WO2016174977A1 - 作業機械の周辺監視装置及び作業機械の周辺監視方法 - Google Patents
作業機械の周辺監視装置及び作業機械の周辺監視方法 Download PDFInfo
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- WO2016174977A1 WO2016174977A1 PCT/JP2016/060115 JP2016060115W WO2016174977A1 WO 2016174977 A1 WO2016174977 A1 WO 2016174977A1 JP 2016060115 W JP2016060115 W JP 2016060115W WO 2016174977 A1 WO2016174977 A1 WO 2016174977A1
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- Prior art keywords
- work machine
- ladder
- unit
- display
- information
- Prior art date
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- 238000012806 monitoring device Methods 0.000 title claims abstract description 25
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Images
Classifications
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- E—FIXED CONSTRUCTIONS
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- E—FIXED CONSTRUCTIONS
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- 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
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Definitions
- the present invention relates to a surrounding monitoring device for a working machine and a surrounding monitoring method for the working machine, which can perform surrounding monitoring according to the lifting state of the lifting ladder.
- an apparatus that generates a bird's-eye view image by synthesizing the images of each camera after converting the images of each camera into an upper viewpoint so that 360 degrees around the vehicle body can be monitored simultaneously.
- a bird's-eye view image there is one that displays a single camera image captured by a camera selected by an operator on a monitor (see Patent Document 1).
- a boarding ladder (ladder) is provided for an operator to access the operator's cab (see Patent Document 2). ).
- the lifting ladder is controlled to be lifted when the operator gets on and off the large work machine.
- the height from the ground to the bottom of the upper rotating body is 2 meters or more. Therefore, the operator cannot enter the driver's seat installed on the upper swing body as it is. Therefore, when the operator moves from the ground to the driver's seat, the above-described lifting ladder device is used.
- This lifting ladder is stored in the upper part during operation of the excavator. After the operation is finished, the ladder is lowered and then the operator descends to the ground. Is used to start driving after raising the ladder to the vicinity of the driver's seat.
- the lifting ladder is lowered to the ground, that is, when the excavator is in a stopped state, not only the operator but also the supervisor, the substitute operator, the maintenance staff, etc. As people move back and forth, people around the elevator ladder move more. Therefore, it is preferable that the operator can grasp the surrounding situation of the lifting ladder during maintenance or before the start of operation.
- the present invention has been made in view of the above, and an object of the present invention is to provide a work machine periphery monitoring device and a work machine periphery monitoring method capable of performing periphery monitoring in accordance with the lifting state of the lifting ladder. To do.
- a work machine periphery monitoring device includes an acquisition unit that acquires a surrounding state of the work machine, and an information output that outputs information acquired by the acquisition unit
- the acquisition unit in the information output unit obtains according to the up / down state detection unit for detecting the up / down state of the up / down ladder provided on the work machine, and the up / down state of the up / down ladder detected by the up / down state detection unit
- an output control unit that changes the output contents related to the information.
- the work machine includes a lower traveling body and an upper swing body provided on the lower traveling body, and the acquisition unit includes A plurality of cameras for imaging the surroundings of the upper swing body, the information output unit is a display unit, and the output control unit displays a single camera image that is an image captured by one or more of the cameras. It is a display control part displayed on a part.
- the display control unit is configured to display, on the display unit, a single camera image including the lifting ladder in an imaging range when the lifting ladder is not in a storage arrangement. It is characterized by being displayed.
- the display control unit is configured to display a single camera image that captures the rear of the upper swing body when the lifting ladder is in a retracted state. It displays on the said display part, It is characterized by the above-mentioned.
- the work machine periphery monitoring device further includes an image processing unit that generates a bird's-eye view of the periphery of the work machine based on images captured by the plurality of cameras.
- the control unit displays the overhead image, the machine gauge display, the failure information display, and the user menu display generated by the image processing unit on the display unit.
- the acquisition unit is a plurality of radars that detect obstacles around the upper-part turning body
- the output control unit includes the plurality of radars.
- the information output unit outputs obstacle information, and the change of the output content related to the information acquired by the acquisition unit is the above
- the raising / lowering ladder is not stored, the detection of the surrounding area of the raising / lowering ladder including the raising / lowering ladder in the range is masked.
- the information output unit is a display unit
- the obstacle information is a point displayed on the display unit and / or a blink display. It is characterized by.
- the work machine periphery monitoring apparatus is characterized in that, in the above invention, the information output unit is a buzzer, and the obstacle information is a buzzer sounding.
- the output control unit is configured to perform the plurality of radars when the lock lever is operated or the turning lock is set. An obstacle detection around the upper swing body is masked.
- the work machine periphery monitoring apparatus is characterized in that, in the above invention, the information output unit is provided in a remote control seat, a control room, or a portable terminal.
- the work machine periphery monitoring method includes an acquisition step of acquiring a surrounding state of the work machine, an information output step of outputting information acquired by the acquisition step, and a lifting ladder provided in the work machine.
- An elevating state detecting step for detecting the elevating state, and an output control step for changing an output content related to information acquired by the acquiring step in the information output step according to the elevating state of the elevating ladder detected by the elevating state detecting step; , Including.
- the output content related to the information acquired by the acquisition unit in the information output unit is changed according to the lifting state of the lifting ladder detected by the lifting state detection unit. Peripheral monitoring can be performed accordingly.
- FIG. 1 is a side view showing an overall configuration of a hydraulic excavator on which a working machine periphery monitoring device according to an embodiment of the present invention is mounted.
- FIG. 2 is a diagram showing the internal arrangement of the cab.
- FIG. 3 is a view taken along line AA showing a configuration in the vicinity of the lifting ladder of the excavator shown in FIG.
- FIG. 4 is a block diagram showing the detailed configuration of the entire control system of the excavator and the peripheral monitoring controller.
- FIG. 5 is an explanatory diagram illustrating the overhead image generation processing by the overhead image generation unit.
- FIG. 6 is a side view showing the arrangement of the cameras.
- FIG. 7 is a plan view schematically showing the arrangement of the cameras.
- FIG. 8 is a side view showing the arrangement of the radar.
- FIG. 9 is a plan view schematically showing the arrangement of the radar.
- FIG. 10 is a diagram showing an example of the initial screen of the periphery monitoring monitor.
- FIG. 11 is a flowchart showing the image switching processing procedure of the periphery monitoring monitor by the controller.
- FIG. 12 is a diagram illustrating an elevation ladder peripheral area in which radar detection processing is masked.
- FIG. 13 is a diagram illustrating an example in which the periphery monitoring monitor is provided in the remote control seat.
- FIG. 14 is a diagram illustrating an example in which the periphery monitoring monitor is provided in the mobile terminal.
- FIG. 1 is a side view showing an overall configuration of a hydraulic excavator on which a working machine periphery monitoring device according to an embodiment of the present invention is mounted.
- This hydraulic excavator 1 is a large hydraulic excavator such as a mining excavator used in a mine or the like shown as an example of a work machine.
- the hydraulic excavator 1 includes a self-propelled lower traveling body 2, an upper revolving body 3 that is pivotably installed on the lower traveling body 2, and a working machine that bends and undulates at the front center of the upper revolving body 3. 4.
- the work machine 4 includes a boom 4a, an arm 4b, a bucket 4c, a boom cylinder 4d, an arm cylinder 4e, and a bucket cylinder 4f.
- a base end portion of the boom 4a is rotatably connected to the upper swing body 3.
- the distal end portion of the boom 4a is rotatably connected to the proximal end portion of the arm 4b.
- the tip of the arm 4b is rotatably connected to the bucket 4c.
- the boom cylinder 4d, the arm cylinder 4e, and the bucket cylinder 4f are hydraulic cylinders that are driven by hydraulic oil discharged from a hydraulic pump.
- the boom cylinder 4d operates the boom 4a.
- the arm cylinder 4e operates the arm 4b.
- the bucket cylinder 4f is connected to the bucket 4c via a link member, and operates the bucket 4c.
- the bucket 4c operates as the cylinder rod of the bucket cylinder 4f expands and contracts.
- the opening of the bucket 4 c functions as a backhoe that faces the turning center, but the opening of the bucket 4 c may function as a front shovel that faces outward from the turning center.
- a cab 6 is installed on the left side of the front part of the upper swing body 3 via a cab base 5.
- a power container 7 is mounted on the rear part of the upper swing body 3.
- an engine, a hydraulic pump, a radiator, an oil cooler, and the like are accommodated.
- a counterweight 8 is attached to the rear end portion of the upper swing body 3.
- An elevating ladder 9 is disposed on the left side of the upper swing body 3 so as to be positioned behind the cab base 5. The lifting ladder 9 supports the lifting and lowering of the driver and the maintenance worker with respect to the upper swing body 3.
- FIG. 2 is a diagram showing the internal arrangement of the cab 6.
- the operation levers 11 and 12 are disposed on the left and right sides of the operator seat 10 in the cab 6.
- the operation lever 11 is disposed on the left hand side when the operator is seated on the operator seat 10.
- the operation lever 12 is arranged on the right hand side when the operator is seated on the operator seat 10.
- the operation lever 11 corresponds to the turning operation of the upper swing body 3 and the operation of the arm 4b.
- the operation lever 11 is operated to the left and right, the upper swing body 3 is turned to the left and right, and when the operation lever 11 is operated up and down, the arm 4b. Rotates in the front-rear direction.
- the operation lever 12 corresponds to the operation of the boom 4a and the operation of the bucket 4c.
- the operation lever 12 When the operation lever 12 is operated to the left and right, the bucket 4c rotates in the excavation and soil removal direction, and when the operation lever 12 is operated up and down, the boom 4a. Pivots up and down.
- the combination of the operation of the operation levers 11 and 12 and which work machine is operated is not limited to that of the present embodiment.
- the traveling lever 13 can move forward and backward of the crawler track on the left side of the lower traveling body 2 according to the operation. Further, the traveling lever 14 can perform forward and backward movement of the right crawler belt of the lower traveling body 2 in accordance with an operation. If the traveling levers 13 and 14 are operated at the same time, the left and right crawler belts are driven simultaneously, and the entire excavator 1 can be moved forward and backward.
- the periphery monitoring monitor 15 is an input / output device formed by a touch panel, and can display at least the surroundings of the excavator 1 acquired by a plurality of cameras as an overhead image and a single camera image.
- the monitor 16 is an input / output device having a liquid crystal display unit and a key input unit.
- the monitor 16 can display various information including the state of the engine and the hydraulic pump.
- the monitor 16 can display a mechanical gauge display such as an engine water temperature, an oil temperature, and a remaining amount of fuel, a failure information display indicating a device abnormality, a user menu display for an operator to make various settings, and the like. .
- the buzzer 17 issues a warning when an obstacle is detected by a plurality of radars.
- information on the obstacle is also displayed on the image of the periphery monitoring monitor 15 described above.
- the mechanical gauge display, failure information display, and user menu display may be displayed on the periphery monitoring monitor 15.
- FIG. 3 is a view as seen from line AA showing a configuration in the vicinity of the lifting ladder 9 of the excavator 1 shown in FIG.
- the ladder support frame 23 is fixed to the revolving frame 31 constituting the framework of the upper revolving structure 3 via the bracket 32.
- the pin 21 connects the bracket 20 and the base end portion of the elevating ladder 9.
- a lifting ladder hydraulic cylinder 24 is incorporated.
- a base end portion of the lifting / lowering ladder hydraulic cylinder 24 is connected to a bracket (not shown) provided inside the ladder support frame 23 and a pin 25.
- the tip of the lift ladder hydraulic cylinder 24 is connected by a lever-like member 26 provided at the base of the lift ladder 9 and a pin 27.
- the lift ladder hydraulic cylinder 24 is provided with a stroke sensor 24a.
- the lifting / lowering ladder hydraulic cylinder 24 When the lifting / lowering ladder hydraulic cylinder 24 is extended, the lifting / lowering ladder 9 moves to the storage arrangement stored on the upper swing body 3 side. On the other hand, when the lifting / lowering ladder hydraulic cylinder 24 contracts, the lifting / lowering ladder 9 moves from the upper swing body 3 to the state of use projecting toward the ground as shown by a two-dot chain line.
- the raising / lowering instruction of the raising / lowering ladder 9 can be performed by depressing the raising / lowering switch 9c (see FIG. 1) provided on the side surface of the cab 6 on the catwalk 9b side.
- the elevator switch 9c described above is operated to place the elevator ladder 9 in the retracted arrangement state.
- the elevator switch 9 c is operated to change the elevator ladder 9 from the storage arrangement to the use arrangement, and then the ground (surface level) via the catwalk 9 b, the stairs 9 a and the elevator ladder 9. GL)
- FIG. 4 is a block diagram showing a configuration of the entire control system of the hydraulic excavator 1.
- the periphery monitoring controller 40 is connected to a CAN 41 that is one of in-vehicle networks.
- a communication controller 42 Connected to the CAN 41 are a communication controller 42, a monitor controller 43, an engine controller 44, a pump controller 45, operating levers 11 and 12, travel levers 13 and 14, an elevating switch 9 c, a stroke sensor 24 a for the elevating ladder hydraulic cylinder 24, and the like.
- a camera group C including a plurality of cameras C1 to C7, a radar group R including a plurality of radars R1 to R8, a periphery monitoring monitor 15, and a buzzer 17 are connected to the periphery monitoring controller 40.
- the periphery monitoring controller 40 performs periphery monitoring control.
- the periphery monitoring controller 40 includes an image processing unit 51, an obstacle processing unit 52, and an output control unit 56. Further, the image processing unit 51 includes an overhead image generation unit 54 and an image composition unit 55.
- the output control unit 56 includes a display control unit 53.
- the overhead image generation unit 54 generates the overhead image 61 based on the images obtained from the cameras C1 to C7. As shown in FIG. 5, the overhead image generation unit 54 converts the images P1 to P7 obtained from the cameras C1 to C7 into an upper viewpoint image. That is, the overhead image generation unit 54 converts the image into an image viewed from a predetermined virtual viewpoint located above the excavator 1. Specifically, the bird's-eye view image generation unit 54 performs image conversion to be projected from a virtual viewpoint above the excavator 1 onto a predetermined virtual projection plane corresponding to the ground level GL.
- the overhead image generation unit 54 cuts out the converted images P11 to P17 corresponding to the regions E1 to E7 of the frame displaying the overhead image, and synthesizes the converted images P11 to P17 in the frame.
- An image P corresponding to a plan view of the excavator 1 is pasted in advance on the overhead image 61 generated by the overhead image generation unit 54.
- the obstacle processing unit 52 detects an obstacle based on the information of the radars R1 to R8.
- the obstacle processing unit 52 sounds the buzzer 17 to notify the obstacle, and outputs obstacle information such as the size and position of the detected obstacle to the image composition unit 55.
- the obstacle information is a point A1 described in FIG.
- An image in which the obstacle information is combined with the overhead image 61 and the single camera image 62 described above is generated.
- the obstacle information A1 in the area E4 of FIG. 5 is combined with the overhead image 61, and then the overhead image is displayed on the peripheral monitoring monitor 15. In that case, the operator can easily grasp the position of the obstacle and the distance from the excavator.
- the outer frame of the regions E1 to E7 of the overhead image 61 where the obstacle is present or the outer frame of the single camera image 62 where the obstacle is present blinks (the frame line blinks). May be.
- the blink display allows the operator to easily grasp the presence of an obstacle. Note that other highlighted display may be used instead of blink display. For example, the thickness of the frame may be changed, or the color of the frame may be changed.
- the obstacle information may be the point A1 described in FIG. 5, or any configuration as long as the buzzer sounds, blink display, and other configurations that inform the operator of the presence of the obstacle.
- the buzzer sounding is controlled by the output control unit 56.
- the display control unit 53 performs control to display the overhead monitor image 61 output from the image synthesis unit 55 and the single camera image 62 selected from the images captured by the cameras C1 to C7 on the periphery monitoring monitor 15.
- the monitor controller 43 is connected to the monitor 16.
- the monitor controller 43 performs input / output control of various information such as information transmitted from various sensors via the CAN 41 and information input via the monitor 16.
- the monitor 16 can display, for example, warning information indicating an engine water temperature, an oil temperature, a remaining amount of fuel, a device abnormality, and the like.
- the lift ladder hydraulic cylinder 24 is driven in accordance with the operation of the lift switch 9c. Further, the stroke amount of the lifting ladder hydraulic cylinder 24 is detected by the stroke sensor 24 a, and the detection result is output to the periphery monitoring controller 40.
- FIGS. 6 is a side view of the excavator
- FIG. 7 is a simplified plan view of the excavator upper swing body.
- the crawler belts should be shown in the left and right end regions of the upper swing body in FIG. 7, but for convenience, only the upper swing body is displayed without displaying the left and right crawler belts.
- an elevating ladder 9 is described at the left rear of the upper swing body in FIG.
- the position of the raising / lowering ladder is not limited to the left rear of the upper swing body, and may be provided at any position. All the cameras C1 to C7 may be attached to the upper swing body 3.
- each of the cameras C1 to C7 has a visual field range of 120 degrees in the left-right direction (60 degrees left and right) and 96 degrees in the height direction.
- a CCD (Charge-Coupled Device) camera can be used as the camera.
- Each of the cameras C1 to C7 may have a wide dynamic range function.
- the camera C1 is provided on the front surface of the cab base 5, which is the lower part of the cab 6 of the upper swing body 3, and images the front of the upper swing body 3.
- the camera C ⁇ b> 2 is provided at the lower right front of the upper swing body 3 and images the right front of the upper swing body 3.
- the camera C3 is provided at the lower part of the right side surface of the upper swing body 3 and images the right rear of the upper swing body 3.
- the camera C ⁇ b> 4 is provided in the lower rear center of the counterweight 8 disposed behind the upper swing body 3 and images the rear of the upper swing body 3.
- the camera C5 is provided at the lower part of the left side surface of the upper swing body 3 and images the left rear of the upper swing body 3.
- the elevating ladder 9 is included in the imaging range of the camera C5.
- the camera C6 is provided on the upper left side surface of the cab base 5 and images the left front of the upper swing body 3.
- the camera C ⁇ b> 7 is provided in the lower part of the power container 7 and images the lower area of the power container 7 and the counterweight 8. Since the imaging ranges of the adjacent cameras C1 to C7 overlap, it is possible to image 360 degrees of the outer periphery of the proximity position of the excavator 1.
- each of the radars R1 to R8 detects the relative position (relative position) and direction between the obstacle and the excavator 1 around the excavator 1.
- the radars R1 to R8 are attached to the outer peripheral portion of the excavator 1 as shown in FIGS.
- each of the radars R1 to R8 has a detection angle of 80 degrees ( ⁇ 40 degrees) in the azimuth (horizontal) direction and 16 degrees ( ⁇ 8 degrees) in the vertical (vertical) direction, and a UWB (maximum detection distance of 15 m or more).
- Ultra Wide Band (radar) radar Ultra Wide Band
- the radar R ⁇ b> 1 is provided at the front lower left end of the upper swing body 3 and detects an obstacle on the left front of the upper swing body 3.
- the radar R ⁇ b> 2 is provided at the front lower right end of the upper swing body 3 and detects an obstacle on the right front side of the upper swing body 3. Further, the installation directions of the radars R1 and R2 are adjusted so as not to detect the work machine 4 such as the bucket 4c, and the detection areas of the radars R1 and R2 do not overlap.
- the radar R3 is provided at the lower right side of the upper swing body 3 and detects an obstacle on the right rear side of the upper swing body 3.
- the radar R ⁇ b> 4 is provided at the lower right side of the upper swing body 3 and detects an obstacle on the right front side of the upper swing body 3.
- the radar R3 is adjacent to the radar R4 and is disposed in front of the position of the radar R4.
- the radars R3 and R4 detect an obstacle on the entire right side of the upper swing body 3 by irradiating the radar signals so as to cross each other and the detection areas overlap.
- the radar R5 is provided below the counterweight 8 of the upper swing body 3 and detects an obstacle on the left rear of the upper swing body 3.
- the radar R6 is provided below the counterweight 8 and detects an obstacle on the right rear side of the upper swing body 3.
- the radar R5 is adjacent to the radar R6 and is arranged on the right side with respect to the position of the radar R6.
- the radars R5 and R6 detect obstacles on the entire rear surface of the upper-part turning body 3 by irradiating radar signals so that they intersect each other and the detection areas overlap.
- the radar R8 is provided on the lower left side of the upper swing body 3 and detects an obstacle on the left front side of the upper swing body 3.
- the radar R ⁇ b> 7 is provided at the lower left side of the upper swing body 3 and detects an obstacle on the left rear side of the upper swing body 3.
- the radar R8 is disposed adjacent to the radar R7 and rearward with respect to the position of the radar R7.
- the radars R8 and R7 detect obstacles on the entire left side of the upper swing body 3 by irradiating radar signals so that they intersect each other and the detection areas overlap. Note that the area directly in front of the excavator is not a detection area. This is to prevent the work machine from being detected by the radar. Therefore, the radars R1 to R8 can detect an obstacle in the area E22 that is a peripheral area other than the front face of the excavator.
- An area E20 in FIG. 9 indicates an area within a predetermined radius with respect to the turning center CT of the upper-part turning body 3.
- obstacle information buzzer ringing, in an overhead image
- the radius of the region where the buzzer ringing is switched ON / OFF may be different from the radius displayed in the bird's-eye view image and the region where the blinking display is switched ON / OFF.
- the periphery monitoring monitor 15 shown in FIG. 10 is an example of an initial screen that is displayed first when the key is turned on.
- a bird's-eye view image 61 is displayed in the upper area of the periphery monitoring monitor 15, and a single camera image 62 is displayed in the lower area.
- An icon I1 is displayed at the lower right of the periphery monitoring monitor 15.
- the displayed single camera image 62 is a rear image of the upper swing body 3 captured by the camera C4.
- the icon I1 indicates the seven image positions displayed by the single camera image 62. Since the single camera image 62 shown in FIG. 10 is a rear image, the lower region of the icon I1 corresponding to the rear position of the upper swing body 3 is filled and displayed.
- the dump truck TR exists behind the upper swing body 3.
- the dump truck TR is at a position 180 degrees from the front where the work implement 4 is disposed, and is parked facing outward.
- the overhead image 61 includes areas E1 to E7 (instruction units) corresponding to the converted images acquired by the cameras C1 to C7.
- the peripheral monitoring monitor 15 is composed of a touch panel.
- the display control unit 53 switches to the single camera image 62 corresponding to the selected area.
- the camera is switched to a single camera image 62 by the cameras C1 to C7, respectively.
- the display content of the icon I1 is also switched correspondingly.
- the single camera image 62 as the rear image is in the same state as that displayed by switching.
- FIG. 11 is a flowchart showing an image switching processing procedure of the periphery monitoring monitor 15 by the periphery monitoring controller 40.
- the periphery monitoring controller 40 determines whether or not the elevating ladder 9 is in the storage arrangement (step S101). Whether the elevating ladder 9 is in the retracted arrangement or the used arrangement is determined based on the stroke amount of the stroke sensor 24a of the elevating ladder hydraulic cylinder 24. In the case where the lifting ladder hydraulic cylinder 24 is not used, the lifting ladder 9 may be moved up and down by sliding the lifting ladder using, for example, manual operation or a weight. In that case, it is necessary to provide a sensor for detecting whether or not the lifting ladder is in the storage arrangement. In the present embodiment, this sensor is the stroke sensor 24a. A sensor other than the stroke sensor may be used, for example, a limit switch or the like.
- the display control unit 53 is a case where the elevator ladder 9 is lowered to the ground and is in a use arrangement.
- the single camera image 62 of the periphery monitoring monitor 15 is switched to a left rear image captured by the camera C5 including the lifting ladder 9 within the imaging range (step S102).
- the operator can grasp the movement of the personnel around the elevator ladder (supervisor, substitute operator, maintenance personnel, etc.), so it is easy to change the surroundings at the time of operator change, maintenance, operation start, etc. Safety can be confirmed.
- the operator in the driver's seat can display the left rear image obtained by imaging the periphery of the lift ladder 9 as the single camera image 62. Even without leaving and moving to the catwalk 9b, it is possible to easily grasp the situation of people gathered around the position where the lifting ladder 9 is lowered and the movement of people. Also, if there is a large rock at the position where the lifting ladder 9 is lowered, the operator cannot get down to the ground, but the operator can easily lower the lifting ladder 9 by displaying the left rear image as the single camera image 62. The surrounding environment of the position can be easily grasped.
- the display control unit 53 masks the radar detection process for the lift ladder peripheral area (step S103).
- the mask means that even if the radar detects an obstacle, processing to be originally performed is limited based on the detected obstacle.
- a point or blink display in the obstacle information is displayed on the overhead image 61 and the single camera image 62, and the buzzer 17 sounds in the obstacle information. (Only one of them may be output).
- the obstacle information as described above is not output even if an obstacle is detected in the area around the lift ladder by performing the mask processing in step S103.
- step S103 the process returns to step S101.
- the sensor detection itself may not be performed, or the sensor signal may be stopped in the process of being transmitted to the display control unit.
- the display control unit 53 switches the single camera image 62 of the periphery monitoring monitor 15 to the rear image by the camera C4 when the lifting ladder 9 is in the storage arrangement (Yes in Step S101) (Step S101). S104).
- the lifting ladder 9 when the lifting ladder 9 is in a use arrangement state including lifting and lowering, the left rear image by the camera C5 included in the imaging is included in the single camera.
- the image 62 is displayed. For this reason, when it is in the use arrangement
- FIG. 12 shows an elevator ladder peripheral area E21 in addition to the above-described areas E20 and E22.
- the region E21 is a region where radar detection mask processing is performed when the lifting ladder is not in the storage arrangement. Even when an obstacle is detected in this area when the elevator ladder is not in the storage arrangement, the obstacle information (buzzer ringing, points displayed in the overhead image, blink display, etc.) is not output. It should be noted that only buzzer ringing may be limited so that dots and blink displays are displayed in the bird's-eye view image, or vice versa. For example, when an obstacle is detected at the position of the point A2 in FIG. 12, the position of the point A2 is in the area E20 and the area E22 where the obstacle information is output, and outside the area E21 where the obstacle information is not output. Therefore, the obstacle information is output.
- the position of the point A3 is in the area E20 and the area E22 where the obstacle information is output, and also in the area E21 where the obstacle information is not output. Obstacle information is not output.
- the lift ladder peripheral area E21 may be any size and shape as long as the lift ladder 9 is included in the area.
- the peripheral monitor 15 displays Although the screen is maintained, even if an obstacle is detected by the radars R1 to R8, the buzzer 17 may not be sounded and the obstacle information may not be displayed on the peripheral monitoring monitor 15. This is because if there are people or vehicles around the hydraulic excavator at the time of parking, it is troublesome for the operator if the buzzer 17 and the obstacle information are displayed on the peripheral monitoring monitor.
- the single camera image is set to be switched to a predetermined camera image according to the raising / lowering state of the ladder.
- the image may be switched to a predetermined single camera image.
- the engine water temperature, the oil temperature, the remaining amount of combustion, etc. may be switched to a predetermined single camera image.
- the display may be switched to a predetermined single camera image from a failure information display indicating an abnormality of the device or a user menu display for the operator to make various settings.
- the display area (image display size) of the single camera image or the overhead image may be changed according to the raising / lowering state of the ladder. For example, when the ladder is on the ground, a single camera image that captures the ladder may be displayed in an enlarged manner, or the single camera image that captures the ladder is relatively reduced while the overhead image is enlarged and displayed. You may make it display.
- the peripheral monitoring monitor 15 is provided separately from the monitor 16, but the present invention is not limited to this, and the overhead image 61 and the single camera image 62 may be displayed on the monitor 16. Good.
- the periphery monitoring monitor 15 is configured as a touch panel display, a normal display without a built-in touch sensor may be used.
- the overhead view image 61 and the single camera image 62 are displayed on the periphery monitoring monitor 15 at the same time.
- the present invention is not limited to this, and only the overhead view image or only the single camera image is displayed in the periphery. You may comprise so that it may display on the monitoring monitor 15. FIG.
- the touch panel display 60 is configured such that only the images captured by any one of the cameras 61 to 67 are displayed in the area where the images captured by the cameras 61 to 67 are displayed. However, it may be configured such that two or more images can be displayed simultaneously. Further, in the above-described embodiment, seven cameras are provided on the outer periphery of the upper swing body 3, but the periphery monitoring device may be configured with a smaller number of cameras, and more than this. The perimeter monitoring device may be configured by the number of cameras.
- the periphery monitoring device is configured such that the radar and the camera cooperate.
- the present invention is not limited to this, and the periphery monitoring device may be configured by the camera alone.
- the present invention may be applied to a hydraulic excavator used in a construction site.
- the elevating switch 9c provided in the catwalk 9b in the present embodiment may be provided in the cab 6.
- the configuration in which the periphery monitoring monitor 15 and the buzzer 17 are provided in the driver's seat 6 of the work machine has been described.
- FIG. 13 for performing remote operation of the work machine, for example, other places. You may provide in the control room which manages and controls the some remote control seat 300 shown in the figure or the some working machine in a mine. Further, the remote operation monitor 301 shown in FIG. 13 may be used as a peripheral monitoring monitor.
- the periphery monitoring monitor 15 and the buzzer 17 may be provided in the portable terminal 302 so that the operator can see an overhead image displayed on the portable terminal 302.
- the remote operation seat 300 when an overhead image is displayed on the periphery monitoring monitor 15 in the remote operation seat 300 or the control room, or when the portable terminal 302 is used as the periphery monitoring monitor 15 or the buzzer 17, the work machine, the remote operation seat 300.
- a configuration may be employed in which some communication means is provided in each of the control room / portable terminal 302 and the like, and information such as a bird's-eye view image is transmitted and received.
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Abstract
Description
まず、図1は、本発明の実施の形態である作業機械の周辺監視装置が搭載される油圧ショベルの全体構成を示す側面図である。この油圧ショベル1は、作業機械の一例として示した、鉱山などで使用されるマイニングショベルなどの大型油圧ショベルである。油圧ショベル1は、自走可能な下部走行体2と、下部走行体2上に旋回自在に設置された上部旋回体3と、上部旋回体3の前部中央に屈曲起伏自在に動作する作業機4とを備える。
図2は、運転室6の内部配置を示す図である。図2に示すように、操作レバー11,12は、運転室6内のオペレータシート10の左右に配置される。操作レバー11は、オペレータがオペレータシート10に着座した時に左手側に配置される。操作レバー12は、オペレータがオペレータシート10に着座した時に右手側に配置される。操作レバー11は上部旋回体3の旋回動作とアーム4bの動作に対応しており、操作レバー11を左右に操作すると上部旋回体3が左右に旋回し、操作レバー11を上下に操作するとアーム4bが前後方向に回動する。操作レバー12はブーム4aの動作とバケット4cの動作に対応しており、操作レバー12を左右に操作するとバケット4cが掘削・排土方向に回動し、操作レバー12を上下に操作するとブーム4aが上下方向に回動する。尚、操作レバー11,12の操作とどの作業機が動作するかの組み合わせは、本実施形態のものには限られない。
図3は、図1に示した油圧ショベル1の昇降ラダー9近傍の構成を示すA-A線から見た図である。図3に示すように、上部旋回体3の骨組を構成する旋回フレーム31には、ブラケット32を介してラダー支持フレーム23が固定される。ラダー支持フレーム23の先端側において、ピン21は、ブラケット20と昇降ラダー9の基端部とを連結する。ラダー支持フレーム23の内部には、昇降ラダー用油圧シリンダ24が組み込まれる。昇降ラダー用油圧シリンダ24の基端部は、ラダー支持フレーム23の内部に設けられた図示しないブラケットとピン25とによって連結される。昇降ラダー用油圧シリンダ24の先端部は、昇降ラダー9の基部に設けられたレバー状部材26とピン27とによって連結される。また、図3には図示していないが、昇降ラダー用油圧シリンダ24にはストロークセンサ24aが設けられている。
図4は、油圧ショベル1の制御系全体の構成を示すブロック図である。図4に示すように、周辺監視コントローラ40は、車内ネットワークの一つであるCAN41に接続される。CAN41には、通信コントローラ42、モニタコントローラ43、エンジンコントローラ44、ポンプコントローラ45、操作レバー11,12、走行レバー13,14、昇降スイッチ9c、昇降ラダー用油圧シリンダ24のストロークセンサ24a等が接続される。また、周辺監視コントローラ40には、複数のカメラC1~C7からなるカメラ群C、複数のレーダR1~R8からなるレーダ群R、周辺監視モニタ15、及びブザー17が接続される。
つぎに、図6及び図7を参照して、各カメラC1~C7の構成と配置とについて説明する。図6は油圧ショベルの側面図を、図7は油圧ショベル上部旋回体の簡略化した平面図を示している。図7における上部旋回体の左右の端部領域には履帯が示されるはずであるが、便宜上、左右の履帯を表示せず上部旋回体のみ表示している。また、図7の上部旋回体の左後方には昇降ラダー9が記載されている。なお、昇降ラダーの位置は上部旋回体の左後方に限らず、どの位置に設けられてもよい。すべてのカメラC1~C7は、上部旋回体3に取り付けられてもよい。例えば、各カメラC1~C7は、左右方向において120度(左右60度ずつ)、高さ方向において96度の視野範囲を有する。カメラとしてCCD(Charge-Coupled Device)カメラを用いることができる。また、各カメラC1~C7は、ワイドダイナミックレンジ(Wide Dynamic Range)機能を有してもよい。
つぎに、図8及び図9を参照して、各レーダR1~R8の構成と配置とについて説明する。すべてのレーダR1~R8は、上部旋回体3に設けられてもよい。各レーダR1~R8は、油圧ショベル1の周囲に存在する障害物と油圧ショベル1との相対的な位置(相対位置)と方向とを検出する。例えば、レーダR1~R8は、図8及び図9に示すように、油圧ショベル1の外周部分に取り付けられる。また、各レーダR1~R8は、方位(水平)方向80度(±40度)、上下(垂直)方向16度(±8度)の検出角度を有し、検出距離が最大15m以上のUWB(Ultra Wide Band:超広帯域)レーダである。
図10に示した周辺監視モニタ15は、キーオンしたときに最初に表示される初期画面の一例である。図10では、周辺監視モニタ15の上部領域に俯瞰画像61が表示され、下部領域に単カメラ画像62が表示されている。また、周辺監視モニタ15の右下には、アイコンI1が表示されている。表示されている単カメラ画像62は、カメラC4によって撮像された上部旋回体3の後方画像である。アイコンI1は、単カメラ画像62が表示する7つの画像位置を示すものである。図10に示した単カメラ画像62は、後方画像であるため、上部旋回体3の後方位置に対応するアイコンI1の下側領域が塗りつぶされて表示されている。なお、図10に示した俯瞰画像61及び単カメラ画像62では、上部旋回体3の後方にダンプトラックTRが存在している。図10では、ダンプトラックTRが、作業機4が配置される前方から180度の位置であって、外側を向き停車していることがわかる。
図11は、周辺監視コントローラ40による周辺監視モニタ15の画像切替処理手順を示すフローチャートである。図11に示すように、まず、周辺監視コントローラ40は、昇降ラダー9が格納配置にあるか否かを判断する(ステップS101)。昇降ラダー9が格納配置にあるか使用配置にあるかは、昇降ラダー用油圧シリンダ24のストロークセンサ24aのストローク量をもとに判断する。なお、昇降ラダー9は、昇降ラダー用油圧シリンダ24を用いない場合、例えば、手動操作やおもりなどを用いて、昇降ラダーをスライドすることによって昇降させてもよい。その場合、昇降ラダーが格納配置にあるか否かを検出するセンサを設ける必要がある。本実施の形態では、このセンサがストロークセンサ24aである。なお、ストロークセンサ以外のセンサであってもよく例えば、リミットスイッチ等でもよい。
2 下部走行体
3 上部旋回体
4a ブーム
4b アーム
4c バケット
4d ブームシリンダ
4e アームシリンダ
4f バケットシリンダ
4 作業機
5 キャブベース
6 運転室
7 パワーコンテナ
8 カウンタウェイト
9 昇降ラダー
9a 階段
9b キャットウォーク
9c 昇降スイッチ
10 オペレータシート
11,12 操作レバー
13,14 走行レバー
15 周辺監視モニタ
16 モニタ
17 ブザー
20,32 ブラケット
21,25,27 ピン
23 ラダー支持フレーム
24 昇降ラダー用油圧シリンダ
24a ストロークセンサ
26 レバー状部材
31 旋回フレーム
40 周辺監視コントローラ
42 通信コントローラ
43 モニタコントローラ
44 エンジンコントローラ
45 ポンプコントローラ
51 画像処理部
52 障害物処理部
53 表示制御部
54 俯瞰画像生成部
55 画像合成部
56 出力制御部
61 俯瞰画像
62 単カメラ画像
63 領域
70 操作量検出部
300 遠隔操作席
301 遠隔操作用モニタ
302 携帯端末
C カメラ群
C1~C7 カメラ
旋回中心CT
E1~E7 領域
E20 領域
E21 昇降ラダー周辺領域
GL 地表面レベル
I1 アイコン
P,P1~P7 画像
P11~P17 変換画像
R レーダ群
R1~R8 レーダ
TR ダンプトラック
Claims (11)
- 作業機械の周囲状況を取得する取得部と、
前記取得部が取得した情報を出力する情報出力部と、
前記作業機械に設けられた昇降ラダーの昇降状態を検出する昇降状態検出部と、
前記昇降状態検出部が検出した昇降ラダーの昇降状態に応じて、前記情報出力部における取得部が取得した情報に関する出力内容を変更する出力制御部と、
を備えたことを特徴とする作業機械の周辺監視装置。 - 前記作業機械は、下部走行体と該下部走行体上に設けられた上部旋回体とを備え、
前記取得部は、前記上部旋回体の周囲を撮像する複数のカメラであり、
前記情報出力部は表示部であり、
前記出力制御部は、前記カメラの内1つもしくは複数が撮像した画像である単カメラ画像を前記表示部に表示する表示制御部であることを特徴とする請求項1に記載の作業機械の周辺監視装置。 - 前記表示制御部は、前記昇降ラダーが格納配置でない場合、前記昇降ラダーを撮像範囲に含む単カメラ画像を前記表示部に表示させることを特徴とする請求項2に記載の作業機械の周辺監視装置。
- 前記表示制御部は、前記昇降ラダーが格納配置の状態である場合、前記上部旋回体の後方を撮像する単カメラ画像を前記表示部に表示させることを特徴とする請求項2または3に記載の作業機械の周辺監視装置。
- 前記複数のカメラが撮像した画像をもとに前記作業機械の周辺の俯瞰画像を生成する画像処理部を備え、
前記表示制御部は、前記画像処理部により生成された前記俯瞰画像、機械ゲージ表示、故障情報表示、ユーザメニュー表示を前記表示部に表示することを特徴とする請求項2~4のいずれか一つに記載の作業機械の周辺監視装置。 - 前記取得部は、上部旋回体の周囲の障害物を検出する複数のレーダであり、
前記出力制御部は、前記複数のレーダが取得した情報をもとに障害物が検出された場合に、前記情報出力部に障害物情報を出力させるものであって、
前記取得部が取得した情報に関する出力内容の変更とは、前記昇降ラダーが格納配置でない場合、前記昇降ラダーをその範囲に含む昇降ラダー周辺領域の検出をマスク処理することを特徴とする請求項1に記載の作業機械の周辺監視装置。 - 前記情報出力部は表示部であり、
前記障害物情報は、表示部に表示させる点、及び/またはブリンク表示であることを特徴とする請求項6に記載の作業機械の周辺監視装置。 - 前記情報出力部はブザーであり、
前記障害物情報は、ブザー鳴動であることを特徴とする請求項6に記載の作業機械の周辺監視装置。 - 前記出力制御部は、ロックレバーが作動されている場合もしくは旋回ロックが設定されている場合に、前記複数のレーダによる前記上部旋回体の周囲の障害物検出をマスク処理することを特徴とする請求項6に記載の作業機械の周辺監視装置。
- 前記情報出力部が、遠隔操作席、管制室、または携帯端末に設けられたことを特徴とする請求項1に記載の作業機械の周辺監視装置。
- 作業機械の周囲状況を取得する取得ステップと、
前記取得ステップが取得した情報を出力する情報出力ステップと、
前記作業機械に設けられた昇降ラダーの昇降状態を検出する昇降状態検出ステップと、
前記昇降状態検出ステップが検出した昇降ラダーの昇降状態に応じて、前記情報出力ステップにおける取得ステップが取得した情報に関する出力内容を変更する出力制御ステップと、
を含むことを特徴とする作業機械の周辺監視方法。
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JPWO2016174977A1 (ja) | 2018-02-15 |
CA2980993C (en) | 2021-06-15 |
AU2019213314A1 (en) | 2019-08-22 |
US10494792B2 (en) | 2019-12-03 |
JP6659673B2 (ja) | 2020-03-04 |
CN107407078A (zh) | 2017-11-28 |
WO2016174754A1 (ja) | 2016-11-03 |
AU2016253823A1 (en) | 2017-10-12 |
AU2019213312B2 (en) | 2021-04-22 |
CA2980993A1 (en) | 2016-11-03 |
US20180080198A1 (en) | 2018-03-22 |
AU2019213314B2 (en) | 2020-12-24 |
JPWO2016174754A1 (ja) | 2018-02-15 |
AU2019213312A1 (en) | 2019-08-22 |
CN107407078B (zh) | 2020-08-28 |
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