阅读说明：本技术 挖土机、挖土机的测量装置及管理装置 (Shovel, measuring device for shovel, and management device for shovel ) 是由 泉川岳哉 于 2016-08-25 设计创作，主要内容包括：本发明提供一种挖土机、挖土机的测量装置及管理装置。本发明的实施例所涉及的挖土机的测量装置,装备于挖土机,所述挖土机具有：下部行走体,进行行走动作；上部回转体,回转自如地搭载于所述下部行走体；动臂,安装于所述上部回转体,包含于附属装置；以及斗杆,安装于所述动臂,包含于所述附属装置,其中,该测量装置基于配置在比所述下部行走体靠上方的、取得到周围的测定对象的距离信息的装置的输出,在多个位置处测量挖土机周围的地形。(The invention provides an excavator, and a measuring device and a management device for the excavator. A measuring device for a shovel according to an embodiment of the present invention is provided with a shovel, the shovel including: a lower traveling body for performing a traveling operation; an upper revolving structure rotatably mounted on the lower traveling structure; a boom attached to the upper slewing body and included in an attachment; and an arm attached to the boom and included in the attachment, wherein the measuring device measures the terrain around the excavator at a plurality of positions based on an output of a device that is disposed above the lower traveling body and acquires distance information to a surrounding measurement object.)

1. A measuring device of an excavator equipped with the excavator, the excavator having: a lower traveling body for performing a traveling operation; an upper revolving structure rotatably mounted on the lower traveling structure; a boom attached to the upper slewing body and included in an attachment; and a boom attached to the boom and included in the attachment, wherein,

the measuring device measures the terrain around the excavator at a plurality of positions based on the output of a device which is arranged above the lower traveling body and acquires distance information to a surrounding measurement object.

2. The measuring device of an excavator according to claim 1,

for an area where the distance information cannot be acquired by the apparatus at a1 st position among the plurality of positions, the distance information on the area is acquired by the apparatus at a2 nd position different from the 1 st position.

3. The measuring device of an excavator according to claim 2,

the 1 st position and the 2 nd position are positions of the device in the revolution or the walking of the excavator.

4. The measuring device of an excavator according to claim 1 or 2,

a plurality of the devices are arranged at different positions of the excavator.

5. The measuring device of an excavator according to claim 1 or 2,

the device is attached to a plurality of excavators, and acquires a plurality of pieces of distance information to the surrounding measurement object at the plurality of positions.

6. The measuring device of an excavator according to claim 5,

the distance information to the surrounding measurement objects acquired by the devices attached to the excavators is transmitted to a management device.

7. The measuring device of an excavator according to claim 1 or 2,

and issuing an instruction to an operator of the excavator based on the acquired distance information to the surrounding measurement object.

8. The measuring device of an excavator according to claim 1 or 2,

an unmeasured part is generated based on the acquired distance information to the surrounding measurement object.

9. A shovel is provided with:

a lower traveling body for performing a traveling operation;

an upper revolving structure rotatably mounted on the lower traveling structure;

a boom attached to the upper slewing body and included in an attachment;

a bucket rod mounted on the movable arm and included in the attachment; and

a device for acquiring distance information, which is disposed above the lower traveling body and acquires distance information to surrounding measurement objects at a plurality of positions;

the excavator measures the terrain surrounding the excavator based on the output of the device.

10. A management device for an excavator, wherein,

a terrain surrounding a shovel is measured based on 1 st distance information acquired by a1 st device that acquires distance information on a measurement target and is disposed above a lower traveling body of the 1 st shovel and 2 nd distance information acquired by a2 nd device that acquires distance information on a measurement target and is disposed above a lower traveling body of the 2 nd shovel.

Technical Field

The present invention relates to an excavator for measuring a topography around the excavator, and a measuring device and a management device for the excavator.

Background

There is known a shovel including a display system for deriving a trajectory of a cutting edge of a bucket from a three-dimensional position of a shovel body, respective inclination angles of a boom, an arm, and the bucket, and an inclination angle of the shovel body in a width direction (see, for example, patent document 1).

The display system displays a cross-sectional view of the design topography based on the design data and a cross-sectional view of the current topography represented by the trajectory of the blade tip on a monitor.

Prior art documents

Patent document

Patent document 1: japanese patent laid-open No. 2014-148893

Disclosure of Invention

Technical problem to be solved by the invention

However, the display system of patent document 1 does not consider earth and sand overflowing from the bucket, earth and sand falling into the hollow, earth and sand backfilled, and the like. Therefore, a sectional view of the current terrain may not be accurately displayed.

In view of the foregoing, it is desirable to provide a measuring device capable of more accurately measuring the topography around a shovel.

Means for solving the technical problem

A measuring device for a shovel according to an embodiment of the present invention includes: a lower traveling body; an upper revolving structure which is rotatably mounted on the lower traveling structure; and a camera capable of stereoscopic imaging, which is attached to the upper revolving structure, wherein the topography around the excavator is measured from stereoscopic paired images captured by the camera during the rotation or the traveling of the excavator.

Effects of the invention

With the above method, a measuring device capable of more accurately measuring the topography around the shovel can be provided.

Drawings

Fig. 1 is a side view of an excavator according to an embodiment of the present invention.

Fig. 2 is a diagram showing a configuration of a drive system of the shovel of fig. 1.

Fig. 3 is a block diagram showing a configuration example of the device boot apparatus.

Fig. 4A is a diagram showing a relationship between stereo pair images and a camera.

Fig. 4B is a diagram showing a relationship between stereo pair images and a camera.

Fig. 4C is a diagram showing a relationship between stereo pair images and a camera.

Fig. 5 is a left side view of the excavator showing the mounting position of the camera.

Fig. 6A is a plan view of the shovel showing the imaging range of the camera.

Fig. 6B is a plan view of the shovel showing the imaging range of the camera.

Fig. 7 is a plan view of the shovel showing a measurement target range of the camera when the upper revolving structure revolves in the right direction.

Fig. 8 is a plan view of the shovel showing a measurement target range of 3 cameras when the upper revolving structure revolves in the right direction.

Fig. 9A is a plan view of the excavator showing an annular region indicating the range of the generated topographic data.

Fig. 9B is a plan view of the excavator showing an annular region indicating the range of the generated topographic data.

Fig. 10 is a diagram showing a positional relationship between the moving path of the shovel and the annular region.

Fig. 11 is a diagram showing an example of a measurement system for measuring a topography around a shovel.

Detailed Description

Fig. 1 is a side view of an excavator (excavator) according to an embodiment of the present invention. An upper revolving body 3 is rotatably mounted on a lower traveling body 1 of the excavator via a revolving mechanism 2. A boom 4 is attached to the upper slewing body 3. An arm 5 is attached to a tip end of the boom 4, and a bucket 6 as a terminal attachment is attached to a tip end of the arm 5. As the termination attachment, a bucket for slope, a bucket for dredging, or the like may be used.

The boom 4, the arm 5, and the bucket 6 constitute an excavation attachment as an example of an attachment, and are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6. A bucket tilt mechanism may also be provided on the excavation attachment.

The boom angle sensor S1 detects the turning angle of the boom 4. In the present embodiment, boom angle sensor S1 is an acceleration sensor that detects the inclination with respect to the horizontal plane and detects the turning angle of boom 4 with respect to upper revolving structure 3.

The arm angle sensor S2 detects the rotation angle of the arm 5. In the present embodiment, the arm angle sensor S2 is an acceleration sensor that detects the inclination with respect to the horizontal plane and detects the rotation angle of the arm 5 with respect to the boom 4.

The bucket angle sensor S3 detects the rotation angle of the bucket 6. In the present embodiment, the bucket angle sensor S3 is an acceleration sensor that detects the inclination with respect to the horizontal plane and detects the rotation angle of the bucket 6 with respect to the arm 5. When the excavation attachment is provided with the bucket tilting mechanism, the bucket angle sensor S3 additionally detects the rotation angle of the bucket 6 about the tilting axis.

The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be potentiometers using variable resistors, stroke sensors that detect the stroke amounts of the corresponding hydraulic cylinders, rotary encoders that detect the rotational angles about the connecting pins, and the like.

The upper slewing body 3 is provided with a cab 10 and a power source such as an engine 11. The organism inclination sensor S4, the turning angular velocity sensor S5, and the camera S6 are attached to the upper revolving body 3. The communication device S7 and the positioning device S8 may be installed.

Body inclination sensor S4 detects the inclination of upper slewing body 3 with respect to the horizontal plane. In the present embodiment, the body inclination sensor S4 is a biaxial acceleration sensor that detects the inclination angles about the front-rear axis and the left-right axis of the upper revolving structure 3. The front-rear axis and the left-right axis of the upper revolving structure 3 are orthogonal to each other, for example, and pass through a shovel center point which is one point on a shovel revolving shaft.

The rotation angular velocity sensor S5 is, for example, a gyro sensor, and detects the rotation angular velocity of the upper slewing body 3. The rotary angular velocity sensor S5 may be a resolver, a rotary encoder, or the like.

The camera S6 is a stereo camera for acquiring an image of the periphery of the shovel. In the present embodiment, the camera S6 is 1 or more stereo cameras attached to the upper revolving structure 3. However, camera S6 may also be a monocular camera. At this time, the camera S6 takes 2 camera images captured with a slight shift in the imaging position as stereo pair images. The movement of the imaging position is realized by, for example, the rotation of the upper revolving unit 3, and is measured using a gyro sensor, a GNSS (Global Navigation Satellite System), or the like.

The communication device S7 is a device that controls communication between the shovel and the outside. The communication device S7 controls wireless communication between a measurement system such as GNSS and the shovel, for example. The excavator can acquire design data including information on the target construction surface and the like through wireless communication by using the communication device S7. However, the shovel may acquire design data using a semiconductor memory or the like.

The positioning device S8 is a device for measuring the position and orientation of the shovel. In the present embodiment, the positioning device S8 is a GNSS receiver incorporating an electronic compass, and measures the latitude, longitude, and altitude of the existing position of the shovel, and measures the orientation of the shovel.

The cab 10 is provided with an input device D1, a voice output device D2, a display device (display unit) D3, a storage device D4, a door lock lever D5, a controller 30, and a device guide device 50.

The controller 30 functions as a main control unit that performs drive control of the shovel. In the present embodiment, the controller 30 is constituted by an arithmetic processing device including a CPU and an internal memory. Various functions of the controller 30 are realized by the CPU executing a program stored in the internal memory.

The equipment guide 50 guides the operation of the excavator. In the present embodiment, the equipment guide device 50 visually and audibly notifies the operator of, for example, the distance in the vertical direction between the target construction surface set by the operator and the position of the tip (cutting edge) of the bucket 6. Thereby, the equipment guide 50 guides the operation of the excavator by the operator. The device guide 50 may inform the operator of the distance only visually or only audibly. Specifically, the device boot apparatus 50 is constituted by an arithmetic processing apparatus including a CPU and an internal memory, as in the case of the controller 30. The various functions of the device boot apparatus 50 are realized by the CPU executing a program stored in the internal memory. The device guide 50 may be provided separately from the controller 30, or may be assembled to the controller 30.

The input device D1 is a device for inputting various information to the equipment guide 50 by the operator of the excavator. In the present embodiment, the input device D1 is a membrane switch attached to the periphery of the display device D3. As the input device D1, a touch panel or the like may be used.

The voice output device D2 outputs various voice information in accordance with a voice output instruction from the apparatus guide device 50. In the present embodiment, an in-vehicle speaker directly connected to the device guidance apparatus 50 is used as the voice output apparatus D2. As the voice output device D2, an alarm such as a buzzer may be used.

The display device D3 outputs various image information according to instructions from the apparatus guide device 50. In this embodiment, an on-vehicle liquid crystal display directly connected to the device guide 50 is used as the display device D3.

The storage device D4 is a device for storing various information. In this embodiment, a nonvolatile storage medium such as a semiconductor memory is used as the storage device D4. The storage device D4 stores various information output by the device boot apparatus 50 and the like.

The door lock lever D5 is a mechanism for preventing the excavator from being operated by mistake. In the present embodiment, the door lock lever D5 is disposed between the door of the cab 10 and the operator's seat. When the door lock lever D5 is pulled up and the operator cannot exit from the cab 10, various operation devices can be operated. On the other hand, when the door lock lever D5 is pressed and the operator can exit from the cab 10, various operation devices cannot be operated.

Fig. 2 is a diagram showing a configuration example of a drive system of the shovel of fig. 1. In fig. 2, a mechanical power system is indicated by a double line, a high-pressure hydraulic line is indicated by a thick solid line, a pilot line is indicated by a broken line, and an electric drive/control system is indicated by a thin solid line.

The engine 11 is a power source of the excavator. In the present embodiment, the engine 11 is a diesel engine that is controlled to constantly maintain an engine speed without difference (isochronous) regardless of an increase or decrease in engine load. The fuel injection amount, the fuel injection timing, the supercharging pressure, and the like in the engine 11 are controlled by an Engine Controller Unit (ECU) D7.

A main pump 14 and a pilot pump 15 as hydraulic pumps are connected to the engine 11. A control valve 17 is connected to the main pump 14 via a high-pressure hydraulic line.

The control valve 17 is a hydraulic control device for controlling a hydraulic system of the shovel. Hydraulic actuators such as a right-side travel hydraulic motor, a left-side travel hydraulic motor, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, and a turning hydraulic motor are connected to the control valve 17 via high-pressure hydraulic lines. The turning hydraulic motor may be a turning motor generator.

An operation device 26 is connected to the pilot pump 15 via a pilot line. The operation device 26 includes a joystick and a pedal. The operating device 26 is connected to the control valve 17 via a hydraulic line and a door lock valve D6.

The door lock valve D6 switches communication/blocking of the hydraulic line connecting the control valve 17 and the operating device 26. In the present embodiment, the door lock valve D6 is a solenoid valve that switches communication/blocking of the hydraulic line in accordance with a command from the controller 30. The controller 30 determines the state of the door lock lever D5 based on the state signal output from the door lock lever D5. When the controller 30 determines that the door lock lever D5 is in the pulled-up state, it outputs a communication command to the door lock valve D6. If a communication command is received, the door lock valve D6 will open to allow the hydraulic line to communicate. As a result, the operator can effectively operate the operation device 26. On the other hand, if it is determined that the door lock lever D5 is in the pulled-down state, the controller 30 outputs a blocking command to the door lock valve D6. If a blocking command is received, the door lock valve D6 will close to block the hydraulic line. As a result, the operation of the operation device 26 by the operator becomes ineffective.

The pressure sensor 29 detects the operation content of the operation device 26 in the form of pressure. The pressure sensor 29 outputs a detection value to the controller 30.

Fig. 2 shows a connection relationship between the controller 30 and the display device D3. In this embodiment, the display device D3 is connected to the controller 30 via the device guide 50. The display device D3, the device guidance device 50, and the controller 30 may be connected via a communication network such as a CAN, or may be connected via dedicated lines.

The display device D3 includes a conversion processing section D3a that generates an image. In the present embodiment, the conversion processing unit D3a generates a camera image for display from the output of the camera S6. Therefore, the display device D3 acquires the output of the camera S6 connected to the device guide apparatus 50 via the device guide apparatus 50. However, the camera S6 may be connected to the display device D3 or may be connected to the controller 30.

The conversion processing unit D3a generates an image for display from the output of the controller 30 or the device guide apparatus 50. In the present embodiment, the conversion processing unit D3a converts various information output from the controller 30 or the device boot apparatus 50 into image signals. The information output by the controller 30 includes, for example, data indicating the temperature of the engine cooling water, data indicating the temperature of the hydraulic oil, data indicating the remaining amount of fuel, and the like. The information output by the equipment guide 50 includes data indicating the position of the tip (cutting edge) of the bucket 6, data indicating the orientation of the slope of the work object, data indicating the orientation of the excavator, data indicating the operation direction for facing the excavator to the slope, and the like.

The conversion processing unit D3a may realize the functions of the controller 30 and the device guide apparatus 50 without realizing the functions of the display apparatus D3.

The display device D3 operates by receiving power supply from the battery 70. The battery 70 is charged with electric power generated by an alternator 11a (generator) of the engine 11. The electric power of the battery 70 is also supplied to the electric components 72 of the excavator, and the like, other than the controller 30 and the display device D3. The starter 11b of the engine 11 is driven by the electric power from the battery 70, and starts the engine 11.

The engine 11 is controlled by the engine controller unit D7. The engine controller unit D7 always sends various data indicating the state of the engine 11 to the controller 30. The various data indicating the state of the engine 11 are, for example, data indicating the temperature (physical quantity) of the cooling water detected by the water temperature sensor 11 c. Therefore, the controller 30 can accumulate the data in the temporary storage unit (memory) 30a and transmit the data to the display device D3 as needed.

Various data are supplied to the controller 30 as follows. Various data are stored in the temporary storage unit 30a of the controller 30.

First, data indicating the swash plate tilt angle is supplied from the regulator 14a of the main pump 14, which is a variable displacement hydraulic pump, to the controller 30. Data indicating the discharge pressure of the main pump 14 is sent from the discharge pressure sensor 14b to the controller 30. These data (data representing physical quantities) are stored in the temporary storage unit 30 a. An oil temperature sensor 14c is provided in a line between a tank that stores hydraulic oil sucked by the main pump 14 and the main pump 14. Data indicating the temperature of the working oil flowing through the line is supplied from the oil temperature sensor 14c to the controller 30.

Data indicating the fuel storage amount is supplied from the fuel storage amount detection portion 55a in the fuel storage portion 55 to the controller 30. In the present embodiment, data indicating the state of the remaining amount of fuel is supplied to the controller 30 from a fuel remaining amount sensor as a fuel containing amount detecting portion 55a in a fuel tank as the fuel containing portion 55.

Specifically, the fuel level sensor includes a float that follows the liquid level and a variable resistor (potentiometer) that converts the amount of vertical fluctuation of the float into a resistance value. With this configuration, the fuel level sensor can display the fuel level state steplessly on the display device D3. The detection method of the fuel storage amount detection unit 55a may be appropriately selected according to the use environment or the like, or may be a detection method capable of displaying the remaining amount state of the fuel in stages.

The pilot pressure sent to the control valve 17 when the operation device 26 is operated is detected by a pressure sensor 29. The pressure sensor 29 supplies data indicating the detected pilot pressure to the controller 30.

In the present embodiment, as shown in fig. 2, the excavator has an engine speed adjustment scale 75 in the cab 10. The engine speed adjustment scale 75 is a scale for adjusting the speed of the engine 11, and in the present embodiment, the engine speed can be switched in 4 stages. The data indicating the setting state of the engine speed is always transmitted from the engine speed adjustment dial gauge 75 to the controller 30. The engine speed adjustment scale 75 can switch the engine speed in 4 stages of the SP mode, the H mode, the a mode, and the idle mode. Fig. 2 shows a state in which the H mode is selected in the engine speed adjustment scale 75.

The SP mode is a rotational speed mode selected when the workload is to be prioritized, and uses the highest engine rotational speed. The H-mode is a speed mode selected for both workload and fuel consumption, and utilizes the second highest engine speed. The a mode is a rotational speed mode selected when the excavator is operated with low noise while the fuel efficiency is prioritized, and the third highest engine rotational speed is used. The idle mode is a rotation speed mode selected when the engine 11 is to be set to an idle state, and the lowest engine rotation speed is used. Then, the rotation speed of the engine 11 is controlled to be constant at the engine rotation speed of the rotation speed pattern set in the engine rotation speed adjustment scale 75.

Next, various functional elements of the device guide apparatus 50 will be described with reference to fig. 3. Fig. 3 is a functional block diagram showing a configuration example of the device guidance apparatus 50.

In the present embodiment, the controller 30 controls whether or not the guidance is performed by the equipment guide device 50, in addition to the control of the operation of the entire shovel. Specifically, the controller 30 controls whether or not to guide the door lock lever D5 by the device guide apparatus 50 based on the state of the door lock lever D5, a detection signal from the pressure sensor 29, and the like.

Next, the device guide apparatus 50 will be explained. In the present embodiment, the equipment guide 50 receives various signals and data output from the arm angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body tilt sensor S4, the turning angular velocity sensor S5, the input device D1, and the controller 30, for example. Also, equipment guidance device 50 calculates the actual position of the attachment (e.g., bucket 6) based on the received signals and data. When the actual position of the attachment is different from the target position, the device guidance apparatus 50 sends an alarm command to the voice output device D2 and the display device D3 to issue an alarm.

The device guide apparatus 50 includes a functional portion that performs various functions. In the present embodiment, the device guidance apparatus 50 includes, as functional units for guiding the operation of the attachment, an inclination angle calculation unit 501, a height calculation unit 503, a comparison unit 504, an alarm control unit 505, and a guidance data output unit 506. The equipment guide device 50 includes a stereo pair image acquisition unit 507, a topographic data generation unit 508, a coordinate conversion unit 509, a coordinate correction unit 510, and a topographic data display unit 511, and functions as a functional unit for measuring the topography around the excavator, and functions as a measuring device for the excavator.

The inclination angle calculation unit 501 calculates an inclination angle of the upper slewing body 3 (an inclination angle of the excavator) with respect to a horizontal plane. For example, the tilt angle calculation unit 501 calculates the tilt angle of the shovel using the detection signal from the body tilt sensor S4.

The height calculating section 503 calculates the height of the working site of the termination attachment. For example, the height calculation unit 503 calculates the height of the tip (cutting edge) of the bucket 6 from the inclination angle calculated by the inclination angle calculation unit 501 and the angles of the boom 4, arm 5, and bucket 6. The angles of the boom 4, the arm 5, and the bucket 6 are calculated from the detection signals of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3. In the present embodiment, since excavation is performed with the tip of the bucket 6, the tip (cutting edge) of the bucket 6 corresponds to a working portion for terminating the attachment. On the other hand, when the back surface of the bucket 6 is used for soil and sand leveling work, the back surface of the bucket 6 corresponds to a work portion where the attachment is terminated. When the crusher is used as an end attachment other than the bucket 6, the front end of the crusher corresponds to the working location of the end attachment.

The comparison unit 504 compares the height of the tip (cutting edge) of the bucket 6 calculated by the height calculation unit 503 with a target height of the tip (cutting edge) of the bucket 6. The target height is included in the guidance data output from the guidance data output unit 506. The calculation may be performed based on a design drawing, a current position of the shovel, and a work posture, which are input in advance. The calculation may be performed based on the set cutting edge position of the past shovel, the input target depth, the inclination angle of the shovel, and the current operation posture (current cutting edge position).

When it is determined that an alarm is necessary based on the comparison result of the comparison unit 504, the alarm control unit 505 transmits an alarm command to one or both of the voice output device D2 and the display device D3. When the voice output device D2 and the display device D3 receive the alarm command, they issue a predetermined alarm notification to the operator of the shovel.

The guidance data output unit 506 extracts data of the target height of the bucket 6 from guidance data stored in advance in the storage device of the machine guidance device 50 and outputs the extracted data to the comparison unit 504. At this time, the guide data output unit 506 may output data of the target height of the bucket 6 corresponding to the current position, the working posture, the inclination angle, and the like of the excavator.

The stereo pair image acquisition unit 507 is a functional element for acquiring stereo pair images. The stereo pair image is 1 pair of camera images for deriving a distance between the camera S6 and a point to be measured (hereinafter referred to as a "measurement point") by a triangulation method. In the present embodiment, the stereo pair image acquisition section 507 acquires 1 pair of camera images output from the camera S6, which is a stereo camera, as stereo pair images. The stereo pair image acquisition unit 507 may acquire 2 camera images output from the camera S6, which is a monocular camera, as stereo pair images. The movement of the shooting position of the camera S6 when the camera S6 as a monocular camera acquires 2 camera images as a stereo pair image is realized by, for example, the rotation of the upper revolving unit 3, and is measured using a gyro sensor, GNSS, or the like. Further, the distance between the camera S6 and the measurement point can be derived from the movement amount of the camera S6 by using a triangulation method, similarly to the case of the camera S6 which is a stereo camera. Parameters related to the camera S6, such as the installation position, installation angle, and focal length of the camera S6, are stored in advance in the storage device D4 and the like. The stereo pair image acquisition unit 507 reads these parameters from the storage device D4 or the like as necessary.

Here, details of the camera S6 will be described with reference to fig. 4A to 4C and fig. 5. Fig. 4A to 4C are diagrams showing the relationship between the stereo pair image and the camera S6. Specifically, fig. 4A is a top view of the camera S6 as a stereo camera, and fig. 4B is a top view of the camera S6a as a monocular camera. Fig. 4C is a schematic view of a stereo pair image captured by the camera S6 or the camera S6 a. Fig. 5 is a left side view of the shovel showing the mounting position of the camera S6 (camera S6 a).

As shown in fig. 4A, when the shovel is mounted with the camera S6 as a stereo camera, the stereo pair image acquisition section 507 acquires 1 pair of camera images simultaneously captured by each of the 1 pair of image capturing sections S61 and S62 of the camera S6 as a stereo pair image. Then, the distance between the camera S6 and the measurement point P is acquired by the triangulation method based on the offset between the pixels corresponding to the measurement point P in each of the acquired 1 pair of camera images and the distance L between the image pickup section S61 and the image pickup section S62.

Further, as shown in fig. 4B, when the camera S6a as a monocular camera is mounted in the excavator, the stereo pair image acquisition section 507 acquires 2 camera images captured at different timings by the imaging section S61a of the camera S6a as stereo pair images. For example, the stereo pair image acquisition section 507 acquires, as stereo pair images, the 1 st camera image captured when the camera S6a is located at the position shown by the solid line and the 2 nd camera image captured when the subsequent camera S6a is moved to the position shown by the broken line. At this time, the camera S6a is moved by, for example, walking of the shovel body. Then, the stereo pair image acquisition unit 507 specifies the movement amount L of the camera S6a from the GNSS position information, and acquires the distance between the camera S6a and the measurement point P by the triangulation method as in the case of fig. 4A.

In fig. 4A to 4C, the imaging range of each of the imaging unit S61 and the imaging unit S61a (when the camera S6a is located at the position indicated by the solid line) is indicated by an imaging range Ra surrounded by a broken line. The imaging range of each of the imaging unit S62 and the imaging unit S61a (when the camera S6a is located at the position indicated by the broken line) is indicated by an imaging range Rb surrounded by the broken line. The overlapping imaging range R of the imaging range Ra and the imaging range Rb is shaded with a dot pattern. The measurement target range X enclosed by a single-dotted line indicates the range in which the measurement point exists. In the present embodiment, the measurement target range X is limited to the center portion of each camera image. This is because the peripheral edge of each camera image may not be able to accurately derive the distance due to the influence of vignetting, distortion, and the like. However, the present invention does not exclude a configuration in which the measurement target range X includes the peripheral portion.

Then, the stereo pair image acquisition unit 507 acquires a stereo pair image every time a predetermined acquisition condition is satisfied. The predetermined acquisition condition is set, for example, based on the turning angle of the upper revolving structure 3, the moving distance of the shovel, and the like. In the present embodiment, the stereo pair image acquisition unit 507 acquires stereo pair images every time the upper revolving unit 3 revolves by a predetermined revolving angle α. The turning angle is derived from the output of the turning angular velocity sensor S5, for example. The stereo pair image acquisition unit 507 may acquire stereo pair images every time the shovel moves (travels) by a predetermined distance D. The distance of movement is derived, for example, from the output of the positioning device S8. Alternatively, the stereo pair image acquisition unit 507 may dynamically determine a threshold value regarding a rotation angle, a movement distance, and the like, which are acquisition conditions, so that a stereo pair image including an image of a desired measurement point can be efficiently acquired. The stereo pair image acquisition unit 507 may acquire stereo pair images at predetermined time intervals, or may acquire stereo pair images at an arbitrary timing in accordance with an operation input (for example, a switch operation) by an operator of the excavator. The equipment guide 50 as a measuring device measures the topography around the excavator from the stereoscopic pair images thus acquired.

Here, an example of the acquisition condition of the stereo pair image will be described with reference to fig. 6A and 6B. Fig. 6A and 6B are plan views of the shovel showing the imaging range of the camera S6. Specifically, fig. 6A shows repetitive shooting ranges R1 and R2 of the camera S6, and fig. 6B shows dead-angle regions BA1 and BA2 formed by an object B existing behind the shovel. In fig. 6A and 6B, the dotted line indicates a state where upper revolving unit 3 revolves around revolving shaft SX by revolving angle α.

For example, the stereo pair image acquisition unit 507 acquires 1 pair of camera images captured by the camera S6 when the excavator is oriented in the reference direction as indicated by the solid line in fig. 6A as stereo pair images. The repeat shooting range R1 indicates a repeat shooting range associated with the shooting range of each of the 1 pair of camera images shot by the camera S6 at this time.

Then, stereo pair image acquisition unit 507 acquires 1 pair of camera images captured by camera S6 at right swing angle α of upper swing body 3 as shown by the dotted line in fig. 6A as stereo pair images. The repeat shooting range R2 indicates a repeat shooting range associated with the shooting range of each of the 1 pair of camera images shot by the camera S6 at this time.

Fig. 6B shows one of effects of acquiring a stereo pair image for each rotation angle α of the upper revolving structure 3. Specifically, the dead-angle area BA1 indicates a range where a measurement point, the distance of which cannot be measured, exists in a stereo pair image acquired when the excavator is oriented in the reference direction as indicated by the solid line in fig. 6B. Further, a dead angle area BA2 indicates a range where a measurement point at which the distance cannot be measured exists in a stereo pair image acquired at the time of the right swing angle α of the upper swing body 3 as indicated by a dotted line in fig. 6B. The dead-angle area BA12 indicates a range in which the dead-angle area BA1 overlaps with the dead-angle area BA 2. By acquiring 2 pairs of stereoscopic pair images acquired at different rotation angles in this manner, the stereoscopic pair image acquisition unit 507 can derive the distance to the measurement point included in the range not captured in the 1 pair of stereoscopic pair images.

The stereo pair image acquisition unit 507 may instruct an operator of the excavator to acquire a desired stereo pair image. For example, the stereo pair image acquisition unit 507 may output a control command to at least one of the voice output device D2 and the display device D3 to notify the operator of the excavator of the content of the operation required to acquire a desired stereo pair image. Specifically, a voice message of "turn right" may be output.

The topographic data generating unit 508 generates a functional element of topographic data. The topographic data is, for example, a set of three-dimensional coordinates representing points on the ground around the excavator. The three-dimensional coordinates are, for example, coordinates in a camera coordinate system. The camera coordinate system is a camera-based coordinate system, for example, a three-dimensional orthogonal XYZ coordinate system in which the center point of the camera S6 is used as the origin, the X axis is taken at the middle of the 2 optical axes of the camera S6, and the Z axis is taken perpendicular to a plane including the 2 optical axes.

In the present embodiment, the topographic data generating unit 508 derives the three-dimensional coordinates of each measurement point in the camera coordinate system from the distance between each measurement point derived by the stereo pair image acquiring unit 507.

The coordinate conversion unit 509 is a functional element for converting the coordinates in the camera coordinate system into coordinates in another coordinate system. For example, the coordinate conversion unit 509 converts the coordinates in the camera coordinate system into the coordinates in the excavator coordinate system or the reference coordinate system. The shovel coordinate system is a coordinate system based on the shovel, and is, for example, a three-dimensional orthogonal XYZ coordinate system in which an intersection point of the revolving axis of the upper revolving structure 3 and the ground contact surface of the lower traveling structure 1 is an origin, a front-rear axis of the lower traveling structure 1 is an X axis, a left-right axis of the lower traveling structure 1 is a Y axis, and the revolving axis is a Z axis. The reference coordinate system includes, for example, a world geodetic system. The world geodetic system is a three-dimensional orthogonal XYZ coordinate system in which the origin is located at the center of gravity of the earth, the X axis is taken in the direction of the intersection of the greenwich meridian and the equator, the Y axis is taken in the direction of 90 degrees from the east, and the Z axis is taken in the direction of the north pole.

In the present embodiment, the coordinate conversion unit 509 converts the three-dimensional coordinates of each measurement point in the camera coordinate system derived by the topography data generation unit 508 into coordinates in the world geodetic system. However, when the topographic data is generated without the excavator traveling, the coordinate conversion unit 509 may convert the three-dimensional coordinates of each measurement point in the camera coordinate system derived by the topographic data generation unit 508 into coordinates in the excavator coordinate system.

The coordinate correcting unit 510 is a functional element that corrects the converted coordinates derived by the coordinate converting unit 509. In the present embodiment, when 2 or more coordinates having common X-axis coordinates and Y-axis coordinates and different Z-axis (height) coordinates in the world geodetic system correspond to 1 measurement point, the coordinate correction unit 510 derives 1 representative Z-axis (height) coordinate from the 2 or more Z-axis (height) coordinates. For example, the coordinate correction unit 510 derives an average value of 2 or more Z-axis (height) coordinates as a representative Z-axis (height) coordinate. The larger the number of Z-axis (height) coordinates for deriving the representative Z-axis (height) coordinate, the more accurately the coordinate correction unit 510 can derive the height of the measurement point.

The topography data display unit 511 is a functional element for displaying the topography data generated by the device guidance apparatus 50. In the present embodiment, the topography data display unit 511 generates a three-dimensional image (for example, a wire frame, a polygonal mesh, or the like) of the topography around the shovel from the topography data and displays the image on the display device D3. The topographic data is, for example, a set of the converted coordinates derived by the coordinate conversion unit 509 or the corrected coordinates corrected by the coordinate correction unit 510. The topography data display unit 511 may generate a three-dimensional image of the design topography from the design data, and display the three-dimensional image of the design topography and a three-dimensional image of the topography around the shovel on the display device D3. The topography data display unit 511 may display a three-dimensional image of the topography around the shovel by combining the image currently captured by the camera S6. The operator of the excavator can visually recognize the generated topographic data to confirm the presence or absence of an unmeasured part. If an unmeasured part is present, the topography of the unmeasured part can be arbitrarily measured.

Next, an example of the process of generating the topographic data will be described with reference to fig. 7. Fig. 7 is a plan view of the shovel, and shows measurement target ranges X1 to X4 related to the camera S6 when the upper revolving unit 3 revolves in the right direction. Specifically, the measurement target range X1 is the measurement target range included in the 1 pair of camera images captured by the camera S6 when the excavator is oriented in the reference direction as indicated by the solid line in fig. 7. The measurement target range X2 is a measurement target range included in 1 pair of camera images captured by the camera S6 when the upper revolving unit 3 revolves around the revolving axis SX by the revolving angle α as shown by the broken line in fig. 7. The measurement target range X3 is a measurement target range included in the 1 pair of camera images captured by the camera S6 when the upper revolving unit 3 further revolves around the revolving axis SX by the revolving angle α as shown by the one-dot chain line in fig. 7. The measurement target range X4 is a measurement target range included in the 1 pair of camera images captured by the camera S6 when the upper revolving unit 3 further revolves around the revolving axis SX by the revolving angle α as shown by the two-dot chain line in fig. 7.

The repeated measurement target range X12 indicates a range in which the measurement target range X1 and the measurement target range X2 overlap. The repeated measurement target range X23 indicates a range in which the measurement target range X2 overlaps with the measurement target range X3, and the repeated measurement target range X34 indicates a range in which the measurement target range X3 overlaps with the measurement target range X4.

The stereo pair image acquisition unit 507 acquires stereo pair images at every rotation angle α of the upper rotating body 3, and derives the distance between each measurement point in the measurement target range included in each stereo pair image. The topographic data generating unit 508 then derives the three-dimensional coordinates of each measurement point in the camera coordinate system from the distance between each measurement point derived by the stereo pair image acquiring unit 507. The coordinate conversion unit 509 converts the three-dimensional coordinates of each measurement point in the camera coordinate system derived by the topography data generation unit 508 into coordinates in the world geodetic system.

Therefore, when the operator rotates the upper slewing body 3 by 360 degrees, the equipment guide device 50 can acquire 2Z-axis (height) coordinates for each measurement point included in the annular region TR around the excavator.

When 2Z-axis (height) coordinates are acquired for each measurement point, the coordinate correction unit 510 derives an average value of the 2Z-axis (height) coordinates as a representative Z-axis (height) coordinate.

The stereo pair image acquisition unit 507 may acquire stereo pair images every time the upper revolving structure 3 revolves by 2 α (2 times the revolving angle α). At this time, the machine guide 50 acquires 1Z-axis (height) coordinate for each measurement point included in the annular region TR around the excavator, and directly sets the 1Z-axis (height) coordinate as a representative Z-axis (height) coordinate. In this way, the device guiding apparatus 50 can generate topographic data of the annular region TR.

Next, another example of the topographic data generation step will be described with reference to fig. 8. Fig. 8 is a plan view of the shovel, and shows a measurement target range of the 3 cameras S6 (rear camera S6B, right side camera S6R, and left side camera S6L) when the upper revolving body 3 revolves in the right direction. Specifically, the measurement target ranges X1, Y1, and Z1 are the measurement target ranges included in 1 pair of camera images captured by the rear camera S6B, the right side camera S6R, and the left side camera S6L, respectively, when the excavator is oriented in the reference direction as indicated by the solid line in fig. 8. The same applies to the measurement target ranges X2, Y2, Z2, X3, Y3, and Z3.

The overlapping measurement target range X12 indicates a range in which the measurement target range X1 overlaps with the measurement target range X2. The same applies to the repeated measurement target ranges Y12, Z12, X23, Y23, and Z23.

The stereo pair image acquisition unit 507 acquires 3 pairs of stereo pair images at each rotation angle α of the upper rotating body 3, and derives a distance between each measurement point in the measurement target range included in each stereo pair image. The topographic data generating unit 508 then derives the three-dimensional coordinates of each measurement point in the camera coordinate system from the distance between each measurement point derived by the stereo pair image acquiring unit 507. The coordinate conversion unit 509 converts the three-dimensional coordinates of each measurement point in the camera coordinate system derived by the topography data generation unit 508 into coordinates in the world geodetic system.

Therefore, when the operator rotates the upper slewing body 3 by 180 degrees, the equipment guide device 50 can acquire 2 or 4Z-axis (height) coordinates for each measurement point included in the annular region TR around the excavator. Specifically, the measurement points included in the annular region TR are constituted as follows: measurement points having 2Z-axis (height) coordinates derived from 2 pairs of stereo pair images captured by the left side camera S6L; measurement points having 2Z-axis (height) coordinates derived from 2 pairs of stereoscopic pair images captured by the right side camera S6R; and measurement points having 4Z-axis (height) coordinates derived from the 2 pairs of stereo pair images captured by the left side camera S6L or the right side camera S6R and the 2 pairs of stereo pair images captured by the rear camera S6B. The shovel may be additionally provided with a front camera. At this time, when the operator rotates the upper slewing body 3 by 90 degrees, the equipment guide device 50 can acquire 2Z-axis (height) coordinates for each measurement point included in the annular region TR around the excavator.

When at least 2Z-axis (height) coordinates are acquired for each measurement point, the coordinate correction unit 510 derives an average value of the at least 2Z-axis (height) coordinates as a representative Z-axis (height) coordinate.

The stereo pair image acquisition unit 507 may acquire stereo pair images every time the upper revolving structure 3 revolves by 2 α (2 times the revolving angle α). At this time, the equipment guide 50 acquires 1 or 2Z-axis (height) coordinates for each measurement point included in the annular region TR around the excavator. When the number of Z-axis (height) coordinates is 1, the 1Z-axis (height) coordinate is directly set as a representative Z-axis (height) coordinate, and when the number of Z-axis (height) coordinates is 2, the average value thereof is set as a representative Z-axis (height) coordinate. In this way, the device guiding apparatus 50 can generate topographic data of the annular region TR.

Next, a case where the equipment guide device 50 mounted on the excavator which repeats turning and traveling generates topographic data will be described with reference to fig. 9A, 9B, and 10. Fig. 9A and 9B are plan views of a shovel having a camera S6 mounted on the upper rear end of the upper revolving structure 3. Specifically, fig. 9A shows an annular region TR1 (a region indicated by hatching) indicating a range of topographic data generated when the excavator while stopped is rotated 360 degrees. Fig. 9B shows annular region TR2 indicating a range of topographic data generated when the excavator is rotated 360 degrees after traveling a predetermined distance D, in addition to annular region TR1 of fig. 9A. Region TR12 hatched with a thin dot indicates an overlapping region between annular region TR1 and annular region TR 2. The predetermined distance D is a length obtained by subtracting the inner diameter Db from the outer diameter Da of the annular regions TR1 and TR 2. This means that when the excavator travels a predetermined distance D, the inner circle of annular region TR1 is tangent to the outer circle of annular region TR2, and the inner circle of annular region TR2 is tangent to the outer circle of annular region TR 1. The area indicated by the bold-dotted hatching in fig. 9B indicates the range of the terrain data that is first generated when the excavator is rotated 360 degrees after traveling a predetermined distance D. Specifically, the region is inside the inner circle of annular region TR1, and the region is outside the outer circle of annular region TR1 and inside the outer circle of annular region TR 2.

Next, with reference to fig. 10, a description will be given of a timing at which the moving shovel makes 360-degree rotation to generate topographic data and a range (annular region) of topographic data generated by the 360-degree rotation. Fig. 10 shows a positional relationship between the travel path CT of the shovel and annular regions TR1 to TR 8. Fig. 10 shows that the excavator moves from left to right along the movement path CT and generates topographic data in the order of annular regions TR1, TR2, and … ….

In fig. 10, annular region TR3 represents a range of topographic data generated when the excavator turns 360 degrees every time the excavator moves a distance D. The range from annular region TR4 to annular region TR6 represents a range of topographic data generated when the excavator is rotated 360 degrees for every movement distance (Da + Db). The range of the topographic data generated when the excavator is rotated 360 degrees every time the excavator moves by 2Da (2 times the outer diameter Da of the annular region) is shown from the annular region TR 7.

In this way, the machine guidance device 50 can generate topographic data while automatically acquiring stereoscopic paired images at an appropriate timing on the excavator which repeats turning and movement.

The equipment guidance device 50 is capable of generating the topographic data in the desired range so as to avoid or generate the duplication as much as possible while notifying the operator of the excavator of the contents of the operation required to generate the topographic data in the desired range. "repetition" means acquiring 2 or more different Z-axis (height) coordinates with respect to 1 measurement point. Further, avoiding repetition brings about an effect of effectively generating the topographic data, and on the other hand, bringing about an effect of bringing about repetition brings about an effect of improving the accuracy of the topographic data. However, the topography of the work site changes from moment to moment as work progresses. Therefore, the equipment guide 50 may measure the topography around the excavator at predetermined time intervals and update the topography data with the measurement result to acquire the latest topography data. Further, the amount of soil and sand to be worked may be calculated by comparing new and old topographic data. The amount of the soil and sand to be worked is, for example, the amount of the soil and sand excavated by the excavation work, the amount of the soil and sand backfilled during the backfilling work, and the like.

With the above configuration, the equipment guide 50 functioning as a measuring device of the excavator measures the topography around the excavator based on the stereo pair images captured by the stereo camera during the rotation of the excavator. Accordingly, topographic data around the excavator (e.g., 360 degrees around) can be generated. As a result, the progress of construction can be effectively managed.

The equipment guide 50 measures the topography around the excavator from a plurality of pairs of stereo pair images taken at various turning angles. Therefore, a dead-angle region (a region in which topographic data cannot be generated) formed by an object existing around the shovel can be reduced.

Further, by using the stereo pair images captured by the 3 cameras of the rear camera S6B, the right side camera S6R, and the left side camera S6L, it is possible to generate the topographic data around the excavator more efficiently and/or with higher accuracy.

The equipment guide device 50 can support an operation by an operator of the shovel or can perform automatic control of the shovel using the topographic data thus generated. As a result, smooth construction can be achieved.

Further, since the equipment guide device 50 measures the topography around the excavator from the stereo pair image, it is possible to generate the topography data more accurately than the configuration in which the topography data is derived from the trajectory of the bucket edge. This is because it is possible to grasp changes in the ground surface caused by, for example, earth and sand overflowing from the bucket 6, earth and sand falling into a hollow, earth and sand backfilled, and the like.

Then, the equipment guide device 50 measures the topography around the excavator from the stereo pair images captured by the camera attached to the upper revolving structure 3. Therefore, it is not necessary to provide a camera outside the shovel, and the camera does not become a work obstacle.

Further, the device guide apparatus 50 may specify the position coordinates of the measurement point based on the 1 st position coordinates of the measurement point derived from the 1 st stereo pair image and the 2 nd position coordinates of the measurement point derived from the 2 nd stereo pair image captured under a condition different from that of the 1 st stereo pair image. Further, the device guide apparatus 50 may specify the position coordinates of the measurement point based on the 1 st position coordinates of the measurement point derived from the stereo pair image captured by the 1 st camera and the 2 nd position coordinates of the measurement point derived from the stereo pair image captured by the 2 nd camera. In this manner, the device guide apparatus 50 can determine the position coordinates to be finally used from the plurality of position coordinates relating to 1 measurement point. For example, the average value of the plurality of height coordinates may be set as the final height coordinate.

The preferred embodiments of the present invention have been described above in detail. However, the present invention is not limited to the above-described embodiments. Various modifications and substitutions may be made to the above-described embodiments without departing from the scope of the invention.

For example, in the above-described embodiment, the functional unit for measuring the topography around the excavator is mounted as a part of the equipment guide 50, but may be incorporated in the controller 30 mounted on the excavator main body. Further, the present invention may be incorporated in a management device or a mobile terminal such as a smartphone provided outside the shovel.

Fig. 11 is a diagram showing an example of a measuring system as a measuring device in which a functional unit for measuring a topography around a shovel is incorporated in at least 1 of a management device and a mobile terminal. As shown in fig. 11, the measurement system includes a shovel PS, a management apparatus FS, and a mobile terminal MS (support apparatus). The shovel PS, the management device FS, and the mobile terminal MS function as communication terminals connected to each other through the communication network CN. The number of the shovel PS, the management device FS, and the mobile terminal MS constituting the measurement system may be 1 or more. In the example of fig. 11, the measurement system includes 1 shovel PS, 1 management device FS, and 1 mobile terminal MS.

The shovel PS has a communication device S7. The communication device S7 transmits information to the outside of the shovel PS. The communication means S7 transmits information that can be received by at least one of the management apparatus FS and the mobile terminal MS, for example.

The management device FS is a device for managing the operation of the shovel PS, and is, for example, a computer provided with a display device, such as a management center installed outside the work site. The management apparatus FS may be a portable computer that can be carried by a user. The mobile terminal MS is a communication terminal with a display device, and includes a smart phone, a tablet terminal, a notebook computer, and the like.

When the stereo pair image is acquired by the shovel PS, the communication device S7 of the shovel PS transmits information to the management device FS and the mobile terminal MS via the communication network CN. This information includes the information needed to measure the terrain surrounding the excavator. The management device FS and the mobile terminal MS generate a three-dimensional image (e.g., a wire frame, a polygonal mesh, etc.) of the terrain around the shovel, and display the three-dimensional image on an additional display device (display unit). This enables a manager or the like of the shovel PS to check the topography around the shovel using at least one of the management device FS and the mobile terminal MS. As a result, it is possible to grasp changes in the ground surface due to earth and sand overflowing from the bucket 6, earth and sand falling into the pit, earth and sand backfilled, and the like, and to effectively manage the progress of construction.

Alternatively, the shovel PS or the management device FS may generate a three-dimensional image of the terrain around the shovel, transmit data relating to the generated three-dimensional image to the mobile terminal MS, and display the three-dimensional image on the display device (display unit) of the mobile terminal MS.

Also, in the above-described embodiment, the equipment guide 50 measures the topography around the shovel from the stereo pair images captured by the camera S6 in the revolution of the shovel. However, the present invention is not limited to this structure. For example, the equipment guide 50 may measure the topography around the shovel from the stereo pair images captured by the camera S6 while the shovel is walking, or may measure the topography around the shovel from the stereo pair images captured by the camera S6 while the shovel is walking and turning.

This application claims priority based on japanese patent application No. 2015-167166, filed on 26/8/2015, and the entire contents of this japanese patent application are incorporated by reference into this application.

Description of the symbols

1-lower traveling body, 2-swing mechanism, 3-upper swing body, 4-boom, 5-arm, 6-bucket, 7-boom cylinder, 8-arm cylinder, 9-bucket cylinder, 10-cab, 11-engine, 11 a-alternator, 11 b-starter, 11 c-water temperature sensor, 14-main pump, 14 a-regulator, 14 b-discharge pressure sensor, 14 c-oil temperature sensor, 15-pilot pump, 17-control valve, 26-operator, 29-pressure sensor, 30-controller, 30 a-temporary storage section, 50-equipment guide, 55-fuel containing section, 55 a-fuel containing amount detecting section, 70-battery, 72-electric component, 75-engine speed adjustment scale, 501-inclination angle calculation section, 503-height calculation section, 504-comparison section, 505-alarm control section, 506-guidance data output section, 507-stereo pair image acquisition section, 508-terrain data generation section, 509-coordinate conversion section, 510-coordinate correction section, 511-terrain data display section, B-object, CN-communication network, FS-management device, MS-mobile terminal, S1-boom angle sensor, S2-arm angle sensor, S3-bucket angle sensor, S4-body inclination sensor, S5-turning angular velocity sensor, S6, S6 a-camera, S6B-rear camera, S6L-left side camera, S6R right side camera, S61, S61a, S62 camera, S7 communication device, S8 positioning device, D1 input device, D2 voice output device, D3 display device, D3a conversion processing unit, D4 storage device, D5 door lock lever, D6 door lock valve, D7 engine controller unit.