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WO2018079878A1 - Driver's field of vision assistance apparatus for excavator - Google Patents

Driver's field of vision assistance apparatus for excavator Download PDF

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Publication number
WO2018079878A1
WO2018079878A1 PCT/KR2016/012192 KR2016012192W WO2018079878A1 WO 2018079878 A1 WO2018079878 A1 WO 2018079878A1 KR 2016012192 W KR2016012192 W KR 2016012192W WO 2018079878 A1 WO2018079878 A1 WO 2018079878A1
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WO
WIPO (PCT)
Prior art keywords
excavator
camera module
driver
mode
camera
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2016/012192
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French (fr)
Korean (ko)
Inventor
김훈
한영곤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Volvo Construction Equipment AB
Original Assignee
Volvo Construction Equipment AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Volvo Construction Equipment AB filed Critical Volvo Construction Equipment AB
Priority to PCT/KR2016/012192 priority Critical patent/WO2018079878A1/en
Publication of WO2018079878A1 publication Critical patent/WO2018079878A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Definitions

  • the present invention relates to a driver's view supplement device for an excavator, and more particularly, to a driver's view supplement device for an excavator that can minimize blind spots generated in each situation when the driver drives the excavator in a driving mode or a work mode. It is about.
  • excavators perform a variety of tasks, such as loading, transporting and unloading soil.
  • the excavator is classified into a crawler type consisting of an endless track and a wheel type by a wheel according to the driving method.
  • FIG. 9 and 10 are side and front views showing a wheel type excavator according to the prior art.
  • the wheel type excavator according to the prior art is provided with a lower traveling body 10, a cab 21 and an engine compartment 22, on which a plurality of wheels 11 are mounted. It is formed by including the work device 30 which consists of the upper turning body 20 and the boom 31, the arm 32, and the bucket 33. As shown in FIG.
  • the wheel type excavator travels while the bucket 33 is placed on the bucket rest 12 formed at the front side of the lower frame 10.
  • the driver in the cab 21 installed on the right side (see FIG. 10) of the work device 30 may have difficulty in securing a view for driving because of the work device 30.
  • the bucket 33 is located below the lower traveling body 10. In this case, the driver who is in the cab 21 is sitting in the driver's seat. 33) It is structurally difficult to visually control and control the movement.
  • the present invention has been made to solve the problems of the prior art as described above, the object of the present invention is to minimize the blind spots generated in each situation when the driver is driving the excavator in the driving mode or operation mode. It is to provide a driver view complement for an excavator.
  • the camera module for adjusting the shooting angle according to the driving mode or working mode of the excavator;
  • a bracket coupled to a side of a work device mounted on the excavator and rotatably supporting the camera module;
  • a monitor installed inside the cab of the excavator and outputting a captured image transmitted from the camera module;
  • an controller electrically connected to the camera module, the controller configured to adjust a photographing angle of the camera module.
  • the cab is disposed on one side of the work device, and the camera module is disposed on the other side of the work device, based on the front of the excavator.
  • the bracket may be coupled to the side of the arm of the work device consisting of a boom, an arm and a bucket.
  • the camera module may include a camera, a cover accommodating the camera therein in a state capable of capturing the camera, and a motor coupled to the cover and rotatably connected to the bracket.
  • the controller receives the driving mode change signal from the mode change switch installed inside the cab, or rotates the camera module so that the camera module faces forward when detecting an operation of an accelerator pedal or gear or a speed change of the speedometer. You can.
  • the controller receives the work mode change signal from a mode change switch installed in the cab or detects a pilot signal pressure generated from a joystick for manipulating the work device so that the camera module faces the end of the work device.
  • the camera module may be rotated.
  • the apparatus may further include a weight sensor installed at the bucket rest in which the work device is seated when the excavator is in a driving mode.
  • the controller may determine whether the excavator is a driving mode or a working mode through a weight detection signal transmitted from the weight sensor, and control the photographing angle of the camera module.
  • a camera is installed on the side of an arm in a position that cannot be seen by a driver in a cab, and a monitor is installed inside the cab so as to output a captured image transmitted from the camera in real time.
  • the driver in the cab can check the blind spot image taken from the camera in real time, thereby eliminating the blind spot generated in each situation when the driver drives the excavator in the driving mode or the operation mode. Can be minimized.
  • the weight is installed in the bucket rest, the weight sensor for sensing the change in weight of the bucket rest according to whether the bucket is seated and the weight sensing signal transmitted from the weight sensor, whether the excavator is in the driving mode or working mode
  • the controller is configured to control the camera's shooting angle by automatically determining whether the camera's shooting angle is automatically adjusted to the driving mode or the working mode even when the driver's mode change command is not directly transmitted to the controller. Can be adjusted.
  • FIG. 1 is a side view illustrating an excavator in a driving mode in which an excavator driver's view complementary device according to a first exemplary embodiment of the present invention is installed.
  • FIG. 2 is a perspective view showing a driver's field of view complementary device for an excavator installed in an excavator in a driving mode according to a first embodiment of the present invention
  • FIG 3 is a side view showing an excavator in a working mode in which a driver's field of view complementary device for an excavator according to the first embodiment of the present invention is installed.
  • 4 and 5 are one side and the other side perspective view showing a state in which the driver's field of view supplement device for an excavator according to the first embodiment of the present invention is installed in a wheel type excavator in a work mode.
  • FIG. 6 is a configuration diagram illustrating an operation of a controller according to a first embodiment of the present invention.
  • FIG. 7 is a side view illustrating an excavator in a work mode in which a driver's view supplement device for an excavator is installed according to a second exemplary embodiment of the present invention.
  • FIG. 8 is a configuration diagram for describing an operation of a controller according to a second embodiment of the present disclosure.
  • FIG. 9 is a side view showing a wheel type excavator according to the prior art.
  • FIG. 10 is a front view showing a wheel type excavator according to the prior art.
  • the driver's field of view complementary device 100 is installed in an excavator and complements the field of view of the driver, in particular, the driving mode of the excavator. Or it is a device that removes or minimizes the blind spots generated in the working mode.
  • the wheel type excavator is illustrated in the first embodiment of the present invention, but is not limited thereto. That is, the driver's view supplement device 100 for an excavator according to the first exemplary embodiment of the present invention may be installed in a crawler type excavator to remove or minimize blind spots generated when the excavator is in a driving mode or a working mode.
  • the excavator is formed including the lower traveling body 10, the upper swinging body 20 and the work device 30.
  • a plurality of wheels 11 are mounted on the lower traveling body 10, and a bucket rest 12 on which the work device 30 is seated on the front side is formed.
  • the upper swing body 20 is rotatably mounted on the lower travel body 10 to rotate to a position desired by the driver.
  • the cab 21 and the engine chamber 22 are installed in the upper swinging body 20.
  • the cab 21 has a mode conversion switch 41 for allowing the driver to directly convert the excavator into a driving mode or a work mode, a driving operation device 42 such as an accelerator pedal and a gear for driving the driving of the driver, A work device operating device 44 such as a speedometer 43 indicating a speed change of the excavator and a joystick 44 for operating the work device 30 of the driver may be installed.
  • the working apparatus 30 is mounted to the upper pivot 20. From the front, the work device 30 is installed in the center of the upper swing body 20 and is disposed on the left side (see FIG. 10) of the cab 21.
  • This work device 30 consists of a boom 31, an arm 32 and a bucket 33. At this time, the boom 31, the arm 32 and the bucket 33 are the boom cylinder 31a, the arm cylinder 32a and the bucket cylinder driven by a hydraulic circuit that controls the flow rate and flow of the hydraulic oil discharged from the hydraulic pump Each operation is performed at 33a. At this time, the hydraulic circuit is operated by the pilot signal pressure applied due to the operation of the work device operating device 44 of the driver.
  • the driver vision compensator 100 for an excavator according to the first embodiment of the present invention installed in such an excavator is formed including a camera module 110, a bracket 120, a monitor 130, and a controller 140.
  • the camera module 110 is an apparatus for photographing an image.
  • the cab 21 is disposed on one side of the work device 30, the other side of the work device 30 is out of view of the driver.
  • the bucket 33 is located below the lower traveling body 10. In this case, the movement of the bucket 33 while the driver in the cab 21 is sitting in the driver's seat. It is not easy to control with visual confirmation.
  • Camera module 110 according to the first embodiment of the present invention in order to remove or minimize this blind spot, the work device 30, more specifically, the arm 32 facing one side of the cab 21 Is installed on the other side of the, shooting the blind spot according to the traveling mode or working mode of the excavator.
  • the camera module 110 adjusts the photographing angle according to the traveling mode or the working mode of the excavator. For example, as shown in FIG. 1, when the excavator is operated in the driving mode, the camera module 110 adjusts the photographing angle to enable the front photographing of the excavator. In addition, as shown in FIG. 3, when the excavator is operated in the working mode, the camera module 110 adjusts the photographing angle so that the photographing of the bucket 33 on which the work is being performed is located.
  • such a camera module 110 may be formed to include a camera 111, a cover 112 and a motor 113.
  • the camera 111 captures an image in real time and transmits the captured image to the monitor 130 installed in the cab 21.
  • the cover 112 is a member for protecting the camera 111 from the external environment.
  • the cover 112 is a state in which the camera 111 can be photographed, that is, the lens of the camera 111 is exposed to the outside. To accommodate. At this time, the camera 111 is fixed to the cover 112, so that the movement of the camera 111 is constrained to the movement of the cover 112.
  • the motor 113 is coupled with the cover 112. In addition, the motor 113 is rotatably connected to the bracket 120. The rotation of the motor 113 causes the cover 112 to rotate, and as a result, the camera 111 also rotates to change the photographing angle of the camera 111. The rotation of the motor 113, and ultimately, the adjustment of the photographing angle of the camera 111 is controlled by the controller 140 electrically connected to the motor 113 and controlling its operation, which will be described in more detail below. Let's do it.
  • the bracket 120 is a member that connects the camera module 110 to the work device 30 and rotatably supports it.
  • the bracket 120 is coupled to the side of the working device 30, more specifically the side of the arm 32, mounted on an excavator, wherein the side of the arm 32 is It is the other side opposite to the one side facing the side part of the cab 21.
  • the cab 21 is arranged on one side of the work device 30 on the front side of the excavator by the bracket 120 coupled to the side of the arm 32, and on the other side of the work device 30.
  • the camera module 110 is disposed.
  • bracket 120 may be coupled to the side of the arm 32 through the plurality of bolts 121.
  • bracket 120 may be coupled to the side of arm 32 in a variety of ways.
  • bracket 120 may be welded to the side of arm 32.
  • the monitor 130 is installed in the cab 21 of the excavator.
  • the monitor 130 outputs the captured image transmitted from the camera module 110 in real time for the driver to see.
  • the monitor 130 receives and outputs a photographed image of the left front (see FIG. 10) of the excavator which becomes a blind spot in the driving mode from the camera module 110.
  • the monitor 130 transmits a photographed image of the position where the actual work, which is a blind spot when the working mode, for example, the bucket 33 is located, from the camera module 110 is performed. And print it out.
  • the driver in the cab 21 can check the image of the blind spot generated in the driving mode or the working mode in real time, the blind spot for each mode is
  • the range of blind spots that can be eliminated or blind spots can be minimized, thereby increasing the operator's convenience and increasing the safety of the excavator operation.
  • the controller 140 is electrically connected to the camera module 110 to adjust the photographing angle of the camera module 110. At this time, the controller 140 determines the driving mode or the working mode of the excavator, and rotates the camera module 110 at a shooting angle set for each mode.
  • the controller 140 receives the driving mode conversion signal from the mode conversion switch 41 installed in the cab 21, the camera module 110, specifically, the camera 111. Rotate the motor 113 of the camera module 110 so that it faces forward. At this time, the mode conversion switch 41 is directly operated by the driver.
  • the controller 140 may control the photographing angle of the camera 111 in the driving mode even when there is no direct mode change command of the driver through the mode change switch 41. That is, the controller 140 determines that the excavator is operating in the driving mode when the operation of the driving operation device 42 such as an excel pedal or a gear is detected, so that the camera 111 faces the front of the camera module.
  • the motor 113 of 110 may be rotated.
  • the controller 140 may determine this as the driving mode when detecting the speed change of the speedometer 43. For example, when the speedometer 43 indicates a certain speed or more, the controller 140 determines the driving mode to rotate the motor 113 of the camera module 110 so that the camera 111 faces forward. It may be.
  • the controller 140 receives the work mode change signal from the mode change switch 41 by the driver's operation, the end of the work device 30, that is, the bucket 33 in which the work is performed, The motor 113 of the camera module 110 is rotated to face the located side.
  • the controller 140 is a pilot generated due to the operation of the work device operating device 44 such as a joystick for operating the work device 30 even in the absence of a direct mode change command of the driver through the mode change switch 41.
  • the camera 111 can rotate the motor 113 of the camera module 110 to face the side where the bucket 33 is located. have.
  • the controller 140 may operate the travel operation device 42, change the speedometer 43, or operate the work device even without the driver's direct command through the mode change switch 41.
  • the controller 140 may operate the travel operation device 42, change the speedometer 43, or operate the work device even without the driver's direct command through the mode change switch 41.
  • FIG. 7 is a side view illustrating an excavator in a working mode in which a driver's field of view supplement for an excavator is installed according to a second embodiment of the present invention
  • FIG. 8 is a view for explaining an operation of a controller according to a second embodiment of the present invention. It is a block diagram.
  • the excavator view compensator 100 includes a camera module 110, a bracket 120, a monitor 130, a controller 140, and It is formed including the weight sensor 150.
  • the second embodiment of the present invention differs only in that the weight sensor is added, and therefore, the same reference numerals are assigned to the same components. Detailed description will be omitted.
  • the weight sensor 150 according to the second embodiment of the present invention is installed in a bucket rest 12.
  • the weight sensor 150 may be installed on one or more bucket rest (12).
  • the bucket rest 12 of the work device 30 When the excavator is in the driving mode, the bucket rest 12 of the work device 30 is seated on the bucket rest 12.
  • the weight sensor 150 senses a weight change of the bucket rest 12 and transmits it to the controller 140.
  • the controller 140 determines whether the excavator is in a driving mode or a working mode through a weight detection signal transmitted from the weight sensor 150, and controls the camera module 110 to a photographing angle set according to the corresponding mode.
  • the weight sensing signal is not transmitted from the weight sensor 150 to the controller 140, and thus, the controller 140. Determining that the excavator is operating in the working mode, the camera 111 rotates the motor 113 of the camera module 110 to face the side where the bucket 33 is located.
  • the controller 140 determines that the excavator is operating in the driving mode, thereby operating the motor 113 of the camera module 110 so that the camera 111 faces forward.
  • the weight detection sensor 150 for detecting a change in the weight of the bucket rest 12 even in a situation where a direct command of the driver through the mode conversion switch 41 is not transmitted to the controller 140.
  • the photographing angle of the camera 111 may be automatically controlled by the controller 140. Through this, the convenience of the driver may be enhanced, and further, the safety of the operation of the excavator may be secured.
  • the controller 140 when there is no direct command of the driver through the mode conversion switch 41, as well as the weight detection signal transmitted from the weight sensor 150, of the present invention
  • the operation of the traveling operation device 42, the change of the speedometer 43, or the operation of the work device operation device 44 is sensed, and through this, the traveling mode or the working mode of the excavator is determined,
  • the photographing angle of the camera module 110 may be automatically adjusted according to the corresponding mode.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)

Abstract

The present invention relates to a driver's field of vision assistance apparatus for an excavator, and more specifically to a driver's field of vision assistance apparatus for an excavator that can minimise a blind spot that occurs in various situations when a driver drives an excavator in a drive mode, or operates the same in an operation mode. To this end, the present invention provides a driver's field of vision assistance apparatus for an excavator, the apparatus comprising: a camera module that can adjust an imaging angle according to a drive mode or an operation mode of an excavator; a bracket that is coupled to a side part of an operation apparatus mounted in the excavator, and that supports the camera module such that the camera module can rotate; a monitor that is installed inside an operation cab of the excavator, and that outputs a captured image transmitted from the camera module; and a controller that is electrically connected to the camera module so as to control the imaging angle of the camera module.

Description

굴삭기용 운전자 시야 보완장치Driver Vision Compensator for Excavators

본 발명은 굴삭기용 운전자 시야 보완장치에 관한 것으로서 더욱 상세하게는 운전자가 굴삭기를 주행 모드로 운전하거나 작업 모드로 조작하는 경우 각 상황에서 발생되는 사각지대를 최소화할 수 있는 굴삭기용 운전자 시야 보완장치에 관한 것이다.The present invention relates to a driver's view supplement device for an excavator, and more particularly, to a driver's view supplement device for an excavator that can minimize blind spots generated in each situation when the driver drives the excavator in a driving mode or a work mode. It is about.

일반적으로, 굴삭기는 토사의 적재, 운반, 하역 등의 다양한 작업을 수행한다. 이때, 굴삭기는 주행 방식에 따라 무한궤도로 이루어진 크롤러 타입과 휠에 의한 휠 타입으로 구분된다.In general, excavators perform a variety of tasks, such as loading, transporting and unloading soil. At this time, the excavator is classified into a crawler type consisting of an endless track and a wheel type by a wheel according to the driving method.

도 9 및 도 10은 종래기술에 따른 휠 타입 굴삭기를 나타낸 측면도 및 정면도이다. 도 9 및 도 10에 도시한 바와 같이, 종래기술에 따른 휠 타입 굴삭기는 복수 개의 휠(11)이 장착되어 있는 하부 주행체(10), 운전실(21)과 엔진실(22)이 설치되어 있는 상부 선회체(20) 및 붐(31), 아암(32) 및 버켓(33)으로 이루어지는 작업장치(30)를 포함하여 형성된다.9 and 10 are side and front views showing a wheel type excavator according to the prior art. As shown in Figs. 9 and 10, the wheel type excavator according to the prior art is provided with a lower traveling body 10, a cab 21 and an engine compartment 22, on which a plurality of wheels 11 are mounted. It is formed by including the work device 30 which consists of the upper turning body 20 and the boom 31, the arm 32, and the bucket 33. As shown in FIG.

여기서, 이러한 휠 타입 굴삭기는 주행 시 버켓(33)을 하부 프레임(10)의 전방측에 형성되어 있는 버켓 레스트(bucket rest)(12)에 올려 놓은 상태로 주행하게 된다. 그러나 이 경우, 작업장치(30)의 우측(도 10 기준)에 설치되어 있는 운전실(21)에 탑승해 있는 운전자는 작업장치(30) 때문에 주행을 위한 시야를 확보하는데 어려움을 느끼게 된다. 또한, 휠 타입 굴삭기로 굴삭 작업을 하는 대부분의 경우 버켓(33)이 하부 주행체(10)보다도 아래쪽에 위치하게 되는데, 이 경우, 운전실(21)에 탑승해 있는 운전자가 운전석에 앉은 채로 버켓(33)의 움직임을 육안으로 확인하며 조종하기는 구조적으로 어렵다.In this case, the wheel type excavator travels while the bucket 33 is placed on the bucket rest 12 formed at the front side of the lower frame 10. However, in this case, the driver in the cab 21 installed on the right side (see FIG. 10) of the work device 30 may have difficulty in securing a view for driving because of the work device 30. In addition, in most cases of excavation work with a wheel type excavator, the bucket 33 is located below the lower traveling body 10. In this case, the driver who is in the cab 21 is sitting in the driver's seat. 33) It is structurally difficult to visually control and control the movement.

즉, 종래기술에 따른 휠 타입 굴삭기의 경우, 주행 모드 및 작업 모드에서 공통적으로 사각지대가 발생된다. 이때, 크롤러 타입 굴삭기의 경우도 휠 타입 굴삭기와 마찬가지로 주행 모드 및 작업 모드에서 공통적으로 사각지대가 발생된다. 이에 따라, 종래기술에 따른 굴삭기를 운용하는 운전자의 피로도는 상당히 높은 실정이다.That is, in the case of the wheel type excavator according to the prior art, a blind spot is commonly generated in the driving mode and the working mode. In this case, the crawler type excavator also generates a blind spot in common in the driving mode and the working mode similarly to the wheel type excavator. Accordingly, the fatigue of the driver operating the excavator according to the prior art is quite high.

본 발명은 상술한 바와 같은 종래기술의 문제점을 해결하기 위해 안출된 것으로서, 본 발명의 목적은 운전자가 굴삭기를 주행 모드로 운전하거나 작업 모드로 조작하는 경우 각 상황에서 발생되는 사각지대를 최소화할 수 있는 굴삭기용 운전자 시야 보완장치를 제공하는 것이다.The present invention has been made to solve the problems of the prior art as described above, the object of the present invention is to minimize the blind spots generated in each situation when the driver is driving the excavator in the driving mode or operation mode. It is to provide a driver view complement for an excavator.

이를 위해, 본 발명은, 굴삭기의 주행 모드 또는 작업 모드에 따라 촬영 각도가 조절되는 카메라 모듈; 상기 굴삭기에 장착되어 있는 작업장치의 측부에 결합되고, 상기 카메라 모듈을 회전 가능하게 지지하는 브라켓; 상기 굴삭기의 운전실 내부에 설치되고, 상기 카메라 모듈로부터 전송되는 촬영 영상을 출력하는 모니터; 및 상기 카메라 모듈과 전기적으로 연결되어, 상기 카메라 모듈의 촬영 각도를 조절하는 컨트롤러를 포함하는 굴삭기용 운전자 시야 보완장치를 제공한다.To this end, the present invention, the camera module for adjusting the shooting angle according to the driving mode or working mode of the excavator; A bracket coupled to a side of a work device mounted on the excavator and rotatably supporting the camera module; A monitor installed inside the cab of the excavator and outputting a captured image transmitted from the camera module; And an controller electrically connected to the camera module, the controller configured to adjust a photographing angle of the camera module.

여기서, 상기 굴삭기의 정면을 기준으로, 상기 작업장치의 일측에는 상기 운전실이 배치되고, 상기 작업장치의 타측에는 상기 카메라 모듈이 배치될 수 있다.Here, the cab is disposed on one side of the work device, and the camera module is disposed on the other side of the work device, based on the front of the excavator.

또한, 상기 브라켓은 붐, 아암 및 버켓으로 이루어진 상기 작업장치 중 상기 아암의 측부에 결합될 수 있다.In addition, the bracket may be coupled to the side of the arm of the work device consisting of a boom, an arm and a bucket.

그리고 상기 카메라 모듈은, 카메라, 상기 카메라를 촬영 가능한 상태로 내측에 수용하는 커버, 및 상기 커버와 결합되고, 상기 브라켓에 회전 가능하게 연결되는 모터를 포함할 수 있다.The camera module may include a camera, a cover accommodating the camera therein in a state capable of capturing the camera, and a motor coupled to the cover and rotatably connected to the bracket.

또한, 상기 컨트롤러는 상기 운전실 내부에 설치되어 있는 모드 변환 스위치로부터 주행 모드 변환 신호를 전달 받거나, 엑셀 페달 또는 기어의 조작 또는 속도계의 속도 변화 감지 시 상기 카메라 모듈이 전방을 향하도록 상기 카메라 모듈을 회전시킬 수 있다.In addition, the controller receives the driving mode change signal from the mode change switch installed inside the cab, or rotates the camera module so that the camera module faces forward when detecting an operation of an accelerator pedal or gear or a speed change of the speedometer. You can.

그리고 상기 컨트롤러는 상기 운전실 내부에 설치되어 있는 모드 변환 스위치로부터 작업 모드 변환 신호를 전달 받거나, 상기 작업장치를 조작하는 조이스틱으로부터 발생되는 파일럿 신호압 감지 시 상기 카메라 모듈이 상기 작업장치의 단부를 향하도록 상기 카메라 모듈을 회전시킬 수 있다.The controller receives the work mode change signal from a mode change switch installed in the cab or detects a pilot signal pressure generated from a joystick for manipulating the work device so that the camera module faces the end of the work device. The camera module may be rotated.

또한, 상기 굴삭기가 주행 모드일 때 상기 작업장치가 안착되는 버켓 레스트에 설치되는 중량 감지 센서를 더 포함할 수 있다.The apparatus may further include a weight sensor installed at the bucket rest in which the work device is seated when the excavator is in a driving mode.

이때, 상기 컨트롤러는 상기 중량 감지 센서로부터 전달되는 중량 감지 신호를 통해 상기 굴삭기가 주행 모드인지 작업 모드인지 판별하여, 상기 카메라 모듈의 촬영 각도를 제어할 수 있다.In this case, the controller may determine whether the excavator is a driving mode or a working mode through a weight detection signal transmitted from the weight sensor, and control the photographing angle of the camera module.

본 발명에 따르면, 운전실에 탑승해 있는 운전자가 볼 수 없는 위치의 아암의 측부에 촬영 각도 조절이 가능하게 설치되는 카메라 및 운전실 내부에 설치되어 카메라로부터 전송되는 촬영 영상을 실시간으로 출력하는 모니터를 구비함으로써, 운전실에 탑승해 있는 운전자가 카메라로부터 촬영되는 사각지대 영상을 실시간으로 확인할 수 있고, 이를 통해, 운전자가 굴삭기를 주행 모드로 운전하거나 작업 모드로 조작하는 경우 각 상황에서 발생되는 사각지대를 제거하거나 최소화할 수 있다.According to the present invention, a camera is installed on the side of an arm in a position that cannot be seen by a driver in a cab, and a monitor is installed inside the cab so as to output a captured image transmitted from the camera in real time. By doing so, the driver in the cab can check the blind spot image taken from the camera in real time, thereby eliminating the blind spot generated in each situation when the driver drives the excavator in the driving mode or the operation mode. Can be minimized.

또한, 본 발명에 따르면, 버켓 레스트에 설치되어, 버켓의 안착 여부에 따른 버켓 레스트의 중량 변화를 센싱하는 중량 감지 센서 및 이 중량 감지 센서로부터 전달되는 중량 감지 신호를 통해 굴삭기가 주행 모드인지 작업 모드인지 판별하여 카메라의 촬영 각도를 제어하는 컨트롤러를 구비함으로써, 운전자로부터 굴삭기의 모드 변환에 대한 명령이 직접적으로 컨트롤러에 전달되지 않은 상황에서도 컨트롤러에 의해 카메라의 촬영 각도가 주행 모드 또는 작업 모드에 맞게 자동 조절될 수 있다.In addition, according to the present invention, the weight is installed in the bucket rest, the weight sensor for sensing the change in weight of the bucket rest according to whether the bucket is seated and the weight sensing signal transmitted from the weight sensor, whether the excavator is in the driving mode or working mode The controller is configured to control the camera's shooting angle by automatically determining whether the camera's shooting angle is automatically adjusted to the driving mode or the working mode even when the driver's mode change command is not directly transmitted to the controller. Can be adjusted.

이와 같이, 본 발명에 따르면, 운전자의 편의를 증진시킬 수 있고, 굴삭기의 운용에 대한 안전성을 확보할 수 있다.Thus, according to the present invention, it is possible to enhance the driver's convenience, and to ensure safety for the operation of the excavator.

도 1은 본 발명의 제1 실시 예에 따른 굴삭기용 운전자 시야 보완장치가 설치되어 있는 주행 모드의 굴삭기를 나타낸 측면도이다.1 is a side view illustrating an excavator in a driving mode in which an excavator driver's view complementary device according to a first exemplary embodiment of the present invention is installed.

도 2는 본 발명의 제1 실시 예에 따른 굴삭기용 운전자 시야 보완장치가 주행 모드의 굴삭기에 설치된 모습을 나타낸 사시도이다.FIG. 2 is a perspective view showing a driver's field of view complementary device for an excavator installed in an excavator in a driving mode according to a first embodiment of the present invention; FIG.

도 3은 본 발명의 제1 실시 예에 따른 굴삭기용 운전자 시야 보완장치가 설치되어 있는 작업 모드의 굴삭기를 나타낸 측면도이다.3 is a side view showing an excavator in a working mode in which a driver's field of view complementary device for an excavator according to the first embodiment of the present invention is installed.

도 4 및 도 5는 본 발명의 제1 실시 예에 따른 굴삭기용 운전자 시야 보완장치가 작업 모드의 휠 타입 굴삭기에 설치된 모습을 나타낸 일측 및 타측 사시도이다.4 and 5 are one side and the other side perspective view showing a state in which the driver's field of view supplement device for an excavator according to the first embodiment of the present invention is installed in a wheel type excavator in a work mode.

도 6은 본 발명의 제1 실시 예에 따른 컨트롤러의 동작을 설명하기 위한 구성도이다.6 is a configuration diagram illustrating an operation of a controller according to a first embodiment of the present invention.

도 7은 본 발명의 제2 실시 예에 따른 굴삭기용 운전자 시야 보완장치가 설치되어 있는 작업 모드의 굴삭기를 나타낸 측면도이다.FIG. 7 is a side view illustrating an excavator in a work mode in which a driver's view supplement device for an excavator is installed according to a second exemplary embodiment of the present invention.

도 8은 본 발명의 제2 실시 예에 따른 컨트롤러의 동작을 설명하기 위한 구성도이다.8 is a configuration diagram for describing an operation of a controller according to a second embodiment of the present disclosure.

도 9는 종래기술에 따른 휠 타입 굴삭기를 나타낸 측면도이다.9 is a side view showing a wheel type excavator according to the prior art.

도 10은 종래기술에 따른 휠 타입 굴삭기를 나타낸 정면도이다.10 is a front view showing a wheel type excavator according to the prior art.

이하에서는 첨부된 도면들을 참조하여 본 발명의 실시 예에 따른 굴삭기용 운전자 시야 보완장치에 대해 상세히 설명한다.Hereinafter, with reference to the accompanying drawings will be described in detail for the driver's field of view complement for an excavator according to an embodiment of the present invention.

아울러, 본 발명을 설명함에 있어서, 관련된 공지 기능 혹은 구성에 대한 구체적인 설명이 본 발명의 요지를 불필요하게 흐릴 수 있다고 판단된 경우 그 상세한 설명은 생략한다.In addition, in describing the present invention, when it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

도 1 내지 도 6에 도시한 바와 같이, 본 발명의 제1 실시 예에 따른 굴삭기용 운전자 시야 보완장치(100)는 굴삭기에 설치되어, 운전자의 시야를 보완하는 장치로, 특히, 굴삭기의 주행 모드 또는 작업 모드 시 발생되는 사각지대를 제거하거나 최소화하는 장치이다. 이때, 본 발명의 제1 실시 예에서는 휠 타입 굴삭기를 예시하였으나, 이에 한정되는 것은 아니다. 즉, 본 발명의 제1 실시 예에 따른 굴삭기용 운전자 시야 보완장치(100)는 크롤러 타입 굴삭기에 설치되어, 굴삭기의 주행 모드 또는 작업 모드 시 발생되는 사각지대를 제거하거나 최소화할 수 있다.As shown in FIGS. 1 to 6, the driver's field of view complementary device 100 according to the first embodiment of the present invention is installed in an excavator and complements the field of view of the driver, in particular, the driving mode of the excavator. Or it is a device that removes or minimizes the blind spots generated in the working mode. In this case, the wheel type excavator is illustrated in the first embodiment of the present invention, but is not limited thereto. That is, the driver's view supplement device 100 for an excavator according to the first exemplary embodiment of the present invention may be installed in a crawler type excavator to remove or minimize blind spots generated when the excavator is in a driving mode or a working mode.

여기서, 굴삭기는 하부 주행체(10), 상부 선회체(20) 및 작업장치(30)를 포함하여 형성된다. 하부 주행체(10)에는 복수 개의 휠(11)이 장착되어 있고, 전방측에는 주행 시 작업장치(30)가 안착되는 버켓 레스트(bucket rest)(12)가 형성되어 있다.Here, the excavator is formed including the lower traveling body 10, the upper swinging body 20 and the work device 30. A plurality of wheels 11 are mounted on the lower traveling body 10, and a bucket rest 12 on which the work device 30 is seated on the front side is formed.

또한, 상부 선회체(20)는 하부 주행체(10) 상에 선회 가능하게 탑재되어, 운전자가 원하는 위치로 회전한다. 이러한 상부 선회체(20)에는 운전실(21)과 엔진실(22)이 설치된다. 이때, 운전실(21) 내부에는 운전자가 굴삭기를 주행 모드 또는 작업 모드로 직접 변환시킬 수 있도록 하는 모드 변환 스위치(41), 운전자의 주행 조작을 위한 엑셀 페달 및 기어와 같은 주행 조작 장치(42), 굴삭기의 속도 변화를 나타내는 속도계(43) 및 운전자의 작업장치(30) 조작을 위한 조이스틱(44)과 같은 작업장치 조작 장치(44)가 설치될 수 있다.In addition, the upper swing body 20 is rotatably mounted on the lower travel body 10 to rotate to a position desired by the driver. The cab 21 and the engine chamber 22 are installed in the upper swinging body 20. At this time, the cab 21 has a mode conversion switch 41 for allowing the driver to directly convert the excavator into a driving mode or a work mode, a driving operation device 42 such as an accelerator pedal and a gear for driving the driving of the driver, A work device operating device 44 such as a speedometer 43 indicating a speed change of the excavator and a joystick 44 for operating the work device 30 of the driver may be installed.

그리고 작업장치(30)는 상부 선회체(20)에 장착된다. 전방을 기준으로 보면, 작업장치(30)는 상부 선회체(20)의 중앙에 설치되고, 운전실(21)의 좌측(도 10 기준)에 배치된다. 이러한 작업장치(30)는 붐(31), 아암(32) 및 버켓(33)으로 이루어진다. 이때, 붐(31), 아암(32) 및 버켓(33)은 유압펌프로부터 토출되는 작동유의 유량과 흐름을 제어하는 유압회로에 의해 구동되는 붐 실린더(31a), 아암 실린더(32a) 및 버켓 실린더(33a)에 의해 각각 동작하게 된다. 이때, 유압회로는 운전자의 작업장치 조작 장치(44) 조작으로 인해 인가되는 파일럿 신호압에 의해 작동된다.And the working apparatus 30 is mounted to the upper pivot 20. From the front, the work device 30 is installed in the center of the upper swing body 20 and is disposed on the left side (see FIG. 10) of the cab 21. This work device 30 consists of a boom 31, an arm 32 and a bucket 33. At this time, the boom 31, the arm 32 and the bucket 33 are the boom cylinder 31a, the arm cylinder 32a and the bucket cylinder driven by a hydraulic circuit that controls the flow rate and flow of the hydraulic oil discharged from the hydraulic pump Each operation is performed at 33a. At this time, the hydraulic circuit is operated by the pilot signal pressure applied due to the operation of the work device operating device 44 of the driver.

이러한 굴삭기에 설치되는 본 발명의 제1 실시 예에 따른 굴삭기용 운전자 시야 보완장치(100)는 카메라 모듈(110), 브라켓(120), 모니터(130) 및 컨트롤러(140)를 포함하여 형성된다.The driver vision compensator 100 for an excavator according to the first embodiment of the present invention installed in such an excavator is formed including a camera module 110, a bracket 120, a monitor 130, and a controller 140.

카메라 모듈(110)은 영상을 촬영하는 장치이다. 이때, 굴삭기의 정면을 기준으로, 작업장치(30)의 일측에 운전실(21)이 배치되는 관계로, 작업장치(30)의 타측은 운전자의 시야에서 벗어나게 된다. 또한, 굴삭 작업을 하는 대부분의 경우 버켓(33)이 하부 주행체(10)보다도 아래쪽에 위치하게 되는데, 이 경우, 운전실(21)에 탑승해 있는 운전자가 운전석에 앉은 채로 버켓(33)의 움직임을 육안으로 확인하며 조종하기는 쉽지 않다. 본 발명의 제1 실시 예에 따른 카메라 모듈(110)은 이러한 사각지대를 제거 또는 최소화시키기 위해, 작업장치(30), 보다 상세하게는 일측이 운전실(21)의 측부와 마주하는 아암(32)의 타측에 설치되어, 굴삭기의 주행 모드 또는 작업 모드에 따른 사각지대를 촬영한다. 이를 위해, 카메라 모듈(110)은 굴삭기의 주행 모드 또는 작업 모드에 따라 촬영 각도가 조절된다. 예를 들어, 도 1에 도시한 바와 같이, 굴삭기가 주행 모드로 운용되는 경우, 카메라 모듈(110)은 굴삭기의 전방 촬영이 가능하도록 촬영 각도가 조절된다. 또한, 도 3에 도시한 바와 같이, 굴삭기가 작업 모드로 운용되는 경우, 카메라 모듈(110)은 작업이 이루어 지고 있는 버켓(33)이 위치하고 있는 쪽에 대한 촬영이 가능하도록 촬영 각도가 조절된다.The camera module 110 is an apparatus for photographing an image. At this time, with respect to the front of the excavator, the cab 21 is disposed on one side of the work device 30, the other side of the work device 30 is out of view of the driver. In addition, in most cases of the excavation work, the bucket 33 is located below the lower traveling body 10. In this case, the movement of the bucket 33 while the driver in the cab 21 is sitting in the driver's seat. It is not easy to control with visual confirmation. Camera module 110 according to the first embodiment of the present invention, in order to remove or minimize this blind spot, the work device 30, more specifically, the arm 32 facing one side of the cab 21 Is installed on the other side of the, shooting the blind spot according to the traveling mode or working mode of the excavator. To this end, the camera module 110 adjusts the photographing angle according to the traveling mode or the working mode of the excavator. For example, as shown in FIG. 1, when the excavator is operated in the driving mode, the camera module 110 adjusts the photographing angle to enable the front photographing of the excavator. In addition, as shown in FIG. 3, when the excavator is operated in the working mode, the camera module 110 adjusts the photographing angle so that the photographing of the bucket 33 on which the work is being performed is located.

본 발명의 제1 실시 예에서, 이러한 카메라 모듈(110)은 카메라(111), 커버(112) 및 모터(113)를 포함하여 형성될 수 있다.In the first embodiment of the present invention, such a camera module 110 may be formed to include a camera 111, a cover 112 and a motor 113.

카메라(111)는 영상을 실시간으로 촬영하고, 이와 같이 촬영된 영상을 운전실(21)에 설치되어 있는 모니터(130)에 전송한다.The camera 111 captures an image in real time and transmits the captured image to the monitor 130 installed in the cab 21.

커버(112)는 카메라(111)를 외부 환경으로부터 보호하기 위한 부재로, 카메라(111)를 촬영 가능한 상태, 즉, 카메라(111)의 렌즈가 외부에 노출되는 구조로, 카메라(111)를 내측에 수용한다. 이때, 카메라(111)는 커버(112)에 고정되고, 이에 따라, 카메라(111)의 움직임은 커버(112)의 움직임에 구속된다.The cover 112 is a member for protecting the camera 111 from the external environment. The cover 112 is a state in which the camera 111 can be photographed, that is, the lens of the camera 111 is exposed to the outside. To accommodate. At this time, the camera 111 is fixed to the cover 112, so that the movement of the camera 111 is constrained to the movement of the cover 112.

모터(113)는 커버(112)와 결합된다. 또한, 모터(113)는 브라켓(120)에 회전 가능하게 연결된다. 이러한 모터(113)의 회전에 의해, 커버(112)가 회전하게 되고, 결국, 카메라(111) 또한 회전하여 카메라(111)의 촬영 각도가 변하게 된다. 이러한 모터(113)의 회전, 궁극적으로, 카메라(111)의 촬영 각도 조절은 모터(113)와 전기적으로 연결되어 이의 동작을 제어하는 컨트롤러(140)에 의해 제어되는데, 이에 대해서는 하기에서 보다 상세히 설명하기로 한다.The motor 113 is coupled with the cover 112. In addition, the motor 113 is rotatably connected to the bracket 120. The rotation of the motor 113 causes the cover 112 to rotate, and as a result, the camera 111 also rotates to change the photographing angle of the camera 111. The rotation of the motor 113, and ultimately, the adjustment of the photographing angle of the camera 111 is controlled by the controller 140 electrically connected to the motor 113 and controlling its operation, which will be described in more detail below. Let's do it.

브라켓(120)은 카메라 모듈(110)을 작업장치(30)에 연결시키고, 이를 회전 가능하게 지지하는 부재이다. 본 발명의 제1 실시 예에서, 브라켓(120)은 굴삭기에 장착되어 있는 작업장치(30)의 측부, 보다 상세하게는 아암(32)의 측부에 결합되는데, 이때, 아암(32)의 측부는 운전실(21)의 측부와 마주하는 일측과 반대되는 타측이다. 이와 같이, 아암(32)의 측부에 결합되는 브라켓(120)에 의해, 굴삭기의 정면을 기준으로, 작업장치(30)의 일측에는 운전실(21)이 배치되고, 작업장치(30)의 타측에는 카메라 모듈(110)이 배치된다.The bracket 120 is a member that connects the camera module 110 to the work device 30 and rotatably supports it. In the first embodiment of the invention, the bracket 120 is coupled to the side of the working device 30, more specifically the side of the arm 32, mounted on an excavator, wherein the side of the arm 32 is It is the other side opposite to the one side facing the side part of the cab 21. In this way, the cab 21 is arranged on one side of the work device 30 on the front side of the excavator by the bracket 120 coupled to the side of the arm 32, and on the other side of the work device 30. The camera module 110 is disposed.

도 5에 도시한 바와 같이, 브라켓(120)은 복수 개의 볼트(121)를 통해 아암(32)의 측부에 결합될 수 있다. 하지만, 이는 일례일 뿐, 브라켓(120)은 다양한 방식으로 아암(32)의 측부에 결합될 수 있다. 예를 들어, 브라켓(120)은 아암(32)의 측부에 용접될 수도 있다.As shown in FIG. 5, the bracket 120 may be coupled to the side of the arm 32 through the plurality of bolts 121. However, this is merely an example, and bracket 120 may be coupled to the side of arm 32 in a variety of ways. For example, bracket 120 may be welded to the side of arm 32.

모니터(130)는 굴삭기의 운전실(21) 내부에 설치된다. 이러한 모니터(130)는 카메라 모듈(110)로부터 전송되는 촬영 영상을 운전자가 볼 수 있도록 실시간으로 출력한다. 예를 들어, 굴삭기가 주행 모드로 운용되는 경우, 모니터(130)는 카메라 모듈(110)로부터 주행 모드 시 사각지대가 되는 굴삭기의 좌측 전방(도 10 기준)에 대한 촬영 영상을 전달받아 출력한다. 또한, 굴삭기가 작업 모드로 운용되는 경우, 모니터(130)는 카메라 모듈(110)로부터 작업 모드 시 사각지대가 되는 실제 작업이 이루어지는 위치, 예컨대, 버켓(33)이 위치하고 있는 쪽에 대한 촬영 영상을 전달받아 출력한다.The monitor 130 is installed in the cab 21 of the excavator. The monitor 130 outputs the captured image transmitted from the camera module 110 in real time for the driver to see. For example, when the excavator is operated in the driving mode, the monitor 130 receives and outputs a photographed image of the left front (see FIG. 10) of the excavator which becomes a blind spot in the driving mode from the camera module 110. In addition, when the excavator is operated in the working mode, the monitor 130 transmits a photographed image of the position where the actual work, which is a blind spot when the working mode, for example, the bucket 33 is located, from the camera module 110 is performed. And print it out.

이러한 카메라 모듈(110) 및 모니터(130)를 통해, 운전실(21)에 탑승해 있는 운전자는 주행 모드나 작업 모드에서 발생되는 사각지대에 대한 영상을 실시간으로 확인할 수 있어, 해당 모드 별 사각지대는 제거되거나 사각지대 발생 범위는 최소화될 수 있으며 이를 통해, 운전자의 편의성은 증진되고, 굴삭기의 운용에 대한 안전성은 높아지게 된다.Through the camera module 110 and the monitor 130, the driver in the cab 21 can check the image of the blind spot generated in the driving mode or the working mode in real time, the blind spot for each mode is The range of blind spots that can be eliminated or blind spots can be minimized, thereby increasing the operator's convenience and increasing the safety of the excavator operation.

컨트롤러(140)는 카메라 모듈(110)과 전기적으로 연결되어, 카메라 모듈(110)의 촬영 각도를 조절한다. 이때, 컨트롤러(140)는 굴삭기의 주행 모드 또는 작업 모드를 판별하여, 각 모드 별로 설정되어 있는 촬영 각도로 카메라 모듈(110)을 회전시킨다.The controller 140 is electrically connected to the camera module 110 to adjust the photographing angle of the camera module 110. At this time, the controller 140 determines the driving mode or the working mode of the excavator, and rotates the camera module 110 at a shooting angle set for each mode.

도 6에 도시한 바와 같이, 컨트롤러(140)는 운전실(21) 내부에 설치되어 있는 모드 변환 스위치(41)로부터 주행 모드 변환 신호를 전달 받으면, 카메라 모듈(110), 구체적으로는 카메라(111)가 전방을 향하도록 카메라 모듈(110)의 모터(113)를 회전시킨다. 이때, 모드 변환 스위치(41)는 운전자에 의해 직접 조작된다.As shown in FIG. 6, when the controller 140 receives the driving mode conversion signal from the mode conversion switch 41 installed in the cab 21, the camera module 110, specifically, the camera 111. Rotate the motor 113 of the camera module 110 so that it faces forward. At this time, the mode conversion switch 41 is directly operated by the driver.

또한, 컨트롤러(140)는 모드 변환 스위치(41)를 통한 운전자의 직접적인 모드 변환 명령이 없는 상태에서도 카메라(111)의 촬영 각도를 주행 모드로 제어할 수 있다. 즉, 컨트롤러(140)는 엑셀 페달 또는 기어와 같은 주행 조작 장치(42)의 조작이 감지된 경우, 이를 굴삭기가 주행 모드로 운용되고 있는 것으로 판단하여, 카메라(111)가 전방을 향하도록 카메라 모듈(110)의 모터(113)를 회전시킬 수 있다. 또한, 컨트롤러(140)는 속도계(43)의 속도 변화 감지 시 이를 주행 모드로 판단할 수 있다. 예를 들어, 속도계(43)가 일정 속도 이상을 나타내는 경우, 컨트롤러(140)는 이를 주행 모드로 판단하여, 카메라(111)가 전방을 향하도록 카메라 모듈(110)의 모터(113)를 회전시킬 수도 있다.In addition, the controller 140 may control the photographing angle of the camera 111 in the driving mode even when there is no direct mode change command of the driver through the mode change switch 41. That is, the controller 140 determines that the excavator is operating in the driving mode when the operation of the driving operation device 42 such as an excel pedal or a gear is detected, so that the camera 111 faces the front of the camera module. The motor 113 of 110 may be rotated. In addition, the controller 140 may determine this as the driving mode when detecting the speed change of the speedometer 43. For example, when the speedometer 43 indicates a certain speed or more, the controller 140 determines the driving mode to rotate the motor 113 of the camera module 110 so that the camera 111 faces forward. It may be.

한편, 컨트롤러(140)는 운전자의 조작에 의해 모드 변환 스위치(41)로부터 작업 모드 변환 신호를 전달 받으면, 카메라(111)가 작업장치(30)의 단부, 즉, 작업이 이루어지는 버켓(33)이 위치하고 있는 쪽을 향하도록 카메라 모듈(110)의 모터(113)를 회전시킨다. 또한, 컨트롤러(140)는 모드 변환 스위치(41)를 통한 운전자의 직접적인 모드 변환 명령이 없는 상태에서도 작업장치(30)를 조작하는 조이스틱과 같은 작업장치 조작 장치(44)의 조작으로 인해 발생되는 파일럿 신호압이 감지된 경우, 이를 굴삭기가 작업 모드로 운용되고 있는 것으로 판단하여, 카메라(111)가 버켓(33)이 위치하고 있는 쪽을 향하도록 카메라 모듈(110)의 모터(113)를 회전시킬 수 있다.On the other hand, when the controller 140 receives the work mode change signal from the mode change switch 41 by the driver's operation, the end of the work device 30, that is, the bucket 33 in which the work is performed, The motor 113 of the camera module 110 is rotated to face the located side. In addition, the controller 140 is a pilot generated due to the operation of the work device operating device 44 such as a joystick for operating the work device 30 even in the absence of a direct mode change command of the driver through the mode change switch 41. When the signal pressure is detected, it is determined that the excavator is operating in the working mode, the camera 111 can rotate the motor 113 of the camera module 110 to face the side where the bucket 33 is located. have.

이와 같이, 본 발명의 제1 실시 예에 따른 컨트롤러(140)는 모드 변환 스위치(41)를 통한 운전자의 직접적인 명령 없더라도, 주행 조작 장치(42)의 조작이나 속도계(43)의 변화 또는 작업장치 조작 장치(44)의 조작을 감지하고, 이를 통해, 굴삭기의 운용 형태, 즉, 주행 모드 또는 작업 모드를 판별하여, 카메라 모듈(110)의 촬영 각도를 해당 모드에 맞게 자동으로 조절할 수 있고, 이를 통해, 운전자의 편의성을 증진시킬 수 있다.As described above, the controller 140 according to the first exemplary embodiment of the present invention may operate the travel operation device 42, change the speedometer 43, or operate the work device even without the driver's direct command through the mode change switch 41. By detecting the operation of the device 44, through this, it is possible to determine the operating mode of the excavator, that is, the driving mode or the working mode, to automatically adjust the shooting angle of the camera module 110 according to the corresponding mode, through The driver's convenience can be improved.

이하, 본 발명의 제2 실시 예에 따른 굴삭기용 운전자 시야 보완장치에 대하여, 도 7 및 도 8을 참조하여 설명하기로 한다.Hereinafter, an excavator driver's field of view complementing apparatus according to a second embodiment of the present invention will be described with reference to FIGS. 7 and 8.

도 7은 본 발명의 제2 실시 예에 따른 굴삭기용 운전자 시야 보완장치가 설치되어 있는 작업 모드의 굴삭기를 나타낸 측면도이고, 도 8은 본 발명의 제2 실시 예에 따른 컨트롤러의 동작을 설명하기 위한 구성도이다.FIG. 7 is a side view illustrating an excavator in a working mode in which a driver's field of view supplement for an excavator is installed according to a second embodiment of the present invention, and FIG. 8 is a view for explaining an operation of a controller according to a second embodiment of the present invention. It is a block diagram.

도 7 및 도 8에 도시한 바와 같이, 본 발명의 제2 실시 예에 따른 굴삭기용 시야 보완장치(100)는 카메라 모듈(110), 브라켓(120), 모니터(130), 컨트롤러(140) 및 중량 감지 센서(150)를 포함하여 형성된다.As shown in FIG. 7 and FIG. 8, the excavator view compensator 100 according to the second embodiment of the present invention includes a camera module 110, a bracket 120, a monitor 130, a controller 140, and It is formed including the weight sensor 150.

본 발명의 제2 실시 예는 본 발명의 제1 실시 예와 비교하여, 중량 감지 센서가 추가된 것에만 차이가 있을 뿐이므로, 나머지 동일한 구성요소들에 대해서는 동일한 도면 부호를 부여하였고, 이들에 대한 상세한 설명은 생략하기로 한다.Compared to the first embodiment of the present invention, the second embodiment of the present invention differs only in that the weight sensor is added, and therefore, the same reference numerals are assigned to the same components. Detailed description will be omitted.

본 발명의 제2 실시 예에 따른 중량 감지 센서(150)는 버켓 레스트(bucket rest)(12)에 설치된다. 이때, 중량 감지 센서(150)는 버켓 레스트(12)에 하나 또는 그 이상 설치될 수 있다.The weight sensor 150 according to the second embodiment of the present invention is installed in a bucket rest 12. In this case, the weight sensor 150 may be installed on one or more bucket rest (12).

굴삭기가 주행 모드인 경우, 버켓 레스트(12)에는 작업장치(30)의 버켓(33)이 안착된다. 중량 감지 센서(150)는 이와 같이 버켓 레스트(12)에 버켓(33)이 안착되면, 버켓 레스트(12)의 중량 변화를 센싱하여, 이를 컨트롤러(140)에 전달한다.When the excavator is in the driving mode, the bucket rest 12 of the work device 30 is seated on the bucket rest 12. When the bucket 33 is seated on the bucket rest 12 as described above, the weight sensor 150 senses a weight change of the bucket rest 12 and transmits it to the controller 140.

컨트롤러(140)는 중량 감지 센서(150)로부터 전달되는 중량 감지 신호를 통해 굴삭기가 주행 모드인지 작업 모드인지 판별하여, 카메라 모듈(110)을 해당 모드에 따라 설정되어 있는 촬영 각도로 제어한다.The controller 140 determines whether the excavator is in a driving mode or a working mode through a weight detection signal transmitted from the weight sensor 150, and controls the camera module 110 to a photographing angle set according to the corresponding mode.

즉, 굴삭기가 작업 모드인 경우, 버켓 레스트(12)에는 버켓(33)이 놓이지 않으므로, 컨트롤러(140)에는 중량 감지 센서(150)로부터 중량 감지 신호가 전달되지 않고, 이에 따라, 컨트롤러(140)는 굴삭기가 작업 모드로 운용되고 있는 것으로 판단하여, 카메라(111)가 버켓(33)이 위치하고 있는 쪽을 향하도록 카메라 모듈(110)의 모터(113)를 회전시킨다.That is, when the excavator is in the working mode, since the bucket 33 is not placed on the bucket rest 12, the weight sensing signal is not transmitted from the weight sensor 150 to the controller 140, and thus, the controller 140. Determining that the excavator is operating in the working mode, the camera 111 rotates the motor 113 of the camera module 110 to face the side where the bucket 33 is located.

반대로, 굴삭기가 주행 모드인 경우, 주행의 안전성을 확보하기 위해, 버켓 레스트(12)에는 버켓(33)이 안착되므로, 컨트롤러(140)에는 중량 감지 센서(150)로부터 버켓 레스트(12)의 중량 변화에 따른 중량 감지 신호가 전달되고, 이에 따라, 컨트롤러(140)는 굴삭기가 주행 모드로 운용되고 있는 것으로 판단하여, 카메라(111)가 전방을 향하도록 카메라 모듈(110)의 모터(113)를 회전시킨다.On the contrary, when the excavator is in the driving mode, the bucket rest 12 is seated on the bucket rest 12 in order to secure driving safety. Therefore, the weight of the bucket rest 12 from the weight sensor 150 is mounted on the controller 140. The weight sensing signal according to the change is transmitted, and accordingly, the controller 140 determines that the excavator is operating in the driving mode, thereby operating the motor 113 of the camera module 110 so that the camera 111 faces forward. Rotate

본 발명의 제2 실시 예에서는 모드 변환 스위치(41)를 통한 운전자의 직접적인 명령이 컨트롤러(140)에 전달되지 않은 상황에서도 버켓 레스트(12)의 중량 변화를 감지하는 중량 감지 센서(150)를 통해, 카메라(111)의 촬영 각도가 컨트롤러(140)에 의해 자동 제어되도록 할 수 있고, 이를 통해, 운전자의 편의를 증진시킬 수 있으며, 나아가, 굴삭기의 운용에 대한 안전성을 확보할 수 있다.In the second embodiment of the present invention through the weight detection sensor 150 for detecting a change in the weight of the bucket rest 12 even in a situation where a direct command of the driver through the mode conversion switch 41 is not transmitted to the controller 140. In addition, the photographing angle of the camera 111 may be automatically controlled by the controller 140. Through this, the convenience of the driver may be enhanced, and further, the safety of the operation of the excavator may be secured.

한편, 본 발명의 제2 실시 예에 따른 컨트롤러(140)는 모드 변환 스위치(41)를 통한 운전자의 직접적인 명령이 없는 경우, 중량 감지 센서(150)로부터 전달되는 중량 감지 신호 뿐만 아니라, 본 발명의 제1 실시 예와 마찬가지로, 주행 조작 장치(42)의 조작이나 속도계(43)의 변화 또는 작업장치 조작 장치(44)의 조작을 감지하고, 이를 통해, 굴삭기의 주행 모드 또는 작업 모드를 판별하여, 카메라 모듈(110)의 촬영 각도를 해당 모드에 맞게 자동으로 조절할 수도 있다.On the other hand, the controller 140 according to the second embodiment of the present invention, when there is no direct command of the driver through the mode conversion switch 41, as well as the weight detection signal transmitted from the weight sensor 150, of the present invention As in the first embodiment, the operation of the traveling operation device 42, the change of the speedometer 43, or the operation of the work device operation device 44 is sensed, and through this, the traveling mode or the working mode of the excavator is determined, The photographing angle of the camera module 110 may be automatically adjusted according to the corresponding mode.

이상과 같이 본 발명은 비록 한정된 실시 예와 도면에 의해 설명되었으나, 본 발명은 상기의 실시 예에 한정되는 것은 아니며, 본 발명이 속하는 분야에서 통상의 지식을 가진 자라면 이러한 기재로부터 다양한 수정 및 변형이 가능하다.As described above, although the present invention has been described with reference to the limited embodiments and the drawings, the present invention is not limited to the above embodiments, and those skilled in the art to which the present invention pertains various modifications and variations from such descriptions. This is possible.

그러므로 본 발명의 범위는 설명된 실시 예에 국한되어 정해져서는 아니 되며, 후술하는 특허청구범위뿐만 아니라 특허청구범위와 균등한 것들에 의해 정해져야 한다.Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined not only by the claims below but also by the equivalents of the claims.

Claims (8)

굴삭기의 주행 모드 또는 작업 모드에 따라 촬영 각도가 조절되는 카메라 모듈;A camera module in which a photographing angle is adjusted according to the driving mode or the working mode of the excavator; 상기 굴삭기에 장착되어 있는 작업장치의 측부에 결합되고, 상기 카메라 모듈을 회전 가능하게 지지하는 브라켓;A bracket coupled to a side of a work device mounted on the excavator and rotatably supporting the camera module; 상기 굴삭기의 운전실 내부에 설치되고, 상기 카메라 모듈로부터 전송되는 촬영 영상을 출력하는 모니터; 및A monitor installed inside the cab of the excavator and outputting a captured image transmitted from the camera module; And 상기 카메라 모듈과 전기적으로 연결되어, 상기 카메라 모듈의 촬영 각도를 조절하는 컨트롤러;A controller electrically connected to the camera module to adjust a photographing angle of the camera module; 를 포함하는 굴삭기용 운전자 시야 보완장치.Driver vision compensation device for an excavator comprising a. 제1항에 있어서,The method of claim 1, 상기 굴삭기의 정면을 기준으로, 상기 작업장치의 일측에는 상기 운전실이 배치되고, 상기 작업장치의 타측에는 상기 카메라 모듈이 배치되는 굴삭기용 운전자 시야 보완장치.Based on the front of the excavator, the driver's cab is disposed on one side of the work device, the camera module is disposed on the other side of the work device driver's field of view complementary device. 제1항에 있어서,The method of claim 1, 상기 브라켓은 붐, 아암 및 버켓으로 이루어진 상기 작업장치 중 상기 아암의 측부에 결합되는 굴삭기용 운전자 시야 보완장치.The bracket is a driver view complementary device for an excavator coupled to the side of the arm of the work device consisting of a boom, an arm and a bucket. 제1항에 있어서,The method of claim 1, 상기 카메라 모듈은,The camera module, 카메라,camera, 상기 카메라를 촬영 가능한 상태로 내측에 수용하는 커버, 및A cover for accommodating the camera inside in a state capable of photographing the camera; 상기 커버와 결합되고, 상기 브라켓에 회전 가능하게 연결되는 모터를 포함하는 굴삭기용 운전자 시야 보완장치.And a motor coupled to the cover and rotatably connected to the bracket. 제1항에 있어서,The method of claim 1, 상기 컨트롤러는 상기 운전실 내부에 설치되어 있는 모드 변환 스위치로부터 주행 모드 변환 신호를 전달 받거나, 엑셀 페달 또는 기어의 조작 또는 속도계의 속도 변화 감지 시 상기 카메라 모듈이 전방을 향하도록 상기 카메라 모듈을 회전시키는 굴삭기용 운전자 시야 보완장치.The controller receives an operation mode change signal from a mode change switch installed inside the cab, or rotates the camera module so that the camera module faces forward when an operation of an accelerator pedal or a gear or a speed change of a speedometer is detected. Driver vision complement. 제1항에 있어서,The method of claim 1, 상기 컨트롤러는 상기 운전실 내부에 설치되어 있는 모드 변환 스위치로부터 작업 모드 변환 신호를 전달 받거나, 상기 작업장치를 조작하는 조이스틱으로부터 발생되는 파일럿 신호압 감지 시 상기 카메라 모듈이 상기 작업장치의 단부를 향하도록 상기 카메라 모듈을 회전시키는 굴삭기용 운전자 시야 보완장치.The controller receives the operation mode conversion signal from the mode conversion switch installed in the cab or detects the pilot signal pressure generated from the joystick for manipulating the work device so that the camera module faces the end of the work device. Driver's field of view complement for excavators rotating camera modules. 제1항에 있어서,The method of claim 1, 상기 굴삭기가 주행 모드일 때 상기 작업장치가 안착되는 버켓 레스트에 설치되는 중량 감지 센서를 더 포함하는 굴삭기용 운전자 시야 보완장치.And a weight sensing sensor installed at the bucket rest on which the work device is seated when the excavator is in a driving mode. 제7항에 있어서,The method of claim 7, wherein 상기 컨트롤러는 상기 중량 감지 센서로부터 전달되는 중량 감지 신호를 통해 상기 굴삭기가 주행 모드인지 작업 모드인지 판별하여, 상기 카메라 모듈의 촬영 각도를 제어하는 굴삭기용 운전자 시야 보완장치.And the controller determines whether the excavator is in a driving mode or a working mode through a weight detection signal transmitted from the weight sensor, and controls the photographing angle of the camera module.
PCT/KR2016/012192 2016-10-27 2016-10-27 Driver's field of vision assistance apparatus for excavator Ceased WO2018079878A1 (en)

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