Surrounding monitoring device for construction machine

Abstract

The present invention provides a surrounding monitoring device that displays an overhead image of a construction machine (1) and its surroundings, the surrounding monitoring device having a detection mechanism (634) that detects the distance of an object in the surroundings from the construction machine (1), and a display mechanism (622) that displays the object in reflection of the distance of the construction machine (1) from the object, the display range (E) of the object of the display mechanism (622) being set to a range that extracts a portion of the detection range (F) of the detection mechanism (634). Thus, the distance of the object in the surroundings is detected and extracted to display the object, so the distance to the object can be accurately grasped.

Description

Technical Field

[0001] This application claims priority based on Japanese Patent Application No. 2021-058961, filed on March 31, 2021. The entire contents of that Japanese application are incorporated herein by reference.

[0002] This invention relates to a monitoring device for the surroundings of construction machinery. Background Technology

[0003] In conventional monitoring devices around construction machinery, images obtained by cameras positioned around the construction machinery and taken at an angle downwards are converted into images viewed from a vertically upward perspective. The converted images are then synthesized to generate an overhead view known as a surround view and displayed on a display device (for example, see Patent Document 1).

[0004] Patent Document 1: Japanese Patent Application Publication No. 2012-074929

[0005] However, the image after the viewpoint is changed will be distorted within the image, so it is sometimes difficult to determine the accurate distance to surrounding objects based on the overhead image displayed by the previous surrounding monitoring device. Summary of the Invention

[0006] The purpose of this invention is to display the distance to objects around construction machinery in a way that allows for a more accurate assessment.

[0007] This invention is a surrounding monitoring device that displays an overhead view of construction machinery and its surroundings. The surrounding monitoring device is configured to include:

[0008] The detection agency measures the distance of surrounding objects relative to the construction machinery; and

[0009] The display mechanism shows the object in the overhead view, reflecting the distance between the construction machinery and the object.

[0010] The display range of the object in the display mechanism is set to a range that extracts a portion of the detection range of the detection mechanism.

[0011] Invention Effects

[0012] According to the present invention, the distance to objects surrounding the construction machinery can be displayed in a way that allows for a more accurate determination of the distance. Attached Figure Description

[0013] Figure 1 This is a side view of a crane equipped with the surrounding monitoring device according to an embodiment of the present invention.

[0014] Figure 2It is a block diagram representing the control device of a crane and its surrounding structure.

[0015] Figure 3 This is an example of displaying a detection image of the detection result when an object is detected in the surrounding area within a three-dimensional detection range based on the surrounding detection device, using a display device.

[0016] Figure 4 This is a right view of the rear of a crane, representing an example of the display area.

[0017] Figure 5 This is a display example that only displays the detected objects within the display range on the detection image of the display device.

[0018] Figure 6 This is a display example that shows only the detected images of objects within the display range when height and distance restrictions are applied.

[0019] Figure 7 This is an example of a detection image displayed when a rectangular display area is set for viewing from above.

[0020] Figure 8 This is a display example when the alarm range is displayed on the display device.

[0021] Figure 9 This is a flowchart of the surrounding monitoring process.

[0022] Figure 10(A) is an example of an icon displaying a pattern that omits the part corresponding to the lower traveling body of the crane, and Figure 10(B) is an example of an icon displaying a pattern that omits the part corresponding to the boom in addition to the lower traveling body of the crane.

[0023] In the diagram: 1-Crane (construction machinery), 2-Lower traveling body, 3-Upper rotating body, 4-Boom, 5-Counterweight, 60-Control device, 61-Controller (surround monitoring device), 611-Surround monitoring processing unit (surround monitoring device), 621-Input unit, 622-Display device (display mechanism, surrounding monitoring device), 623-Alarm, 634-Surround detection device (detection unit, surrounding monitoring device), E-Display range, F-Detection range, G1~G4-Detection image (overhead image), Ic-Icons, W-Alarm range, W11~W14-Attention range, W21~W24-Warning range, h-Object. Detailed Implementation

[0024] [Outline structure of a crane]

[0025] Figure 1 This is a side view of a crane, which is a construction machine equipped with the surrounding monitoring device according to an embodiment of the present invention.

[0026] Crane 1 is a so-called mobile crawler crane. The description of crane 1 will be based on the front-back, rear-side, left-side, and right-side directions as observed from the rider of the upper rotating body 3. It should be noted that, unless otherwise specified, the front-back, rear-side, and left-side directions of crane 1 are generally considered to be in the same front-back direction (as a reference posture). Furthermore, the vertical direction of crane 1 when it is placed on a horizontal plane is sometimes referred to as the vertical direction.

[0027] like Figure 1 As shown, the crane 1 comprises a self-propelled tracked lower traveling body 2, an upper slewing body 3 rotatably mounted on the lower traveling body 2, and a boom 4 that can be pitched and mounted on the front side of the upper slewing body 3.

[0028] The lower traveling body 2 includes a main body 21 and tracks 22 disposed on the left and right sides of the main body 21. The left and right tracks 22 are driven to rotate by hydraulic motors (not shown).

[0029] The lower end of the boom 4 is supported on the front side of the upper rotating body 3. Furthermore, the lower end of the mast 31 is supported on the upper rotating body 3 at a position rearward than the boom support position.

[0030] Furthermore, the upper rotating body 3 is driven to rotate about a vertical axis relative to the lower traveling body 2 by a rotating hydraulic motor (not shown).

[0031] A counterweight 5 is installed at the rear of the upper rotating body 3 to maintain the weight balance of the boom 4 and the suspended load. The number of counterweights 5 can be increased or decreased as needed.

[0032] A pitch winch (not shown) for pitching the boom 4 is installed in front of the counterweight 5, and a winch (not shown) for winding and unwinding the hoisting rope 32 is installed in front of the counterweight 5. The winch winders use a hydraulic motor (not shown) to wind and unwind the hoisting rope 32, thereby raising and lowering the hook 34 and the load.

[0033] Furthermore, an operator's cab 33 is located on the right front side of the upper rotating body 3.

[0034] The boom 4 is mounted on the upper slewing body 3 in a tilting manner. The boom 4 has a lower boom 41 and an upper boom 42.

[0035] A pulley 43 for guiding the winch rope 32 is rotatably mounted on the upper end of the upper boom 42.

[0036] The mast 31 has an upper spreading device 35 at its upper end, which is connected to the other end of a boom rope 44, one end of which is connected to the upper end of the boom 4. A lower spreading device 36 is located below the upper spreading device 35. When the pitch rope 37, which is wound multiple times between them, is wound or released by a pitch winch, the distance between the upper spreading device 35 and the lower spreading device 36 changes, causing the boom 4 to pitch. The boom pitch winch is driven by a pitch hydraulic motor (not shown).

[0037] [Crane control system]

[0038] The crane control device 60 is attached to the operator's cab 33 of the upper rotating body 3. Figure 2 This is a block diagram showing the control device 60 and its surrounding structure. The control device 60 is a control terminal mounted on the crane 1. In addition to controlling various actions of the crane 1 such as traveling, rotating, and lifting, it mainly performs monitoring and processing of the area around the crane 1.

[0039] The control device 60 includes a controller 61 comprising an arithmetic processing unit having a CPU, ROM and RAM as storage devices, and other peripheral circuits.

[0040] The controller 61 includes a software module for a surrounding monitoring processing unit 611 that performs surrounding monitoring processing. It should be noted that the surrounding monitoring processing unit 611 can also be constructed in hardware.

[0041] The aforementioned controller 61 (surround monitoring processing unit 611), input unit 621, and display device 622 function as a surrounding monitoring device that displays an overhead image of the crane 1 and its surroundings. Their functions as a surrounding monitoring device will be described later.

[0042] The controller 61 is connected to an input unit 621, a display device 622 which serves as a display mechanism, an alarm 623, an operating lever 624, and a memory 625, which together constitute the control device 60.

[0043] Furthermore, the controller 61 is connected to a force sensor 631, a boom angle sensor 632, a slewing sensor 633, a surrounding detection device 634 serving as a detection mechanism, and a control valve 635.

[0044] The input unit 621 is located in the operator's cab 33 and is an input interface such as a touch panel. It outputs control signals corresponding to the operator's operations to the controller 61. The operator can operate the input unit 621 to input various parameters such as the boom length, the weight of the load, and other settings and operations required for the boom 4.

[0045] The display device 622 is installed in the control room 33. For example, it includes a touch panel display that also serves as an input unit 621. Based on the control signal output from the controller 61, it displays information such as the weight of the load, the boom angle, and the rotation angle of the upper slewing body 3 on the display screen.

[0046] Alarm 623 generates an alarm based on the control signal output from controller 61.

[0047] The control lever 624 is located in the control room 33. For example, the operation of the crane 1 to perform various actions is manually input, and the control signal corresponding to the operation amount of the control lever 624 is input to the controller 61.

[0048] For example, the control lever 624 can perform the following operation inputs: the walking motion of the lower walking body 2, the rotation motion of the upper rotating body 3, the pitching motion of the boom 4, and the winding and releasing of the winch rope 32 based on the winch.

[0049] Force sensor 631 is installed on the upper lifting device 35 to detect the tension of the boom rope 44 that causes the boom 4 to pitch, and outputs the control signal corresponding to the detected tension to the controller 61.

[0050] The boom angle sensor 632 is mounted on the base end side of the boom 4 to detect the pitch angle of the boom 4 (hereinafter also referred to as the boom angle), and outputs a control signal corresponding to the detected boom angle to the controller 61. For example, the boom angle sensor 632 detects the angle relative to the horizontal plane, i.e., the angle relative to the ground, as the boom angle.

[0051] A rotation angle sensor 633 is installed between the lower traveling body 2 and the upper rotating body 3 to detect the rotation angle of the upper rotating body 3 and output a control signal corresponding to the detected rotation angle to the controller 61. For example, the rotation angle sensor 633 detects the angle around the vertical axis as the rotation angle.

[0052] The control valve 635 consists of multiple valves that can be switched according to control signals from the controller 61.

[0053] For example, the control valve 635 includes valves that control the rotation drive of the left and right tracks 22 of the lower walking body 2, valves that control the rotation of the upper rotating body 3, valves that control the rotation drive of the pitch winch, valves that control the rotation drive of the hoisting winch, etc.

[0054] [Surrounding detection device]

[0055] The surrounding detection device 634 is a distance measuring device that uses sensors to detect the distance to objects existing around the crane 1, such as a laser scanner like LiDAR (Light Detection and Ranging). It should be noted that the "objects" that are the targets of distance detection include not only physical objects but also people.

[0056] like Figure 1 As shown, the surrounding detection device 634 is installed on the bottom surface of the rear end of the upper rotating body 3 (the rear end without the counterweight 5).

[0057] The surrounding detection device 634 uses a fan-shaped horizontal two-dimensional plane as one of the detection planes, and the fan-shaped horizontal two-dimensional plane is in the horizontal direction of the crane 1. ， The surrounding detection device 634 extends approximately 25m horizontally backward along a straight line LB, expanding outwards at 135° (270° total) to both sides. Furthermore, the surrounding detection device 634 uses a three-dimensional area as its detection range, which is obtained by tilting the aforementioned fan-shaped detection plane upwards and downwards at angles of less than 90 degrees around the horizontal axis that runs through the surrounding detection device 634 in the left-right direction. In other words, the surrounding detection device 634 scans a laser beam from the straight line LB outwards at 135° intervals in a two-dimensional plane, and further scans upwards and downwards at angles of less than 90 degrees around the horizontal axis, performing two-dimensional plane scanning with minute angular variations, thereby detecting the distance within a three-dimensional area.

[0058] As described above, the surrounding detection device 634 detects the distance of objects in all directions around it, so the surrounding monitoring processing unit 611 can generate data of the detection image that establishes a corresponding association between the direction and distance relative to the surrounding detection device 634 based on its detection results.

[0059] However, the surrounding detection device 634 uses laser beam illumination, so it cannot detect objects in areas blocked by the various parts of the crane 1.

[0060] It should be noted that for the surrounding detection device 634, the length of the straight line LB and the range of left-right and up-down angles for detection are examples, and are not limited to the values ​​mentioned above.

[0061] Furthermore, the surrounding detection device 634 can also rotate the detection plane, which is parallel to the vertical direction in the crane 1, left and right around the vertical axis to perform detection.

[0062] Furthermore, the surrounding detection device 634 can be installed at any position on the vehicle body, such as at the left, right, or front end of the upper rotating body 3.

[0063] It should be noted that the "horizontal direction" in the above-mentioned crane 1 refers to the direction along the plane perpendicular to the rotation axis of the upper rotating body 3, which is parallel to the aforementioned front-back direction and left-right direction.

[0064] Furthermore, the "vertical direction" in crane 1 refers to the direction parallel to the rotation axis of the upper rotating body 3, which is parallel to the aforementioned vertical direction.

[0065] [Detection image from surrounding detection device]

[0066] Figure 3 This is an example of a detection image (overhead view) G1 displayed on a display device 622, which represents the detection result (distance) when a surrounding object is detected within the three-dimensional detection range of the surrounding detection device 634.

[0067] It should be noted that "displaying in accordance with distance" means displaying the distance obtained by multiplying the distance detected by the surrounding detection device 634 by a predetermined magnification. Furthermore, when described as "displaying in accordance with distance," it includes the case where the magnification is changed only for a specific area and the case where the distance is displayed by multiplying by the same magnification without changing the magnification.

[0068] When the surrounding detection device 634 is set to display the entire detection range of the surrounding detection device 634 without limitation, the surrounding monitoring processing unit 611 displays a detection image obtained by orthogonally projecting all surrounding objects detected within the three-dimensional detection range of the surrounding detection device 634 onto a horizontal plane on the display device 622. Furthermore, when a display range described later is set, a detection image obtained by orthogonally projecting all surrounding objects detected within that display range onto a horizontal plane is displayed on the display device 622.

[0069] Furthermore, the surrounding monitoring processing unit 611 displays the object on the detection image by multiplying the distance detected by the surrounding detection device 634 by a magnification that is the same as the display magnification of the detection image.

[0070] For example, when the detection image displays a range of 25m in length and width with a length and width of 5cm, the object at the X and Y positions of the distance (X,Y,Z) detected by the surrounding detection device 634 is displayed on the detection image at a distance that is multiplied by 5 / 2500.

[0071] It should be noted that the detection image G1 is an image representing each point of the object, displayed at a predetermined position within the screen corresponding to the detection direction and detection distance, based on the direction and distance of each point on the object's surface detected by the surrounding detection device 634. For example, if multiple consecutive points are detected on the object's surface, the points of the detection image are displayed consecutively in a manner that traces the shape of the object.

[0072] Furthermore, within the detection image G1 displayed on the display device 622 by the surrounding detection device 634, an icon Ic representing the crane 1 when viewed from above is displayed in proportion and orientation corresponding to the scale of the detection image and the detection direction of the surrounding detection device 634.

[0073] [Display of detected images based on the display range of the surrounding monitoring processing unit]

[0074] like Figure 3 As shown, when the display is set to display the detection results within the entire detection range of the surrounding detection device 634 without limitation, it becomes difficult to identify obstacles that could potentially affect the operation of the crane 1, such as objects at heights that hardly affect the operation of the crane 1, uneven ground, or parts of the crane 1's body that are within the detection range of the surrounding detection device 634.

[0075] Therefore, the surrounding monitoring processing unit 611 controls the display device 622 to only display objects detected within the display range, which refers to the range that is included in the entire detection range of the surrounding detection device 634 but is narrower than that detection range.

[0076] The aforementioned display range can be arbitrarily set from the input unit 621, for example.

[0077] Figure 4 This is a right-hand view of the rear of crane 1, representing an example of the aforementioned display range. Figure 4 The example shows the display range E after height restriction of the entire detection range F of the surrounding detection device 634. More specifically, Figure 4 The display range E exemplifies the entire detection range F relative to the surrounding detection device 634, except for the case where it is set to a plane along the horizontal direction in the crane 1 at the bottom height of the upper rotating body 3.

[0078] It should be noted that, regarding the display range E, from Figure 1 The straight line LB extends in a fan-shaped horizontal two-dimensional plane with a range of 135° (270° in total) to the left and right sides centered on the surrounding detection device 634. Therefore, the display range E extends to the front of the surrounding detection device 634. Figure 3 (The portion of the axis that is forward of the zero point on the vertical axis), but... Figure 4 In the diagram, the area in front of the surrounding detection device 634 is omitted.

[0079] It should be explained that, for example Figure 3As shown, the detection range F and display range E lack the 90° range for overhead observation from the front side of the crane 1, and the detection range F and display range E are smaller on the front side than on the rear side of the crane 1. This is because the 90° range on the front side of the crane 1 is within a good field of vision from the operator's cab 33, thus reducing the necessity for object detection.

[0080] However, it goes without saying that by installing a surrounding detection device 634 at the front of the vehicle body, the 90° range on the front side of the crane 1 can also be detected and displayed.

[0081] Figure 5 It means only in Figure 4 An example of the display of the detection image (overhead view) G2 when the object detected within the display range E is displayed on the display device 622.

[0082] If with Figure 3 When comparing, then in Figure 5 In the detection image G2, all objects that are at a height that does not affect the operation of the crane 1, such as objects or uneven ground, or parts of the crane 1 body that are within the detection range of the surrounding detection device 634, are not displayed. Only objects near the bottom height of the upper rotating body 3 that are likely to affect the operation of the crane 1 are displayed.

[0083] Therefore, obstacles that may affect the movement of crane 1 can be easily identified based on the detected image G2.

[0084] Furthermore, the entire detection range of the surrounding detection device 634 can be limited not only by height but also by distance. Figure 6 This describes an example of displaying a detection image (overhead view) G3 on the display device 622 when objects detected within the display range E are displayed only on the display device 622 under conditions where height and distance restrictions are applied to the entire detection range of the surrounding detection device 634. The display range of the detection image G3 is shown as approximately half the detection range of the surrounding detection device 634.

[0085] For example, when the display range E of the detection image G2 extends to a distance that is unlikely to affect the movement of the crane 1, by limiting the display range E to a distance that may affect the movement of the crane 1, such as in the detection image G3, and not displaying extraneous information beyond the outer edge of the display range E after distance limitation, obstacles that may affect the movement of the crane 1 can be more clearly identified.

[0086] Furthermore, when limiting the distance to the entire detection range F of the surrounding detection device 634, it is not limited to the case where the display range E is set to be a circle when viewed from above, with the distance being uniform in all directions around the surrounding detection device 634 as the center.

[0087] For example, the limiting distance can be individually set in each direction around the surrounding detection device 634, thereby setting the display range E of the distance limit for any shape when viewed from above. Figure 7 This represents the detection image G4 when the display area E is set to a rectangle for overhead viewing.

[0088] Thus, for example, it is possible to display objects detected within a display range E that more accurately corresponds to the predetermined action and planar shape of the crane 1, and to further clearly identify objects that may become obstacles.

[0089] [Alarm control based on the alarm range of the surrounding monitoring and processing unit]

[0090] When an object is detected within the alarm range W, which is a narrower range than the entire detection range F of the ambient detection device 634, the ambient monitoring processing unit 611 performs alarm control. This alarm control involves highlighting the object in the alarm range W, for example, by emphasizing it in a way different from how it is displayed within the display range E, thereby alerting the operator of the crane 1. Here, the ambient monitoring processing unit 611, which performs alarm control by emphasizing the object in the alarm range W to alert the operator, also functions as an "alarm mechanism."

[0091] The alarm range W can be arbitrarily set from the input unit 621, for example.

[0092] Examples are as described above. Figure 4 As shown, an alarm range W is defined, which imposes both height and distance limitations on the entire detection range F of the surrounding detection device 634. This alarm range W exemplifies the situation where, with... Figure 4 Compared to the display range E shown, it is narrower in the horizontal direction and wider in the vertical direction. Within the alarm range W, the area that overlaps with the display range E is called the overlap area WA, and the area that extends from the display range E vertically is called the extension area WB.

[0093] More specifically, consider the following cases, namely, Figure 4 The alarm range W is a distance closer to the surrounding detection device 634 in the horizontal direction than the display range E, and in the vertical direction it includes the entire range below the bottom surface of the upper rotating body 3.

[0094] It should be noted that the alarm range W when viewed from the side also extends to some extent in front of the surrounding detection device 634, but is the same as the illustration of the display range E. Figure 4 The area in front of the surrounding detection device 634 is omitted. Figure 3 The diagram shows the portion of the graph that is located before the zero point on the vertical axis.

[0095] Figure 8 This is an example of a display where a more detailed alarm range W is displayed on the display device 622.

[0096] As shown in the figure, the alarm range W can also be set in stages according to the distance from the crane 1.

[0097] For example, the ranges farther away from crane 1 in the alarm range W can be set as the attention range W11 to W14, and the ranges closer to crane 1 can be set as the warning range W21 to W24.

[0098] The attention range W11 to W14, for example, indicates the range within which staff should be alerted, while the warning range W21 to W24, for example, indicates the range within which staff should take certain actions.

[0099] Furthermore, the attention range W11 to W14 and the warning range W21 to W24 can be divided into multiple directions around the crane 1. Figure 8 The example shows the case of dividing into four parts, but the number of parts can be changed arbitrarily.

[0100] As mentioned above, when an object is detected within the alarm range W, the surrounding detection device 634 performs alarm control to alert the operator of the crane 1.

[0101] As described above, when the alarm range W is divided into multiple parts, for example, the surrounding detection device 634 can perform alarm control to emphasize the range of objects detected in the attention range W11 to W14 and the warning range W21 to W24 by adding color, increasing brightness, or flashing.

[0102] At this time, as Figure 8 When an object h is detected in each range, it is preferable to display a warning range W21 to W24 that is closer to the crane 1, rather than a warning range W11 to W14 that is farther away from the crane 1. Examples of such emphasis include displaying a more intense color, a brighter color, or increasing the flashing speed of the corresponding range.

[0103] Furthermore, when the attention range W11~W14 and the warning range W21~W24 are divided into multiple directions around the crane 1, it is possible to clearly and quickly identify in which direction the object h exists.

[0104] [Flowchart for crane-based perimeter monitoring]

[0105] Figure 9 This is a flowchart illustrating the surrounding monitoring processing performed by the surrounding monitoring processing unit 611 of the controller 61 of the crane 1.

[0106] First, the surrounding monitoring processing unit 611 performs object detection within the detection range F via the surrounding detection device 634 (step S1).

[0107] Next, it is determined whether a display range E extracted from the detection range F is set (step S3).

[0108] As a result, when the display range E is not set, the surrounding monitoring processing unit 611 displays the detection image on the display device 622 based on the detection results within the entire detection range F (step S5).

[0109] Furthermore, when a display range E is set, the surrounding monitoring processing unit 611 displays the detection image on the display device 622 based on the detection results within the display range E (step S7).

[0110] After displaying the detection image, the surrounding monitoring processing unit 611 determines whether an alarm range W extracted from the detection range F is set (step S11).

[0111] If no alarm range W is set thereafter, the process ends.

[0112] Furthermore, when an alarm range W is set, the surrounding monitoring processing unit 611 determines whether an object is detected within the alarm range W (step S13).

[0113] Then, the process ends when no object is detected within the alarm range W.

[0114] Furthermore, when an object is detected within the alarm range W, the surrounding monitoring processing unit 611 controls the display device 622 to highlight the alarm range W.

[0115] At this time, when the alarm range W is divided into multiple ranges such as the attention range W11~W14 and the warning range W21~W24, the range of the detected object is determined, and the display device 622 is controlled to display the range in a pre-set emphasis.

[0116] Then, the process ends.

[0117] [Technical Effects of the Embodiments of the Invention]

[0118] As described above, the surrounding monitoring processing unit 611 of the controller 61 of the crane 1 displays a detection image of the object on the display device 622, which reflects the distance detected by the surrounding detection device 634 by detecting the distance of the surrounding object relative to the crane 1. Therefore, there is no need for the view switching processing of the camera image, and the detection image can be displayed in a way that can more accurately grasp the distance to the object.

[0119] Furthermore, the surrounding monitoring processing unit 611 sets the display range E of the object of the display device 622 to a range that extracts a portion of the detection range F of the surrounding detection device 634 to display the detection image. Therefore, the detection results in the range that are of low importance to the crane 1 are also included in the display, which enables the staff to accurately and clearly identify the surrounding objects.

[0120] Furthermore, in the detection image, the object is displayed by multiplying the distance detected by the surrounding detection device 634 by a magnification that is the same as the display magnification of the detection image, thus making it easy to recognize the sense of distance.

[0121] Furthermore, when an object enters the preset alarm range W, the surrounding monitoring processing unit 611 alarms in a manner different from the display of objects within the display range E, thus alerting staff to pay special attention to the object's entry into the alarm range W.

[0122] Furthermore, the surrounding monitoring and processing unit 611 sets alarm ranges W based on the distance of the object relative to the crane 1, such as attention ranges W11 to W14 and warning ranges W21 to W24, by dividing them into multiple zones.

[0123] Furthermore, when an object h enters any of the areas of attention W11 to W14 or warning W21 to W24, the surrounding monitoring processing unit 611 highlights the area through the display device 622.

[0124] Therefore, when the ranges are divided according to the different distances of the object relative to the crane 1, such as the attention ranges W11 to W14 and the warning ranges W21 to W24, the workers can clearly identify at what distance the object is located.

[0125] Furthermore, when the attention range is divided into multiple areas according to the direction relative to the crane 1, such as the attention range W11~W14 or the warning range W21~W24, the operator can clearly identify which direction the object is located in.

[0126] Furthermore, by setting the display range E in the horizontal direction of the crane 1 to exceed the alarm range W through the surrounding monitoring and processing unit 611, the presence of low-alertness objects existing outside the alarm range W can be identified in advance. Moreover, the approach of objects can be addressed at an earlier stage.

[0127] Furthermore, the surrounding monitoring and processing unit 611 not only sets the alarm range W to a repeating area that overlaps with the display range E, but also sets the alarm range W to an extended area that exceeds the display range E in the vertical direction of the crane 1. Thus, for alarm ranges W with high alertness, the height restriction can be reduced or the restriction can be removed for identification.

[0128] Furthermore, the surrounding monitoring processing unit 611 does not display objects in the range of alarm range W that exceeds the display range E, thus it can respond to requests to display objects only in the desired display range, i.e., the display range, while an alarm is being triggered.

[0129] Furthermore, when the surrounding monitoring processing unit 611 sets the display range E to be smaller in front of the crane 1 than in the rear, objects can be omitted from the display range for areas with good visibility, thus optimizing the object recognition range based on the display device 622.

[0130] [other]

[0131] Furthermore, the details shown in the embodiments of the above invention can be appropriately modified without departing from the spirit of the invention.

[0132] For example, the icon Ic of the aforementioned crane 1 is illustrated as a pattern representing an overview of the entire crane 1, but it is not limited to this.

[0133] For example, it can be configured as icon Ic as shown in Figure 10(A) to indicate that the part corresponding to the lower traveling body 2 (track 22) of the crane 1 is omitted. Moreover, it can also be configured as icon Ic as shown in Figure 10(B) to indicate that in addition to the lower traveling body 2 of the crane 1, the part corresponding to the boom 4 is also omitted.

[0134] At this point, you can selectively use each of the above icons (Ic).

[0135] The icons Ic shown in Figure 10(A) or Figure 10(B), for example, when the range of the horizontal plane that will become the height of the surrounding detection device 634 is set as the display range E, displays the icons Ic of the structure of the crane 1 that has a low probability of causing interference within the height of the displayed objects, thereby making it possible to clearly identify the distance between objects that may cause interference.

[0136] Furthermore, when the crane 1 is able to remove the track 22 and boom 4, and when using the crane 1 in this state, the distance to the object can be accurately identified by using the accurate icon Ic based on the state of the crane 1.

[0137] Furthermore, the structure of the surrounding monitoring device in the aforementioned crane 1 is not limited to crawler cranes. In addition to other mobile cranes such as wheeled cranes and truck cranes, it can also be applied to all cranes with winch drums, such as port cranes, bridge cranes, cantilever cranes, gantry cranes, unloaders, and stationary cranes.

[0138] Moreover, the surrounding monitoring device can also be applied to construction machinery such as hydraulic excavators and foundation machinery, in addition to cranes.

[0139] Furthermore, the surrounding detection device 634 is not limited to using a laser scanner; as long as it can detect the distance to an object, it can also use a camera or a distance detection mechanism based on ultrasound or the like.

[0140] Furthermore, the object is included in the entire detected image and displayed at a specified magnification, but the magnification of a portion of the image can also be changed.

[0141] Furthermore, in the above embodiment, an example is shown of displaying the detection image (overlooking image) on the display device 622 installed on the crane 1, but the detection image (overlooking image) can also be displayed on a mobile terminal or a display device observed by a manager outside the crane.

[0142] Furthermore, in the above embodiment, an example was shown where the alarm mechanism (surround monitoring processing unit 611) colors the alarm range W of the detected image to alert the staff. However, alarms can be triggered by any means, including sound-based alarms, displays to other screens besides the detected image, vibrations, automatic stops of cranes, etc. Additionally, as an alarm, for example, other cameras can be used to capture and display images of objects within the alarm range.

[0143] Furthermore, the alarm can be triggered not only by the crane operator (passengers), but also by managers or on-site staff located outside the crane.

[0144] In the above embodiments, an example is shown where the alarm range is narrower than the display range in the horizontal direction and wider than the display range in the vertical direction. However, this is not a limitation, and other modes are possible where the alarm range and the display range differ in the horizontal and vertical directions. For example, it could be where the alarm range is wider than the display range in both the horizontal and vertical directions, or narrower than the display range in both directions, or where the alarm range is wider than the display range in the horizontal direction and narrower than the display range in the vertical direction.

[0145] Furthermore, the display range E and alarm range W can also be set to be completely non-repeating.

[0146] The processing performed when there is an object in the alarm range and the display range is different, so various requests can be handled through the above modes.

[0147] Furthermore, the display range E can also be set to a range with different vertical heights based on the horizontal distance from the crane 1 (surround detection device 634). For example, one example would be... Figure 4The scenario shown illustrates the condition where both the display range E and the alarm range W become part of the display range. In this case, the display range E can encompass the entire alarm range W.

[0148] Furthermore, the display range E can also be set to a range where the vertical height increases as the horizontal distance from the construction machinery decreases. In this case, it can be as described above. Figure 4 The display range E and alarm range W shown are in a phased shape, as shown when both are display ranges. Alternatively, they can be set to a range where the vertical height gradually increases as the horizontal distance from the construction machinery decreases.

Claims

1. A surrounding monitoring device that displays an overhead image of construction machinery and its surroundings, said surrounding monitoring device having: The detection agency measures the distance of surrounding objects relative to the construction machinery; and The display mechanism shows the object in the overhead view, reflecting the distance between the construction machinery and the object. A display range narrower than the detection range is provided inside the detection range of the detection mechanism. The display range is the range within a specified distance in each specified direction relative to the detection range. The display mechanism displays the display range and the portion outside the display range within the detection range. Regarding objects detected by the detection mechanism, the display mechanism only displays objects within the display range.

2. The monitoring device around the construction machinery according to claim 1, wherein, In the overhead view, the object is displayed at a distance obtained by multiplying the distance detected by the detection mechanism by a magnification that is the same as the display magnification of the overhead view.

3. The monitoring device around the construction machinery according to claim 1 or 2, The display range is the range that extends to the outer edge of the detection range and is limited to a specified height for the detection range.

4. The surrounding monitoring device for construction machinery according to claim 1, It has an alarm mechanism that triggers an alarm in a manner different from the display of the object within the display range when an object enters a pre-set alarm range. The alarm range has a repeating area contained within the display range and an extended area extending from the display range in a vertical direction.

5. The monitoring device around the construction machinery according to any one of claims 1 to 4, wherein, The vertical height of the display range varies depending on the horizontal distance from the construction machinery.

6. The monitoring device around the construction machinery according to claim 5, wherein, As the horizontal distance from the construction machinery decreases, the vertical height of the display range increases.

7. The monitoring device around the construction machinery according to claim 4, wherein, The alarm range is divided into multiple zones for setting. When an object enters any of the areas within the alarm range, the alarm mechanism highlights that area via the display mechanism.

8. The monitoring device around the construction machinery according to claim 1 or 2, wherein, The display range does not include any portion lower than the specified height in the vertical direction.

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