JP6954145B2 - Tip attachment dimensional measuring device - Google Patents

Description

The present invention relates to a tip attachment dimension measuring device that measures the dimensions of a tip attachment of a work machine.

For example, Patent Document 1 describes a technique in which a distance sensor measures a distance distribution including a tip attachment (attachment in the same document) and recognizes the tip attachment based on the distance distribution (claim 1 of the same document). reference).

JP-A-2017-157016

In the technique described in the same document, the dimensions of the tip attachment and the like (features in the same document) are recognized based on the distance distribution. A distance sensor is used to measure the distance distribution. However, the distance sensor may be more expensive than a monocular camera or the like. In addition, when measuring the dimensions of the tip attachment, it is important to ensure the accuracy of the dimensional measurement.

Therefore, an object of the present invention is to provide a tip attachment dimension measuring device capable of accurately measuring the dimensions of a tip attachment without using a distance distribution.

The advanced attachment dimension measuring device of the present invention includes a working device, a camera, and a controller. The work device is attached to the upper swing body of the work machine and has a replaceable tip attachment at the tip. The camera is attached to the upper swing body and captures an image including the tip attachment. The controller determines a simple background range in which the degree of temporal change of the image is a range equal to or less than a predetermined value from the images captured by the camera. The controller causes the camera to take an image of the tip attachment in the simple background range, which is an image of the tip attachment swinging about a rotation axis. The controller acquires the width dimension on the image of the tip attachment in the direction of the rotation axis based on the image taken by the camera. The controller obtains the actual width dimension of the tip attachment from the width dimension on the acquired image. The dimension in the direction orthogonal to the direction of the rotation axis from the reference position to the tip of the tip attachment is defined as the vertical dimension. Based on the image taken by the camera, the controller acquires the maximum value of the vertical dimension on the image of the tip attachment when the tip attachment is swung. The controller obtains the actual vertical dimension of the tip attachment from the maximum value of the vertical dimension on the acquired image.

With the above configuration, the dimensions of the tip attachment can be measured accurately without using the distance distribution.

It is a figure which looked at the work machine 10 from the side. It is a block diagram of the tip attachment dimension measuring apparatus 1 provided in the work machine 10 shown in FIG. It is a flowchart of the tip attachment dimension measuring apparatus 1 shown in FIG. It is a figure which shows the image taken by the camera 40 shown in FIG. It is a figure which shows the peripheral part of the tip attachment 25 in the image shown in FIG. 4, and is the figure which shows the state which rocked the tip attachment 25 toward the excavation side from the state shown in FIG. It is a block diagram of the tip attachment dimension measuring apparatus 101 of the modification 1. FIG. It is a flowchart of the tip attachment dimension measuring apparatus 101 shown in FIG. It is a block diagram of the tip attachment dimension measuring apparatus 201 of the modification 2. FIG. It is a flowchart of the tip attachment dimension measuring apparatus 201 shown in FIG.

The tip attachment dimension measuring device 1 shown in FIG. 1 will be described with reference to FIGS. 1 to 5.

The tip attachment dimension measuring device 1 is a device for measuring the dimensions of the tip attachment 25, and is provided on the work machine 10. The work machine 10 is a machine that performs work such as construction work, for example, a construction machine, and for example, an excavator. The work machine 10 includes a lower traveling body 11, an upper swivel body 13, a working device 20, a working device attitude sensor 30, a camera 40, a camera shooting range changing unit 45 shown in FIG. 2, and a working device driving unit 47. And a controller 60.

The lower traveling body 11 is a portion for traveling the work machine 10 shown in FIG. 1, and includes, for example, a crawler. The upper rotating body 13 is provided above the lower traveling body 11 and can turn with respect to the lower traveling body 11. The upper swing body 13 includes a cab 13c (driver's cab).

The work device 20 is a device attached to the upper swivel body 13 to perform work. The working device 20 includes a boom 21, an arm 23, and a tip attachment 25. The boom 21 is rotatably attached to the upper swing body 13. The arm 23 is rotatably attached to the boom 21.

The tip attachment 25 is provided at the tip of the working device 20. The tip attachment 25 can be replaced with a plurality of types. Types of tip attachment 25 include buckets (example shown in FIG. 1), clamshells, scissors-like devices, hammers, magnets, and the like. For example, when the tip attachment 25 is a bucket, the tip attachment 25 can be replaced with buckets of various dimensions. The tip attachment 25 is rotatably (swinged) attached to the arm 23. The rotation axis of the tip attachment 25 with respect to the arm 23 is defined as the rotation axis 25a. The reference position for measuring the dimensions of the tip attachment 25 is the reference position 25b. The reference position 25b is a position determined regardless of the type of the tip attachment 25. The reference position 25b is, for example, the base end portion of the tip attachment 25, for example, the position of the rotation shaft 25a (the position of the bucket pin, etc.). As shown in FIG. 5, a marker 25m is attached to a reference position 25b or the like. The marker 25m is a mark for image recognition, and has a predetermined shape, pattern, color, and the like. The marker 25m is attached to the reference position 25b. Alternatively, the marker 25m is attached at a position corresponding to the reference position 25b when viewed from the camera 40. The position corresponding to the reference position 25b when viewed from the camera 40 is, for example, a position overlapping the reference position 25b when viewed from the camera 40, or a position close to the reference position 25b. In the example shown in FIG. 5, the marker 25m is attached to the arm 23.

The work device posture sensor 30 is a sensor that detects the posture of the work device 20 shown in FIG. The work device posture sensor 30 includes a boom angle sensor 31, an arm angle sensor 33, and a tip attachment angle sensor 35. The boom angle sensor 31 detects the angle of the boom 21 with respect to the upper swing body 13 (boom 21 angle). For example, the boom angle sensor 31 is an angle sensor (encoder) provided at the base end of the boom 21. For example, the point that it is an angle sensor is the same for the arm angle sensor 33 and the tip attachment angle sensor 35. For example, the boom angle sensor 31 may detect the boom 21 angle by detecting the amount of expansion and contraction of the boom cylinder that drives the boom 21. In this case, the amount of expansion and contraction of the boom cylinder is converted into the boom 21 angle. The same applies to the arm angle sensor 33 and the tip attachment angle sensor 35 in that the angle may be detected by detecting the amount of expansion and contraction of the cylinder. The arm angle sensor 33 detects the angle of the arm 23 with respect to the boom 21 (arm 23 angle). The tip attachment angle sensor 35 detects the angle of the tip attachment 25 with respect to the arm 23.

The camera 40 can capture an image including the tip attachment 25. The camera 40 captures an image of the working device 20 and its surroundings. It is preferable that the camera 40 can capture the entire range assumed as the movable range of the tip attachment 25. The camera 40 may be attached to the upper swing body 13, for example, the cab 13c (for example, the upper left front, etc.), and may be attached to, for example, a portion of the upper swing body 13 other than the cab 13c. The camera 40 may be, for example, a monocular camera, or may be, for example, a stereo camera. In order to reduce the cost of the camera 40, the camera 40 is preferably a monocular camera. The shooting range of the camera 40 may be variable or fixed. The camera 40 may be movable (for example, rotate) with respect to the upper swing body 13, or may be fixed to the upper swing body 13. The camera 40 may have a zoom function. Note that FIG. 1 shows an example of the angle of view 40a of the camera 40. Further, in the following, unless otherwise specified, a case where the shooting range of the camera 40 is variable will be described.

The camera shooting range changing unit 45 changes the shooting range of the camera 40. For example, the camera shooting range changing unit 45 may change the shooting range of the camera 40 by moving the camera 40 with respect to the upper swivel body 13 (see FIG. 1). For example, the camera shooting range changing unit 45 may change the shooting range of the camera 40 by changing the zoom position of the camera 40. For example, the camera shooting range changing unit 45 may change the shooting range of the camera 40 by turning the upper rotating body 13 with respect to the lower traveling body 11 (see FIG. 1).

The work device drive unit 47 drives the work device 20 (see FIG. 1). Specifically, for example, the work device drive unit 47 is an actuator (for example, a cylinder) that drives the work device 20, a hydraulic circuit that controls the actuator, and the like.

The controller 60 performs input / output of signals (information) and calculations (determination, calculation). A work device posture sensor 30, a camera 40, a camera shooting range changing unit 45, a work device drive unit 47, and the like are connected to the controller 60. The functions realized by the controller 60 include, for example, a camera shooting range control function 61, a work device attitude control function 63, and an interference prevention control function 65. The camera shooting range control function 61 is a function for controlling (automatically controlling) the shooting range of the camera 40. The work device posture control function 63 is a function for controlling (automatically controlling) the posture of the work device 20. The interference prevention control function 65 will be described later. Further, the controller 60 may have functions other than these.

(Operation)
The operation of the tip attachment dimension measuring device 1 (mainly the operation of the controller 60) will be described with reference to the flowchart shown in FIG. In the following, each component (camera 40, controller 60, etc.) of the tip attachment dimension measuring device 1 will be described mainly with reference to FIG. 1, and each step of the flowchart will be described with reference to FIG.

In step S11, as shown in FIG. 4, the camera 40 (see FIG. 1) captures an image. The image taken by the camera 40 is referred to as a camera image Im. Then, the controller 60 (see FIG. 1) determines (selects) the simple background range A from the camera image Im. More specifically, the controller 60 selects a range in which the image is not moving or is almost not moving from the camera image Im as the simple background range A. Specifically, a predetermined value (threshold value) regarding the degree of temporal change of the image is set in the controller 60 in advance. Then, the controller 60 defines the range of the camera image Im in which the degree of temporal change of the image is equal to or less than a predetermined value as the simple background range A. The controller 60 may set the portion of the camera image Im where the degree of temporal change of the image is the smallest and its periphery as the simple background range A. The controller 60 may determine the simple background range A based not only on the degree of temporal change of the image but also on the complexity of the shape and color of the image.

In steps S21 and S23, the controller 60 shown in FIG. 1 has a shooting range of the camera 40 and a working device so that the tip attachment 25 is reflected in the simple background range A (see FIG. 4, hereinafter the same applies to the simple background range A). Controls 20 postures.

In step S21, the controller 60 controls (automatically controls) the shooting range of the camera 40 so that the tip attachment 25 can be projected within the simple background range A. The controller 60 shown in FIG. 2 controls the shooting range of the camera 40 by outputting a command to the camera shooting range changing unit 45. Specific examples of controlling the shooting range of the camera 40 are as follows. In the example shown in FIG. 4, the tip attachment 25 cannot be seen in the simple background range A even if the posture of the work device 20 is changed. Therefore, the controller 60 shown in FIG. 1 may change the position of the camera 40 with respect to the upper rotating body 13, for example, or may rotate the upper rotating body 13 with respect to the lower traveling body 11. Further, for example, when the part used for the dimension measurement is determined in the camera image Im (for example, when the part used for the dimension measurement is determined), the simple background range A is arranged in the portion used for the dimension measurement. In addition, the shooting range of the camera 40 may be controlled. Further, for example, when the camera 40 has a zoom function, the zoom position of the camera 40 may be set so that the ratio of the simple background range A in the camera image Im is as large as possible. When the process of step S21 is completed, the tip attachment 25 may not be reflected in the simple background range A. The shooting range of the camera 40 may be set so that the tip attachment 25 can be projected in the simple background range A when the posture of the working device 20 is changed in step S23 below. The shooting range of the camera 40 set in step S21 is fixed (may be changed) until, for example, the dimension measurement is completed (until the series of flows shown in FIG. 3 is completed).

In step S23, the controller 60 shown in FIG. 1 controls (automatically controls) the posture of the work device 20 so that the tip attachment 25 is reflected in the simple background range A. The controller 60 controls the posture of the work device 20 by outputting a command to the work device drive unit 47 (see FIG. 2). The controller 60 controls the postures (angles) of the boom 21 and the arm 23. Here, the controller 60 does not have to control the angle of the tip attachment 25 with respect to the arm 23. The controller 60 controls the posture of the working device 20 so that when the tip attachment 25 is swung (see step S41 below), the tip attachment 25 can continue to be reflected in the simple background range A. do. The postures of the boom 21 and the arm 23 set in step S23 are fixed (may be changed) until, for example, the dimensional measurement is completed (until the series of flows shown in FIG. 3 is completed).

In step S31, the controller 60 acquires the position (coordinates in the camera image Im) where the reference position 25b in the camera image Im is projected. This process is performed, for example, as in the following [Example 1a], [Example 1b], or [Example 1c]. [Example 1a] The controller 60 calculates a position in which the reference position 25b in the camera image Im is projected based on the posture of the work device 20 detected by the work device posture sensor 30. More specifically, the controller 60 makes this calculation based on the boom 21 angle and the arm 23 angle. Further, the controller 60 may perform this calculation based on the information on the structure of the boom 21 (dimensions, shapes, etc.) and the information on the structure of the arm 23. Further, the controller 60 performs this calculation based on the information on the position of the camera 40 on the upper swing body 13, specifically, for example, the information on the relative position between the position of the camera 40 and the base end portion of the boom 21. May be good.

[Example 1b] The controller 60 may acquire the position where the reference position 25b in the camera image Im is projected by recognizing (image recognition) the marker 25m from the camera image Im shown in FIG. [Example 1c] Even if the controller 60 acquires the position where the reference position 25b in the camera image Im is reflected based on the posture of the work device 20 detected by the work device posture sensor 30 and the image recognition of the marker 25 m. good. In this case, even if there is a marker 25m at a position other than the reference position 25b that is the same as or similar to the marker 25m, the controller 60 can accurately acquire the position where the reference position 25b is projected in the camera image Im.

In step S41, the controller 60 shown in FIG. 1 swings the tip attachment 25. The controller 60 swings (automatically swings) the tip attachment 25 by outputting a command to the working device drive unit 47 (see FIG. 2). For example, the controller 60 swings the tip attachment 25 with respect to the arm 23 over the entire range in which the tip attachment 25 can rotate. For example, when the tip attachment 25 is a bucket, the controller 60 swings the tip attachment 25 over the entire area between the most excavated side (scooping side) and the most soil removal side. At this time, the camera 40 captures (continuously captures in time) an image of the swinging tip attachment 25 reflected in the simple background range A.

The controller 60 may be preset with conditions that prevent the tip attachment 25 from swinging. For example, if it is expected that the tip attachment 25 will interfere with the ground or the like if the tip attachment 25 is swung, the controller 60 does not have to swing the tip attachment 25. Specifically, for example, when the height of the reference position 25b with respect to a surface corresponding to a flat ground (a virtual surface parallel to the bottom surface of the lower traveling body 11 and parallel to the bottom surface of the lower traveling body 11) is equal to or less than a predetermined value. The controller 60 does not have to swing the tip attachment 25. At the time of step S41, the exact dimensions of the tip attachment 25 are unknown. On the other hand, the dimensions of the tip attachment 25, which is assumed to be provided in the working device 20, are approximately fixed (limited to a certain range). Therefore, for example, the controller 60 can determine that the tip attachment 25 does not interfere with the ground or the like even if the largest tip attachment 25 assumed to be provided in the work device 20 is swung. The attachment 25 may be swung.

In step S43, the controller 60 acquires the width dimension X of the tip attachment 25 based on the camera image Im (by image processing), as shown in FIG. The width dimension X is the dimension of the tip attachment 25 in the direction in which the swinging rotation shaft 25a of the tip attachment 25 extends (direction of the rotation shaft 25a). The details of this process are as follows. The direction of the rotation axis 25a in the camera image Im is defined as the image lateral direction x. The direction orthogonal to the rotation axis 25a (direction orthogonal to the horizontal direction x of the image) in the camera image Im is defined as the vertical direction y of the image. The controller 60 acquires the width dimension X (hereinafter, also referred to as “width dimension X on the image”) of the tip attachment 25 in the image lateral direction x. Then, the controller 60 obtains (calculates, converts) the actual width dimension X of the tip attachment 25 (hereinafter, also referred to as “actual width dimension X”) from the width dimension X on the image. The actual width dimension X is the actual dimension of the tip attachment 25 (dimension expressed in units such as meters) in the direction of the rotation axis 25a. This conversion is performed based on, for example, the distance from the camera 40 shown in FIG. 1 to the reference position 25b, and the zoom position when the zoom function of the camera 40 is used (the conversion in step S45 is also the same). ). The controller 60 may acquire the width dimension X of the tip portion of the tip attachment 25 (see FIG. 5), and acquires the width dimension X of the entire tip attachment 25 (the entire region from the base end portion to the tip end portion). It may be (not shown).

In step S45, as shown in FIG. 5, the controller 60 acquires the maximum value Ymax of the vertical dimension Y when the tip attachment 25 is swung based on the camera image Im (by image processing). The vertical dimension Y is a dimension from the reference position 25b of the tip attachment 25 to the tip in a direction orthogonal to the direction of the rotation axis 25a. The details of this process are as follows. The controller 60 acquires the vertical dimension Y (hereinafter, also referred to as “vertical dimension Y on the image”) in the vertical direction y of the image from the reference position 25b to the tip of the tip attachment 25. More specifically, the difference between the coordinates of the image vertical direction y of the reference position 25b and the coordinates of the image vertical direction y of the tip of the tip attachment 25 is calculated. When the tip attachment 25 swings (see step S41), the vertical dimension Y on the image increases or decreases. The controller 60 acquires the maximum value Ymax (maximum value Ymax on the image) of the vertical dimension Y on the image when the tip attachment 25 is swung. Then, the controller 60 obtains (calculates, converts) the maximum value Ymax of the actual vertical dimension Y of the tip attachment 25 from the maximum value Ymax of the vertical dimension Y on the image (similar to the conversion of the width dimension X).

Then, the controller 60 shown in FIG. 1 ends the process of measuring the dimensions of the tip attachment 25. The controller 60 reflects the dimensions of the tip attachment 25 in control parameters such as the interference prevention control function 65 shown in FIG. 2, for example. The interference prevention control function 65 is a function of controlling (restricting) the operation of the work device 20 so as to prevent the tip attachment 25 from interfering with surrounding objects. The "surrounding object" is, for example, an upper swivel body 13, a lower traveling body 11, a roof, a ceiling, a wall, or a floor of a building.

(effect)
The effects of the tip attachment dimension measuring device 1 shown in FIG. 1 are as follows.

(Effect of the first invention)
The tip attachment dimension measuring device 1 includes a working device 20, a camera 40, and a controller 60. The work device 20 is attached to the upper swing body 13 of the work machine 10. The working device 20 has a replaceable tip attachment 25 at the tip (tip of the working device 20). The camera 40 is attached to the upper swing body 13 and takes an image (camera image Im (see FIG. 4)) including the tip attachment 25.

[Structure 1-1] The controller 60 has a simple background range A (see FIG. 4) in which the degree of temporal change of the image is within a predetermined value from the images (camera image Im) captured by the camera 40. To determine. As shown in FIG. 5, the controller 60 is an image in which the tip attachment 25 is reflected in the simple background range A, and the image of the tip attachment 25 swinging about the rotation axis 25a is transmitted to the camera 40. Let me shoot.

[Structure 1-2] The controller 60 (see FIG. 1) is on the image of the tip attachment 25 in the direction of the rotation axis 25a based on the image (camera image Im) taken by the camera 40 (see FIG. 1). Acquire the width dimension X. The controller 60 obtains the actual width dimension X of the tip attachment 25 from the width dimension X on the acquired image. The dimension from the reference position 25b of the tip attachment 25 to the tip in the direction orthogonal to the direction of the rotation axis 25a is defined as the vertical dimension Y. The controller 60 acquires the maximum value Ymax of the vertical dimension Y on the image of the tip attachment 25 when the tip attachment 25 is swung based on the image (camera image Im) captured by the camera 40. The controller 60 obtains the actual vertical dimension Y of the tip attachment 25 from the maximum value Ymax of the vertical dimension Y on the acquired image.

In the above [Structure 1-1], the degree of temporal change of the image (background) around the tip attachment 25 in the camera image Im is equal to or less than a predetermined value (the change is small). Therefore, the controller 60 (see FIG. 1) can easily distinguish the tip attachment 25 from the background, and can easily recognize the outer shape (contour) of the swinging tip attachment 25. As a result, the dimensional measurement of the tip attachment 25 can be performed with high accuracy.

Further, in the above [Structure 1-1], the controller 60 shown in FIG. 1 has a distance distribution from the tip attachment 25 and an object reflected around the tip attachment 25 to the camera 40 when distinguishing the tip attachment 25 from the background. There is no need to use information. Further, in the above [Structure 1-2], the controller 60 does not need to use the information of the distance distribution from the tip attachment 25 to the camera 40 when acquiring the dimensions of the tip attachment 25. Therefore, the camera 40 does not need to acquire the distance distribution information. Therefore, the cost of the camera 40 can be suppressed as compared with the case where the camera 40 needs to acquire the information of the distance distribution.

(Effect of the second invention)
[Structure 2] The tip attachment dimension measuring device 1 includes a working device posture sensor 30 that detects the posture of the working device 20. The controller 60 acquires a position in which the reference position 25b in the image (camera image Im) captured by the camera 40 is projected based on the posture of the work device 20 detected by the work device posture sensor 30.

According to the above [configuration 2], the processing of the controller 60 shown in FIG. 1 can be simplified as compared with the case where the controller 60 acquires the position where the reference position 25b in the camera image Im shown in FIG. 5 is projected by using image recognition. , The calculation load of the controller 60 can be suppressed. In the above-mentioned "acquisition using image recognition", for example, the controller 60 (see FIG. 1) recognizes the shape of the arm 23 in the camera image Im (see FIG. 5) in the camera image Im. This is the case of acquiring the position where the reference position 25b of the above is reflected.

(Effect of the third invention)
[Structure 3] The tip attachment dimension measuring device 1 includes a marker 25 m as shown in FIG. The marker 25m is attached to the reference position 25b, or is attached to a position corresponding to the reference position 25b when viewed from the camera 40 (see FIG. 1). The controller 60 (see FIG. 1) recognizes the marker 25m from the image (camera image Im) captured by the camera 40, so that the reference position 25b in the image (camera image Im) captured by the camera 40 is projected. To get.

According to the above [Structure 3], the controller 60 can accurately acquire the position where the reference position 25b in the camera image Im is projected, as compared with the case where the image recognition that does not use the marker 25m is used. As a result, the dimensional measurement of the tip attachment 25 can be performed more accurately. In the above "when using image recognition that does not use the marker 25m", for example, the controller 60 (see FIG. 1) recognizes the shape of the arm 23 in the camera image Im, so that the reference position 25b in the camera image Im is set. For example, when acquiring the position to be reflected.

(Modification example 1)
With reference to FIGS. 6 and 7, the difference between the tip attachment dimension measuring device 101 of the modification 1 shown in FIG. 6 and the above embodiment will be described. Of the tip attachment dimension measuring device 101 of the modified example 1, the common points with the above-described embodiment will be omitted by giving the same reference numerals as those of the above-described embodiment. The same applies to the description of the modified example 2 described later with respect to the point that the description of the common points is omitted. The tip attachment dimension measuring device 101 includes a shooting range guidance device 170.

In step S21 (see FIG. 3) of the above embodiment, the controller 60 automatically controls the shooting range of the camera 40 shown in FIG. 1 so that the tip attachment 25 can be reflected in the simple background range A shown in FIG. bottom. On the other hand, in step S121 of the present modification shown in FIG. 7, the shooting range guidance device 170 shown in FIG. 6 covers the shooting range of the camera 40 so that the tip attachment 25 can be projected in the simple background range A shown in FIG. Give guidance. Specifically, the shooting range guidance device 170 provides information for allowing the operator to operate the shooting range of the camera 40 shown in FIG. 6 so that the tip attachment 25 can be projected in the simple background range A shown in FIG. Output. The shooting range guidance device 170 outputs, for example, characters, figures, sounds, and the like. The operator who has obtained the information output by the shooting range guidance device 170 operates the shooting range of the camera 40 (camera shooting range changing unit 45). Here, the controller 60 may determine whether or not the shooting range of the camera 40 is within the simple background range A shown in FIG. 4 so that the tip attachment 25 can be projected. When the shooting range of the camera 40 is within the simple background range A so that the tip attachment 25 can be seen, the process may proceed to step S23 shown in FIG.

The effects of the tip attachment dimension measuring device 101 of the modified example 1 shown in FIG. 6 are as follows.

(Effect of Fourth Invention)
[Structure 4] The tip attachment dimension measuring device 101 includes a shooting range guidance device 170. The shooting range guidance device 170 outputs information for allowing the operator to operate the shooting range of the camera 40 shown in FIG. 6 so that the tip attachment 25 can be projected in the simple background range A shown in FIG.

According to the above [Structure 4], the controller 60 is compared with the case where the controller 60 automatically controls the shooting range of the camera 40 shown in FIG. 6 so that the tip attachment 25 can be projected in the simple background range A shown in FIG. Processing can be simplified.

(Modification 2)
The difference between the tip attachment dimension measuring device 201 of the first modification and the above-described embodiment will be described with reference to FIGS. 8 and 9. The tip attachment dimension measuring device 201 includes a working device attitude guidance device 270.

In step S23 (see FIG. 3) of the above embodiment, the controller 60 (see FIG. 2) automatically controls the posture of the work device 20 so that the tip attachment 25 is reflected in the simple background range A shown in FIG. bottom. On the other hand, in step S223 of the present modification shown in FIG. 9, the work device posture guidance device 270 shown in FIG. 8 is the work device 20 (FIG. 4) so that the tip attachment 25 is reflected in the simple background range A shown in FIG. Guidance on posture (see). Specifically, the work device posture guidance device 270 outputs information for causing the operator to operate the posture of the work device 20 so that the tip attachment 25 is reflected in the simple background range A shown in FIG. The work device attitude guidance device 270 outputs, for example, characters, figures, sounds, and the like. The working device attitude guidance device 270 may also be used as the photographing range guidance device 170 (see FIG. 6). The operator who has obtained the information output from the work device posture guidance device 270 operates the posture of the work device 20 (work device drive unit 47) shown in FIG. Here, the controller 60 may determine whether or not the posture of the work device 20 is such that the tip attachment 25 is reflected in the simple background range A. When the posture of the work device 20 is such that the tip attachment 25 is reflected in the simple background range A, the process may proceed to step S31 shown in FIG.

The effect of the tip attachment dimension measuring device 201 of the modified example 2 shown in FIG. 8 is as follows.

(Effect of Fifth Invention)
[Structure 5] The tip attachment dimension measuring device 201 includes a working device attitude guidance device 270. The work device posture guidance device 270 outputs information for causing the operator to operate the posture of the work device 20 so that the tip attachment 25 is reflected in the simple background range A shown in FIG.

According to the above [Structure 5], the processing by the controller 60 is simplified as compared with the case where the controller 60 shown in FIG. 8 automatically controls the posture of the working device 20 so that the tip attachment 25 is reflected in the simple background range A. Can be done.

(Other variants)
The above-described embodiment and modified examples (hereinafter, “the above-described embodiment and the like”) may be variously modified. For example, the modification 1 and the modification 2 may be combined. For example, the connection of each component of the block diagram shown in FIGS. 2, 6 and 8 may be changed. For example, the order of the steps in the flowcharts shown in FIGS. 3, 7, and 9 may be changed. For example, the number of components of the above embodiment may be changed, and some of the components may not be provided.

For example, in the above embodiment, in step S41 shown in FIG. 3, the controller 60 shown in FIG. 1 automatically swings the tip attachment 25 at the time of dimension measurement. On the other hand, the operator may operate the tip attachment 25 to swing the tip attachment 25 at the time of dimension measurement. In this case, a guidance device such as the work device attitude guidance device 270 (see FIG. 8) may be used to give guidance to the operator so as to swing the tip attachment 25. In this case, the controller 60 may determine whether or not the tip attachment 25 has been swung so that the dimensions of the tip attachment 25 can be measured based on the detection value of the tip attachment angle sensor 35.

For example, as described above, the shooting range of the camera 40 does not have to be variable. Further, the controller 60 may set a part of the camera image Im as a part used for dimension measurement. The position and size of the portion used for dimension measurement in the camera image Im (see FIG. 4) may be variable. For example, the shooting range of the camera 40 may be fixed, and the portion used for the above-mentioned dimension measurement may be variable. For example, the shooting range of the camera 40 may be variable, and the range used for the above-mentioned dimension measurement may be variable.

1, 101, 201 Tip attachment dimensional measuring device 10 Working machine 13 Upper swivel body 20 Working device 25 Tip attachment 25a Rotating shaft 25b Reference position 25m Marker 30 Working device posture sensor 40 Camera 60 Controller 170 Shooting range guidance device 270 Working device posture guidance Device A Simple background range X Width dimension Y Vertical dimension

Claims (5)

A work device that is attached to the upper swing body of a work machine and has a replaceable tip attachment at the tip.
A camera attached to the upper swing body and taking an image including the tip attachment,
With the controller
With
The controller
From the images taken by the camera, a simple background range in which the degree of temporal change of the image is within a predetermined value is determined.
An image of the tip attachment reflected in the simple background range, and an image of the tip attachment swinging around a rotation axis, is taken by the camera.
Based on the image taken by the camera, the width dimension on the image of the tip attachment in the direction of the rotation axis is acquired, and the actual width dimension of the tip attachment is obtained from the width dimension on the acquired image.
When the dimension from the reference position to the tip of the tip attachment in the direction orthogonal to the direction of the rotation axis is the vertical dimension,
Based on the image taken by the camera, the maximum value of the vertical dimension on the image of the tip attachment when the tip attachment is swung is acquired, and the tip is obtained from the maximum value of the vertical dimension on the acquired image. Find the actual vertical dimension of the attachment,
Tip attachment dimensional measuring device. The tip attachment dimensional measuring device according to claim 1.
A work device posture sensor for detecting the posture of the work device is provided.
The controller acquires a position in which the reference position is reflected in the image captured by the camera based on the posture of the work device detected by the work device posture sensor.
Tip attachment dimensional measuring device. The tip attachment dimensional measuring device according to claim 1 or 2.
A marker that is attached to the reference position or is attached to a position corresponding to the reference position when viewed from the camera.
By recognizing the marker from the image taken by the camera, the controller acquires the position where the reference position is reflected in the image taken by the camera.
Tip attachment dimensional measuring device. The tip attachment dimensional measuring device according to any one of claims 1 to 3.
A shooting range guidance device for outputting information for causing an operator to operate the shooting range of the camera is provided so that the tip attachment can be projected within the simple background range.
Tip attachment dimensional measuring device. The tip attachment dimensional measuring device according to any one of claims 1 to 4.
A work device posture guidance device for outputting information for causing an operator to operate the posture of the work device so that the tip attachment is reflected in the simple background range is provided.
Tip attachment dimensional measuring device.

Images