CONSTRUCTION MACHINERY

Abstract

Construction machinery equipped with multiple surveillance cameras filming the area around the machine body; an image processing device that synthesizes the multiple camera images filmed by the aforementioned multiple surveillance cameras and generates synthetic bird's-eye view images, then divides the aforementioned synthetic bird's-eye view images into multiple sections by one or more cutting lines and expands the size of a specified zone among the aforementioned multiple zones, and simultaneously changes the zone size of other zones among the aforementioned multiple zones than the aforementioned specified zone in response to the expansion of the aforementioned specified zone, and generates conversion images of the same size as the aforementioned synthetic bird's-eye view images;a monitor that selectively displays the aforementioned synthetic bird's-eye view images and the aforementioned conversion images, wherein a planar figure of the aforementioned machine body is positioned in the central part of the aforementioned synthetic bird's-eye view image, and the aforementioned section line is formed by a 1st section line running from left to right through the back or front direction of a side end of the aforementioned planar figure, and a 2nd section line running in back and front directions through the right or left direction of a side end of the aforementioned planar figure, and the aforementioned specified zone is the zone which encompasses the aforementioned planar figure.

Description

[Technical field]

[0001] The present invention relates to the construction machines equipped with a plurality of surveillance cameras that film the surroundings of the machine body and a monitor that displays camera images filmed by each surveillance camera. [Technological background]

[0002] A hydraulic excavator, which is a representative example of construction machinery, is equipped with a machine body formed by a base frame and an upper slewing body mounted on the base frame, and a working arm device installed on the upper slewing body. The cab into which an operator enters is generally positioned on the left front part of the upper slewing body, allowing the operator to visually observe a comparatively large area around the front of the machine body and the left side of the machine body. On the other hand, the operator can hardly visually observe the rear of the machine body and the right side of the machine body.For this reason, a hydraulic excavator is recently equipped with a rear surveillance camera that films the rear of the machine body, as well as a right-side surveillance camera on the right side of the machine body that films the right side of the machine body, and there is one in which camera images filmed by each surveillance camera are displayed on the monitor inside the cab.

[0003] This allows the driver to confirm safety through the monitor when there are obstacles or workers, etc., at the rear or right of the machine body. Furthermore, regarding the monitor display of camera images, in addition to those that display each camera image side by side in its original size, there are also those that display a synthesized bird's-eye view image on the monitor, which provides a bird's-eye view of the surroundings of the machine body from above the machine body by synthesizing each camera image. (See, for example, Patent Literature 1) [Patent literature of the prior art][Patent literature] [Patent Literature 1] Japanese Patent Application JP 2012-074 929 A [Patent Literature 2] US Application US 2014 / 0111648 A1 [Summary of the invention][Problem of the invention - Attempts at a solution]

[0004] In construction machinery, with regard to images of the machine body's surroundings (especially synthetic bird's-eye view images of the machine body's surroundings), it has become a challenge to enable operators to reliably identify obstacles, other workers, etc., from surveillance camera images. To solve this problem, one approach may consider enlarging the camera images on the monitor by using a larger monitor than conventional ones. However, since the monitor is positioned in a cab in front of the operator's seat, enlarging the monitor poses a problem that the operator's frontal view deteriorates, thus limiting the monitor's enlargement.

[0005] On the other hand, Patent Literature 1 discloses a technology in which only an optional zone is expanded and displayed on the monitor among the synthetic bird's-eye view images. However, according to the technology disclosed in Patent Literature 1, the driver cannot recognize from the expanded display in which only the optional zone is expanded whether or not there are obstacles or other workers, etc., in zones other than the optional zone on the synthetic bird's-eye view image. Moreover, according to the technology disclosed in Patent Literature 1, in order to expand the display or cancel the expanded display, the driver is required to manually operate the monitor, so that every time the driver expands the display or cancels the expanded display, the driver must remove his hands from the operation lever, which affects his working ability.

[0006] The object of the present invention, which is carried out in view of the above-described fact, is to provide construction machines that do not magnify the monitor, whereby the driver can surely recognize whether or not there are obstacles or other workers, etc. in the vicinity of the machine body. [Means of solving the problem]

[0007] To achieve the above-described object, the present invention provides the following construction machines. That is, the construction machines are equipped with a plurality of surveillance cameras that film the surroundings of the machine body, an image processing means that synthesizes the multiple camera images filmed by the aforementioned plurality of surveillance cameras and generates synthetic bird's-eye view images, then divides the aforementioned synthetic bird's-eye view images into a plurality of sections by one or more cutting lines, expands the size of the specified zone among the aforementioned plurality of zones, and simultaneously changes the zone size of zones other than the aforementioned specified zone among the aforementioned plurality of zones in response to the expansion of the aforementioned specified zone, and generates conversion images with the same size as the aforementioned synthetic bird's-eye view images.a monitor that selectively displays the aforementioned synthetic bird's-eye view images and the aforementioned conversion images, wherein a plane figure of the aforementioned machine body is positioned in the central part of the aforementioned synthetic bird's-eye view image, and the aforementioned cutting line is formed by a first cutting line running from left to right through the back or front direction of a side end of the aforementioned plane figure, and a second cutting line running in the back and front direction through the right or left direction of a side end of the aforementioned plane figure, and the aforementioned specified zone is the zone including the aforementioned plane figure.

[0008] Preferably, a plane figure of the aforementioned machine body is positioned in the central part of the aforementioned synthetic bird's-eye view images, and the aforementioned cutting line is formed by a first cutting line passing from left to right through the back and front direction of a side end of the aforementioned plane figure, and a second cutting line passing in the back and front direction through the right and left direction of a side end of the aforementioned plane figure, and the aforementioned specified zone is the zone including the aforementioned plane figure. A cab is positioned in the left front part of the aforementioned machine body, and it is preferable that the aforementioned first cutting line passes through the front end of the aforementioned plane figure, and the aforementioned second cutting line passes through the left-side end of the aforementioned plane figure. [Effect of the invention]

[0009] According to the construction machines provided by the present invention, by displaying the conversion image with the specified zone expanded on the monitor without enlarging the monitor, the driver can surely recognize whether or not there are obstacles or other workers, etc. in the actual work area corresponding to the specified zone expanded in the conversion image.

[0010] Furthermore, according to the construction machines of the present invention, the driver can surely recognize whether or not there are obstacles or other workers, etc. in the actual work area corresponding to the zone other than the specified zone in the conversion image even though the size is changed because the zone other than the specified zone is included in the conversion image. [Brief explanation of the drawings] [ Fig. 1] Side view of a hydraulic excavator designed according to the present invention [ Fig. 2] Top view of the Fig. 1 hydraulic excavator shown (without working arm device) [ Fig. 3] Perspective view of the inside of the Fig. 1 shown cabin [ Fig. 4] Block diagram showing an electrically configured part of the Fig. 1 hydraulic excavator [ Fig. 5] (a). Schematic diagram showing images from a bird's-eye view; (b). Schematic diagram showing conversion images. [Embodiment of the invention]

[0011] Hereinafter, using an example of a hydraulic excavator which is a representative construction machine, the embodiment of a construction machine constructed according to the present invention will be explained with reference to the drawings.

[0012] The hydraulic excavator, which is Fig. 1, represented as a whole by the reference numeral 2, is equipped with a machine body 8 formed by a base support 4 and a top rotating body 6 rotatably installed on the base support 4, and a work arm device 10 rotatably installed on the top rotating body 6. The work arm device 10 includes a boom 14, an arm 14, and a work tool 16. The base end of a boom 12 is rotatably connected to the front part of the top rotating body 6, the base end of an arm 14 is connected to the front end of the boom 12, and a work tool 16 is connected to the front end of the arm 14. The work arm device 10 further includes a boom cylinder 18 that enables rotation of a boom 12; an arm cylinder 20 that enables rotation of an arm 14; and a work tool cylinder 22 that enables rotation of a work tool 16.

[0013] An explanation is now given with reference to Fig. 1 and Fig. 2. The upper part rotating body 6 includes a cabin 6 positioned in the left front part of the upper part rotating body 6, a machine housing space 26 positioned at the rear of the cabin 24, and a counterweight 28 positioned at the rear of the machine housing space 26. Furthermore, several monitoring cameras are installed in the upper part rotating body 6, which film the surroundings of the machine body 8. As shown in Fig. 2, in the embodiment shown in the figure, the plurality of monitoring cameras that film the surroundings of the machine body 8 are configured by a front monitoring camera 30 installed at the right front lower end of the cab 24, a rear monitoring camera 32 installed at the rear upper end in the center of the left and right directions of a counterweight 28, a right side monitoring camera 34 installed at the right end in the center of the rear and front directions of the upper part rotating body 6, and a left side monitoring camera 36 installed at the left end in the center of the rear and front directions of the upper part rotating body 6.The area filmed by the front monitoring camera 30, which films the front of the machine body 8, is the zone represented by reference character F; the area filmed by the rear monitoring camera 32, which films the rear of the machine body 8, is the zone shown in FIG. Fig. 2 is represented by the reference symbol B, the area filmed by the right-side monitoring camera 34, which films the right-side direction of the machine body 8, is the zone shown in Fig. 2 is represented by the reference symbol R, and the area filmed by the left-side monitoring camera 36, ​​which films the left-side direction of the machine body 8, is the zone shown in Fig. 2 is represented by the reference symbol L. Each zone F, B, R, L is the zone that Fig. 2 is divided by the edge of the upper rotating body 6 and the dashed lines, but the areas filmed by each surveillance camera 30, 32, 34, 36 (each zone F, B, R, L) may overlap. However, the rear and front directions and the right and left directions in this specification are those seen by the driver on board inside the cabin 24, as shown in Fig. 1 and Fig. 2 shown.

[0014] As in Fig. As shown in Figure 3, a seat 38 for a driver is provided in the cab 24. On the two right and left sides of the seat 38, a pair of joysticks 40 are provided so that they can be freely pivoted in all directions of 360 degrees and include a direction indication in the form of the letter X, consisting of the forward and backward and left and right directions. A pair of travel levers 42 are positioned in front of the seat 38 so that they can be freely pivoted in the rear and front directions. Positioned in the right front direction of the seat 38 is a monitor 44 that displays various images.On the screen 46 or monitor 44, a processed image is selectively displayed, on which the later-described image processing means 50 provides image processing for the camera images filmed by each front monitoring camera 30, 32, 34, 36 (later-described synthetic bird's-eye view image and conversion image 60), machine information images such as fuel residue amount, hydraulic oil temperature, engine cooling water temperature, etc., and operation images for checking maintenance, which the inspectors use to check the maintenance of the hydraulic excavator 2, are positioned. On the lower side of the screen 46, the plurality of switches 48 for editing the images displayed on the screen 46 are positioned.

[0015] It is important that the hydraulic excavator 2 designed according to the present invention is equipped with the image processing means 50 that provides image processing for each camera image filmed by each monitoring camera 30, 32, 34 and 36. As shown in Fig. 4, the image processing means 50, which can be configured by a computer, is electrically connected to each surveillance camera 30, 32, 34, 36, and the image information of each camera image filmed by each surveillance camera 30, 32, 34, 36 is input from each surveillance camera 30, 32, 34, 36 to the image processing means 50. The image processing means 50 is electrically connected to a monitor 44 in the booth 24, and the image information, in which image processing is provided for each camera image filmed by each surveillance camera 30, 32, 34, 36, is output from the image processing means 50 to a monitor 44.

[0016] Image processing steps performed by the image processing means 50 will now be explained. First, the image processing means 50 synthesizes each camera image transmitted by each surveillance camera 30, 32, 34, 36, whereby, as shown in Fig. 5, a synthetic image 52 is generated from a bird's eye view, which provides a bird's eye view of the surroundings of the machine body 8 from above the machine body 8. In the image processing means 50, a planar Fig. 54 of the machine body 8, and in the center of the synthetic image 52 from the bird's eye view is a flat Fig. 54 of the machine body 8.

[0017] Next, the image processing means 50 divides the synthetic bird's-eye view image 52 into the plurality of zones by one or more cutting lines. The cutting line is preferably formed by the first cutting line passing through the back and front directions of a side end part of the plane Fig. 54 and runs in the right and left direction, and the 2nd cutting line is formed, which passes through the right and left direction of a side end part of the flat Fig. 54 and extends in the rear and front directions. According to the embodiment shown in the figure, as shown in Fig. 5 (a), the 1st section line 56 through the front end of the flat Fig. 54 and runs in right and left direction, and the 2nd section line 58 goes through the left end of the flat Fig. 54 and extends in the back and front directions. Then, the synthetic image 52 from the bird's eye view is divided by the 1st cutting line 56 and the 2nd cutting line 58 into the 1st zone A, the 2nd zone B, the 3rd zone C, and the 4th zone D. As described by reference to Fig. 5, the 4th zone D includes the flat Fig. 54, and it also includes the rear of the machine body 8 and the right side of the machine body 8, which become blind spots for the driver.

[0018] Next, the image processing means 50 expands the size of a specified zone of the plurality of zones and generates the conversion image having the same size as the synthetic bird's-eye view image 52 by changing the size of the zone other than the specified zone among the plurality of zones in response to the expansion of the specified zone. In the embodiment shown in the figure, the image processing means 50 expands the size of the 4th zone D and also generates the conversion image 60 having the same size as the synthetic bird's-eye view image 52 by changing the size of the zone other than the 4th zone D (i.e., the size of the 1st zone A, the size of the 2nd zone B, and the size of the 3rd zone C) in response to the expansion of the 4th zone D. Specifically, with respect to the 4th zone,Zone D of the bird's-eye view synthetic image 52, the size in the back and front directions and the size in the right and left directions are both expanded, and it is changed into the 4th zone D' of the conversion image 60. On the other hand, with respect to the 1st zone A of the bird's-eye view synthetic image 52, in response to the expansion of the 4th zone D, the back and front sizes and the size in the right and left directions are both reduced, and it is changed into the 1st zone A' of the conversion image 60. With respect to the 2nd zone B of the bird's-eye view synthetic image 52, in response to the expansion of the 4th zone D, the back and front sizes and the right and left sizes are both reduced, and it is changed into the 2nd zone B' of the conversion image 60. In addition, with respect to the 3rd zone C of the synthetic image 52 from a bird's eye view in response to the extension of the 4thZone D reduces the back and front size and the size in the right and left directions, and it is changed into the 3rd zone C' of the conversion image 60.

[0019] As described above, according to the hydraulic excavator 2 designed according to the present invention, the image processing means 50 provides image processing for the camera images filmed by each monitoring camera 30, 32, 34, 36, and generates the synthetic bird's-eye view image 52 and the conversion image 60. The synthetic bird's-eye view image 52 and the conversion image 60 are selectively displayed on the screen 46 of the monitor 44 when, for example, the switch 48 of the monitor 44 is operated. When the synthetic bird's-eye view image 52 or the conversion image 60 is displayed on the screen 46, the direction of the upper rotating body of the plane Fig. 54 always fixed, that is, the cabin of the level Fig. 54 is positioned on the upper side of the screen 46, and the counterweight of the flat Fig. 54 is always positioned on the lower side of the screen 46. However, when the actual upper part rotating body 6 is rotated with respect to the actual base support 4, the base support of the plane Fig. 54 with respect to the upper rotating body of the plane Fig. 54 turned.

[0020] In the embodiment shown in the figure, by displaying the conversion image 60 in which the 4th zone D of the synthetic image 52 is expanded from a bird's eye view to D' on the screen 46 of the monitor 44 without enlarging the monitor 44, the operator can certainly recognize whether or not there are obstacles or other workers in the actual work area (i.e., on the rear side of the machine body 8 and the right side of the machine body 8, which become blind spots) corresponding to the 4th zone D' expanded in the conversion image 60. Furthermore, in the embodiment shown in the figure, the operator can recognize whether or not there are obstacles or other workers, etc., with respect to the actual work area corresponding to the zones other than the 4th zone D' in the conversion image 60, even though the size is changed because the zone other than the 4th zone D' (1st zone A', 2nd zone B', and 3rd zone B') is displayed.Zone C') is included in the conversion image 60. Thus, the conversion image 60 includes the same zone as the synthetic bird's-eye view image 52, on which the surroundings of the machine body 8 are provided from a bird's-eye view, and the driver can confirm the safety of the zone that becomes a blind spot for the drivers through the conversion image 60, and can confirm the safety of the surroundings of the machine body 8. As a result, in the embodiment shown in the figure, the driver is not required to switch between displaying the synthetic bird's-eye view image and enhanced images during operation of the hydraulic excavator 2, and the driver can confirm the safety of the surroundings of the machine body 8 without removing his hand from the joystick 40 or travel lever 42, thereby improving workability.Furthermore, in the embodiment shown in the figure, the synthetic bird's-eye view image 52 and the conversion image 60 can be changed depending on the construction site situation and the driver's preference. [Explanation of reference symbols] 2 hydraulic excavators (construction machinery) 8 machine bodies 24 cabins 30 Front surveillance camera 32 Rear surveillance camera 34 Right-side surveillance camera 36 Left-side surveillance camera 44 monitors 50 image processing tools 52 Synthetic image from a bird's eye view 54 Level Figure 56 1. Cutting line 58 2nd cutting line 60 Conversion image A 1. Zone of the synthetic image from a bird's eye view B 2. Zone of the synthetic image from a bird's eye view C 3. Zone of the synthetic image from a bird's eye view D 4. Zone of the synthetic image from a bird's eye view A' 1. Zone of the conversion image B' 2nd zone of the conversion image C' 3rd zone of the conversion image D' 4. Zone of the conversion image

Claims

[1] Construction machinery equipped with the plurality of surveillance cameras that film the surroundings of the machine body; an image processing means that synthesizes the plurality of camera images filmed by the aforementioned plurality of surveillance cameras and generates synthetic bird's-eye view images, then divides the aforementioned synthetic bird's-eye view images into a plurality of sections by one or more cutting lines and expands the size of a specified zone among the aforementioned plurality of zones and simultaneously changes the zone size of zones other than the aforementioned specified zone among the aforementioned plurality of zones in response to the expansion of the aforementioned specified zone, and generates conversion images having the same size as the aforementioned synthetic bird's-eye view images;a monitor that selectively displays the aforementioned synthetic bird's-eye view images and the aforementioned conversion images, wherein a plane figure of the aforementioned machine body is positioned in the central part of the aforementioned synthetic bird's-eye view image, and the aforementioned cutting line is formed by a first cutting line running from left to right through the back or front direction of a side end of the aforementioned plane figure, and a second cutting line running in the back and front direction through the right or left direction of a side end of the aforementioned plane figure, and the aforementioned specified zone is the zone including the aforementioned plane figure; [2] Construction machinery according to claim 1, wherein a cab is positioned in the left front part of the aforementioned machine body, and it is preferable that the aforementioned 1st section line passes through the front end of the aforementioned planar figure, and the aforementioned 2nd section line passes through the left side end of the aforementioned planar figure.

Images