WO2022118945A1

WO2022118945A1 - Construction machine

Info

Publication number: WO2022118945A1
Application number: PCT/JP2021/044398
Authority: WO
Inventors: 一樹田村; 頌梧鈴木; 大輔川口
Original assignee: ヤンマーホールディングス株式会社
Priority date: 2020-12-04
Filing date: 2021-12-03
Publication date: 2022-06-09
Also published as: JP7422650B2; JP2024026790A; JP2022089465A

Abstract

A shovel (1) has a crane mode that executes crane work in which an object is suspended, and an excavation mode that executes excavation work. The shovel (1) is provided with a hook (9), an imaging unit (20), a display unit (61), and a control unit (11). The hook (9) suspends the object during the crane mode. The imaging unit (20) captures images of the surrounding environment of the shovel (1). The control unit (11) controls the display unit (61) so as to display captured images CG from the imaging unit (20) and work information WI pertaining to the crane work.

Description

Construction machinery

The present invention relates to construction machinery.

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

Japanese Patent Application Laid-Open No. 2003-13471

However, while the crane work combined hydraulic excavator of Patent Document 1 performs the crane work, the monitor device does not display an image showing the surrounding environment of the crane work combined hydraulic excavator together with the parameters related to the load factor. Therefore, the operator who operates the hydraulic excavator for both crane work cannot confirm the surrounding environment of the hydraulic excavator for crane work by the monitoring device.

The present invention has been made in view of the above problems, and an object thereof is to provide a construction machine capable of improving the safety of crane work by the construction machine.

According to one aspect of the present invention, the construction machine has a crane mode for executing a crane operation for suspending an object and an excavation mode for executing an excavation operation. The construction machine includes a hook, an image pickup unit, a display unit, and a control unit. The hook suspends the object in the crane mode. The image pickup unit captures the surrounding environment of the construction machine. In the crane mode, the control unit controls the display unit so as to display work information related to the crane operation together with the captured image of the image pickup unit.

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

It is a side view which shows the excavator which concerns on Embodiment 1 of this invention. It is a perspective view which shows the cockpit of the excavator which concerns on Embodiment 1. FIG. It is a block diagram which shows the excavator which concerns on Embodiment 1. FIG. (A) is a figure which shows the operation apparatus which concerns on Embodiment 1. FIG. (B) is a diagram showing an operating device when a captured image is displayed in the excavation mode. (A) is a figure which shows the operation apparatus in a crane mode. (B) is a diagram showing an operating device when the switch of the operating device shown in FIG. 5A is pressed. It is a figure which shows the operation device when the switch of the operation device shown in FIG. 5B is pressed. (A) is a figure which shows the operation apparatus when the switch of the operation apparatus is pressed in the excavation mode. (B) is a diagram showing an operating device when the shovel is switched to the crane mode in the operating device shown in FIG. 4 (a). It is a transition diagram which shows the display control method executed in the excavator 1 which concerns on Embodiment 1. FIG. It is a figure which shows the operation apparatus when the switch of the operation apparatus which concerns on Embodiment 2 of this invention is pressed in a crane mode.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiments. In addition, the description may be omitted as appropriate for the parts where the explanations are duplicated. Further, in the figure, the same or corresponding parts are designated by the same reference numerals and the description is not repeated.

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

The swivel body 2 is supported by the traveling body 7. Specifically, the swivel body 2 is arranged on the upper portion of the traveling body 7 via, for example, a swivel bearing. The swivel body 2 is supported by the traveling body 7 so as to be swivelable.

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

Further, the swivel body 2 includes at least one image pickup unit 20. In the first embodiment, the swivel body 2 includes one imaging unit 20. The image pickup unit 20 captures the surrounding environment of the excavator 1 and generates a captured image CG (video). The image pickup unit 20 is, for example, a camera. In the first embodiment, the image pickup unit 20 is attached to, for example, the swivel body 2. Specifically, the imaging unit 20 is attached to, for example, the bonnet 21. That is, in the first embodiment, the image pickup unit 20 takes an image of, for example, the rear of the cockpit 6. If the cockpit 6 is vibration-proofed, the vibration-proofing process for the image pickup unit 20 may be omitted. The cockpit 6 is supported, for example, by a frame (turning frame) included in the swivel body 2 via anti-vibration rubber.

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

The boom 3 is swingably supported by the swivel body 2 around the first rotation fulcrum R1.

The boom actuator 30 operates the boom 3. Specifically, the boom actuator 30 is driven by hydraulic oil and swings the boom 3 around the first rotation fulcrum R1. The boom actuator 30 includes a boom cylinder 31 and a boom piston 32. The boom cylinder 31 moves the boom piston 32 forward and backward by the hydraulic oil to operate the boom 3.

The arm 4 is swingably supported by the boom 3 around the second rotation fulcrum R2.

The arm actuator 40 operates the arm 4. Specifically, the arm actuator 40 is driven by hydraulic oil and swings the arm 4 around the second rotation fulcrum R2. The arm actuator 40 includes an arm cylinder 41 and an arm piston 42. The arm cylinder 41 moves the arm piston 42 back and forth with hydraulic oil to operate the arm 4.

Bucket 5 is a type of attachment. The bucket 5 is swingably supported by the arm 4 about the third rotation fulcrum R3.

The attachment actuator 50 operates the bucket 5. Specifically, the attachment actuator 50 is driven by hydraulic oil and swings the bucket 5 around the third rotation fulcrum R3. The attachment actuator 50 includes an attachment cylinder 51 and an attachment piston 52. The attachment cylinder 51 advances and retreats the attachment piston 52 with hydraulic oil to operate the bucket 5.

The hook 9 is rotatably arranged at the tip of the arm 4. Specifically, the hook 9 is arranged at the tip end portion of the arm 4 so as to be accommodated in the bucket link 5a arranged at the tip end portion of the arm 4. The hook 9 executes a crane operation for suspending an object B in the crane mode. The hook 9 is, for example, a member having a hook shape. For example, the operator can manually accommodate the hook 9 in the bucket link 5a, or manually deploy the hook 9 accommodated in the bucket link 5a from the bucket link 5a. The hook 9 in FIG. 1 is in a state of being unfolded from the bucket link 5a.

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

In the first embodiment, the excavator 1 has, for example, an excavation mode and a crane mode. In the excavation mode, the bucket 5 executes the excavation work with the hook 9 housed in the bucket link 5a. Further, in the crane mode, the hook 9 executes the crane operation of suspending the object B while the hook 9 is deployed from the bucket link 5a.

For example, the excavation mode and the crane mode of the excavator 1 can be switched by the operator operating the operation device 60 described later. The excavator 1 may be switched from the excavation mode to the crane mode according to the operator manually deploying the hook 9 from the bucket link 5a, or the operator manually accommodates the hook 9 in the bucket link 5a. The excavator 1 may be switched from the crane mode to the excavation mode depending on the operation.

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

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

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

The cutoff lever 6a is configured to be rotatable up and down, for example. In FIG. 2, the cut-off lever 6a is moved to the front side of the paper surface to rotate the cut-off lever 6a upward, and the cut-off lever 6a is moved to the back side of the paper surface to move the cut-off lever 6a. It is rotated downward.

A worker sits in the driver's seat 6b. The worker is the operator of excavator 1. Each of the plurality of operation levers 6c receives an operation from an operator. The operating lever 6c is an operating member for operating the excavator 1.

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

The display unit 61 is composed of a display such as a liquid crystal display or an organic EL display, for example. The display unit 61 displays, for example, various information about the shovel 1. Further, the display unit 61 displays, for example, the image capture image CG imaged by the image pickup unit 20.

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

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

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

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

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

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

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

The engine 71 drives the hydraulic pump 200. As a result, the hydraulic pump 200 sends the pressure oil to the control valve 300. Pressure oil is hydraulic oil to which pressure is applied. The control valve 300 controls the flow of pressure oil. The control valve 300 supplies pressure oil to the actuator 100. Specifically, the control valve 300 controls the flow rate and direction of the pressure oil supplied to the actuator 100. More specifically, the control valve 300 is a hydraulic motor (not shown) that swivels the swivel body 2, a boom cylinder 31, an arm cylinder 41, an attachment cylinder 51, and a hydraulic motor (not shown) of the traveling body 7. Pressure oil is supplied to (shown). As a result, each hydraulic motor of the hydraulic motor, the boom cylinder 31, the arm cylinder 41, the attachment cylinder 51, and the traveling body 7 is driven. For example, as the rotation speed of the engine 71 decreases, the amount of oil discharged from the hydraulic pump 200 decreases, and the operating speeds of the swivel body 2, the traveling body 7, and the working unit 8 decrease. Further, for example, when the rotation of the engine 71 is stopped, the hydraulic pump 200 is stopped, and the operations of the swivel body 2, the traveling body 7, and the working unit 8 are stopped.

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

Specifically, for example, when the cutoff lever 6a is rotated upward, the pilot pressure is not applied to the control valve 300, so that the supply of hydraulic oil from the control valve 300 to the actuator 100 is stopped and the actuator 100 is operated. It will be locked. When the actuator 100 is in the locked state, even if the operator operates the operation lever 6c, the pressure oil from the hydraulic pump 200 is not supplied to the control valve 300, so that the pressure oil is supplied from the control valve 300 to the actuator 100. However, the operation of the actuator 100 is limited. As a result, the drive of the boom 3, the arm 4, and the bucket 5 is restricted. On the other hand, for example, when the cutoff lever 6a is rotated downward, a pilot pressure is applied to the control valve 300, the stop of the supply of hydraulic oil from the control valve 300 to the actuator 100 is released, and the actuator 100 can be operated. It becomes a state. When the actuator 100 is in an operable state, the pressure oil from the hydraulic pump 200 is supplied to the control valve 300 in response to the operator operating the operation lever 6c, so that the pressure oil from the hydraulic pump 200 is supplied to the control valve 300 from the control valve 300 to the actuator 100. Hydraulic oil is supplied and the actuator 100 operates. As a result, the boom 3, the arm 4, and the bucket 5 are driven.

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

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

The time is displayed in the time display area 80. The operating time of the excavator 1 is displayed in the operating time display area 84. Information about the fuel of the engine 71 is displayed in the fuel information display area 86. Specifically, for example, in the fuel information display area 86, the remaining amount of fuel and the operable time of the engine 71 are displayed.

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

The second notification area 82 is arranged so as to be adjacent to the image display area 88, for example. Further, the second notification area 82 is arranged so as to be adjacent to the image display area 88 on the side opposite to the first notification area 81. Specifically, the second notification area 82 is arranged adjacent to the image display area 88 on the upper side of the image display area 88, for example. In the excavation mode, the second notification area 82 displays, for example, information about the excavation mode. On the other hand, in the crane mode, for example, information about the crane operation is displayed in the second notification area 82. That is, for example, the work information WI is displayed in the second notification area 82.

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

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

The selected region 95 includes a plurality of selected portions 96 (for example, six selected portions 961 to 966 selected portions). The selected area 95 is an area for the operator to select any one of the plurality of selected units 96. In the first embodiment, the plurality of selected portions 96 are arranged, for example, in a substantially straight line. Each of the plurality of selected portions 96 is, for example, an object. For example, a function related to screen operation or a function related to setting for excavator 1 is assigned to each of the plurality of selected units 96.

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

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

For example, in response to the switch 622 being pressed, the switch 622 receives an instruction to select the selected unit 962. The selected unit 962 is an item for switching from the excavation mode to the crane mode. That is, pressing the switch 622 corresponds to the switch 622 receiving an instruction to switch from the excavation mode to the crane mode. For example, in response to the switch 622 being pressed, the control device 10 switches the excavator 1 from the excavation mode to the crane mode.

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

That is, in the operation device 60 shown in FIG. 4A, the control device 10 causes the image display area 88 to display the captured image CG in response to the operator rotating the cutoff lever 6a downward. The display unit 61 is controlled. That is, in response to the cutoff lever 6a switching the supply stop of the hydraulic oil to the actuator 100 to the supply, the control device 10 controls the display unit 61 so that the captured image CG is displayed in the image display area 88. Therefore, while the boom 3, the arm 4, and the bucket 5 are in a driveable state, the operator can confirm the surrounding environment of the excavator 1 via the operating device 60. As a result, the safety of work by the excavator 1 is improved. When the meter image MG is displayed in the excavation mode, the control device 10 may control the display unit 61 so as to display the screen SC2 in response to the pressing of the switch 624.

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

That is, control is performed according to the fact that the cutoff lever 6a is rotated downward in the crane mode, or the excavator 1 is switched from the excavation mode to the crane mode while the cutoff lever 6a is rotated downward. The device 10 controls the display unit 61 so that the captured image CG is displayed in the image display area 88. Further, in the crane mode, the control device 10 controls the display unit 61 so as to display the work information WI related to the crane work in at least one of the first notification area 81 and the second notification area 82. For example, in the example shown in FIG. 5A, the work information WI is displayed in each of the first notification area 81 and the second notification area 82 together with the captured image CG. In the crane mode, the work information WI may be displayed in either the first notification area 81 or the second notification area 82.

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

The work information WI includes information WI1 regarding the rated load defined for the crane work, information WI2 indicating the load applied to the hook 9 (for example, information indicating the weight of the object B applied to the hook 9). Alternatively, it is information WI3 indicating a warning in crane work. In the example shown in FIG. 5A, for example, the information WI1 and the information WI2 are displayed in the first notification area 81, and the information WI3 is displayed in the second notification area 82. Therefore, the operator can operate the excavator 1 while confirming information that is preferable to be considered in the crane operation. As a result, safety in crane work is improved.

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

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

By displaying the information WI3 in the second notification area 82, the operator can inspect what should be noted in the crane operation. As a result, the operator can easily understand what to be careful about when working with a crane. The background color of the character string image may be changed according to the situation of the crane work. For example, if the situation of the crane work is a situation in which the worker wants to strongly pay attention, the background color of the character string image may be changed to red. Further, for example, when the situation of the crane work is a situation in which the worker is weakly to be alerted, the background color of the character string image may be changed to white. Therefore, the operator can visually recognize the degree of attention in the crane operation by the background color of the character string image.

In the first embodiment, the control device 10 controls the display unit 61 so as to display the captured image CG and the work information WI adjacent to each other. That is, the display unit 61 displays the captured image CG and the work information WI adjacent to each other. Specifically, for example, the captured image CG and each of the information WI1 to the information WI3 are displayed on the display unit 61 adjacent to each other in the vertical direction. Therefore, when the operator looks at the operating device 60 in the crane operation, it is easy for the operator to confirm both the work information WI and the captured image CG. As a result, the safety of the excavator 1 in crane work is improved.

Further, in the first embodiment, the control device 10 controls the display unit 61 so that the captured image CG is arranged and displayed between the plurality of work information WIs. That is, the captured image CG is arranged between the plurality of work information WIs. Specifically, in the example shown in FIG. 5A, the captured image CG is arranged between the information WI1 and the information WI2 and the information WI3. Further, the captured image CG is arranged in the central portion of the display unit 61. Therefore, the operator can confirm the information WI1 and the information WI2 while confirming the captured image CG, and can confirm the information WI3 while confirming the captured image CG. As a result, the operator can easily check the surrounding environment of the excavator 1, and the safety of the excavator 1 in the crane operation is improved.

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

FIG. 5B is a diagram showing an operating device 60 when the switch 626 of the operating device 60 shown in FIG. 5A is pressed. As shown in FIG. 5B, in response to the switch 626 being pressed, the control device 10 converts the information WI1 and the information WI2 displayed in the first notification area 81 into the information WI4 and the information WI5, for example. Switch. Information WI4 and Information WI5 each relate to the rated load specified for the crane operation. Specifically, the information WI4 indicates, for example, the length in the horizontal direction from the center of the traveling body 7 to the tip of the working portion 8. Further, the information WI 5 indicates, for example, the length in the vertical direction from the ground in contact with the traveling body 7 to the hook 9. The information WI 5 may indicate, for example, the length in the vertical direction from the ground to the contact position between the hook 9 and the arm 4.

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

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

In the first embodiment, in response to the switch 624 being pressed, the switch 624 receives an instruction to select the selected unit 964. The selected unit 964 is an item for switching the size of the captured image CG displayed in the image display area 88. That is, pressing the switch 624 corresponds to receiving an instruction to switch the size of the captured image CG displayed on the image display area 88 by the switch 624. For example, in the excavation mode, when the switch 624 is pressed, the control device 10 controls the display unit 61 so as to switch and display the size of the captured image CG displayed in the image display area 88.

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

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

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

Here, when the display unit 61 displays the captured image CG on the first size SZ1, the control device 10 operates the time display area 80, the first notification area 81, and the second notification area 82 on the screen SC4. The time display area 84, the fuel information display area 86, the rotation speed display area 94, and the selected area 95 are hidden. Even when the selected area 95 is hidden, any one of the plurality of pressed switches 621 to 626 is pressed in response to the fact that any of the plurality of switches 621 to 626 is pressed. The selected unit 96 corresponding to is selected. Therefore, the operator can operate the operation device 60 without instructing the operator to display the captured image CG displayed in the first size SZ1 in place of the second size SZ2. As a result, the labor of the operator who operates the operating device 60 is reduced.

As shown in FIG. 7A, when the captured image CG is displayed in the image display area 88 in the image display area 88 in the excavation mode in the first size SZ1, the control device 10 responds to the fact that the switch 624 is pressed. As shown in FIG. 4B, the display unit 61 is controlled so that the captured image CG is displayed in the second size SZ2. That is, when the switch 624 is pressed while the display unit 61 is displaying the screen SC4, the control device 10 controls the display unit 61 so as to display the screen SC2 instead of the screen SC4. .. Therefore, the captured image CG displayed on the display unit 61 can be reduced at the timing desired by the operator. As a result, for example, the operator can operate the operation device 60 while visually recognizing the selected portion 96 of the selected area 95, and can display the captured image CG in a large size when the operation device 60 is not operated.

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

Further, when the display unit 61 displays the captured image CG in the first size SZ1 in the excavation mode, the control device 10 displays the captured image CG in response to the switching of the excavator 1 from the excavation mode to the crane mode. The display unit 61 is controlled so as to display in 2 size SZ2. That is, when the display unit 61 is displaying the screen SC4 in the excavation mode, the control device 10 replaces the screen SC4 with, for example, FIG. 5 (a) in response to the excavator 1 being switched from the excavator mode to the crane mode. ), The display unit 61 is controlled so as to display the screen SC3. Therefore, even when the captured image CG of the first size SZ1 is displayed on the display unit 61 and the work information WI is not displayed, the work information WI is displayed on the display unit 61 only by switching the shovel 1 to the crane mode. Is maintained. As a result, it is possible to reduce the labor of the operator who displays information that is preferable to be considered in the crane operation.

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

As shown in FIG. 4A, the switch 622 may be pressed when the display unit 61 is displaying the screen SC1, that is, when the display unit 61 is displaying the meter image MG in the excavation mode. The control device 10 switches the excavator 1 from the excavation mode to the crane mode in response to the operator deploying the hook 9 from the bucket link 5a. That is, in the state where the cutoff lever 6a is rotated upward in the excavation mode, the control device 10 responds to switching the excavator 1 from the excavation mode to the crane mode, as shown in FIG. 7B. The display unit 61 is controlled so as to display the screen SC5 instead of the screen SC1. Similar to the screen SC1, the screen SC5 includes a time display area 80, a first notification area 81, a second notification area 82, an operating time display area 84, a fuel information display area 86, and an image display area 88. It has an icon display area 90, a rotation speed display area 94, and a selected area 95. On the screen SC5, the work information WI is displayed in the first notification area 81. Further, on the screen SC5, the meter image MG is displayed in the image display area 88.

Therefore, even if the boom 3, arm 4, and bucket 5 cannot be driven by rotating the cutoff lever 6a upward, the display unit 61 displays the work information WI as long as the excavator 1 is in the crane mode. As a result, in the crane mode, the operator can confirm the work information WI even while the work unit 8 is stopped, so that the safety of the crane work is improved.

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

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

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

In step S4, when the excavator 1 is switched from the excavation mode to the crane mode, the control device 10 controls the display unit 61 so as to display the screen SC5 instead of the screen SC1. As a result, the display unit 61 displays the screen SC5. The work information WI is displayed on the screen SC5.

In step S5, when the excavator 1 is switched from the crane mode to the excavation mode, the control device 10 controls the display unit 61 so as to display the screen SC1 instead of the screen SC5. As a result, the display unit 61 displays the screen SC1.

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

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

In step S9, when the excavator 1 is switched from the excavation mode to the crane mode, the control device 10 controls the display unit 61 so as to display the screen SC3 instead of the screen SC2. As a result, the display unit 61 displays the screen SC3.

In step S10, when the excavator 1 is switched from the crane mode to the excavation mode, the control device 10 controls the display unit 61 so as to display the screen SC2 instead of the screen SC3. As a result, the display unit 61 displays the screen SC2.

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

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

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

(Embodiment 2)
The screen SC displayed by the display unit 61 of the operation device 60 according to the second embodiment will be described with reference to FIGS. 5A and 9. FIG. 9 is a diagram showing a screen SC6 displayed by the display unit 61 of the operation device 60 according to the second embodiment. Since the display unit 61 according to the second embodiment has the same configuration as the operation device 60 according to the first embodiment except that the image captured image CG of the first size SZ1 is displayed in the crane mode, the overlapping portion will be described. Omit.

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

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

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

The embodiment of the present invention has been described above with reference to the drawings. However, the present invention is not limited to the above embodiment, and can be carried out in various embodiments without departing from the gist thereof. In addition, the plurality of components disclosed in the above-described embodiment can be appropriately modified. For example, one component of all the components shown in one embodiment may be added to another component of another embodiment, or some of the components of all the components shown in one embodiment. The element may be removed from the embodiment.

The drawings are schematically shown mainly for each component in order to facilitate the understanding of the invention, and the thickness, length, number, period, etc. of each of the illustrated components are convenient for drawing. It may be different from the actual one from the top. Further, the configuration of each component shown in the above embodiment is an example and is not particularly limited, and it goes without saying that various changes can be made without substantially deviating from the effect of the present invention. ..

For example, as described with reference to FIG. 1, the excavator 1 includes one imaging unit 20. However, as long as the excavator 1 includes at least one image pickup unit 20, the excavator 1 may include a plurality of image pickup units 20. That is, the excavator 1 may include two or more image pickup units 20. Specifically, one of the plurality of image pickup units 20 is arranged on the left side when viewed from the cockpit 6 and above the front side of the cockpit 6, and is on the left side of the excavator 1. Take an image of your environment. Further, the other imaging unit of the plurality of imaging units 20 is arranged on the right side when viewed from the cockpit 6 and above the rear side of the cockpit 6, and is located on the right side of the excavator 1. Take an image of your environment. Further, the other imaging unit 20 of the plurality of imaging units 20 is arranged, for example, below the rear side of the cockpit 6 and images the environment behind the excavator 1. The arrangement of each of the plurality of image pickup units 20 changes depending on the structure of the excavator 1.

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

Further, as described with reference to FIG. 2, in the first embodiment, the swivel body 2 includes a cockpit 6. However, as long as the excavator 1 includes the cockpit 6b, the swivel body 2 does not have to include the cockpit 6.

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

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

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

1 Excavator (construction machinery)
5 Bucket 8 Working unit 9 Hook 11 Control unit 20 Imaging unit 6a Cut-off lever (switching unit)
60 Operation unit (reception unit)
61 Display 100 Actuator 300 Control valve (direction switching valve)
CG captured image S1 1st size S2 2nd size WI Work information

Claims

A construction machine having a crane mode for executing a crane work for suspending an object and an excavation mode for executing an excavation work.
A hook for suspending the object in the crane mode,
An image pickup unit that captures the surrounding environment of the construction machine,
Display and
A construction machine comprising a control unit that controls the display unit so as to display work information related to the crane operation together with an image captured by the image pickup unit in the crane mode.
The construction machine according to claim 1, wherein the control unit controls the display unit so that the captured image and the work information are displayed adjacent to each other.
The construction machine according to claim 2, wherein the control unit controls the display unit so that the captured image is arranged and displayed between a plurality of the work information.
The work information is information regarding a rated load defined for the crane work, information indicating a load applied to the hook, or information indicating a warning in the crane work, according to claims 1 to 3. The construction machine described in any one of the items.
A bucket that performs the excavation work in the excavation mode,
Further, a reception unit for receiving an instruction to display the captured image in the first size on the display unit is provided.
The control unit
In the excavation mode, when the reception unit receives the instruction, the display unit is controlled so that the captured image is displayed in the first size.
In the crane mode, when the reception unit receives the instruction, the display unit is controlled so as to display the captured image in the second size.
The construction machine according to any one of claims 1 to 4, wherein the first size is larger than the second size.
In the excavation mode, when the display unit displays the captured image in the first size, the control unit switches the captured image from the excavation mode to the crane mode. The construction machine according to claim 5, wherein the display unit is controlled so as to display the second size.
Actuators driven by hydraulic fluid and
A direction switching valve that controls the flow rate and direction of the hydraulic oil supplied to the actuator,
Further provided with a switching unit for switching between supply and stop of the hydraulic oil to the direction switching valve.
According to claim 1, the control unit controls the display unit so as to display the captured image in response to the switching unit switching the supply stop of the hydraulic oil to the direction switching valve to the supply. The construction machine according to any one of items 6.
Further, a reception unit for receiving an instruction to display the captured image in the first size on the display unit is provided.
In the crane mode, when the display unit displays the captured image in the second size, the receiving unit receives the instruction, and the control unit receives the operation on the captured image of the first size. The display unit is controlled so that information is superimposed and displayed, and the display unit is controlled.
The construction machine according to any one of claims 1 to 4, wherein the first size is larger than the second size.