Pile driver

Abstract

To provide a pile driver having a super structure rotatable relating to a lower traveling body, which is capable of supporting operation of a driver.SOLUTION: A pile driver 1 is provided with: a display device 47 provided in an operator cab 14 of a super structure 11; an imaging device 46 capturing images by looking down on a lower traveling body 10 and the super structure 11; and an image processing controller 40. The image processing controller 40 calculates a relative inclined angle of the lower traveling body 10 to the super structure 11 from a planar image from the captured images to make the display device 47 display images on the calculated relative inclined angle.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a pile driver having an upper rotating body that can rotate relative to a lower traveling body. [Background technology]

[0002] The pile driver has an upper rotating body that can rotate relative to a lower running body that has a traveling function. The upper rotating body is provided with a leader that holds the working equipment and a driver's cab, and the pile driver can travel by rotating the upper rotating body relative to the lower running body by a predetermined angle depending on, for example, obstacles on the travel path or the direction of the next target point. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2024-3524 Summary of the Invention [Problem to be solved by the invention]

[0004] When the pile driver is driven by rotating the upper rotating body at a predetermined angle relative to the lower running body, the front and rear directions of the lower running body are in a different direction from the direction of the driver's cab, which can lead to the driver mistaking the front and rear directions of the lower running body while driving.

[0005] In order to solve this problem, the present invention aims to provide a pile driver having an upper rotating body that can rotate relative to a lower traveling body, which is capable of assisting the operator in driving the pile driver. [Means for solving the problem]

[0006] In order to solve the above problems, the present invention provides a pile driver having a lower running body with a traveling function, an upper rotating body with a driver's cab and rotatable relative to the lower running body, a leader erected at the front of the upper rotating body and holding a work device so that it can be raised and lowered, a display device provided in the driver's cab, an imaging device that acquires images taken from a bird's-eye view of the lower running body and the upper rotating body, and a control device that calculates the relative inclination angle of the lower running body with respect to the upper rotating body from a planar image based on the captured image and displays an image related to the calculated relative inclination angle on the display device. [Effects of the Invention]

[0007] In the pile driver configured as described above, an image showing the relative tilt angle of the lower traveling body is displayed on a display device installed in the driver's cab, allowing the driver to operate the pile driver while checking from within the cab how much the lower traveling body is tilted relative to the upper rotating body. This provides assistance to the driver in operating the pile driver. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. [Figure 2] FIG. 2 is a diagram illustrating the electrical configuration of the pile driver. [Figure 3] 10 is a diagram illustrating the relationship between the rotation of the upper rotating body and the traveling direction of the lower traveling body. FIG. [Figure 4] 10 is a flowchart illustrating a process executed by an image processing controller. [Figure 5] 10A and 10B are diagrams illustrating calculation of the relative inclination angle of the lower traveling body with respect to the upper rotating body. [Figure 6] 10A and 10B are diagrams illustrating calculation of the relative inclination angle of the lower traveling body with respect to the upper rotating body. [Figure 7] FIG. 10 is a diagram illustrating an assist screen. DETAILED DESCRIPTION OF THE INVENTION

[0009] (First embodiment) A pile driver 1 according to this embodiment will be described with reference to the drawings. Fig. 1 is a side view of the pile driver 1 according to this embodiment. The pile driver 1 is a device used for ground improvement and construction, and mainly comprises a lower traveling body 10, an upper rotating body 11 rotatably mounted on the lower traveling body 10, and a leader 12 erected at the front of the upper rotating body 11 and holding a work device so that it can be raised and lowered.

[0010] The upper rotating body 11 includes a frame 13, and on one side above the frame 13 in the left-right direction, there is provided a cab 14 where an operator sits and performs operations to drive the work equipment, the upper rotating body 11, the undercarriage 10, etc. On the other side of the frame 13 in the left-right direction, there is formed an accommodation section that accommodates an engine, which is a power unit, and a hydraulic circuit that supplies hydraulic pressure generated by engine rotation to each unit. A rotation device 17 equipped with a rotation bearing and a rotation motor is attached below the frame 13, and the rotation device 17 is configured to be able to rotate the upper rotating body 11 360° relative to the undercarriage 10.

[0011] A leader 12, which holds an auger 25, a work device, so that it can be raised and lowered, is erected at the front of the frame 13 of the upper rotating body 11 via a leader support 15 that holds the leader 12 so that it can be raised and lowered, and a raising and lowering cylinder 16 that supports the leader 12 from the rear. The leader 12 is made up of multiple leader members connected together, each with a cross section formed into a rectangular tube. A top sheave (not shown) around which a lifting rope is wound is provided at the upper end of the leader 12, and an anti-vibration device 28 that rotatably holds the work member is provided at the front lower part.

[0012] A pair of left and right guide pipes 20 extend along the leader 12 on the vehicle front side of the leader 12, and a rack gear 21 is continuously provided along the leader 12 between the pair of guide pipes 20. The auger 25 is equipped with a pair of left and right guide gibs 26 that slide on the guide pipes 20 of the leader 12, and an elevator motor 27 that rotates a pinion gear (not shown) that meshes with the rack gear 21, and can move up and down along the guide pipe 20 in response to the rotation of the pinion gear by the elevator motor 27.

[0013] The undercarriage 10 is a device equipped with a crawler-type traveling function. The undercarriage 10 has a pair of crawler frames 31 on the left and right sides of a track frame connected to the upper rotating body 11 by the rotating device 17. Crawler shoes 32 are stretched across drive tumblers 33, which are active wheels, and idlers 34, which are driven wheels, attached to the crawler frames 31. The crawler shoes 32 are formed by endlessly connecting a plurality of shoe plates 35. The undercarriage 10 can travel by rotating the crawler shoes 32 by rotating the drive tumblers 33 with power from the engine. Note that an access step 36 is provided on the front side of the crawler frame 31 so that the driver can enter the cab 14.

[0014] When the pile driver 1 is used for ground improvement work, a hollow rod serving as a construction member is attached to the auger 25, with the rod penetrating vertically, and its upper end is connected to a swivel (not shown) above the auger 25, and its lower end is connected to an excavation head (not shown). As the hollow rod is rotated by the auger 25, soil improvement agent is injected into the ground through the hollow rod and sprayed from the tip of the excavation head. When the pile driver 1 is used for burying a steel pipe, a steel pipe pile serving as a construction member is connected to the lower end of the output shaft of the auger 25 via a rod cap (not shown). The auger 25 is driven to rotate the rod cap, and the auger 25 is lowered along the guide pipe 20, driving the steel pipe pile into the ground.

[0015] FIG. 2 is a diagram illustrating the electrical configuration of the pile driver 1. The pile driver 1 has an image processing controller 40 as a control device and a vehicle controller 48 that performs processing related to the driving of the pile driver 1. A CPU 41, a ROM 42, a RAM 43, and a non-volatile memory 44 are connected to the image processing controller 40 via a bus line. The ROM 42 stores programs executed by the CPU 41, control parameters, etc. The non-volatile memory 44 stores various programs used when the pile driver 1 is driving. The image processing controller 40 has an I / O port 45, to which an imaging device 46, a display device 47, and a vehicle controller 48 are connected via drivers, etc. The display device 47 is provided in the driver's cab 14 and is a device that can display various information related to the pile driver 1 to the driver.

[0016] The imaging device 46 is a device that acquires captured images obtained by capturing a bird's-eye view of the lower traveling body 10 and the upper rotating body 11 of the pile driver 1, and is attached to the upper part of the reader 12 that is erected relative to the upper rotating body 11, as shown in Fig. 1. For example, the imaging device 46 is a device that includes an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The imaging device 46 is configured to be able to transfer captured images acquired at a predetermined interval to the RAM 43 or the non-volatile memory 44 via the I / O port 45.

[0017] The vehicle body controller 48 is connected to an engine controller for controlling the drive of the engine and a hydraulic circuit for operating each part of the pile driver 1. The vehicle body controller 48 outputs control signals to the engine controller and control signals to the hydraulic circuit in response to the operation of the control levers and various switches provided in the driver's cab 14, thereby controlling the drive of the pile driver 1. In this embodiment, the image processing controller 40 and the vehicle body controller 48 are separate devices, but the image processing controller 40 and the vehicle body controller 48 may be configured as a single control device.

[0018] In the pile driver 1 configured as described above, the pile driver 1 may travel while rotating the upper rotating body 11 by a predetermined angle relative to the undercarriage 10 depending on obstacles on the road along which the pile driver 1 is traveling and the direction of the next target point. In the pile driver 1 shown in FIG. 3(a), the upper rotating body 11 is not rotated, and the orientation of the cab 14 of the upper rotating body 11, indicated by the thin arrow, is the same as the front-to-rear orientation of the undercarriage 10, indicated by the thick arrow. On the other hand, in the traveling state of the pile driver 1 shown in FIG. 3(b), the orientation of the cab 14 and the front-to-rear orientation of the undercarriage 10 are different due to the rotation of the upper rotating body 11. For example, in a situation where the pile driver 1 drives a steel pipe pile into a buried position in the rotating state shown in Figure 3(b) and then resumes driving toward the next buried position, if the driver starts driving while misidentifying the direction of the lower running body 10, it will take unnecessary time to guide the leader 12 to the next buried position.

[0019] Therefore, in the pile driver 1 of this embodiment, an assist screen including an image regarding the relative tilt angle of the lower running body 10 with respect to the upper rotating body 11 is displayed on the display device 47 provided in the driver's cab 14, thereby assisting the driver in operating the pile driver 1.

[0020] Fig. 4 is a flowchart illustrating the processing executed by the image processing controller 40 when traveling the pile driver 1. When a control signal for starting the engine is output from the vehicle controller 48 by operation of the driver and the pile driver 1 becomes operable, the image processing controller 40 executes the processing shown in Fig. 4 in accordance with the program stored in the ROM 42.

[0021] In step 10, the image processing controller 40 reads out the captured image transferred from the imaging device 46 to the ROM 42. Hereinafter, step will also be referred to as "S." The imaging device 46 attached to the top of the reader 12 always captures an image of the upper rotating body 11 from the front side of the upper rotating body 11, so that the front-to-back orientation of the image showing the upper rotating body 11 in the captured image will always be the same. Hereinafter, the direction in which the cab 14 of the upper rotating body 11 faces will be referred to as "forward," and the front-to-back direction of the cab 14 will also be referred to as the "swing body fore-and-aft direction Dt," which indicates the fore-and-aft direction of the upper rotating body 11.

[0022] Depending on the elevation of the reader 12 and the installation posture of the imaging device 46, the captured image may be distorted or tilted. Therefore, in S11, the image processing controller 40 performs well-known distortion correction and tilt correction on the captured image to generate a planar image of the upper rotating body 11 and the lower running body 10 as viewed from above. FIG. 5(a) shows the planar image 50 generated in S11, and for ease of explanation, the shape of the image showing the pile driver 1 included in this planar image 50 is simplified. By correcting the distortion and tilt of the captured image, a planar image 50 is generated in which the rotating body fore-and-aft direction Dt (shown by a dashed line) of the rotating body image 52, which is an image showing the upper rotating body 11, is parallel to the vertical direction y of the image.

[0023] In S12, the image processing controller 40 extracts crawler images 51, which are images showing the crawler shoes 32 of the undercarriage 10, from the generated planar image 50. For example, the image processing controller 40 scans pixel rows that make up the planar image 50 in the horizontal direction x of the image to detect edge points (pixels) where the gradation values ​​of each pixel change significantly, and groups pixel regions surrounded by these edge points. The image processing controller 40 performs well-known pattern matching on the grouped pixel regions to extract crawler images 51 showing the crawler shoes 32 of the undercarriage 10 from the pixel regions. In FIG. 5(b), crawler images 51A and 51B (surrounded by dashed lines in the figure) showing the left and right crawler shoes 32 of the undercarriage 10 are extracted from the planar image 50.

[0024] In S13, the image processing controller 40 calculates the relative tilt angle θr of the undercarriage 10 with respect to the fore-and-aft direction Dt of the revolving unit as the reference, using the extracted crawler image 51. In this embodiment, the image processing controller 40 calculates the relative tilt angle θr from the tilt angle of the outer surface 54 of the crawler image 51A of the left and right crawler images 51A and 51B. As described above, in the planar image 50, the fore-and-aft direction Dt of the revolving unit, which is the front-and-aft direction of the revolving unit image 52, is parallel to the vertical direction y of the image, and therefore the tilt angle of the outer surface 54 of the crawler image 51 is an angle corresponding to the relative tilt angle θr with respect to the fore-and-aft direction Dt of the revolving unit as the reference.

[0025] The image processing controller 40 calculates the tilt angle of the outer surface 54 of the crawler image 51 using a well-known tilt angle calculation method. FIG. 6( a) shows an enlarged view of the outer surface 54 of the crawler image 51, surrounded by a dashed line. The image processing controller 40 detects edge pixels Pi (where i is an identifier indicating the target pixel row) that indicate the outer surface 54 of the crawler image 51 by scanning the target pixel row that makes up the crawler image 51 in the horizontal direction x of the image. After detecting the edge pixels Pi for the target pixel row, the image processing controller 40 changes the target pixel row to the vertical direction y of the image and continues to detect edge pixels Pi that indicate the outer surface 54 for the target pixel row after the change. Next, the image processing controller 40 calculates a straight line approximation formula L1, which is a line segment connecting the edge pixels Pi, by interpolating the coordinates of the detected multiple edge pixels Pi. The slope of the linear approximation formula L1 is a value corresponding to the slope of the outer surface 54 of the crawler image 51, and the image processing controller 40 calculates the slope of the outer surface 54, i.e., the relative slope angle θr, from the slope of the linear approximation formula L1. Note that the image processing controller 40 may calculate the slope of the outer surface 54 from each of the left and right crawler images 51A, 51B included in the planar image 50, and calculate the relative slope angle θr by averaging the calculated slopes of the outer surfaces 54.

[0026] The relative tilt angle θr calculated in S13 is a value calculated without distinguishing between the front and rear orientations of the crawler image 51, and is a value in the ranges of "0° to 90°" and "270° to 360°" indicated by hatching in FIG. 6(b). Specifically, in this embodiment, when the crawler image 51 is tilted to the right with respect to the fore-and-aft direction Dt of the rotating unit, the relative tilt angle θr is a value in the range of "0° to 90°". On the other hand, when the crawler image 51 is tilted to the left with respect to the fore-and-aft direction Dt of the rotating unit, the relative tilt angle θr is a value in the range of "270° to 360°".

[0027] The relative tilt angle θr does not have to be defined as a value within the above range. For example, regardless of whether the crawler image 51 is tilted left or right with respect to the fore-and-aft direction Dt of the revolving unit, the value may be set to a range of "0° to 90°," and an identifier may be assigned to the relative tilt angle θr to distinguish whether it is tilted left or right.

[0028] In S14, the image processing controller 40 determines the front / rear orientation of the crawler image 51 from the position of the image showing the climbing steps 36, which are markers indicating the front / rear orientation of the lower traveling structure 10, and stores the determination result as orientation information. The calculation of the relative tilt angle θr in S13 does not take into account the front / rear orientation of the crawler image 51 (i.e., the lower traveling structure 10), so even if the calculated relative tilt angle θr has the same value, the front / rear orientation of the crawler image 51 may be different. Therefore, the image processing controller 40 determines the front / rear orientation of the crawler image 51 and uses it to display the assist screen 60, which will be described later.

[0029] In this embodiment, the step 36 is attached to the front side of the right crawler frame 31 of the lower traveling body 10. The image processing controller 40 extracts a step image 53 representing the step 36 from the planar image 50 and determines the front-to-rear orientation by considering the position of the extracted step image 53 as the front side of the crawler image 51. In the example of FIG. 5( a), the step image 53 is located in front of the outer surface of the crawler image 51B in the planar image 50, so the front-to-rear orientation is determined by considering the front end of the crawler image 51 as facing forward in the planar image. Note that the position of the step 36 attached to the lower traveling body 10 varies depending on the specifications of the pile driver 1. Therefore, the image processing controller 40 may determine the front-to-rear orientation of the crawler image 51 from the position of the step image 53 determined according to the specifications of the pile driver 1.

[0030] In S15, the image processing controller 40 uses the calculated relative tilt angle θr and the orientation information to generate an image for displaying an assist screen 60 related to the relative tilt angle θr, and causes the display device 47 to display the assist screen 60 using the generated image. As shown in FIG. 7 , the assist screen 60 displays a tilt display image 61 indicating the tilt of the undercarriage 10 relative to the upper rotating body 11 of the pile driver 1. The tilt display image 61 is an image in which the direction in which the cab 14 faces is forward when the pile driver 1 is viewed from above, and an image 61A indicating the upper rotating body is displayed with its rotation center positioned approximately in the center of the screen. In the tilt display image 61, an image 61B indicating the undercarriage is displayed tilted by the calculated relative tilt angle θr with respect to the image 61A indicating the upper rotating body. This allows the driver to intuitively grasp the relative tilt angle θr of the undercarriage 10 relative to the upper rotating body 11 from the tilt display image 61. The image processing controller 40 may display an image showing the pile driver 1 included in the planar image generated in S11 on the assist screen 60 as the tilt display image 61.

[0031] On the assist screen 60, an angle display field 62 indicating the relative tilt angle θr of the lower running structure 10 and an arrow image 63 indicating the forward and backward directions of the lower running structure 10 are displayed around the tilt display image 61. The angle display field 62 displays the relative tilt angle θr calculated in S13 as a number, allowing the driver to confirm the current relative tilt angle θr of the lower running structure 10 by looking at the number.

[0032] The display position of the arrow image 63 on the assist screen 60 is determined based on the relative tilt angle θr calculated in S13 and the orientation information indicating the forward / backward orientation of the crawler image 51 stored in S14. In the example shown in FIG. 7 , the relative tilt angle is "25°" and the orientation information is "forward," so the arrow image 63 is displayed on the assist screen 60 in front of the image 61B indicating the undercarriage, tilted by the relative tilt angle of "25°" and pointing outward. If the orientation information indicates "rear," the arrow image 63 is displayed on the assist screen 60 behind the image 61B indicating the undercarriage, tilted according to the relative tilt angle θr and pointing outward. This allows the driver to confirm the forward / backward orientation of the undercarriage 10 and the relative tilt angle θr of the undercarriage 10 from the arrow image 63.

[0033] The arrow image 63 may be any image that can show the driver the forward and backward directions of the lower running body 10, and may be any image other than that shown in Figure 7 that is displayed around the tilt display image 61 according to the relative tilt angle θr and direction information.

[0034] In S16, the image processing controller 40 determines whether a termination condition for terminating the display of the assist screen 60 is met. The termination condition for the display of the assist screen 60 is, for example, when a control signal for stopping the power supply to the display device 47 is output from the vehicle controller 48 in response to an engine stop operation. Alternatively, the image processing controller 40 may make a positive determination in S16 upon detecting that an operation to hide the assist screen 60 has been received. If the termination condition is not met (S16: NO), the image processing controller 40 returns to S10, reads a new image captured by the imaging device 46, and repeats the processes of S11 to S15 for the read image. As a result, the assist screen 60, which includes images 61, 62, and 63 relating to the relative tilt angle θr and orientation information that change as the upper rotating body 11 rotates, continues to be displayed on the display device 47 while the pile driver 1 is traveling. On the other hand, if the termination condition is met (S16: YES), the image processing controller 40 ends the process of FIG. 4.

[0035] The pile driver 1 according to the present embodiment described above can achieve the following effects. The pile driver 1 has a display device 47 provided in the cab 14 of the upper rotating body 11, an imaging device 46 that acquires captured images of the lower traveling body 10 and the upper rotating body 11 taken from above, and an image processing controller 40. The image processing controller 40 calculates the relative tilt angle θr of the lower traveling body 10 from a planar image 50 based on the captured images, and causes the display device 47 to display an assist screen 60 including an image relating to the calculated relative tilt angle θr. This allows the driver to check the degree to which the lower traveling body 10 is tilted with respect to the upper rotating body 11 on the display device 47 provided in the cab 14, thereby assisting the driver in operating the pile driver 1.

[0036] The imaging device 46 is attached to the upper part of the reader 12 in a position where it can capture an image of the lower traveling structure 10 and the upper revolving structure 11 from above. As a result, the front and rear directions of the image showing the upper revolving structure 11 in the captured image are always the same, which reduces the processing load required to calculate the relative tilt angle θr from the planar image 50 obtained by correcting this captured image.

[0037] The image processing controller 40 calculates the inclination angle of the left and right outer surfaces 54 of the crawler image 51 in the planar image as the relative inclination angle θr. By calculating the relative inclination angle θr using the inclination angle of the outer surfaces 54 of the crawler image 51, the inclination of which changes significantly in the planar image as the upper rotating body 11 rotates, the calculation accuracy of the relative inclination angle θr can be improved.

[0038] The image processing controller 40 generates a planar image 50 by correcting the fore-and-aft direction Dt of the rotating unit for the captured image so that it is parallel to the vertical direction y of the image. As a result, the fore-and-aft direction Dt of the rotating unit becomes the same direction as the vertical direction y of the image, so that the relative tilt angle θr can be calculated without extracting the rotating unit image 52 from the planar image 50, and the processing load for calculating the relative tilt angle θr can be reduced.

[0039] The image processing controller 40 determines the forward / backward orientation of the crawler image 51 in the planar image 50 based on the position of the ascending / descending step image 53, which is a mark indicating the forward / backward orientation of the crawler image 51, and causes the display device 47 to display the assist screen 60 using the relative tilt angle θr and orientation information indicating the determination result. This allows the display device 47 to display an arrow image 63 indicating the forward / backward orientation of the lower traveling structure 10 in addition to the image relating to the relative tilt angle θr, thereby improving the function of the assist screen 60 to assist the driver in driving.

[0040] (Modification of the first embodiment) The following may be used as a mark indicating the front-to-rear orientation of the undercarriage 10. Behind the track frame of the undercarriage 10, a drive hydraulic hose extends from this track frame to the drive tumbler 33. Therefore, in S14 of FIG. 4, the image processing controller 40 extracts an image representing the drive hydraulic hose from the planar image 50, and determines the front-to-rear orientation of the crawler image 51 in the planar image 50 from the position of the extracted image representing the drive hydraulic hose. According to this modification, even if an image representing the lift step 36 cannot be extracted from the planar image, the front-to-rear orientation of the crawler image 51 can be determined using the image representing the drive hydraulic hose.

[0041] Some shoe plates 35 constituting the crawler shoe 32 are formed with direction indicating grooves that indicate the orientation of the shoe plate 35. For example, a driver can visually check the direction indicating grooves to determine the front-to-rear orientation of the undercarriage 10. Therefore, in S14, the image processing controller 40 extracts an image that indicates the direction indicating grooves included in the planar image 50 and determines the shape of the image that indicates the direction indicating grooves, thereby determining the front-to-rear orientation of the crawler image 51 in the planar image. According to this modification, even if an image that indicates the climbing step 36 cannot be extracted from the planar image, the front-to-rear orientation of the crawler image 51 can be determined using the image that indicates the direction indicating grooves of the shoe plate 35.

[0042] The length dimensions from the center of rotation to the front and rear ends of some lower traveling structures 10 are different. Therefore, in S14, the image processing controller 40 measures the length dimensions from the center of rotation to the front and rear ends of the crawler image 51 in the planar image 50, and determines the front and rear orientation of the crawler image 51 from the measurement results. According to this modification, even if an image showing the climbing steps 36 cannot be extracted from the planar image, the front and rear orientation of the crawler image 51 showing the lower traveling structure 10 can be determined from the difference in the front and rear shapes of the crawler image 51.

[0043] A pattern or part that functions as a marker for determining the front / rear orientation of the lower running body 10 may be attached to the lower running body 10 at a position where it can be imaged by the imaging device 46. In this case, the image processing controller 40 extracts, in S14, an image showing a pattern or part for distinguishing the front / rear orientation from the planar image 50, and determines the front / rear orientation of the crawler image 51 based on the position of the extracted image.

[0044] Although one embodiment of the present invention has been described above, the present invention is not limited to this and various modifications are possible without departing from the spirit of the present invention. 3(a) and 3(b), the left and right outer surfaces of the upper rotating body 11 extend in a substantially straight line. Therefore, the image processing controller 40 may calculate the tilt of the rotating body's fore-and-aft direction Dt from the tilt of the left and right outer surfaces of the rotating body image 52 in the planar image. In this case, in S13, the image processing controller 40 calculates the tilt angle of the rotating body's fore-and-aft direction Dt from the tilt angle of the outer surface of the rotating body image 52, in addition to the tilt angle of the outer surface 54 of the crawler image 51. The image processing controller 40 then calculates the relative tilt angle θr of the crawler image 51 using the angle difference between the calculated tilt angles. This makes it possible to calculate the relative tilt angle θr in the crawler image 51 even if the rotating body's fore-and-aft direction Dt is not aligned with the vertical direction y of the image in the planar image generated in S11.

[0045] The assist screen 60 displayed on the display device 47 does not have to display all of the tilt display image 61, the angle display field 62, and the arrow image 63. For example, the display or non-display of any of the tilt display image 61, the angle display field 62, and the arrow image 63 may be switched in response to an operation by the driver.

[0046] The imaging device 46 may be attached in any position that allows it to capture an overhead image of the upper rotating body 11 and the lower running body 10, and the attachment position is not limited to the upper part of the reader 12. For example, an aircraft equipped with an imaging device, such as a drone, may be flown around the pile driver 1, and the imaging device of the drone may capture an overhead image of the pile driver 1. In this case, the images captured by the imaging device of the drone may be transmitted to the image processing controller 40 via a wireless network.

[0047] The lower traveling body 10 of the pile driver 1 is not limited to a crawler type, and may be a type having a wheel type traveling function. [Explanation of symbols]

[0048] 1...pile driver, 10...lower running body, 11...upper rotating body, 12...leader, 14...operator's cab, 46...imaging device, 47...display device, 50...planar image, 51...crawler image, 53...lifting step image, 60...assist screen, Dt...forward / backward direction of rotating body.

Claims

1. a lower traveling body having a traveling function; an upper rotating body provided with a driver's cab and rotatable relative to the lower traveling body; a leader provided in an upright position at the front of the upper rotating body and configured to hold a working device so that the working device can be raised and lowered; a display device provided in the driver's cab; an imaging device that acquires an image obtained by capturing an overhead view of the lower traveling body and the upper rotating body; A pile driver having a control device that calculates the relative inclination angle of the lower running body relative to the upper rotating body from a planar image based on the captured image and displays an image related to the calculated relative inclination angle on the display device.

2. The pile driver according to claim 1 , wherein the imaging device is attached to an upper portion of the reader capable of capturing an image of the lower traveling body and the upper rotating body from above.

3. The control device The pile driver according to claim 1 or 2, wherein the relative tilt angle is calculated as the tilt of the left and right outer surfaces in the image showing the lower running body relative to the front-to-rear direction of the image showing the upper rotating body.

4. The control device The pile driver according to claim 3 , wherein the planar image is generated by correcting the front-to-back direction of an image showing the upper rotating body in the captured image so that the front-to-back direction is parallel to the vertical direction of the planar image.

5. The control device determining a front-to-back orientation of an image showing the undercarriage in the planar image based on a mark indicating the front-to-back orientation of the undercarriage included in the planar image; The pile driver according to claim 1 or 2, wherein an image relating to the relative tilt angle is displayed on the display device using the determined front-to-rear orientation and the calculated relative tilt angle.

Images