JP3623014B2 - Work machine - Google Patents

Description

[0001]
[Industrial application fields]
The present invention is a hydraulic excavator having an arm or implement which is driven in response to the directive, hydraulic cranes, relates to a working machine such as a bulldozer.
[0002]
[Prior art]
A work machine, for example, a hydraulic excavator, includes a boom that is pivotally attached to a main body, an arm that is pivotally attached to the boom, and a bucket that is pivotally attached to the arm. A desired operation is performed by operating corresponding operation levers to drive them. Such work with a hydraulic excavator is usually performed by an operator boarding the operator's cab and operating an operating lever installed in the operator's cab. When performing work such as work in the vicinity of a potentially building, river, etc., removal work of volcanic debris flow etc., it is dangerous for the operator to board and work, so work using remote control means Is done.
[0003]
The remote control means is a work machine side control device that drives an arm such as a boom or an arm or a bucket that is a work tool according to a received signal, and a remote control means that is installed in a remote place far away from the hydraulic excavator. And a remote control device that transmits signals to the device in a wired or wireless manner. The remote control device is provided with operation levers corresponding to the operation levers of the hydraulic excavator, and the operator operates the operation levers of the remote control device in the same manner as the operation levers of the hydraulic excavator, so that the operation direction and the operation amount are controlled. Is transmitted to the work machine side control device, and the hydraulic excavator is operated. In such remote control, the operator often cannot see the hydraulic excavator. In that case, the camera is installed at the position of the operator's eyes when the operator is on the hydraulic excavator or at the equivalent position. The images of the boom, arm, bucket, and their surroundings taken with this camera are transmitted and displayed wirelessly or by cable to a monitor installed near the remote control device, and the operator performs each operation while viewing the displayed work site. Operate the lever to work.
[0004]
[Problems to be solved by the invention]
In the operation by the hydraulic excavator, the direction of movement of the boom, arm, and bucket is the front-rear direction when viewed from the operator of the operator cab. When the operator gets into the operator's cab and operates the hydraulic excavator, the operator can observe the work site in three dimensions with his / her own eyes, so that there is no great inconvenience in carrying out the work. However, in the case of the above-described remote control, the work is performed while observing the video taken by the camera. And unlike a human eye, the camera cannot grasp the sense of distance between the object around the work site including the ground and the bucket as the work tool (the sense of distance in the front-rear direction with respect to the camera), making the work difficult. As a result, operability and work efficiency are reduced.
[0005]
For example, when loading earth and sand excavated with a bucket onto a dump truck, the positional relationship between the dump truck's loading platform and the bucket cannot be grasped in the video. There are many cases where accidents occur, such as soil being dumped or the bucket colliding with the side plate or tailgate of the loading platform and not being able to load earth and sand, or damaging the side plate or tailgate.
[0006]
In order to cope with this, for example, a 3D camera (stereoscopic camera) is used as the above-mentioned camera on pages 8 to 9 of “Unmanned construction technology symposium with construction machinery, document” issued in July 1994 by the Japan Construction Mechanization Association. Although described as being used, the 3D camera is an extremely expensive camera, especially in the surrounding environment where remote control must be carried out, there is a risk of damage, and there is a risk of such damage. It is usually not possible to use expensive 3D cameras at certain locations.
[0007]
An object of the present invention is to provide a remote control work machine that solves the above-described problems in the prior art and can prevent a decrease in workability and work efficiency without using a 3D camera.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the present invention includes a main body, at least one arm rotatably attached to the main body, and a work tool attached to the arm, and the arm according to a command. and the working machine by driving at least one of work tool performs required operations, a camera projection mechanism for projecting in a direction crossing the rotating surface of the arm attached to the body, attached to the camera projection mechanism The present invention is characterized in that a camera and transmission means for transmitting an image signal captured by the camera to a monitor are provided.
Further, the present invention is characterized in that, in the above-described configuration, the camera projecting mechanism includes an actuator that moves the camera in a direction intersecting a rotation surface of the arm in response to a command.
Further, the present invention includes a main body, at least one arm rotatably attached to the main body, and a work tool attached to the arm, and at least one of the arm and the work tool is provided according to a command. In a working machine that drives to perform a required work, a camera protruding mechanism that is attached to the main body and protrudes to the side of the main body that intersects the moving surface of the arm, and a camera attached to the camera protruding mechanism And transmission means for transmitting an image signal photographed by the camera to a monitor.
[0009]
Furthermore, the present invention is characterized in that, in the above configuration, the main body is provided with at least one other camera other than the camera, and a transmission unit that transmits an image signal captured by the other camera to a monitor. And
Further, the present invention includes a main body, at least one arm rotatably attached to the main body, and a work tool attached to the arm, and at least one of the arm and the work tool is provided according to a command. In a working machine that performs a required work by driving, a first camera that is attached to the main body, protrudes in a direction intersecting with the moving surface of the arm and photographs the periphery of the work tool, and attached to the main body, At least one second camera that captures the periphery of the work tool from a direction different from that of the first camera, and a transmission unit that transmits image signals captured by these cameras to a monitor are provided.
[0010]
[Action]
Ca camera mounted camera projection mechanism will be taken arms and work implement or object near them from their diagonal direction. The images thus captured can easily and clearly grasp the positional relationship between them, and as a result, the operability and work efficiency of the operator of the work machine are not reduced.
[0011]
【Example】
Hereinafter, the present invention will be described based on illustrated embodiments.
FIG. 1 is a front view of a hydraulic excavator according to an embodiment of the present invention. In this figure, 1 is a lower traveling body, 2 is an upper swing body, 3 is a cab, and the upper swing body 2 and the cab 3 constitute a main body of a hydraulic excavator. Reference numeral 4 denotes a boom pivotally attached to the upper swing body 2, reference numeral 5 denotes an arm pivotally attached to the boom 4, and reference numeral 6 denotes a bucket pivotally attached to the arm 5. The boom 4, the arm 5, and the bucket 6 are rotationally driven in a plane perpendicular to the paper surface in the illustrated state. 7 is a protrusion fixed to the upper swing body 2, 8 is a camera protrusion mechanism attached to the protrusion 7 (detailed configuration will be described with reference to FIG. 2), and 9 is attached to a predetermined position of the camera protrusion mechanism. A camera head 10 is attached to the camera head 9.
[0012]
FIG. 2 is a front view of the camera protrusion mechanism 8. In FIG. 1 and FIG. 2, the same parts are denoted by the same reference numerals. The camera protrusion mechanism 8 includes a hydraulic cylinder 81, links 82 and 83, and a parallel link mechanism 84. The hydraulic cylinder 81 is pivotally connected to the projecting portion 7, the link 82 is connected to the cab 3 at one end, and the other end is connected to the rod 81 r of the hydraulic cylinder 81, and one end of the link 83 is a rod together with the link 82. Pin-coupled to 81r. The parallel link mechanism 84 includes two camera mounting arms 841 and 842 that are parallel to each other and a camera mounting base 843 that is parallel to the protrusion 7. The camera mounting arms 841 and 842 are connected to the protrusion 7 and the camera mounting base 843, respectively. Pin-coupled. A link 83 is pin-coupled to a part of the camera mounting arm 841. FIG. 2 shows a state in the middle of extension before the hydraulic cylinder 81 reaches the extended state shown in FIG.
[0013]
As shown in FIG. 2, the pan head 9 can be rotated around a horizontal axis X and a vertical axis Z perpendicular thereto by two motors (not shown). Therefore, by driving each motor, the camera 10 is moved. They can be rotated around their respective axes X and Z. Since such a pan head 9 is well known, description of the detailed configuration thereof is omitted.
[0014]
When the hydraulic cylinder 81 is extended with the maximum stroke, as shown in FIG. 1, the camera projecting mechanism 8 has the link 82 and the link 83 in a substantially straight state, and the parallel link mechanism 84 maintains the relationship of the parallelogram. It protrudes to the side, that is, the lateral direction of the cab 3 in the state.
FIG. 3 is a plan view of this state as viewed from above, and the same parts as those shown in FIG. In this embodiment, the parallel link mechanism 84 is illustrated as projecting in a direction perpendicular to the rotation surfaces of the boom 4, arm 5, and bucket 6 (beside the cab 3), but the camera 10 can be projected. Therefore, the present invention is not limited to the direction orthogonal to the rotation surface as in the present embodiment, and it is natural that the protrusion should protrude in the direction intersecting with the rotation surface. θ represents the field of view of the camera 10. Thus, when the camera projecting mechanism 8 is driven to project by the hydraulic cylinder 81 and the two motors of the pan head 9 are driven to control the camera 10 to an appropriate posture, the camera 10 has the boom 4 and the arm 5. From the rear side of the bucket 6, it is possible to take an image of these and their surrounding objects in an arbitrary field of view, and an image clearly showing the positional relationship in the rotation plane can be obtained.
[0015]
FIG. 4 is a front view of the hydraulic excavator when the camera protruding mechanism 8 is in the non-projecting state. In this figure, the same parts as those shown in FIG. When the hydraulic cylinder 81 is driven in the contracting direction, the links 82 and 83 are folded through the state shown in FIG. 2, and the inclined parallel link mechanism 84 is also drawn toward the cab 3 side in accordance with this, and becomes a vertical state. . Even in this state, the camera mount 843 is held in a horizontal state.
[0016]
FIG. 5 is a diagram showing an overall configuration of remote control. In this figure, the same parts as those shown in FIG. V _C is the hydraulic excavator boom cylinder, arm cylinder, the control valve group shown each control valve for controlling the drive of the various actuators such as the bucket cylinder pivot motor, V _R is proportional valve showing the respective proportional valve for controlling the control valves A group. In the figure, only the arm cylinder, bucket cylinder, and hydraulic cylinder 81 are shown as actuators controlled by the control valve, and the other hydraulic actuators are not shown. 11 is a work machine side control device, and 12a and 12b are work machine side radios. The work machine side control device 11 includes a communication interface 111, a ROM 112, a RAM 113, a CPU 114, D / A converters 115 and 117, and an A / D converter 116.
[0017]
L indicates an operation lever group of the remote control device, and each operation lever of the operation lever group L corresponds to each actuator of the hydraulic excavator. L ₉ is an operating lever group for operating each motor of the pan head 9, and S ₈₁ is a switch for driving the hydraulic cylinder 81 to either the protruding position shown in FIG. 1 or the non-projecting position shown in FIG. 13 is a control device for the remote control device, 14 is a monitor for displaying images taken by the camera 10, and 15a and 15b are radio devices for the remote control device. The control device 13 of the remote control device includes an A / D converter 131, a ROM 132, a RAM 133, a CPU 134, and a communication interface 135.
[0018]
Next, an outline of the remote control operation will be described. In remote locations away from the work site of the hydraulic excavator, first, the operator and ON the switch S _81. This ON signal is taken into the control device 13 and wirelessly transmitted through the communication interface 135 and the wireless device 15b under the control of the CPU 134. The work machine side control device 11 inputs the ON signal via the wireless device 12b and the communication interface 111, and the CPU follows the procedure stored in the ROM 112 and outputs a signal corresponding to the input ON signal to the D / A converter 115. via the output to the corresponding proportional valve of the proportional valve group V _R. Thus, the proportional valve is actuated, the pilot pressure, gives to the control valve for controlling the hydraulic cylinder 81 in the control valve group V _C. As a result, the hydraulic cylinder 81 is extended, and the camera protruding mechanism 8 that has been in the non-projecting position shown in FIG. 4 is protruded to the state shown in FIG.
[0019]
In this state, the camera 10 outputs an image in the field of view as a video signal, and this video signal is wirelessly transmitted via the wireless device 12a. The radio 15a of the remote control device receives the video signal and displays it on the monitor 14. While viewing the image of the site displayed on the monitor 14, the operator can find a convenient place for work, for example, the planned excavation ground of the bucket 6, or the side plate or tailgate of the bucket 6 and the dump truck in the above example. As shown in the monitor 14, a required operating lever of the operating lever group L ₉ is operated to drive the pan head 9 and adjust the field of view of the camera 10. Operation signal of the operation lever of the operation lever group _{L 9,} like the signal of the previous switch _{S 81,} the control device 13, radio 15b, is input 12b to the working machine side control unit 11 through a control of the CPU114 A D / A converter 117 applies a motor (not shown) of the camera platform 9, and the camera platform 9 rotates around the X and Z axes shown in FIG. 2 to change the field of view of the camera 10.
[0020]
After this operation, when the field of view of the camera 10 is set, the operator operates a required operation lever in the operation lever group L to perform a required operation with a hydraulic excavator. That is, when an operator operates a required operation lever, an operation signal corresponding to the operation lever, operation direction, and operation amount is input to the A / D converter 131 of the control device 13, and the CPU 134 stores processing procedures stored in the ROM 132. The operation signal is transmitted via the communication interface 135 and the radio device 15b in accordance with the radio equipment 12b and received by the radio device 12b on the work machine side. The work machine side control device 11 inputs this operation signal and is controlled by the CPU 114. a signal corresponding to the operation signal outputted to the corresponding proportional valve of the proportional valve group V _R through a D / a converter 115. Thus, in their proportional valve is actuated, providing a pilot pressure to the corresponding control valves in a control valve group V _C. As a result, the actuator to be operated is driven according to the operation of the operation lever operated by the operator at a remote place, and the state is displayed on the monitor 14 as an image of the camera 10 as described above.
The A / D converter 116 of the work machine side control device 11 is used for feedback control of the attitude of the pan head 9.
[0021]
6 and 7 are diagrams showing another specific example of the camera projecting mechanism. FIG. 6 is a front view and FIG. 7 is a plan view. In these drawings, the same or equivalent parts as those shown in FIG. 1 and FIG. In these drawings, reference numeral 80 denotes a camera protrusion mechanism of this example. Reference numeral 21 denotes a motor fixed to the protruding portion 7, 22 denotes a motor connected to the motor 21, 23 denotes a hydraulic cylinder connected to the motor 22, and 90 denotes a pan head fixed to the tip of the hydraulic cylinder 23. The motor 21 and the motor 22 are hydraulic motors or electric motors. Motor 21 rotates about parallel to the plane shaft, to move the hydraulic cylinder 23 in the arrow A ₂₁ direction shown in FIG. Further, the motor 22 is rotated about an axis perpendicular to the plane, to move the hydraulic cylinder 23 in the arrow A ₂₂ direction shown in FIG. Furthermore, the hydraulic cylinder 23 expands and contracts in the direction of arrow A ₂₃ shown in FIGS. Further, the pan head 90 used in this specific example has a structure capable of rotating around three orthogonal axes.
[0022]
In this specific example, by appropriately driving the motors 21 and 22 and the hydraulic cylinder 23, the camera 10 can be positioned in a wide range (within the spherical surface where the radius changes), and the camera platform 90 is free to the camera 10. Can take a good posture.
In the specific examples shown in FIGS. 6 and 7, instead of the rotational motions of the motors 21 and 22, the rotational motion can be generated by combining hydraulic cylinders and gears. In the above specific example, the movement range of the camera 10 is somewhat limited. However, instead of the hydraulic cylinder 23, a single rod-shaped body or a plurality of rod-shaped bodies that can be expanded and contracted may be used. It may be omitted.
[0023]
As described above, in the present embodiment, the camera protruding mechanisms 8 and 80 are protruded and the camera 10 is controlled to an appropriate posture, so that the camera 10 is viewed from the rear side of the boom 4, arm 5, and bucket 6. These and their surrounding objects can be photographed in an arbitrary field of view, and their positional relationship in the rotation plane can be clearly displayed on the image monitor 14, thereby enabling an expensive 3D camera to be displayed. Even if it is not used, the operator can accurately grasp the sense of distance between the objects related to the work at the work site, and thus can perform an appropriate work. Further, since the camera projecting mechanisms 8 and 80 can be set at both the projecting position and the non-projecting position, if the camera projecting mechanisms 8 and 80 interfere with the work, the camera projecting mechanisms 8 and 80 are provided. If the position is set to the non-projecting position, the work can be performed without any trouble. Even in this case, the camera 10 can perform the same function as the conventional camera.
[0024]
In the description of the above embodiment, the example in which the camera protrusion mechanism 8 is operated to one of the position shown in FIG. 1 and the position shown in FIG. 4 has been described. It can also be set at any position. In that case, instead of the switch S ₈₁ shown in FIG. 5, the operating lever for controlling the amount of expansion and contraction of the hydraulic cylinder 81 of the camera projecting mechanism 8 so that is used. Furthermore, the camera protrusion mechanism 8 can be fixed at the protrusion position by setting the protrusion amount of the camera protrusion mechanism 8 so as not to interfere with the expected work. In this case, the camera protrusion mechanism is composed of only one camera arm that instructs the camera 10. Obviously, the camera protrusion mechanism 80 can be set at the intermediate position by the motor 22. In addition, the pan head has been described by exemplifying two-axis rotation or three-axis rotation, but the present invention is not limited to these, and one-axis rotation can also be used.
[0025]
FIG. 8 is a front view of a work machine according to another embodiment of the present invention. In this figure, the same parts as those shown in FIG. Reference numeral 30 denotes a camera stand provided in the cab 3 (or the front outside the cab 3), 100 a camera fixed to the camera stand 31, 31 a camera stand provided on the external ceiling of the cab 3, and 101 a camera stand. The camera is fixed to 31. The camera 100 images the bucket 6 from the vicinity of the operator's eye position in the cab 3, and the camera 101 images the bucket 6 from a position higher than the operator's eye position. The video signals of the cameras 100 and 101 are transmitted to corresponding remote monitors. The number of cameras and the installation position can be arbitrarily selected.
[0026]
As described above, in this embodiment, the images of other cameras are displayed on the monitor in addition to the camera 10, so that the operator can further improve the state of the site by using these images as compared with the previous embodiment. It can be grasped and operability can be improved.
[0027]
In the above description of each embodiment, the case where the work machine is operated from a remote place has been described. However, the present invention is not limited to maneuvering from a remote location, and can also be applied to a case where an operator gets on the cab 3 to perform work. That is, the operator's cab 3 is provided with a monitor to display an image of the camera 10, and the operator observes the state near the work tool on the monitor simultaneously with the naked eye. Thereby, the sense of distance in the front-rear direction is further emphasized compared to the naked eye alone, and the workability is improved. Of course, when the portion of the work tool cannot be seen from the cab 3 as in the case of excavating the cliff from the top of the cliff, the workability is dramatically improved by providing a monitor in the cab 3.
[0028]
【The invention's effect】
As described above, in the present invention, the camera attached to the camera protrusion mechanism photographs the arm, the work tool, and objects around them from the oblique direction, so that the work tool and the peripheral objects An image that clearly shows the positional relationship can be obtained, which allows the operator to accurately grasp the distance between the objects on the work site without using an expensive 3D camera, and thus appropriate work. It can be performed.
[Brief description of the drawings]
FIG. 1 is a front view of a hydraulic excavator according to an embodiment of the present invention.
FIG. 2 is a front view of the camera protrusion mechanism shown in FIG.
3 is a plan view of the excavator shown in FIG. 1. FIG.
FIG. 4 is a front view of a hydraulic excavator according to an embodiment of the present invention.
FIG. 5 is a diagram showing an overall configuration of remote control.
FIG. 6 is a front view of another specific example of the camera protrusion mechanism.
FIG. 7 is a plan view of another specific example of the camera protrusion mechanism.
FIG. 8 is a front view of a hydraulic excavator according to another embodiment of the present invention.
[Explanation of symbols]
2 Body 4 Boom 5 Arm 6 Bucket 8 Camera projection mechanism 9 Head 10 Camera

Claims (5)

A main body, at least one arm rotatably attached to the main body, and a work tool attached to the arm, and at least one of the arm and the work tool is driven according to a command to perform a required work a working machine for performing, monitor and camera projection mechanism for projecting in a direction crossing the rotating surface of the arm attached to the body, and a camera attached to the camera projection mechanism, an image signal captured by the camera A work machine characterized by comprising transmission means for transmitting to the machine. The work machine according to claim 1, wherein the camera projecting mechanism includes an actuator that moves the camera in a direction intersecting a rotation surface of the arm in response to a command. A main body, at least one arm rotatably attached to the main body, and a work tool attached to the arm, and at least one of the arm and the work tool is driven according to a command to perform a required work A camera projecting mechanism that projects from a side of the main body that is attached to the main body and intersects the moving surface of the arm, a camera that is mounted on the camera projecting mechanism, and that is photographed by the camera. And a transmission means for transmitting the image signal to the monitor . According to claim 1 or claim 2, in the body, and at least one other camera other than said camera, and characterized in that the image signal captured by the other camera provided with transmission means for transmitting to the monitor Working machine. A main body, at least one arm rotatably attached to the main body, and a work tool attached to the arm, and at least one of the arm and the work tool is driven according to a command to perform a required work And a first camera that is attached to the main body and protrudes in a direction intersecting the moving surface of the arm to photograph the periphery of the work tool, and is different from the first camera attached to the main body. A working machine comprising: at least one second camera that captures the periphery of the work tool from a direction; and a transmission unit that transmits an image signal captured by these cameras to a monitor .

Images