F3/964—Arrangements on backhoes for alternate use of different tools of several tools mounted on one machine
Definitions
- the present invention relates to a peripheral monitoring device for a crawler type work machine.
- a peripheral monitoring device for a work machine is known as a technique for performing a turning operation of the upper turning body (see, for example, Patent Document 1).
- a peripheral monitoring device is also mounted on various hydraulic excavators.
- hydraulic excavators may be equipped with options such as blades.
- the blade is attached to the lower traveling body, and can perform filling work and leveling work by traveling the lower traveling body with the blade landed on the ground (see, for example, Patent Document 2).
- a reference line for example, a line indicating a trajectory that the counterweight rear end passes when the upper swing body rotates
- a technique for displaying on a camera image is known.
- a crawler type work machine such as a hydraulic excavator turns the upper and lower tracks by turning the left and right crawler belts in opposite directions (for example, operating the right crawler forward and the left crawler backward). It is possible to perform so-called super-spinning, in which the entire hydraulic excavator comprising the body is rotated around a certain turning center.
- the small rear swivel excavator (which is described later in FIG. 1 corresponds to the upper excavator than the normal excavator). It is designed to be smaller on the rear side. Therefore, in the case of a normal type hydraulic excavator, the position farthest from the turning center is generally the rear end of the counterweight, but in the case of a rear small turning type hydraulic excavator, it is farthest from the turning center. The position is the outer tip of the crawler.
- An object of the present invention is to enable a worker to easily recognize a sense of distance between a position farthest from the turning center of a work machine and an obstacle, and to reduce the possibility of colliding with an obstacle or the like. It is in providing the periphery monitoring apparatus of a type
- a crawler-type work machine peripheral monitoring device comprising a crawler-type lower traveling body and an upper turning body, A camera that images the periphery of the crawler work machine; Display means for displaying an image captured by the camera; Control means for superimposing an outer edge guide image generated based on the position of the lower traveling body furthest away from the turning center of the crawler work machine on the image captured by the camera displayed on the display means; It is characterized by having.
- the control means superimposes the outer edge guide image generated based on the position of the lower traveling body farthest from the turning center of the crawler type work machine on the image captured by the camera.
- the periphery monitoring device for a crawler work machine in the first aspect, is changed by inputting a signal to the control means that the distance to the position of the lower traveling body furthest away from the turning center is changed by the switch operation or detection means. .
- the signal that the distance to the position of the lower traveling body farthest from the turning center has been changed is, for example, a signal generated by operating a switch or the like provided in the cockpit of the work machine, a blade or the like.
- a signal indicating that the option is installed can be considered from the work machine controller.
- the crawler work machine periphery monitoring device is the first aspect or the second aspect,
- the image captured by the camera is an overhead image or a single camera image.
- the outer edge reference image can be superimposed on the overhead image or the single camera image and displayed on the display means. Therefore, when the operator visually recognizes these images, the crawler work machine It is possible to perform the operation while visually recognizing the outer edge of the image, and to easily grasp the positional relationship and the sense of distance between the outer edge guide image and the obstacle.
- the periphery monitoring device for a crawler work machine is the aspect of any one of the first to third aspects, wherein the shape of the outer edge guide image is a combination of a linear portion and an arc portion. It is characterized by that.
- the straight portion of the outer edge guide image is compared with the side surface and back surface of the dump truck. By doing so, it is possible to confirm whether the dump truck is stopped obliquely from a predetermined stop direction.
- the worker can recognize the length in the width direction and the traveling direction of the crawler type work machine, the sense of distance from the obstacle can be more reliably grasped.
- the crawler work machine periphery monitoring device is the crawler work machine periphery monitoring device according to any one of the first to third aspects, wherein the outer edge guide image has a circular shape centered on the turning center. It is characterized by being.
- the turning trajectory of the position of the lower traveling body that is farthest from the turning center when the super turning is performed.
- the distance between the vehicle and the obstacle can be grasped more reliably.
- the display means is a remote control seat of the crawler work machine, Or it is provided in the display apparatus provided in the control room which manages the said crawler type work machine, or the portable terminal.
- the sixth aspect of the present invention it is possible to display an image (overhead image or single camera image) captured by a camera with an outer edge guide image superimposed on a remote control seat, control room, or portable terminal. Therefore, a remote operator of the crawler type work machine or a third party other than the operator (supervisor, etc.) can easily check the overhead view image, so that the remote operator or the third party can see the distance from the obstacle. By grasping the feeling, it is possible to more reliably avoid a collision with an obstacle.
- the side view of the crawler type work machine concerning a 1st embodiment of the present invention concerning a 1st embodiment of the present invention.
- the display example of the monitor display part which consists of a bird's-eye view image and a single camera image in 1st Embodiment.
- the side view of the crawler type work machine concerning a 2nd embodiment of the present invention.
- the schematic diagram for demonstrating the drawing method of the reference line in 2nd Embodiment The schematic diagram for demonstrating the drawing method of the reference line in 2nd Embodiment.
- the example of a display of the monitor display part which consists of a bird's-eye view image and a single camera image in 2nd Embodiment.
- a hydraulic excavator 1 as a crawler working machine includes a lower traveling body 2, an upper swing body 3, a cab (operating cab) 4, and a working machine 5.
- the lower traveling body 2 is a crawler type, and a track frame (not shown) provided immediately below the upper revolving body 3 and a pair of traveling devices provided at both ends of the track frame in the vehicle width direction perpendicular to the traveling direction.
- the traveling device 21 includes a drive wheel projecting from a track frame and a crawler belt (crawler) 22 wound around the idler wheel, and is driven along the extending direction of the crawler belt 22 by driving the drive wheel.
- the excavator 1 is moved forward and backward.
- the left and right traveling devices 21 can drive (forward and reverse) the drive wheels independently.
- the excavator 1 moves forward if the right crawler belt and the left crawler track are advanced simultaneously, and the hydraulic excavator 1 moves backward if the right crawler track and the left crawler track are moved backward simultaneously.
- the driving wheels of one traveling device 21 and the driving wheels of the other traveling device 21 are driven in opposite directions, for example, when the right crawler is advanced and the left crawler is moved backward, the lower traveling body 2 is moved to the hydraulic excavator 1.
- Such a turning method is referred to as super-revolution turning as described above.
- the upper swing body 3 is provided with, for example, four cameras 61 to 64.
- an image captured by the cameras 61 to 64 is displayed on a monitor 65 (display means). By doing so, the operator is made to recognize the situation around the excavator 1.
- an “image captured by a camera” refers to an image (single camera image) captured by any one camera and an upper viewpoint image (overhead image generated based on an image captured by each camera). ) Is included.
- an upper revolving body 3 On the track frame of the lower traveling body 2, an upper revolving body 3 is provided so as to be able to turn. It should be noted that the turning center O when the lower traveling body 2 is turned in a super-confident manner and the turning center O of the upper turning body 3 may be configured to coincide with each other as shown in FIG. May be.
- the “turning center” described in the claims may be either the turning center O when the super turning is performed or the turning center O of the upper turning body 3.
- the upper swing body 3 is provided with a cab 4, and an operator rides in the cab 4 to operate the excavator 1.
- an operator seat is provided in the cab 4, and work implement levers are provided on both sides of the operator seat.
- a traveling lever for traveling operation is provided on the floor surface of the cab 4.
- a monitor 65 is provided in the cab 4, and various information including the state of the engine water temperature and the remaining amount of fuel, failure information indicating an abnormality of the device, and various settings are performed by the operator.
- images taken by cameras 61 to 64 in a peripheral monitoring device 60 can be displayed.
- the working machine 5 is provided on the right side of the cab 4 when the direction in which the working machine 5 of the upper swing body 3 is facing forward.
- the work machine 5 includes a boom 51, an arm 52, and a bucket 53. These elements are rotated by a boom cylinder 51A, an arm cylinder 52A, and a bucket cylinder 53A.
- each of the cylinders 51A, 52A, 53A is a hydraulic cylinder, and its hydraulic source is a hydraulic pump driven by an engine (not shown) provided in the upper swing body 3.
- FIG. 3 shows a perimeter monitoring device 60 according to the present embodiment.
- the periphery monitoring device 60 is a device that images the periphery of the hydraulic excavator 1 with the cameras 61 to 64 and displays the image on the monitor 65 provided in the cab 4.
- the periphery monitoring device 60 includes a left rear camera 61, a right side camera 62, a right rear camera 63, a rear camera 64, a monitor 65 (display means), and a periphery monitoring controller 66 (control means).
- the left rear camera 61 is provided on the left rear side of the upper swing body 3 as shown in FIG. 2, and is attached in the direction of the arrow shown in FIG. 2, and images the left side of the excavator 1.
- the right side camera 62 is provided on the right side of the upper swing body 3 and is attached in the direction of the arrow shown in FIG. 2, and images the right front of the excavator 1.
- the right rear camera 63 is provided at the right rear of the upper swing body 3 and is attached in the direction of the arrow shown in FIG. 2, and images the right rear of the excavator 1.
- the rear camera 64 is provided substantially at the rear center of the upper swing body 3 and is attached in the direction of the arrow shown in FIG. 2, and images the rear of the excavator 1.
- the monitor 65 includes a display unit 65A and an operation unit (switch) 65B.
- Various information including the above-described states such as the engine water temperature and the remaining amount of fuel are displayed on the display unit 65A.
- a monitor controller (not shown) is controlled and displayed on the display unit 65A.
- the content is changed.
- the operation unit 65B includes switches used for operations on the menu screen and the maintenance screen, and switches for performing various settings such as a work mode, a travel mode, and an air conditioner.
- the monitor 65 may be configured by a touch panel in which the display unit 65A and the operation unit 65B are integrated. Further, the operation unit 65B may be separated from the display unit 65A, and the operation unit 65B may be provided in another place in the cab.
- the monitor 65 also functions as display means for displaying images captured by the cameras 61 to 64.
- an operation command is input to the periphery monitoring controller 66, for example, the display unit 65A.
- an operation such as switching from the camera image of the rear camera 64 to the camera image of the right-side camera 62 can be performed.
- the periphery monitoring controller 66 includes an overhead image generation unit 67, an image superimposition unit 68, a guide line superimposition unit 69, a display image output unit 70, a guide line change unit 71, and a guide line change start. Part 72 is provided.
- the overhead image generation unit 67 in FIG. 3 displays an overhead image (see G2 in FIG. 9) that displays the surroundings of the excavator 1 as if viewed from above, based on images captured by the cameras 61 to 64. Generate. Specifically, coordinate conversion of the image data is performed using conversion information stored in a storage unit (not shown) of the periphery monitoring controller 66 (not shown), and the image is captured by, for example, the camera 61 as shown in FIG. The image is converted into an image projected on a predetermined virtual projection plane GL from the virtual viewpoint 61A located above the excavator 1, that is, an upper viewpoint image.
- the conversion information represents the virtual projection plane GL, and the dimension M1 of the target OB imaged from the oblique upper side by the camera 61 is converted into the dimension M2 on the virtual projection plane GL.
- the overhead image generation unit 67 converts each image data picked up by the four cameras 61 to 64 into an upper viewpoint image, and then synthesizes the converted image data so that one hydraulic excavator 1 Generate a bird's-eye view image that allows you to see the surroundings.
- the image superimposing unit 68 in FIG. 3 has the top image GA (only the upper swing body 3) of the excavator 1 in the storage unit as shown in the overhead image G2 in FIG.
- the upper surface image GA of the excavator 1 is superimposed on the center of the generated overhead image G2.
- the reference line superimposing unit 69 superimposes the reference line GB generated by the reference line changing unit 71 on the overhead image G2 or the single camera image G3 as described later (see FIG. 9).
- FIG. 5 is a simplified plan view of the hydraulic excavator 1, and the distal end portion of the work machine 5 is omitted.
- the position of the lower traveling body 2 farthest from the turning center O is the outer front end E0 of the crawler belt 22, and the distance from the turning center O to the outer front end E0 of the crawler belt 22 is R0.
- a circle L1 having a radius R0 centered on the turning center O is depicted.
- FIG. 6 a square L2 circumscribing the circle L1 drawn in FIG. 5 is drawn.
- a straight line portion L3 and a straight line portion L4 which are formed by projecting the lateral width of the upper swing body 3 onto the square L2 with the upper swing body 3 facing the square, are drawn.
- the lateral width of the outer end portion of the crawler belt 22 may be adopted instead of the lateral width of the upper swing body.
- the reference line changing unit 71 draws arc portions L7 to L10 between the adjacent ends of the straight portions L3 to L6, respectively.
- a single line is formed, which becomes the reference line GB.
- the reference line GB is superimposed on the overhead image G2, a diagram as shown in FIG.
- the top image GA and the reference line GB of the upper swing body 3 are displayed in a superimposed manner in the overhead image G2, when the upper swing body 3 is turned, the upper swing body 3 and the reference line are displayed. With the GB fixed, the surrounding image in the overhead image G2 and the lower traveling body 2 reflected in the cameras 61 to 64 are displayed to rotate. In addition, when super turning is performed (the upper turning body 3 and the lower traveling body 2 are turned simultaneously), the upper traveling body 3, the reference line GB, and the lower traveling body 2 reflected in the cameras 61 to 64 are displayed. Only the surrounding images in the bird's-eye view image G2 are displayed so as to rotate in a fixed state.
- the display image output unit 70 in FIG. 3 displays the overhead image G2 on which the top image GA of the excavator 1 and the reference line GB (one form of the outer edge reference image) GB are superimposed, as shown in FIG. Is displayed on the display unit 65A of the monitor 65.
- the reference line superimposing unit 69 is located at the position of the lower traveling body 2 farthest from the turning center O of the excavator 1 generated by the reference line changing unit 71 (in this embodiment, the crawler belt 22).
- the reference line GB to be displayed at the position corresponding to the outer front end portion E0) is superimposed on the overhead image generated by the overhead image generation unit 67.
- the display image output unit 70 also displays a single camera image G3 captured by any of the cameras 61 to 64 on the display image G1. As described in the single camera image G3 of FIG. 9, the reference line GB may be superimposed on the single camera image.
- the display image output unit 70 also displays a single camera image position icon G4.
- the single camera image position icon G4 indicates the direction in which the single camera image G3 displayed on the display unit of the monitor 65 shoots (rearward, right rear, right front, left side) with respect to the excavator 1. For example, by providing a single camera image position icon G4 in the vicinity of the single camera image G3 on the display unit in FIG. 9, the operator can display the single camera image displayed on the display unit. In which direction G3 is a single camera image can be easily determined.
- a service meter image G5 and a work mode image G6 are displayed at the top of the image.
- the service meter image G5 displays the total operating time of the engine of the excavator 1.
- the work mode image G6 displays whether the work mode of the excavator 1 is a power mode (P), an eco mode (E), or the like. Further, an engine water temperature G7, a hydraulic oil temperature G8, and a remaining fuel amount G9 are displayed at the bottom of the display image G1.
- the reference line GB generated based on the position of the lower traveling body 2 farthest from the turning center is superimposed on the overhead image G2 or the single camera image G3.
- the outer tip of the crawler belt 22 and the like show the reference line GB.
- the operator recognizes the presence of an obstacle in the vicinity of the hydraulic excavator from an overhead image or the like, the operator can work without the outer tip of the crawler belt 22 colliding with the obstacle or the like.
- Second Embodiment As a second embodiment, a case where a hydraulic excavator 1A having a specification in which a blade for performing leveling work or the like is attached in front of the lower traveling body will be described below.
- the blade 23 may be detachable.
- the blade 23 is provided with a plurality of hydraulic cylinders, and the blades 23 can be driven up and down and left and right by the hydraulic cylinders. Since the blade 23 is attached to the lower traveling body 2, it is regarded as a part of the lower traveling body.
- FIG. 12 is a simplified plan view of the hydraulic excavator 1A with a blade, and the tip of the working machine is omitted.
- the position of the lower traveling body 2 farthest from the turning center O is the outer front end E0 of the crawler belt 22, but the blade 23 is attached as in the second embodiment.
- the position of the lower traveling body 2 farthest from the turning center O is the blade front end E1.
- the distance from the turning center O to the outer front end E0 of the crawler belt 22 is R1 longer than R0.
- a circle L11 having a radius R1 centered on the turning center O is depicted.
- FIG. 13 shows a reference line GC of the bladed hydraulic excavator 1A generated by the method. It can be seen that the reference line GC of the hydraulic excavator 1A with the blade is larger than the reference line GB of the normal type hydraulic excavator without the blade. This is because the position of the lower traveling body 2 farthest from the turning center O is increased from R0 to R1.
- the reference line changing unit 71 corresponds to the position of the lower traveling body 2 farthest from the turning center O of the excavator 1A (the front end E1 of the blade 23 in this embodiment).
- a reference line GC to be displayed is generated.
- the reference line GC is superimposed on the overhead image or single camera image generated by the overhead image generation unit 67.
- FIG. 14 is an example of a display screen of the monitor according to the second embodiment, and a reference line GC is superimposed on the overhead image G2 and the single camera image G3.
- the guide line changing unit 71 in FIG. 3 may change the guide line superimposed by the guide line superimposing unit 69 according to the position of the lowermost traveling body 2 of the excavator 1.
- the reference line changing unit 71 stores reference lines according to various types of hydraulic excavators 1 (the normal type excavator 1 having no blade according to the first embodiment and the hydraulic excavator with blade 1A according to the second embodiment).
- the reference line GC is superimposed on the overhead image according to the size of the blade 23 as shown in the overhead image G2 in FIG. Also good.
- the reference line change activation unit 72 in FIG. 3 is connected to the monitor 65, and an inspector or the like of the hydraulic excavator 1 uses the operation unit of the monitor 65, for example, a normal type hydraulic excavator 1 without a blade.
- the signal is input to the reference line change activation unit 72.
- the reference line change activation unit 72 outputs the input model information to the reference line change unit 71.
- the guide line changing unit 71 outputs the guide line changed to an appropriate size to the guide line superimposing unit 69 according to the model (whether it is a small rear turning type or has a blade).
- the reference line superimposing unit 69 can superimpose a reference line of an appropriate size on the overhead image or the single camera image.
- the reference line GB may be superimposed on the single camera image G3.
- the overhead image generation unit 67 generates the overhead image G2 based on the images of the cameras 61 to 64 (step S1).
- the image superimposing unit 68 calls the overhead image G2 generated by the overhead image generation unit 67 (step S2), and superimposes the upper surface image GA of the excavator 1 on the overhead image G2 as shown in FIG. 9 (step S2). S3).
- the reference line superimposing unit 69 superimposes the reference lines GB and GC input from the reference line changing unit 71 on the overhead image G2 (step S4).
- the display image output unit 70 displays the overhead image G2 on which the top image GA and the reference lines GB and GC are superimposed on the monitor 65 (Step S5).
- the reference line change activation unit 72 monitors whether or not the inspector or the like has operated the monitor 65 to input the model information (step S6).
- the reference line change activation unit 72 outputs a signal to the reference line change unit 71 to change the size of the reference line according to the input model, and sets the size of the reference line. Change (step S7).
- the excavator 1 or 1A according to the model is located at the position of the lower traveling body 2 farthest from the turning center O of the excavator 1. Based on this, reference lines GB and GC are generated and superimposed on the overhead image. Therefore, the operator can determine the sense of distance from the obstacle based on the positions of the reference lines GB and GC displayed on the monitor 65, so that the operator can work while avoiding a collision with the obstacle. it can. Specifically, when the obstacle is outside the reference lines GB and GC, the obstacle does not collide with the crawler belt 22, the blade 23, etc. even if the turning by the superstrate turning is performed.
- the reference line change starting unit 72 by providing the reference line change starting unit 72, only a specific person such as a machine inspector can change the reference line, and a normal operator may not be able to change the reference line. By doing so, it is possible to prevent a guide line smaller than the position of the lower traveling body 2 farthest from the turning center O of the excavator 1, 1 ⁇ / b> A from being displayed erroneously by the operator.
- the reference line change activation unit 72 monitors the input by the monitor 65 and activates the reference line change unit 71, but the present invention is not limited to this.
- the reference line changing unit 71 is activated by detecting whether or not the blade 23 is mounted depending on whether or not a predetermined operation switch provided in the cab 4 is operated, or according to detection signals of various sensors (detection means). It is good. As a result, even if the inspector forgets to input by the monitor 65, the reference line changing unit 71 is automatically activated when the detecting means detects that the blade is mounted.
- the reference lines (an example of the outer edge guide image) GB and GC are substantially rectangular images in which a straight portion and an arc portion are combined.
- the shape is not limited to this shape. It is a circle centered on the turning center or the turning center of the upper turning body and circumscribes the outer tip of the crawler belt 22 or the blade front side end, or the outer tip of the crawler belt 22 with some allowance. It may be a circle larger than the circumscribed circle. Furthermore, the shape is not limited to a circle.
- the outer edge guide image may be an array of dots, some marks, or the like, and may not necessarily be an array of lines. Furthermore, although only one outer edge guide image is displayed in the above embodiment, a plurality of guide images having different sizes may be displayed simultaneously.
- the sizes and display positions of the reference lines GB and GC are determined based on the distance from the turning center O of the excavator 1, but the present invention is not limited to this, and the excavator 1 is viewed from above.
- the size of the reference line and the display position may be determined based on the distance from the predetermined position on the excavator 1 at the time.
- the reference lines GB and GC are generated based on the position of the lower traveling body 2 farthest from the turning center O.
- the present invention is not limited to this.
- the upper turn The reference line may be generated based on any position of the body (excluding the work implement portion), for example, the position of the rear end portion (counter weight) of the upper swing body.
- a normal type model is selected as the model information, or the counter weight is increased as compared with the normal type and the rear end portion is extended (that is, the position of the hydraulic excavator farthest from the turning center O is longer).
- the size of the reference line may be changed by selecting the model of the type). Furthermore, when the information on the retrofitting counterweight is input as model information, the rear end of the upper swinging body extends by the amount of the retrofitting counterweight, so the size of the reference line may be changed. Good.
- four cameras are attached to the upper swing body to generate the overhead image, but any number of cameras may be used as long as the number is two or more.
- the overhead image and the single camera image are displayed on the standard screen at the same time.
- the present invention is not limited thereto, and only the overhead image or the single camera image may be displayed.
- the standard screen may be displayed by switching the screen without displaying the overhead image and the single camera image.
- the monitor 65 is provided in the cab 4 of the work machine.
- a remote operation seat for performing remote operation of the work machine for example, a plurality of work in the construction site is described.
- a configuration may be provided in which a machine is managed and controlled as a whole.
- the monitor 65 may be provided as a mobile terminal so that the operator can view an overhead image or a single camera image displayed on the mobile terminal.
- a bird's-eye view image is displayed on the monitor 65 in a remote control seat or control room, or when a portable terminal is used as the monitor 65, some communication is performed between the work machine and the remote control seat / control room / mobile terminal.
- a configuration may be provided in which means is provided to transmit and receive information such as a bird's-eye view image.
- other structures and the like may be adopted as long as the object of the present invention can be achieved.
- SYMBOLS 1 Hydraulic excavator, 2 ... Lower traveling body, 3 ... Upper turning body, 4 ... Cab, 5 ... Working machine, 21 ... Running device, 22 ... Track, 23 ... Blade, 51 ... Boom, 51A ... Boom cylinder, 52 ... Arm, 52A ... arm cylinder, 53 ... bucket, 53A ... bucket cylinder, 60 ... peripheral monitoring device, 61 ... left rear camera, 61A ... virtual viewpoint, 62 ... right side camera, 63 ... right rear camera, 64 ... rear camera, 65 ... Monitor, 66 ... Ambient monitoring controller, 67 ... Overhead image generation unit, 68 ... Image superimposition unit, 69 ...
- Guide line superimposition unit 70 ... Display image output unit, 71 ... Guide line change unit, 72 ... Guide line change start Part, E0 ... outer front end of the crawler belt, E1 ... blade front side end, E2 ... rear end position, G1 ... display image, G2 ... overhead image, G3 ... single camera image, G4 ... single camera image position eye G5 ... Service meter image, G6 ... Work mode image, G7 ... Engine water temperature, G8 ... Working oil temperature, G9 ... Fuel remaining amount, GA ... Top image, GB ... Guide line (outer edge guide image), GC ... Guide line (Outer edge guide image), GL: virtual projection plane, L1, L11 ... circle, L2 ... square, L3 to L6 ... straight line part, L7 to L10 ... arc part, M1 ... dimension, M2 ... dimension, O ... turning center, OB ... subject,
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Abstract
Description
このような周辺監視装置は、近年、種々の油圧ショベルにも搭載されている。
クローラ式の下部走行体及び上部旋回体を備えたクローラ式作業機械の周辺監視装置であって、
前記クローラ式作業機械の周囲を撮像するカメラと、
前記カメラで撮像された画像を表示する表示手段と、
前記表示手段に表示された前記カメラにより撮像された画像に、前記クローラ式作業機械の旋回中心から最も離れた下部走行体の位置に基づいて生成される外縁目安画像を重畳させる制御手段と、を備えていることを特徴とする。
スイッチ操作又は検知手段により前記旋回中心から最も離れた下部走行体の位置への距離が変更されたとの信号が制御手段に入力されることにより、前記外縁目安画像が変更されることを特徴とする。
本発明の第2の態様によれば、機械点検者等の特定の者だけに外縁目安画像の変更を可能とし、通常の作業者に外縁目安画像の変更をできないようにすることができるので、誤った操作による誤表示を防止することができる。また、仮に機械点検者がスイッチ操作を忘れてしまっても、ブレードが装着されたことを検知手段が検知することにより自動的に外縁目安画像が変更されることになる。
前記カメラで撮像された画像は、俯瞰画像または単カメラ画像であることを特徴とする。
[1]全体構成
図1、図2において、クローラ式作業機械としての油圧ショベル1は、下部走行体2、上部旋回体3、キャブ(運転室)4、および作業機5を備えて構成される。下部走行体2は、履帯式であり、上部旋回体3の直下に設けられる図示を省略したトラックフレームと、このトラックフレームにおいて走行方向に直交する車幅方向の両端に設けられた一対の走行装置21とを備えて構成される。走行装置21は、トラックフレームに突設された駆動輪および遊動輪に巻回される履帯(クローラ)22を備えて構成され、駆動輪を駆動させることによって、履帯22の延出方向に沿って油圧ショベル1を前後進させる。
図3には、本実施形態に係る周辺監視装置60が示されている。周辺監視装置60は、前述した油圧ショベル1の周辺をカメラ61~64で撮像し、キャブ4内に設けられたモニタ65上にその画像を表示する装置である。周辺監視装置60は、左後方カメラ61、右側方カメラ62、右後方カメラ63、後方カメラ64、モニタ65(表示手段)、及び周辺監視コントローラ66(制御手段)を備える。
第2実施形態として、下部走行体の前方に整地作業等を行うためのブレードを取り付けた仕様の油圧ショベル1Aを用いた場合について、以下説明する。
図5に示した第1実施形態の場合は旋回中心Oから最も離れた下部走行体2の位置は、履帯22の外側先端部E0であったが、第2実施形態のようにブレード23が取り付けられたことによって、旋回中心Oから最も離れた下部走行体2の位置はブレード前面側端部E1となる。旋回中心Oから履帯22の外側先端部E0までの距離はR0よりも長いR1である。図12では、旋回中心Oを中心とした半径R1の円L11が描かれている。
次に、第1実施形態及び第2実施形態の作用を図15に示されるフローチャートに基づいて、説明する。
まず、俯瞰画像生成部67は、カメラ61~64の画像に基づいて、俯瞰画像G2を生成する(ステップS1)。画像重畳部68は、俯瞰画像生成部67で生成された俯瞰画像G2を呼び出し(ステップS2)、図9に示されるように、俯瞰画像G2上に油圧ショベル1の上面画像GAを重畳させる(ステップS3)。目安線重畳部69は、目安線変更部71から入力された目安線GB、GCを俯瞰画像G2上に重畳させる(ステップS4)。表示画像出力部70は、上面画像GA及び目安線GB、GCが重畳された俯瞰画像G2を、モニタ65上に画面表示させる(ステップS5)。
目安線変更部71を備えていることにより、点検者等により機種情報の入力があった場合に、機種に応じた油圧ショベル1、1Aの旋回中心Oから最も離れた下部走行体2の位置に基づいて目安線GB、GCが生成され、俯瞰画像などに重畳される。従って、オペレータは、モニタ65に表示された目安線GB、GCの位置を基準に障害物との距離感を判断することができるため、障害物等との衝突を回避して作業を行うことができる。具体的には、障害物が目安線GB、GCよりも外側にある場合には、超信地旋回による旋回を行っても、障害物と履帯22やブレード23等とが衝突することがない。
なお、本発明は、前述の実施形態に限定されるものではなく、以下に示すような変形をも含むものである。
例えば、旋回中心Oから最も離れている油圧ショベル(作業機部分を除く)の位置が、下部走行体ではなく上部旋回体(作業機部分を除く)のいずれかの位置にあった場合、上部旋回体(作業機部分を除く)のいずれかの位置、例えば上部旋回体の後端部(カウンタウェイト)の位置に基づいて目安線を生成してもよい。その際に、機種情報として、通常タイプの機種を選択するか、通常タイプよりもカウンタウェイトが増量されており後端部が伸びている(すなわち旋回中心Oから最も離れた油圧ショベルの位置も長くなっている)タイプの機種を選択するかで、目安線の大きさを変更させるようにしてもよい。
さらに、機種情報として、後付けカウンタウェイトを取り付けた情報を入力した場合に、後付けカウンタウェイトの分だけ上部旋回体の後端部が伸びているため、目安線の大きさを変更させるようにしてもよい。
その他、本発明の目的を達成できる範囲で他の構造等を採用してもよい。
Claims (6)
- クローラ式の下部走行体及び上部旋回体を備えたクローラ式作業機械の周辺監視装置であって、
前記クローラ式作業機械の周囲を撮像するカメラと、
前記カメラで撮像された画像を表示する表示手段と、
前記表示手段に表示された前記カメラにより撮像された画像に、前記クローラ式作業機械の旋回中心から最も離れた下部走行体の位置に基づいて生成される外縁目安画像を重畳させる制御手段と、を備えている
ことを特徴とするクローラ式作業機械の周辺監視装置。 - 請求項1に記載のクローラ式作業機械の周辺監視装置において、
スイッチ操作又は検知手段により前記旋回中心から最も離れた下部走行体の位置への距離が変更されたとの信号が制御手段に入力されることにより、前記外縁目安画像が変更されることを特徴とするクローラ式作業機械の周辺監視装置。 - 請求項1又は請求項2に記載のクローラ式作業機械の周辺監視装置において、
前記カメラで撮像された画像は、俯瞰画像または単カメラ画像であることを特徴とするクローラ式作業機械の周辺監視装置。 - 請求項1乃至請求項3のいずれか一項に記載のクローラ式作業機械の周辺監視装置において、
前記外縁目安画像の形状が直線部と円弧部とを組み合わせたことを特徴とするクローラ式作業機械の周辺監視装置。 - 請求項1乃至請求項3のいずれか一項に記載のクローラ式作業機械の周辺監視装置において、
前記外縁目安画像の形状が旋回中心を中心とした円形であることを特徴とするクローラ式作業機械の周辺監視装置。 - 請求項1乃至請求項5のいずれか一項に記載のクローラ式作業機械の周辺監視装置において、
前記表示手段は、前記クローラ式作業機械の遠隔操作席、又は前記クローラ式作業機械を管理する管制室に設けられた表示装置、若しくは携帯端末に設けられたことを特徴とするクローラ式作業機械の周辺監視装置。
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CN201580013150.9A CN106797449B (zh) | 2015-09-30 | 2015-09-30 | 履带式作业机械的周边监视装置 |
DE112015001236.2T DE112015001236B4 (de) | 2015-09-30 | 2015-09-30 | Vorrichtung zum Überwachen der Umgebung einer Raupenketten-Arbeitsmaschine |
US15/125,358 US10927527B2 (en) | 2015-09-30 | 2015-09-30 | Periphery monitoring device for crawler-type working machine |
JP2016520089A JP6013655B2 (ja) | 2015-09-30 | 2015-09-30 | クローラ式作業機械の周辺監視装置 |
PCT/JP2015/077871 WO2016047806A1 (ja) | 2015-09-30 | 2015-09-30 | クローラ式作業機械の周辺監視装置 |
KR1020167024443A KR101843382B1 (ko) | 2015-09-30 | 2015-09-30 | 크롤러식 작업 기계의 주변 감시 장치 |
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US10927527B2 (en) | 2021-02-23 |
DE112015001236B4 (de) | 2021-02-04 |
JP6013655B2 (ja) | 2016-10-25 |
JPWO2016047806A1 (ja) | 2017-04-27 |
KR101843382B1 (ko) | 2018-03-29 |
CN106797449A (zh) | 2017-05-31 |
DE112015001236T5 (de) | 2016-12-22 |
KR20170039615A (ko) | 2017-04-11 |
CN106797449B (zh) | 2019-12-03 |
US20170089042A1 (en) | 2017-03-30 |
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