U.S. patent application number 14/916058 was filed with the patent office on 2016-07-28 for monitoring image display device of industrial machine.
This patent application is currently assigned to HITACHI CONSTRUCTION MACHINERY CO., LTD.. The applicant listed for this patent is HITACHI CONSTRUCTION MACHINERY CO., LTD.. Invention is credited to Kouji FUJITA, Yoshihiro INANOBE, Hidefumi ISHIMOTO, Yoichi KOWATARI, Takashi KUSAMA, Moritaka OOTA, Hiroyoshi TANAKA.
Application Number | 20160217331 14/916058 |
Document ID | / |
Family ID | 53799993 |
Filed Date | 2016-07-28 |
United States Patent
Application |
20160217331 |
Kind Code |
A1 |
KOWATARI; Yoichi ; et
al. |
July 28, 2016 |
MONITORING IMAGE DISPLAY DEVICE OF INDUSTRIAL MACHINE
Abstract
In an industrial machine, the work safety is further improved by
eliminating blind spots from an image displayed on a monitor. A
hydraulic excavator 1 which is the industrial machine is equipped
with monitoring cameras 15F, 15B, 15L, 15R mounted in the
respective places of a revolving upperstructure 3 in order to
capture images for monitoring. A monitor 20 displays camera images
21F, 21B, 21L, 21R obtained by the cameras as well as an icon image
21C of an image illustration of the hydraulic excavator 1. The
cameras 15F, 15L, 15R are mounted at the distal ends of support
arms 40F, 40L, 40R to be located in positions jutting from a
revolving upperstructure main unit 3a of the revolving
upperstructure 3, so that a hidden area under the underside of a
catwalk 14 provided on the revolving upperstructure 3 falls within
the field of view.
Inventors: |
KOWATARI; Yoichi;
(Tsuchiura-shi, JP) ; ISHIMOTO; Hidefumi;
(Tsuchiura-shi, JP) ; OOTA; Moritaka;
(Tsuchiura-shi, JP) ; INANOBE; Yoshihiro;
(Tsuchiura-shi, JP) ; TANAKA; Hiroyoshi;
(Tsuchiura-shi, JP) ; FUJITA; Kouji;
(Tsuchiura-shi, JP) ; KUSAMA; Takashi;
(Tsuchiura-shi, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
HITACHI CONSTRUCTION MACHINERY CO., LTD. |
Tokyo |
|
JP |
|
|
Assignee: |
HITACHI CONSTRUCTION MACHINERY CO.,
LTD.
Tokyo
JP
|
Family ID: |
53799993 |
Appl. No.: |
14/916058 |
Filed: |
January 20, 2015 |
PCT Filed: |
January 20, 2015 |
PCT NO: |
PCT/JP2015/051402 |
371 Date: |
March 2, 2016 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60R 2300/305 20130101;
B60R 2300/607 20130101; H04N 7/181 20130101; G06T 11/60 20130101;
B60R 2300/105 20130101; B60R 1/00 20130101; E02F 9/24 20130101;
G06K 9/00791 20130101; E02F 9/261 20130101; H04N 5/247
20130101 |
International
Class: |
G06K 9/00 20060101
G06K009/00; H04N 5/247 20060101 H04N005/247; E02F 9/26 20060101
E02F009/26; G06T 11/60 20060101 G06T011/60 |
Foreign Application Data
Date |
Code |
Application Number |
Feb 17, 2014 |
JP |
2014-027536 |
Claims
1. A monitoring image display device of an industrial machine,
comprising: one or more monitoring cameras (15, 15F, 15B, 15L, 15R)
installed on the industrial machine (1) having a movable mechanism
provided at least in part, and placed in a location at least
partially extending beyond an outline region to have a field of
view covering the surroundings of the industrial machine (1); an
image generating unit (35) that generates top-view images captured
by the monitoring cameras (15, 15F, 15B, 15L, 15R) looking downward
from above; an icon-image generating unit (33) that generates an
icon image (21C) representing a plane of the industrial machine (1)
with at least outline being shown in a graphic form; an image
compositing unit (34) that performs composite processing to display
an image captured by the image generating unit (35) around the icon
image (21C) generated by the icon-image generating unit (33); and
an image display unit (20) that displays the top-view images
composited by the image compositing unit to include part of a
section hidden within a display region of the icon image (21C).
2. The monitoring image display device of the industrial machine
according to claim 1, wherein: the industrial machine (1) has a
frame (3) capable of revolving; the icon image (21C) includes a
region including the frame (3) and a projection extending outward
from the frame (3), the region being displayed in an outline; and
the monitoring camera (15) is placed in a position upward of a
section of the outline to jut outward from the outline.
3. The display device of the industrial machine according to claim
1, wherein: the industrial machine (1) has a movable working
mechanism (5) projecting beyond the frame (3); and the icon image
(21C) has a movable-range display region (B) for displaying a
motion track of the working mechanism (5).
Description
TECHNICAL FIELD
[0001] The present invention relates to a monitoring image display
device of an industrial machine, such as, in particular, a large
hydraulic excavator for mining, a dump truck, a road construction
machine, and the like, to monitor the surroundings of the
industrial machine during operation.
BACKGROUND ART
[0002] As the industrial machine, for example, a hydraulic
excavator has a lower travel base and a revolving upperstructure
which is revolvably coupled to the lower travel base. The revolving
upperstructure is equipped with a front working mechanism as a
working mechanism. The front working mechanism has a boom and an
arm. The boom is mounted to the revolving upperstructure in such a
manner as to be raised/lowered. The arm is vertically rotatably
coupled to the distal end of the boom. The distal end of the arm is
equipped with a front attachment. The front attachment is a bucket
when used in excavation work.
[0003] It is well known in the art to provide a surround monitoring
device to monitor the surrounding circumstances of the revolving
upperstructure in order to ensure work safety while the front
working mechanism serving as the working mechanism is driven to
carry out earth/soil excavation work and/or the like. The surround
monitoring device is configured to include a camera mounted to the
revolving upperstructure, and a monitor placed, within a cab, in
front of the operator seat in which the operator is to sit. Images
taken by the camera are displayed on the monitor screen in the form
of moving images. Also, ensuring the safety during traveling of the
hydraulic excavator and during excavation work or the like, and the
like, requires the field of view covering the rear and both the
left and right sides of the revolving upperstructure. In order to
provide a wide-angle field of view around the hydraulic excavator
which is the industrial machinery, the revolving upperstructure
equipped with a plurality of cameras is conventionally used. This
eliminates blind spots from almost all around the revolving
upperstructure, ensuring the work safety and improving the
maneuverability of the industrial machine.
[0004] Patent Literature 1 discloses the configuration in which
view transformation processing is applied to images of the
surroundings of the industrial machine captured by a plurality of
cameras for a view from above so that the images are displayed as
two-dimensionally-projected top-view monitoring images on the
monitor screen. With the configuration in Patent Literature 1, the
plurality of cameras are mounted to the revolving upperstructure of
the hydraulic excavator and the images of the respective cameras
are combined on the monitor screen in order to obtain the surround
monitoring image.
[0005] The cameras are mounted in three locations, in a position in
a rear portion of and positions in the right and left side portions
of the hydraulic excavator, in which the optical axis of the
imaging lens of each of the cameras is directed in an obliquely
downward direction. An image taken by each camera is a through
image, so that the view transformation processing is applied to the
through image to obtain a monitoring image. The view after the
transformation is a view from above, thereby obtaining the three
top-view images projected from above the hydraulic excavator.
[0006] With this configuration, the top-view images are displayed
on the monitor screen, in which an image illustration symbolically
showing the hydraulic excavator (specifically, a plane image
illustration of the hydraulic excavator) is displayed on the
monitor screen and the top-view images captured by the respective
cameras are arranged around the image illustration. More
specifically, the image illustration is displayed on a central
position of the monitor screen and the top-view images are arranged
respectively in regions on the rear side and the left and right
sides of the image illustration, resulting in displaying the
bird's-eye view image for surround monitoring.
CITATION LIST
Patent Literature
[0007] Patent Literature 1: Japanese Patent Application Laid-Open
No. 2010-204821
SUMMARY OF INVENTION
Technical Problem
[0008] Such a hydraulic excavator is also used for mining in a
mine. The hydraulic excavator for mining, which is very large in
size, is structured to include a crawler-type lower travel base
having left and right crawler belts. The revolving upperstructure
installed through a revolving apparatus onto the lower travel base
is located at a height of 1.8 meters or more from ground level. In
this manner, the cameras are mounted to the revolving
upperstructure and a large empty space exists in a position under
the underside of a vehicle frame of the revolving upperstructure.
In the situation in which a worker working around the hydraulic
excavator enters the space under the underside of the vehicle frame
of the revolving upperstructure, the worker may possibly not be
captured within the field of view of the surround-monitoring
camera.
[0009] Enhancing the effectiveness of the monitoring of the
surrounding to the industrial machine involves a lessening of the
section of blind spot of the monitoring camera, and it is desired
for this purpose that the blind spot is absent. Locations of
interest to be monitored do not include, understandably, a location
at a distance from the industrial machine where the operation of
the industrial machine is not affected, a space-limited location
where a worker and the like cannot enter, and the tread of the
crawler band forming part of the lower travel base which touches
the ground. However, especially, for a large/heavy industrial
machine, there is a necessity to cause the field of view of the
monitor cameras to cover the areas under the underside of the frame
of the revolving upperstructure and the section extending out from
the frame to the extent possible.
[0010] The present invention has been made in light of the
aforementioned points and it is an object of the invention to
expand the range of the field of view of the monitoring cameras for
a further enhancement in the effectiveness of surround
monitoring.
Solution to Problem
[0011] To address the aforementioned technical problems, the
present invention provides a monitoring image display device
installed on an industrial machine which has a movable mechanism
provided at least in a part, the monitoring image display device
including: one or more monitoring cameras which are placed in a
location at least partially extending beyond an outline region to
have a field of view covering the surroundings of the industrial
machine; an image generating unit that generates top-view images
captured by the monitoring cameras looking downward from above; an
icon-image generating unit that generates an icon image
representing a plane of the industrial machine with at least the
outline being shown in a graphic form; an image compositing unit
that performs composite processing to display an image captured by
the image generating unit around the icon image generated by the
icon-image generating unit; and an image display unit that displays
the top-view images composited by the image compositing unit to
include part of a section hidden within a display region of the
icon image.
[0012] The monitoring image display device of the industrial
machine according to the present invention is a device used in an
industrial machine to check for safety of the surroundings of the
industrial machine during its operation, and the industrial machine
has a movable mechanism mounted to at least a part thereof.
Specifically, the movable mechanism includes a working mechanism,
traveling mechanism and/or the like. For safe operation of the
movable mechanism structured as described above, monitoring using
images is performed. The images are displayed on the image display
unit, namely, the monitor. As display mode, a plane image of the
industrial machine is displayed as an icon image. The icon image is
represented in an outline.
[0013] Images captured by the monitoring cameras, together with the
icon image, are displayed. Therefore, the images of the monitoring
cameras are top-view images. For the purpose, the monitoring
cameras are located at high elevations so that the optical axis is
oriented downward so as to obtain a top-view image. The monitoring
cameras are designed to be placed in at least one location or a
plurality of locations, and four or more monitoring cameras are
preferably mounted in order to photograph the overall surroundings
of the industrial machine. The plurality of monitoring cameras are
arranged such that their fields of view overlap each other, and the
images are trimmed for display with continuity between adjacent
images.
[0014] Because of the structure of the industrial machine, an empty
space is created in an underside position in the outside shape of
the industrial machine. For example, a large hydraulic excavator,
which is an industrial machine, is equipped with a catwalk for the
passage of the operator and the like. The catwalk is provided as a
structure to jut outward from the frame of the revolving
upperstructure. In order to monitor the area under the underside of
the catwalk, an image of a section hidden within the icon image is
also displayed.
[0015] The monitoring cameras are sited at high elevations for
sections forming the outside shape of the machine, such as the
catwalk and the like. In addition, the monitoring cameras are
placed in positions jutting outward relative to the outline of the
structure. This enables displaying a ground surface image including
the sections positioned inward of the outside shape. A further
increase in the field of view toward the center involves a further
increase in height of the camera position to exceed the section
defining the outside shape, and also a further increase in length
of jutting from the outside shape. However, an increase in the
amount of jutting upward and forward correspondingly increases the
possibility of collision with any other substance. Accordingly, the
amount of jutting is limited.
[0016] In a machine with a revolving upperstructure revolvably
mounted on a lower travel base as in the case of the hydraulic
excavator, a revolving radius of the revolving upperstructure is
determined as a critical position of the jutting length of the
position at which the camera is mounted. For safe revolving, a
collision with other substance and/or the like must be avoided
within the revolving radius of the revolving upperstructure. During
operation, other substance and the like are prevented from entering
the area within the revolving radius. As a result, the critical
position of the jutting length of the mounting position of the
camera is able to be determined within the revolving radius of the
revolving upperstructure. Then, a support arm is installed to a
predetermined position of a revolving upperstructure main unit
forming part of the revolving upperstructure of the hydraulic
excavator, so that the camera is mounted to the distal end of the
support arm. The support arm may be structured to be adjustable in
length in order to make the mounting position of the camera
adjustable. However, if strong vibrations may be created such as in
the hydraulic excavator, the mounting position of the camera must
be prevented from being displaced. Because of this, the support arm
is desirably installed in a rigid manner.
[0017] Next, the hydraulic excavator includes a front working
mechanism as a working mechanism installed to the revolving
upperstructure for earth/soil excavation. The front working
mechanism includes a boom attached to the revolving frame of the
revolving upperstructure to be capable of being raised/lowered, an
arm coupled to the distal end of the boom to be rotatable in the
vertical direction, and a bucket coupled to the distal end of the
arm via an articulated mechanism. During excavation, the bucket is
engaged into the ground. Accordingly, during excavation operation,
the section in which the bucket makes contact with the ground is a
danger region which any other vehicle and worker must be prevented
from entering.
[0018] For this reason, when the hydraulic excavator is in a
predetermined position, that is, when the revolving upperstructure
is in a position at a predetermined angle, it is important in terms
of work safety that the region in which excavation using the bucket
will be carried out is displayed on the monitor. In particular,
when doing the excavation work by remote control without the
operator aboard, displaying the location of interest for excavation
on the monitor is critical in terms of work safety and
efficiency.
Advantageous Effects of Invention
[0019] In the industrial machine such as the hydraulic excavator
and the like, a decrease in blind spots in an image displayed on
the monitor provides a higher level of work safety.
BRIEF DESCRIPTION OF DRAWINGS
[0020] FIG. 1 is a front view of a hydraulic excavator as an
example of the industrial machine.
[0021] FIG. 2 is a top view of the hydraulic excavator in FIG.
1.
[0022] FIG. 3 is a left side view of the hydraulic excavator in
FIG. 1.
[0023] FIG. 4 is a schematic illustration of the field of view of
cameras when viewed from a position in FIG. 3.
[0024] FIG. 5 is a schematic illustration of the field of view of
cameras when viewed from a position in FIG. 2.
[0025] FIG. 6 is a diagram illustrating an example of a display
region of each image on the screen of a monitor.
[0026] FIG. 7 is a top view illustrating an example of an icon
image displayed on the monitor.
[0027] FIG. 8 is a block diagram illustrating the configuration of
a display controller of the monitor.
[0028] FIG. 9 is an illustration describing the principles for
making a hidden area under the underside of a catwalk visible to
the camera to fall within the angle of view of the camera.
[0029] FIG. 10 is an illustration showing another example mode of
an image on a monitor including an excavatable range by a
bucket.
DESCRIPTION OF EMBODIMENTS
[0030] Embodiments according to the present invention will now be
described with reference to the accompanying drawings. First, FIG.
1 to FIG. 3 illustrate the structure of a hydraulic excavator 1 as
an example of the industrial machine. FIG. 1 is a front view, FIG.
2 is a top view and FIG. 3 is a left side view of the hydraulic
excavator 1. Here, a front working mechanism 5 which will be
described later is omitted in FIG. 2 and FIG. 3.
[0031] The hydraulic excavator 1 has a lower travel base 2 having a
crawler traveling mechanism, and a revolving upperstructure 3
mounted revolvably on the lower travel base 2. The revolving
upperstructure 3 is equipped with a cab 4 for an operator aboard
the hydraulic excavator to operate the machine, and the front
working mechanism 5 is mounted as a working mechanism for work of
earth/soil excavation and/or the like. An illustration and details
of the front working mechanism 5 are omitted because the specific
structure of the front working mechanism is well known.
[0032] Thus, the hydraulic excavator 1 which is the industrial
machine operates the lower travel base 2 for traveling, the
revolving upperstructure 3 for revolving and the front working
mechanism 5 to perform the work. Each of the above-described
operating parts is driven by a hydraulic cylinder and/or a
hydraulic motor, in which a movable section and a driving section
to move the movable section form a movable mechanism. Also, any
other actuators such as an electric motor and/or the like may be
used.
[0033] The movable mechanism of the hydraulic excavator 1 is
operated by the operator, and the cab 4 is installed in a forward
position of the revolving upperstructure 3. On the right side of
the cab 4, a facility 6 including a machine room is located
rearward of the cab 4 and the front working mechanism 5 which are
arranged in an approximately side-by-side position on the revolving
upperstructure 3 to which the front working mechanism 5 is mounted,
thus forming a revolving upperstructure main unit 3a. Further, a
counterweight 7 is placed at the tail end.
[0034] The front working mechanism 5 includes a boom attached to
the revolving upperstructure main unit 3a of the revolving
upperstructure 3 to be capable of being raised/lowered, an arm
coupled to the distal end of the boom to rotate in the vertical
direction, and a bucket rotatably coupled to the distal end of the
arm for work on earth/soil excavation and/or the like, the boom,
the arm and the bucket being driven by the hydraulic cylinders,
which are omitted from the drawings. Note that the specific
structure of the front working mechanism 5 is well-known in the
art.
[0035] The revolving upperstructure main unit 3a is further
equipped with a ladder 13 for the operator to get into/off the cab
4, and also a catwalk 14 forming a passage. The catwalk 14 is
placed on the side of the revolving upperstructure main unit 3a and
in a midpoint position in the vertical direction to be protruded in
the lateral direction so that a position under the underside of the
catwalk 14 is empty space. Further, the ladder 13 is placed to be
connected to the catwalk 14. In this connection, the revolving
upperstructure main unit 3a is formed of a frame structure, and the
catwalk 14 and the ladder 13 are the jutting components extending
out from the revolving upperstructure main unit 3a.
[0036] The hydraulic excavator 1, having the movable mechanisms as
described earlier, is equipped with a surround monitoring device
for ensuring safety in the surrounding under operation conditions
of the movable mechanism. The surround monitoring device is mounted
to the revolving upperstructure 3 and includes a plurality of video
cameras capable of shooting moving images. More specifically, in
FIG. 4 and FIG. 5, reference sign 15F denotes a front camera,
reference sigh 15B denotes a rear camera, and reference signs 15L
and 15R denote left-side and right-side cameras. The surrounding of
the hydraulic excavator 1 is monitored through the cameras 15F,
15B, 15L and 15R. Incidentally, in the following description,
reference sign 15 is used when collectively calling the camera for
camera-monitoring.
[0037] The cameras 15F, 15B, 15L and 15R are mounted to the
revolving upperstructure main unit 3a of the revolving
upperstructure 3, and are placed at high elevations so that the
optical axis of each camera is oriented in the downward or
obliquely downward direction. Thus, as shown in FIG. 4, an image
captured by each of the cameras 15 results in a top-view image
looking downwardly from above. Installation positions of the
respective cameras 15 are determined to have a positional
relationship to monitor all around the hydraulic excavator 1. FIG.
5 illustrates example placement of the cameras 15F, 15B, 15L and
15R.
[0038] As described above, the image captured by each camera 15F,
15B, 15L, 15R is displayed on a monitor 20 serving as an image
displaying unit as illustrated in FIG. 6. Here, the monitor 20 is
placed in a position within the cab 4 to allow the seated operator
to visually check the monitor 20 from the operator's seat where the
operator operates the hydraulic excavator 1.
[0039] The images sent from the respective cameras 15F, 15B, 15L
and 15R to be displayed on the monitor 20 are top-view images. The
screen of the monitor 20 is split into a plurality of regions, such
that the above-described top-view images are respectively trimmed
to fit into the predetermined regions. As a result, camera images
21F, 21B, 21L and 21R are displayed on the respective display
regions set in the monitor 20. Then, a display region for an icon
image 21C is set at the center of the screen, and a planar image of
the hydraulic excavator 1 is symbolized and displayed in the
display region of the icon image 21C as illustrated in FIG. 7.
Here, the icon image 21C results from simplifying the hydraulic
excavator which is the industrial machine of interest for
monitoring, and in the drawing, the revolving upperstructure 3, the
front working mechanism 5 and the catwalk 14 of the hydraulic
excavator 1 are displayed. These components are designated with
reference signs in FIG. 9.
[0040] FIG. 8 shows the configuration of a display controller 30 to
control displaying of images in the monitor 20. The display
controller 30 has an image correction unit 31. The image correction
unit 31 performs common image signal processing, including
aberration correction, contrast correction, color correction and/or
the like, on the camera images sent from the respective cameras
15F, 15B, 15L and 15R, on the basis of camera optical system
parameters and/or the like in order to improve the quality of each
incoming image.
[0041] Because the monitor 20 provides the assignment display using
the display regions for the camera images 21F, 21B, 21L and 21R,
the display controller 30 includes an image trimming unit 32, in
which each of the camera images 21F, 21B, 21L and 21R captured by
the respective cameras 15F, 15B, 15L and 15R is trimmed to a size
and a shape to be displayed in the corresponding display
region.
[0042] On the monitor 20 the icon image 21 is displayed together
with the camera images 21F, 21B, 21L and 21R of the four cameras.
The icon image 21C is generated by an icon image generating unit
33. Then, the individual camera images 21F, 21B, 21L and 21R and
the icon image 21C are composited for displaying by an image
compositing unit 33. The icon image 21C is displayed on a central
position of the monitor 20, and the individual camera images 21F,
21B, 21L and 21R are arranged around the icon image 21C. The output
data from the image compositing unit 34 is sent to a display image
generating unit 35. By the output from the display image generating
unit 34, the above-described images are assigned respectively to
the corresponding positions to be displayed.
[0043] Because the cameras 15F, 15B, 15L and 15R photograph with
their optical axes directed in an approximately vertical direction,
all the camera images thus captured are top-view images. The icon
image 21C is also an image representing the hydraulic excavator 1
in a planar form. Therefore, the hydraulic excavator 1 and its
surrounding circumstances are displayed in a planar form on the
monitor 20, enabling the operator to recognize the circumstances
during operation of the hydraulic excavator 1 with ease.
[0044] Obstructions such as various members or mechanisms may be
located in optical paths from the cameras 15 mounted to the
revolving upperstructure 3 to the ground. Accordingly, images
corresponding to the positions under such obstructions cannot be
obtained. For example, regarding a section on the left side of the
revolving upperstructure 3 on which the cab 4 is placed, there is a
large empty space between the ground contacting the crawler track
belt which constitutes the tread of the lower travel base 2 and the
position of the underside of the cab 4. Further, because the
catwalk 14 and the ladder 13 are located rearward of the cab 4,
there is a wide empty space under the undersides of them. This
means that, when viewing the revolving upperstructure 3 in top
view, the empty spaces contain a spacious hidden area existing due
to the cab 4, catwalk 14, ladder 13 and/or the like. In addition,
not only the operator, other workers and/or the like may possibly
enter such hidden-area spaces, but also tools and other equipment
may be placed within such hidden-area spaces. Further, in a heavier
hydraulic excavator, there is room enough for accommodating a
vehicle and/or the like. Accordingly, in terms of monitoring around
the hydraulic excavator 1, it is desirable that the above-described
empty space of the hidden area falls within the field of view of
the monitoring camera.
[0045] Given these circumstances, as illustrated in FIG. 9, a
support arm 40L is provided to jut from the revolving
upperstructure main unit 3a in the lateral direction, so that the
camera 15L photographing the region is not mounted to the revolving
upperstructure main unit 3a and instead the camera 15L is supported
at the distal end of the support arm 40L. Accordingly, the optical
axis of the camera 15L mounted at the support arm 40L is located
outward of the outer side of the catwalk 14 by dimension p.
Further, the camera 15L is located at a height h above the ground.
Because of this, at a level of and around the ground surface, the
camera 15L is able to have a field of view covering virtually the
crawler belt forming part of the lower travel base 2. In addition,
because the camera 15L is placed forward of the position of the
catwalk 14 with the ladder 13 mounted thereto, the field of view of
the camera 15L is able to cover the position under the underside of
the catwalk 14.
[0046] Likewise, the right camera 15R and the front camera 15F are
mounted to support arms 40R and 40F each of which juts from the
revolving upperstructure main unit 3a in a predetermined direction,
increasing the field of view for the sections. Further, on the
monitor 20, the character image 21C is displayed with a range
resulting from an increase in the field of view being in a
transparent state. In this case, the symbol image of the hydraulic
excavator 1 displayed in the icon image 21C includes a part in the
transparent state, but the outside shape of the hydraulic excavator
1 is displayed in outline. Accordingly, in the following
description, reference sign 40 is used to correctively call the
support arm.
[0047] In this manner, mounting the camera 15 to the distal end of
the support arm 40 provided to jut from the revolving
upperstructure main unit 3a enables the field of view covering the
hidden area of the revolving upperstructure 3. In this respect, the
installation position and the jutting length of the support arm 40
can be determined as appropriate on the basis of the structure of
the revolving upperstructure 3. The jutting length is determined
with reference to a revolving radius R shown in FIG. 2, and as long
as the jutting length is within the revolving radius R, even if the
support arm 40 juts greatly from the revolving upperstructure main
unit 3a, there is no possibility of the support arm 40 coming into
collision with other substance, and the like. The support arm 40 is
preferably formed of rigid body, so that the camera 15 is firmly
fixed to the support arm 40 in order to prevent the camera 15 from
being displaced from its normal position by vibration and/or the
like.
[0048] Here, in an example embodiment according to the present
invention, the support arm 40L for the camera 15L mounted on the
left side extends in the lateral direction and the support arms 40F
and 40R for the cameras 15F and 15R extend in the forward
direction, but the extending direction can be determined based on
the position of the hidden area to be displayed on the monitor 20.
In the illustrated case, the camera 15B is located in a position on
an upper portion of the counterweight 7 without an extra support
arm. However, the camera 15B may be supported by a support arm.
[0049] The structure designed as described above enables displaying
of the hidden sections covered with the revolving upperstructure 3,
such as the position under the underside of the catwalk 14 and the
like, as well as the sections of the surrounding of the hydraulic
excavator 1 on the monitor 20. In addition, in the revolving
upperstructure 3 with the camera 15 mounted thereto, even if a
section is out of the field of view, the section where a worker and
the like may possibly enter is able to be displayed on the monitor
20, enhancing the effectiveness as the surround monitoring.
[0050] In the position under the underside of the revolving
upperstructure main unit 3a forming part of the revolving
upperstructure 3, the hidden area transparently displayed is a
section where a person and the like may possibly enter. There's no
need to display, for example, a section where a person and the like
may not enter such as the tread of the crawler belt and the like.
Accordingly, the level position and the jutting length of the
support arm 40 to which the camera 15 is mounted may be determined
as appropriate on the basis of the position and expanse of a hidden
area which is required to be transparently displayed.
[0051] On the other hand, the hydraulic excavator 1 is used for
work on earth/soil excavation and the like, and the front working
mechanism 5 is operated. When the front working mechanism 5 is
operated for earth/soil excavation, the bucket attached at the
distal end is driven from above to cut deep into the earth. Because
of this, if a person or a substance is located within the range of
motion track of the bucket, the bucket may possibly collide with
the person or substance. During the work, there is a necessity to
protect the person, substance and/or the like from collision with
the front working mechanism 5. Naturally, the operator aboard the
cab 4 can visually recognize the motion of the front working
mechanism. Given these circumstances, as illustrated in FIG. 10,
the monitor 20 is designed to display, as an excavatable range B, a
range in which the bucket can make contact with the ground within
the reach range of the front working mechanism 5.
[0052] The front working mechanism 5 is mounted to the revolving
upperstructure 3, so that the front working mechanism 5 revolves in
synchronism with the revolving upperstructure 3 when the revolving
upperstructure 3 is operated to revolve. Then, the monitoring
cameras 15F, 15B, 15L and 15R are also mounted to the revolving
upperstructure 3, so that no change occurs in the positional
relationship with the front working mechanism 5 on the images
captured by the cameras 15F, 15B, 15L and 15R. Therefore, an
excavatable range B in which the front working mechanism 5 can make
contact with the ground, together with the camera images 21F, 21B,
21L and 21R arranged around the icon image 21C, is displayed on the
monitor 20, in which the excavatable range B is determined on the
basis of the width dimension of the bucket and the maximum reach
length. The buckets are of a plurality of types of varying width
dimension. For this reason, the excavatable range B is desirably
varied according to the structure of the front working mechanism 5
actually mounted to the hydraulic excavator 12.
[0053] In this manner, displaying an excavatable range B on the
monitor 20 enables the driving of the hydraulic excavator 1 with
reference to the excavatable range B when the hydraulic excavator 1
is travelled and revolved to select an excavation site,
facilitating positional adjustment for excavation site. As a
result, displaying the excavatable range B on the monitor 20 offers
enhanced work efficiencies as well as the ensuring of work
safety.
REFERENCE SIGNS LIST
[0054] 1 Hydraulic excavator [0055] 2 Lower travel base [0056] 3
Revolving upperstructure [0057] 3a Revolving upperstructure main
unit [0058] 4 Cabin [0059] 5 Front working mechanism [0060] 15,
15F, 15B, 15L, 15R Camera [0061] 20 Monitor [0062] 21, 21F, 21B,
21L, 21R Camera image [0063] 21C Icon image
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