Construction machine and working system

Abstract

Provided are a construction machine and a work system with which it is possible to capture an image of an end of a machine body (24) in the front-rear direction and the surroundings thereof. This construction machine is provided with: a machine body (24); and at least one of the imaging devices (75R, 75L) attached to the end of the machine body (24) in the left-right direction. The imaging range of the imaging devices (75R, 75L) includes an end side surface, which is a side surface of an end of the machine body (24) in the front-rear direction, and a space outside the end side surface.

Description

Technical Field

[0001] This invention relates to engineering machinery and operating systems equipped with camera devices. Background Technology

[0002] Patent documents 1 and 2 disclose imaging devices, i.e., cameras, installed on construction machinery. Specifically, patent document 1 discloses a camera installed on the upper rotating body of construction machinery to capture images of the front of the upper rotating body. Patent document 2 discloses a camera installed on the upper rotating body of construction machinery to capture images of the side of the upper rotating body.

[0003] However, the cameras in Patent Documents 1 and 2 are unable to capture images of the front-to-back ends and surrounding areas of the main body of the engineering machinery. Therefore, it is not easy to determine the position of obstacles, the orientation of the tracks, and the track mounting surfaces around the front-to-back ends.

[0004] Existing technical documents Patent documents Patent Document 1: Japanese Patent Publication No. 2006-219894 Patent Document 2: Japanese Patent Publication No. 2017-92908. Summary of the Invention

[0005] The purpose of this invention is to provide an engineering machinery and operating system capable of providing information related to the end and its surroundings in the front-rear direction of the mechanical body.

[0006] The provided equipment is construction machinery, comprising: a main body; and a camera device mounted on the left-right end of the main body to capture images of its front-rear end and its surroundings. The camera device is mounted on the main body such that its field of view includes the end side and the outer space of the end. The end side is the side of the end of the main body in the front-rear direction and faces the left-right direction; the outer space of the end is the space further out in the left-right direction than the end side. Attached Figure Description

[0007] Figure 1 This is a diagram illustrating the operating system involved in the embodiments of the present invention.

[0008] Figure 2 This is a three-dimensional view of the engineering machinery included in the operating system, viewed from an oblique angle.

[0009] Figure 3 It is an enlarged representation Figure 2 The diagram shows the portion enclosed by circle III.

[0010] Figure 4 This is a perspective view of the main body of the engineering machinery as seen from a diagonal front.

[0011] Figure 5 This is a perspective view of the main body of the mechanical entity involved in the modified example, viewed from the oblique front.

[0012] Figure 6 This is a right-side view showing the position of the right camera device in the engineering machinery.

[0013] Figure 7 This is a left-side view showing the position of the left camera device in the engineering machinery.

[0014] Figure 8 This is a diagram representing an image captured by the right camera device.

[0015] Figure 9 This is a diagram representing an image captured by the left camera device.

[0016] Figure 10 This is a front view showing the multiple monitors contained in the operating system.

[0017] Figure 11 This is a block diagram representing the functions of the operating system.

[0018] Figure 12 This is a front view of the monitor contained in the simulator.

[0019] Figure 13 It is an enlarged representation Figure 12 The diagram shows the portion enclosed by rectangle XIII. Detailed Implementation

[0020] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings.

[0021] Figure 1 This indicates an operating system 100 according to an embodiment of the present invention. The operating system 100 includes an operating device 1 and construction machinery 20. The operating device 1 is a means for operating the construction machinery 20, such as a cockpit constituting a remote operating device. The operating device 1 enables an operator to remotely operate the construction machinery 20 by performing appropriate operations on the operating device 1. The operating device 1 may also be selectively connected to multiple construction machinery 20s. In this case, the operator can selectively remotely operate the multiple construction machinery 20s by appropriately selecting the construction machinery 20 connected to the operating device 1 from among the multiple construction machinery 20s.

[0022] Figure 1The illustrated construction machinery 20 is a hydraulic excavator. Specifically, the construction machinery 20 includes a main body 24 comprising a lower traveling body 21 and an upper slewing body 22, auxiliary devices 30, and multiple working cylinders 40.

[0023] The lower walking body 21 includes a walking device for performing walking movements. In this embodiment, the walking device includes... Figure 2 A pair of right tracks 21a and left tracks 21b are shown. The upper slewing body 22 is rotatably mounted on the lower traveling body 21 via a slewing device 25 relative to the lower traveling body 21. The upper slewing body 22 includes a driver's cab 23 forming the front of the upper slewing body 22. Inside the driver's cab 23, a separate in-cab operating device for operating the construction machinery 20 is provided, distinct from the operating device 1. The driver's cab 23 includes... Figure 9 The shown boarding gate 23a allows the operator to enter and exit the cockpit 23.

[0024] The auxiliary device 30 is designed to perform operational actions and has an operational plane that can move along the vertical direction. Figure 1 The upper rotating body 22 is mounted in a rotating manner (in a vertical plane as shown). The auxiliary device 30 includes a boom 31, a stick 32, and a bucket 33. The boom 31 has a boom base end and a boom distal end on the opposite side, and the boom base end is undulatingly connected to the upper rotating body 22 by rotating up and down along the plane of motion. The stick 32 has a stick base end and a stick distal end on the opposite side, and the stick base end is rotatably connected to the boom distal end relative to the boom 31 along the plane of motion. The bucket 33 is rotatably connected to the stick distal end relative to the stick 32 along the plane of motion. The bucket 33 is a distal auxiliary device constituting the distal end of the auxiliary device 30, and is the part that directly contacts the sand and soil, which is the object of the work, for operations such as digging, leveling, and excavation.

[0025] The bucket 33 is capable of maintaining the shape of the work object within the bucket 33. The work object held by the bucket 33 is not limited to sand or soil; it can be stone or waste (industrial waste, etc.). The remote auxiliary device is not limited to the bucket 33; for example, it can be any device among the following: a lifting magnet that uses magnetic force to hold iron filings or the work object; a shearing machine that clamps the work object; and a breaker hammer that crushes the work object.

[0026] The plurality of working cylinders 40 are configured to hydraulically actuate the boom 31, stick 32, and bucket 33 of the auxiliary device 30, respectively. Each of the working cylinders 40 is a hydraulic working cylinder capable of extension and retraction. Alternatively, each of the working cylinders 40 may be an electrically operated working cylinder.

[0027] The plurality of working cylinders 40 includes a boom working cylinder 41, a stick working cylinder 42, and a bucket working cylinder 43.

[0028] The boom working cylinder 41 is configured such that the boom 31 can rotate relative to the upper rotating body 22 along the plane of motion by means of the extension and retraction of the boom working cylinder 41. The boom working cylinder 41 has: a base end portion, which is rotatably connected to the upper rotating body 22 along the plane of motion relative to the upper rotating body 22; and a distal end portion, which is rotatably connected to the boom 31 along the plane of motion relative to the boom 31.

[0029] The stick working cylinder 42 is configured such that the stick 32 rotates relative to the boom 31 along the plane of motion by means of the extension and retraction of the stick working cylinder 42. The stick working cylinder 42 has: a base end, which is rotatably connected to the boom 31 relative to the boom 31 along the plane of motion; and a distal end, which is rotatably connected to the stick 32 relative to the stick 32 along the plane of motion.

[0030] The bucket working cylinder 43 is configured such that the bucket 33 rotates relative to the stick 32 along the plane of motion by means of the extension and retraction of the bucket working cylinder 43. The bucket working cylinder 43 has: a base end portion rotatably connected to the stick 32 along the plane of motion; and a distal end portion rotatably connected to a connecting member 34 along the plane of motion, the connecting member 34 being rotatably connected to the bucket 33 along the plane of motion.

[0031] The construction machinery 20 also includes multiple sensors 50. The multiple sensors 50 include a rotation angle sensor 52, multiple tilt angle sensors 60, and a tilt angle sensor 55.

[0032] The rotation angle sensor 52 detects the rotation angle of the upper rotating body 22 relative to the lower traveling body 21. The rotation angle sensor 52 is, for example, an encoder, a resolver, or a gyroscope sensor.

[0033] The plurality of tilt angle sensors 60 detect the posture of the auxiliary device 30. The plurality of tilt angle sensors 60 includes a boom tilt angle sensor 61, a stick tilt angle sensor 62, and a bucket tilt angle sensor 63.

[0034] The boom tilt angle sensor 61 is mounted on the boom 31 and detects the posture of the boom 31. The boom tilt angle sensor 61 is a sensor that acquires information related to the tilt angle of the boom 31 relative to a horizontal line, such as a tilt (acceleration) sensor. Alternatively, the boom tilt angle sensor 61 can be a rotation angle sensor that detects the rotation angle of the boom foot pin at the base end of the boom 31, or a stroke sensor that detects the travel in the extension / retraction direction of the boom cylinder 41.

[0035] The stick tilt angle sensor 62 is mounted on the stick 32 and detects the posture of the stick 32. The stick tilt angle sensor 62 is a sensor that acquires information related to the tilt angle of the stick 32 relative to the horizontal line, such as a tilt (acceleration) sensor. Alternatively, the stick tilt angle sensor 62 can be a rotation angle sensor that detects the rotation angle of the stick connecting pin at the base end of the stick 32, or a stroke sensor that detects the travel in the extension / retraction direction of the stick working cylinder 42.

[0036] The bucket tilt angle sensor 63 is mounted on the connecting rod member 34 and detects the posture of the bucket 33. The bucket tilt angle sensor 63 is a sensor that acquires information related to the tilt angle of the bucket 33 relative to the horizontal line, such as a tilt (acceleration) sensor. Alternatively, the bucket tilt angle sensor 63 can be a rotation angle sensor that detects the rotation angle of the bucket connecting pin at the base end of the bucket 33, or a stroke sensor that detects the travel in the extension / retraction direction of the bucket working cylinder 43.

[0037] The tilt angle sensor 55 is mounted on the upper rotating body 22 and detects the tilt angle of the upper rotating body 22 relative to the horizontal plane. The tilt angle sensor 55 is, for example, a tilt (accelerometer) sensor or an IMU (Inertial Measurement Unit).

[0038] The construction machinery 20 also includes at least one camera device 70. The camera device 70 captures images of the area surrounding the construction machinery 20. The camera device 70 can capture two-dimensional images or three-dimensional images. The camera device 70 can include a single-lens camera or a stereo camera. The camera device 70 can also include a TOF (Time of Flight) sensor, which detects the distance to the object based on the time from when a wave is shone onto the object until the reflected wave returns. The camera device 70 can also include a sensor that detects distance based on the frequency of the reflected wave. The camera device 70 can also include a device that uses light, such as lasers, to detect three-dimensional information, for example, LiDAR (Light Detection and Ranging). The camera device 70 can also include a device that uses radio waves to detect three-dimensional information, such as millimeter-wave radar.

[0039] The construction machinery 20 may have only a single camera device 70 or multiple camera devices 70. In this embodiment, the construction machinery 20 has multiple camera devices 70, including a front camera device 71, an upper camera device 72, a lower camera device 73, a right camera device 75R, a left camera device 75L, and an auxiliary camera device 76. Each of the camera devices 71, 72, 73, 75R, 75L, and 76 is a single-lens camera.

[0040] like Figure 2 and Figure 3 As shown, the front camera 71, the upper camera 72, and the lower camera 73 are mounted in appropriate locations on the cockpit 23, such as the upper part of the cockpit 23. More specifically, the construction machinery 20 also includes... Figure 3 The support member 77 shown is fixed to a suitable part of the upper part of the cockpit 23, such as the front end of the top plate of the cockpit 23, while supporting the front camera device 71, the upper camera device 72 and the lower camera device 73.

[0041] The front camera 71 is configured such that its imaging surface faces the front of the upper rotating body 22, and captures images of the area in front of the upper rotating body 22. The front camera 71 is configured such that its imaging range includes at least a portion of the auxiliary device 30.

[0042] The upper camera 72 is positioned above the front camera 71. The upper camera 72 is positioned such that its imaging surface faces obliquely upwards towards the upper rotating body 22, capturing images of the area obliquely upwards from the upper rotating body 22. The upper camera 72 is positioned such that its imaging range includes at least a portion of the boom 31.

[0043] The lower camera 73 is positioned below the front camera 71. The lower camera 73 is configured such that its imaging surface faces obliquely downwards towards the upper rotating body 22, capturing images of the area obliquely downwards from the upper rotating body 22. The lower camera 73 is configured such that its imaging range includes the front surface of the cockpit 23. When the rotation angle of the upper rotating body 22 relative to the lower traveling body 21 is within a predetermined angle range, the imaging range of the lower camera 73 includes a portion of the lower traveling body 21, such as a portion of the pair of tracks 21a and 21b.

[0044] like Figure 1 As shown, the auxiliary device camera 76 is mounted on the auxiliary device 30. In this embodiment, the auxiliary device camera 76 is mounted on the boom 32. The auxiliary device camera 76 is mounted on the boom 32 with its camera surface facing the bucket 33, and captures images of the bucket 33. That is, the camera range of the auxiliary device camera 76 includes the bucket 33.

[0045] The right camera device 75R and the left camera device 75L are respectively mounted at both ends of the mechanical body 24 in the left-right direction, i.e., the right end and the left end of the mechanical body 24. The left-right direction of the mechanical body 24 is orthogonal to the walking direction of the lower walking body 21. Figure 1The direction orthogonal to the paper, when the mechanical body 24 is in a reference posture, is the same as the left-right direction of the upper rotating body 22. The reference posture is the posture in which the front-back direction of the upper rotating body 22 is consistent with the front-back direction of the lower traveling body 21, i.e., the traveling direction. In this embodiment, both the right camera device 75R and the left camera device 75L are mounted on the upper rotating body 22. However, the right camera device 75R and the left camera device 75L can also be mounted on the lower traveling body 21. In this embodiment, the right camera device 75R and the left camera device 75L are arranged facing the front of the upper rotating body 22, that is, facing the front of the mechanical body 24 in the reference posture. However, the right camera device 75R and the left camera device 75L can also be arranged facing the rear of the upper rotating body 22, that is, facing the rear of the mechanical body 24 in the reference posture.

[0046] A perspective view of the mechanical body 24 viewed from a diagonal front is shown below. Figure 4 As shown, the right camera device 75R is mounted on the right end of the housing (protective component) constituting the upper rotating body 22. The left camera device 75L is mounted on the upper part of the cockpit 23. In the height direction of the upper rotating body 22, the right camera device 75R is positioned lower than the left camera device 75L.

[0047] The construction machinery 20 also has Figure 4 The right support member 79R shown is fixed to the right end of the housing of the upper rotating body 22 while supporting the right camera device 75R. That is, the right camera device 75R is mounted to the right end of the housing of the upper rotating body 22 via the right support member 79R. At least a portion of the right camera device 75R protrudes outward from the right end of the upper rotating body 22 in the left-right direction, i.e., in the left-right direction of the mechanical body 24 in the reference posture. Preferably, the center of the imaging range of the right camera device 75R is located outside the right end of the upper rotating body 22 in the left-right direction. Figure 4In the example shown, the right camera device 75R is located entirely outside the right end face of the upper rotating body 22 in the left-right direction. Furthermore, the portion of the right support member 79R that contacts the right camera device 75R is also located outside the right end face of the upper rotating body 22 in the left-right direction. The center of the imaging range of the right camera device 75R is located outside the right end face of the upper rotating body 22 in the left-right direction, i.e., in the left-right direction of the mechanical body 24 in the reference posture. This makes the imaging range of the right camera device 75R more reliably include the side of the front end of the upper rotating body 22, i.e., the surface facing the left-right direction of the upper rotating body 22.

[0048] The construction machinery 20 also has Figure 4 The left support member 79L shown is fixed to the upper left end of the cockpit 23 while supporting the left camera device 75L. That is, the left camera device 75L is mounted to the upper left end of the cockpit 23 via the left support member 79L. The portion of the left support member 79L that contacts the left camera device 75L is also located on the left side of the face that forms the left end of the cockpit 23, i.e., the outer side of the cockpit, in the left-right direction of the upper rotating body 22. The center of the imaging range of the left camera device 75L is also located on the outer side of the left side of the cockpit 23 in the left-right direction of the upper rotating body 22. This ensures that the imaging range of the left camera device 75L reliably encompasses the left side of the cockpit 23.

[0049] The location for installing the left camera device 75L is not limited to the upper part of the cockpit 23. For example, as Figure 5 As shown, the left camera device 75L can also be mounted on the left end of the housing of the upper rotating body 22 behind the cockpit 23 via the left support member 79L. In this modified example, the portion of the left support member 79L that contacts the left camera device 75L is also located on the outer side of the left end face of the upper rotating body 22 in the left-right direction.

[0050] At least a portion of the right camera device 75R may arbitrarily protrude outwards (to the right) beyond the right end face of the upper rotating body 22, and at least a portion of the left camera device 75L may arbitrarily protrude outwards (to the left) beyond the left side face of the cockpit 23. For example, if the side of the front end of the upper rotating body 22, facing the left-right direction, has a shape that gradually expands outwards from the upper part to the lower part towards the width direction (left-right direction) of the upper rotating body 22, it is also possible to mount at least one of the right camera device 75R and the left camera device 75L in a manner that does not protrude outwards compared to the side. In this case, it is also possible for the imaging range of the right camera device 75R or the left camera device 75L to include the side of the front end of the upper rotating body 22.

[0051] like Figure 6 As shown, the right camera device 75R is mounted on the upper rotating body 22 with its imaging surface facing downwards relative to the front-rear direction. The imaging range of the right camera device 75R includes the side of the front end of the mechanical body 24 (i.e., the right end side) and the space outside the right end side (i.e., the right end outer space). That is, the right camera device 75R can capture images of the right side of the front end of the mechanical body 24 (i.e., the right end side) and the space outside the right end side (the right side) (i.e., the right end outer space).

[0052] like Figure 7 As shown, the left camera device 75L is mounted in the cockpit 23 with its imaging surface facing downwards relative to the front-rear direction of the upper rotating body 22. The imaging range of the left camera device 75L includes the side of the front end of the mechanical body 24, i.e., the left end side, and the space outside the left end side (left side), i.e., the space outside the left end. That is, the left camera device 75L is a cockpit camera device capable of capturing the left side of the front end of the mechanical body 24, i.e., the left end side, and the space outside the left end side (left side), i.e., the space outside the left end.

[0053] Figure 8 This refers to an image captured by the right camera device 75R. For example... Figure 8 As shown, the imaging range of the right camera device 75R includes the side of the front end of the upper rotating body 22. Figure 8 The space on the right side of the front end of the mechanical body 24 shown, and the space outside the right side, i.e., the space outside the right end, are as follows: Figure 8As shown, the outer space of the right end includes a right space located to the right of the right side of the front end, a right front space located in front of the right space, and a right lower space located below the right space. Therefore, the imaging range of the right camera device 75R includes a space that is lower than the upper rotating body 22, namely the right lower space. The right lower space is located outside (right side) of the right side of the front end of the upper rotating body 22, and is located lower than the lowest end of the upper rotating body 22.

[0054] Figure 9 This refers to an image captured by the left camera device 75L. For example... Figure 9 As shown, the imaging range of the left camera device 75L includes the side of the front end of the upper rotating body 22. Figure 9 The space shown is the left side of the cockpit 23, the outer side of the cockpit, and the space outside the left side, i.e., the left end outer space. Figure 9 In the example shown, the left-end outer space includes a left space located to the left of the left side of the cockpit 23, a left-front space located in front of the left left space, and a left-lower space located in front of the left left space. Therefore, the imaging range of the left camera device 75L includes the space lower than the upper rotating body 22, namely the left-lower space. The left-lower space is the side of the front end of the upper rotating body 22. Figure 9 The left camera 75L is located on the outer side (left side) of the left side of the cockpit 23, and in a space lower than the lowest point of the upper rotating body 22. Specifically, the camera range of the left camera 75L includes the side (left side) of the cockpit 23 and the space outside the left end of the outer side (left side) of that side. More specifically, the camera range of the left camera 75L includes the passenger opening 23a formed on the side of the cockpit 23 and the space outside the passenger opening 23a (left side).

[0055] By setting the respective camera ranges of the right camera device 75R and the left camera device 75L as described above, it is possible to capture images including the side of the front end of the mechanical body 24 (i.e., the end side) and the space outside the end side (i.e., the outer end space). That is, it is possible to capture images of the front end of the mechanical body 24 and its surroundings. The resulting images, including the end side and the outer end space, allow the operator of the remotely operated construction machinery 20 to assess the condition of the end side and its surrounding area, such as the orientation of the right track 21a or the left track 21b.

[0056] The right camera device 75R and the left camera device 75L are respectively installed at the two ends of the mechanical body 24 in the left-right direction, namely the right end and the left end. Therefore, the front end of the mechanical body 24 and its surroundings can be photographed from both sides in the left-right direction, namely the right side and the left side.

[0057] Furthermore, the right camera 75R and the left camera 75L are mounted on the upper rotating body 22, thus ensuring that images of the front end of the upper rotating body 22 and its surroundings can always be captured regardless of the rotation angle of the upper rotating body 22. These images allow the operator of the construction machinery 20 to monitor the front end of the upper rotating body 22 and its surroundings. For example, the images allow the operator to easily determine the positional relationship between the front end of the upper rotating body 22 and obstacles or similar objects present around it, thereby enabling the operator to operate the construction machinery 20, for example, in a manner that avoids contact between the front end of the upper rotating body 22 and such obstacles.

[0058] In addition, the camera range of the right camera device 75R and the left camera device 75L includes the space below the upper rotating body 22, i.e., the lower space. This allows the right camera device 75R and the left camera device 75L to capture images of the lower space. These images enable the operator of the construction machinery 20 to easily grasp certain parts of the lower walking body 21, such as the orientation of the right track 21a or the left track 21b, or the setting surface (ground) next to the lower walking body 21.

[0059] Furthermore, the left camera device 75L is mounted on the upper part of the cockpit 23 such that its imaging range includes the side (left side) of the cockpit 23, namely the side of the cockpit and the outer (left) space of the cockpit. The outer space of the cockpit includes the left space to the side (left) of the cockpit, the front left space in front of the left space, and the lower left space below the left space. Therefore, the image captured by the left camera device 75L allows the operator of the construction machinery 20 to grasp the side of the cockpit 23 and its surroundings. As a result, the operator of the construction machinery 20 can easily grasp the positional relationship between the side of the cockpit 23 and obstacles in its vicinity, and can operate the construction machinery 20 in a way that avoids contact between the side of the cockpit 23 and obstacles.

[0060] More specifically, the imaging range of the left camera device 75L includes the seating opening 23a formed on the side of the cockpit and the space outside the seating opening 23a. Therefore, the left camera device 75L is capable of capturing images of the seating opening 23a and its surroundings. These images allow the operator to grasp the situation of the seating opening 23a and its surroundings, thereby enabling the operator to monitor, for example, the process of personnel entering the cockpit 23 through the seating opening 23a.

[0061] like Figure 1 As shown, the operating device 1 includes an input device 2, an output device 3, and a driver's seat 4, and includes... Figure 11 The controller 7 and the operating device-side communication device 8 are shown. The driver's seat 4 includes a seat and a backrest, allowing the operator to sit on the seat and operate the operating device 1. The input device 2, the output device 3, and the driver's seat 4 are configured on a common base (not shown).

[0062] The input device 2 allows the operator to input commands to the controller 7. The input device 2 has a structure equivalent to that of the in-cabin operating device located in the cockpit 23 of the construction machinery 20.

[0063] The input device 2 includes a plurality of operating components disposed around the driver's seat 4, allowing the operator seated in the driver's seat 4 to operate the plurality of operating components to input the action commands. Figure 1 In the example shown, the plurality of operating components include a pair of left and right travel levers, a pair of left and right travel pedals, and a pair of left and right operating levers. The pair of travel levers and the pair of travel pedals are positioned in front of the driver's seat 4, allowing operation to specify the direction and speed of travel of the pair of tracks 21a and 21b of the lower traveling body 21. The pair of operating levers are respectively positioned on the left and right frames of the driver's seat 4, allowing operation to activate the auxiliary device 30. The input device 2 also includes a plurality of switches, for example, positioned on the right frame of the driver's seat 4. The plurality of switches includes a key switch for indicating engine start and stop.

[0064] The operating device 1 also includes a seat tilting device (not shown) that changes the tilt angle of the driver's seat 4 relative to the horizontal plane. The seat tilting device allows the slope of the upper rotating body 22, detected by the tilt angle sensor 55, to be reproduced in the driver's seat 4. The operating device 1 may also include a device that, based on the rotation angle of the upper rotating body 22 detected by the rotation angle sensor 52, adjusts the driver's seat 4 to the right when it is determined that the upper rotating body 22 is rotating to the right, and adjusts the driver's seat 4 to the left when it is determined that the upper rotating body 22 is rotating to the left.

[0065] The output device 3 outputs necessary information to the operator seated in the driver's seat 4. The output device 3 includes... Figure 10 The display device 11 shown, and Figure 11 The speaker 12 is shown. The display device 11 is positioned in front of the driver's seat 4. The speaker 12 outputs sound picked up by a microphone mounted on the engineering machinery 20.

[0066] The display device 11 includes a plurality of monitors. In this embodiment, the plurality of monitors are Figure 10 The seven monitors shown are: main monitor 11a, upper central monitor 11b, lower central monitor 11c, right monitor 11d, left monitor 11e, upper right monitor 11f, and upper left monitor 11g. The main monitor 11a is positioned in the center of monitors 11a-11g. The main monitor 11a displays images captured by the front camera 71. The upper central monitor 11b is positioned above the main monitor 11a, displaying images captured by the upper camera 72 and the auxiliary camera 76, arranged horizontally. The lower central monitor 11c is positioned below the main monitor 11a, displaying images captured by the lower camera 73. The right monitor 11d is positioned to the right of the main monitor 11a, displaying images captured by the right camera 75R. The left monitor 11e is positioned to the left of the main monitor 11a, displaying images captured by the left camera 75L. The upper right monitor 11f is positioned to the right of the central upper monitor 11b and displays information such as the communication and operational status of the construction machinery 20 and analysis reports on the conditions of the work site. The upper left monitor 11g is positioned to the left of the central upper monitor 11b and displays images taken by an overhead camera positioned at the work site.

[0067] The multiple monitors 11a-11g display images captured by the multiple camera devices 70, allowing the operator seated in the driver's seat 4 to easily remotely operate the construction machinery 20 while viewing the images. The number of monitors and the content they display can be arbitrarily set.

[0068] exist Figure 10 In the example shown, the main monitor 11a, the upper central monitor 11b, and the lower central monitor 11c are all monitors with a horizontally elongated screen, such as 27-inch monitors. On the other hand, the right monitor 11d, the left monitor 11e, the upper right monitor 11f, and the upper left monitor 11g are all monitors with a vertically elongated screen, such as 15.6-inch monitors. The short side of the main monitor 11a has the same length as the long side of each of the right monitor 11d and the left monitor 11e. The short side of the upper central monitor 11b has the same length as the long side of each of the upper right monitor 11f and the upper left monitor 11g.

[0069] The driver's seat 4 and the display device 11 are configured with the operator's effective field of vision in mind. The effective field of vision is the area within a person's field of vision that can be clearly seen; that is, the area where objects can be seen without moving the head, simply by shifting the gaze. It includes the center of the field of vision and its surrounding area. For example, the effective field of vision extends approximately 30 degrees to the right from the center of the field of vision, approximately 30 degrees to the left from the center of the field of vision, approximately 20 degrees upward from the center of the field of vision, and approximately 20 degrees downward from the center of the field of vision. Because the human eyes are positioned side-by-side, the lateral dimension of the effective field of vision is greater than its vertical dimension. The area outside the effective field of vision is the peripheral field of vision, which is difficult to see.

[0070] The driver's seat 4 and the monitors 11a-11g are configured such that, when the operator seated in the driver's seat 4 is looking forward, the monitors 11a-11g of the display device 11 are within the operator's effective field of vision. Specifically, the relative positions of the driver's seat 4 and the display device 11 in the left-right direction and in the front-back direction are set such that the left and right ends and the top and bottom ends of the display device 11, including the monitors 11a-11g, are within the effective field of vision of the operator seated in the seat of the driver's seat 4. For example, the relative position of the display device 11 and the driver's seat 4 in the left-right direction is adjusted so that the center position, equidistant from the left and right ends of the display device 11, is located on an extension line extending forward from the center position of the seat or backrest of the driver's seat 4 in the width direction, that is, the center position is aligned with or matches the operator's line of sight. Furthermore, the relative position of the display device 11 and the driver's seat 4 in the front-to-back direction is adjusted so that the left and right ends of the display device 11 are both within the effective field of vision of the operator seated in the driver's seat 4. Additionally, the relative position of the display device 11 and the driver's seat 4 in the vertical direction is adjusted so that the upper and lower ends of the display device 11 are both within the effective field of vision of the operator seated in the driver's seat 4. These adjustments reduce the burden on the operator viewing the monitors 11a-11g on the display device 11.

[0071] The driver's seat 4 and the display device 11 are mounted on a common base, which allows the relative positions of the driver's seat 4 and the display device 11, adjusted in the manner described above, to be maintained. Alternatively, the driver's seat 4 and the display device 11 may also be mounted on the base such that the relative positions of the driver's seat 4 and the display device 11 can be adjusted in at least one of the left-right, front-back, and up-down directions.

[0072] Figure 10 The configuration of the monitors 11a to 11g shown, in which the horizontally elongated monitors 11a, 11b, and 11c are arranged vertically along the center of the display device 11 in the left-right direction, and the vertically elongated monitors 11d, 11e, 11f, and 11g are located to the left and right of the horizontally elongated monitors 11a, 11b, and 11c, allows all of the monitors 11a to 11g to be easily within the operator's effective field of vision, thereby reducing the burden on the operator when viewing the monitors 11a to 11g.

[0073] Furthermore, the arrangement of the central upper monitor 11b displaying an image above the upper rotating body 22, the main monitor 11a displaying an image of the front of the upper rotating body 22, and the central lower monitor 11c displaying an image of the lower part of the upper rotating body 22, arranged sequentially from top to bottom, allows the operator viewing the monitors 11a to 11c to easily grasp the situation in the area from above to below the upper rotating body 22, thereby reducing the burden on the operator viewing the monitors 11a to 11c. Additionally, the images displayed by the monitors 11a, 11b, and 11c encompass the space in front of the construction machinery 20, which is the space viewed by the operator operating the construction machinery 20 through the front window of the cockpit 23. The positions of the monitors 11a, 11b, and 11c are adjusted so that the image is aligned with the central position in the left-right direction of the operator's effective field of vision; therefore, the burden on the operator viewing the monitors 11a to 11c is further reduced.

[0074] Furthermore, the arrangement of the left monitor 11e displaying the image on the left side of the upper rotating body 22, the main monitor 11a displaying the image on the front of the upper rotating body 22, and the right monitor 11d displaying the image on the right side of the upper rotating body 22, arranged sequentially from left to right, allows the operator viewing these monitors 11e, 11a, and 11d to easily grasp the situation in the area from the left to the right side of the upper rotating body 22, thereby reducing the burden on the operator viewing the monitors 11e, 11a, and 11d.

[0075] Furthermore, the operator can view images captured by the front camera 71, as well as images captured by the right camera 75R and the left camera 75L. This allows for a more detailed understanding of the situation in front of the machine body 24 compared to viewing only the image captured by the front camera 71. This enables more appropriate assistance to the operator operating the construction machinery 20.

[0076] The image on the right side of the upper rotating body 22 displayed on the right monitor 11d is similar to the image reflected in the right rearview mirror located on the right side of the auxiliary device 30, seen by the operator operating the construction machinery 20 in the cockpit 23. It includes the right side of the front end of the upper rotating body 22 and the space outside the right side of that right end, i.e., the outer space of the right end. Therefore, the image displayed on the right monitor 11d can appropriately assist the operator operating the construction machinery 20.

[0077] The image on the left side of the upper rotating body 22 displayed on the left monitor 11e is similar to the image reflected in the left rearview mirror located on the left side of the front of the cockpit 23, which is seen by the operator operating the construction machinery 20 inside the cockpit 23. This image, reflected by the left rearview mirror and entering the operator's eye, includes the left end side of the left side of the front end of the upper rotating body 22 (i.e., the cockpit side) and the space outside (left side) of the left end side (i.e., the left end outer space). Therefore, the image displayed on the left monitor 11e can appropriately assist the operator operating the construction machinery 20. Furthermore, the image of the loading hatch 23a and the image of the space outside (left side) of it displayed on the left monitor 11e corresponds to visual information that the operator operating the construction machinery 20 inside the cockpit 23 can confirm through the side window of the cockpit 23 by turning their head to the left. Therefore, the image displayed on the left monitor 11e can more appropriately assist the operator operating the construction machinery 20.

[0078] The images displayed on monitors 11d, 11e, 11f, and 11g, compared to the images displayed on monitors 11a, 11b, and 11c (which include the space in front of the construction machinery 20), are less frequently viewed by the operator of the machinery 20, but are images that the operator needs to view appropriately based on the operation of the machinery 20. Therefore, the arrangement of monitors 11a, 11b, and 11c in the center of the effective field of view, and monitors 11d, 11e, 11f, and 11g on the left and right sides of the center of the effective field of view, is reasonable in assisting the operator of the construction machinery 20.

[0079] The engineering machinery involved in this invention is not limited to being remotely operated as described in the engineering machinery 20; for example, it can also be configured to be operated specifically by an operator inside the cockpit 23. In this case, the images captured by the camera device 70 are preferably displayed on a monitor or similar device installed inside the cockpit 23.

[0080] The image displayed at the center of the display device 11 in the left-right direction, arranged vertically, does not necessarily include all images captured by the front camera 71, the upper camera 72, and the lower camera 73. Specifically, two images, such as those captured by the front camera 71 and the upper camera 72, or those captured by the front camera 71 and the lower camera 73, may also be displayed in the vertically arranged position. In this case, it can be omitted. Figure 10As shown in the monitor 11c, the operator is not burdened with looking downwards. Additionally, the input device 2 may include a switch for switching between images displayed on the monitors 11a and 11b respectively, images captured by the front camera 71 and the upper camera 72 respectively, and images captured by the front camera 71 and the lower camera 73 respectively.

[0081] like Figure 11 As shown, the construction machinery 20 also includes a construction machinery-side controller 81, a construction machinery-side communication device 82, and a storage device 83.

[0082] The engineering machinery-side communication device 82 communicates with the operating device-side communication device 8 of the operating device 1. The storage device 83 stores, for example, the work content taught by operations applied to the operating device 1.

[0083] The construction machinery-side controller 81 controls the movement of the construction machinery 20 based on information detected by the plurality of sensors 50 and remote operation commands input via the operating device-side communication device 8 and the construction machinery-side communication device 82. Specifically, information regarding the rotation angle (posture) of the upper slewing body 22 relative to the lower traveling body 21, detected by the slewing angle sensor 52, is input to the construction machinery-side controller 81. Information regarding the posture of the boom 31, detected by the boom tilt angle sensor 61, is input to the construction machinery-side controller 81. Information regarding the posture of the stick 32, detected by the stick tilt angle sensor 62, is input to the construction machinery-side controller 81. Information regarding the posture of the bucket 33, detected by the bucket tilt angle sensor 63, is input to the construction machinery-side controller 81. Information regarding the tilt angle of the upper slewing body 22 relative to the horizontal plane, detected by the tilt angle sensor 55, is input to the construction machinery-side controller 81.

[0084] Furthermore, the image data generated by the camera device 70 is input to the engineering machinery side controller 81.

[0085] The engineering machinery side controller 81 controls the movement of the lower walking body 21, the slewing device 25 and the auxiliary device 30 according to the instructions input from the operating device 1 through the engineering machinery side communication device 82, which are instructions for remote operation.

[0086] The construction machinery-side controller 81 can also be configured to perform automatic control of the construction machinery 20. That is, the construction machinery 20 can also be driven automatically. When configured to perform the automatic control, the construction machinery-side controller 81, for example, causes the upper slewing body 22 and the auxiliary device 30 to perform a series of actions. Specifically, the construction machinery-side controller 81 causes the slewing device 25 and the auxiliary device 30 to operate automatically based on the detection values ​​of the plurality of sensors 50. On the other hand, the display device 11 displays images captured by the camera device 70 of the construction machinery 20 driven automatically in the aforementioned manner. The input device 2 may also include an interruption device and / or a restart device, wherein the interruption device is used to interrupt the automatic driving of the construction machinery 20 based on the operator's operation of the automatically driven construction machinery 20 monitored through the display device 11, and the restart device is used to restart the interrupted automatic driving. The operating device 1 may also include a device for switching between two or more states of the construction machinery 20: an autonomous driving state, a state in which the construction machinery 20 is remotely operated by the operating device 1, and a state in which the construction machinery 20 is operated by an operator in the cockpit 23.

[0087] The series of actions performed by the construction machinery 20 includes, for example, the digging action of the bucket 33 excavating sand into a sand pit (not shown); the lifting and rotating action of the upper slewing body 22 rotating to a dump truck (not shown) while holding the excavated sand; the soil discharge action of discharging the sand from the bucket 33 onto the platform of the dump truck; and the reset rotation action of the upper slewing body 22 rotating back to the sand pit after the soil discharge action. This series of actions is repeated. The series of actions can also be taught by operation via the in-cab operating device provided in the cab 23 or by remote operation via the operating device 1.

[0088] The communication device 8 on the operating device side of the operating device 1 communicates with the communication device 82 on the engineering machinery side of the engineering machinery 20.

[0089] The controller 7 transmits the action commands input from the input device 2 to the construction machinery-side controller 81 via the operating device-side communication device 8 and the construction machinery-side communication device 82. The controller 7 receives image data generated by the camera device 70 via the construction machinery-side communication device 82 and the operating device-side communication device 8, and instructs the display device 11 to display an image based on this image data. Additionally, the controller 7 receives sound data picked up by the microphone mounted on the construction machinery 20 via the construction machinery-side communication device 82 and the operating device-side communication device 8, and instructs the speaker 12 to output sound based on this sound data.

[0090] During the remote operation, the images captured by the right camera 75R and the left camera 75L effectively assist the operator performing the work in the operating device 1.

[0091] The display device involved in this invention may also include a simulator that simulates the operation of the construction machinery 20 in a virtual space according to the action command input from the input device 2. The display device simulates the images virtually captured by the right camera device 75R and the left camera device 75L in the virtual space, thereby effectively assisting the operator in performing operations to make the construction machinery 20 move in the virtual space.

[0092] Figure 12 The example shown is a display device 90, which is a display device included in the simulator. The display device 90 includes an upper monitor 91 and a lower monitor 92 arranged vertically. The upper monitor 91 displays images corresponding to the images displayed by the central upper monitor 11b, the images displayed by the upper right monitor 11f, and the images displayed by the upper left monitor 11g. Furthermore, the upper monitor 91 displays images corresponding to the upper half of the image displayed by the main monitor 11a, the upper half of the image displayed by the right monitor 11d, and the upper half of the image displayed by the left monitor 11e. On the other hand, the lower monitor 92 displays images corresponding to the lower half of the image displayed by the main monitor 11a, the lower half of the image displayed by the right monitor 11d, the lower half of the image displayed by the left monitor 11e, and the image displayed by the central lower monitor 11c. That is, Figure 12 The display device 90 included in the illustrated simulator will be provided by Figure 10 The images displayed on the monitors 11a to 11g are split vertically and displayed on the screens of the two monitors 91 and 92 respectively.

[0093] like Figure 12 and Figure 13 As shown, the image displayed by the display device 90 included in the simulator preferably includes an image of the object's shadow 95. The image of the shadow 95 allows the operator to grasp the distance between the object and the ground.

[0094] As described above, according to the construction machinery 20 of this embodiment, the right camera device 75R and the left camera device 75L are respectively mounted on the right and left ends of the construction machinery 24 such that their imaging ranges include the side of the end of the machinery 24 in the front-rear direction (i.e., the end side) and the space outside the end side (i.e., the outer end space). Therefore, it is possible to capture images including the end side and the outer end space. These images allow the operator of the construction machinery 20, whether operating or remotely operating it, to easily grasp the positional relationship between the end of the machinery 24 in the front-rear direction and obstacles present in its surroundings. Furthermore, even when the operator is not looking at the image, the information provided by the image, i.e., information related to the end side of the machinery 24 and the outer end space, can be effectively used for the control of the construction machinery 20, etc.

[0095] In this way, the right camera device 75R and the left camera device 75L can capture images of the side of the end of the mechanical body 24 in the front-rear direction, i.e., the end side and the outer space of the end side, to provide information related to the end side and its surroundings.

[0096] The right camera device 75R and the left camera device 75L are respectively installed at the two ends of the mechanical body 24 in the left and right directions, namely the right end and the left end. Therefore, it is possible to photograph the side of the end of the mechanical body 24 and its surroundings from the right side and the left side of the mechanical body 24, respectively.

[0097] The right camera 75R and the left camera 75L are mounted on the upper rotating body 22, thus enabling the capture of images of the front and rear ends of the upper rotating body 22 and its surroundings regardless of the rotation angle of the upper rotating body 22. These images allow the operator of the construction machinery 20, whether operating or remotely operating the machinery, to assess the situation of the front and rear ends of the upper rotating body 22 and its surroundings. Consequently, the operator can easily determine the positional relationship between the front end of the upper rotating body 22 and obstacles in its vicinity, and can, for example, operate the construction machinery 20 in a manner that avoids contact between the front and rear ends of the upper rotating body 22 and obstacles.

[0098] The imaging range of the right camera device 75R and the left camera device 75L includes the space below the upper rotating body 22, i.e., the lower space. Therefore, the camera devices 75R and 75L can capture images of the lower space. These images allow the operator of the construction machinery 20, whether operating or remotely operating it, to easily grasp the situation of the lower walking body 21 or its surroundings, such as the orientation of the right track 21a and the left track 21b in the lower walking body 21 and / or the mounting surface (ground) next to the lower walking body 21.

[0099] The left camera 75L is mounted on the upper part of the cockpit 23 such that its imaging range includes the side of the cockpit 23, i.e., the side of the cockpit and the space outside the side of the cockpit 23. Therefore, it can capture images of the side of the cockpit 23 and its surroundings. These images allow the operator of the construction machinery 20, who operates or remotely operates the machinery, to grasp the situation of the side of the cockpit 23 and its surroundings. This allows the operator to easily grasp the positional relationship between the side of the cockpit 23 and obstacles in its vicinity, for example, assisting the operator in operating the construction machinery 20 in a way that avoids contact between the side of the cockpit 23 and obstacles.

[0100] More specifically, the left camera device 75L's camera range includes the boarding opening 23a and the space outside it; therefore, the left camera device 75L can capture images of the boarding opening 23a and its surroundings. These images allow the operator to monitor the situation of the boarding opening 23a and its surroundings, for example, assisting the operator in monitoring the process of personnel entering the cockpit 23 through the boarding opening 23a.

[0101] The construction machinery 20 also includes a front camera 71 that captures images of the front of the main body 24. Therefore, the images captured by the front camera 71 can be combined with images captured by the right camera 75R and the left camera 75L to more effectively assist the operator of the construction machinery 20 in operating or remotely operating it. Especially when at least one of the right camera 75R and the left camera 75L is facing the front of the main body 24, the combination of the images captured by the front camera 71 and the images captured by the at least one camera 75L allows the operator of the construction machinery 20 to have a more detailed understanding of the situation in front of the main body 24, thereby providing more effective assistance to the operator.

[0102] In addition, the display device 11 of the operating system 100 according to this embodiment can assist the operator of the construction machinery 20 in operating or remotely operating the machine by displaying images captured by the right camera device 75R and the left camera device 75L.

[0103] In particular, since the construction machinery 20 involved in the above embodiment is remotely operated, the images captured by the right camera 75R and the left camera 75L are especially effective in assisting the operator of the construction machinery 20 remotely.

[0104] in addition, Figure 12 The display device 90 shown can assist the operator of the construction machinery 20 in operating the construction machinery 20 in the virtual space by simulating the operation of the construction machinery 20 in the virtual space.

[0105] The embodiments of the present invention have been described above, but these are merely illustrative examples and do not specifically limit the present invention. Appropriate design changes can be made to the specific structure, etc. Furthermore, the effects and benefits described in the embodiments of the invention only illustrate the optimal effects and benefits produced by the present invention, and the effects and benefits of the present invention are not limited to those described in the embodiments of the present invention.

[0106] For example, the present invention also includes engineering machinery that has only one of the right camera device 75R and the left camera device 75L.

[0107] It can also be done in Figure 10 The monitor of the display device 11 shown, for example, the upper right monitor 11f, displays an overhead view of the construction machinery 20. The overhead view may be captured, for example, by a camera or drone positioned at the work site. Alternatively, the overhead view may be an image created using well-known methods, based on images captured by multiple cameras mounted on the main body of the machinery 24, positioned in front, behind, to the left, and right of the main body.

[0108] The display device involved in this invention may also include a screen and a projection device such as a projector that projects a photographed image onto the screen, in place of the plurality of monitors 11a to 11g.

[0109] As described above, engineering machinery and operating systems are provided that can provide information related to the front and rear ends of the mechanical body and its surroundings.

[0110] The engineering machinery includes: a mechanical body; and a camera device mounted on the left-right end of the mechanical body to capture images of the mechanical body's front-rear end and its surroundings. The camera device is mounted on the mechanical body such that its field of view includes the end side and the outer space of the end. The end side is the side of the mechanical body's front-rear end and faces the left-right direction; the outer space of the end is the space further outward in the left-right direction than the end side.

[0111] The camera device is mounted on the mechanical body in such a way that its imaging range includes the side of the end of the mechanical body in the front-rear direction (i.e., the end side) and the space further out in the left-right direction (i.e., the outer end space). Therefore, it is possible to capture images including the end side and the outer end space of the mechanical body. These images allow the operator, who is operating or remotely operating the construction machinery, to understand the condition of the end side and its vicinity, such as the orientation of the tracks constituting the lower walking body.

[0112] Thus, the camera device is mounted on the mechanical body in a manner that captures images of the end side and the space outside the end.

[0113] The at least one camera device preferably includes: a right camera device, mounted on the right end of the mechanical body, for capturing images of the right side of the end and the outer space of the end; and a left camera device, mounted on the left end of the mechanical body, for capturing images of the left side of the end and the outer space of the end.

[0114] In the case where the mechanical body includes a lower walking body and an upper rotating body that is rotatably mounted on the lower walking body, the at least one camera device preferably includes a camera device mounted on the upper rotating body.

[0115] In this case, the camera device mounted on the upper rotating body is preferably mounted on the upper rotating body in such a way that the camera range of the camera device includes a space lower than the upper rotating body.

[0116] When the upper rotating body includes a cockpit, the at least one camera device may also include a cockpit camera device mounted on the upper part of the cockpit. The end side included in the camera range of the cockpit camera device is the side of the cockpit facing the left and right direction, and the outer space of the end side included in the camera range of the cockpit camera device is the space outside the cockpit side in the left and right direction.

[0117] Furthermore, when the cockpit has a seating opening formed on the side of the cockpit, the cockpit camera is preferably mounted on the upper part of the cockpit in such a way that the camera range of the cockpit camera includes the seating opening and the space outside the seating opening in the left-right direction.

[0118] The engineering machinery preferably also includes a front camera device, which is installed on the main body of the machinery to capture images of the front of the main body of the machinery.

[0119] The operating system includes: the engineering machinery; and a display device for displaying images captured by the camera device.

[0120] The operating system preferably also includes a remote operation device for remotely operating the construction machinery.

[0121] The display device can also simulate the operation of the engineering machinery in a virtual space.

Claims

1. An engineering machinery, characterized in that... include: Mechanical body; as well as At least one camera device is mounted at the left-right end of the mechanical body to capture images of the front-rear end of the mechanical body, wherein... The camera device is mounted on the mechanical body in such a way that the camera range of the camera device includes the end side and the end outer space. The end side is the side of the end of the mechanical body in the front-back direction and is the side facing the left-right direction. The end outer space is the space that is further outward in the left-right direction than the end side.

2. The engineering machinery according to claim 1, characterized in that, The camera device is mounted on the mechanical body to capture images of the side of the end and the space outside the end.

3. The engineering machinery according to claim 1, characterized in that, The at least one camera device includes: a right camera device, mounted on the right end of the mechanical body, for capturing images of the right side of the end and the outer space of the end; and a left camera device, mounted on the left end of the mechanical body, for capturing images of the left side of the end and the outer space of the end.

4. The engineering machinery according to claim 1, characterized in that, The mechanical body includes a lower walking body and an upper rotating body that is rotatably mounted on the lower walking body. The at least one camera device includes a camera device mounted on the upper rotating body.

5. The engineering machinery according to claim 4, characterized in that, The camera device mounted on the upper rotating body is mounted such that its camera range includes a space lower than the upper rotating body.

6. The engineering machinery according to claim 4, characterized in that, The upper rotating body includes a cockpit. The at least one camera device includes a cockpit camera device mounted on the upper part of the cockpit, wherein the end side of the camera range of the cockpit camera device is a side of the cockpit and faces the left-right direction of the cockpit side. The outer space of the end of the camera range of the cockpit camera device is the space outside the cockpit side in the left-right direction.

7. The engineering machinery according to claim 6, characterized in that, The cockpit has a seating opening formed on the side of the cockpit. The cockpit camera is mounted on the upper part of the cockpit such that its field of view includes the space outside the passenger compartment and the space outside the passenger compartment in the left and right directions.

8. The engineering machinery according to claim 1, characterized in that... Also includes: A front-facing camera is installed on the main body of the machine to capture images of the front of the main body of the machine.

9. An operating system, characterized in that... include: The engineering machinery as described in any one of claims 1 to 8; as well as A display device displays images captured by the camera device.

10. The operating system according to claim 9, characterized in that... Also includes: A remote operating device for remotely operating the engineering machinery.

11. The operating system according to claim 9, characterized in that, The display device simulates the operation of the engineering machinery in a virtual space.

Images