JP2009073248A - Outrigger extending amount detecting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an outrigger extending amount detecting device detecting an outrigger extending amount without arranging a detector having a mechanical structural part in an outrigger so as to solve problems that the detector composed of a limit switch or a potentiometer needs to be arranged in the outrigger for detecting the outrigger extending amount, such detector has the mechanical structural part and operation failure of the structural part might cause breakdown, which decreases the reliability. <P>SOLUTION: A vehicle 1 with a working machine mounted therein has outriggers 8 respectively arranged to projected to front/rear/left/right directions of the vehicle 1 for supporting the vehicle 1. The device detects the extending amounts of the outriggers 8 by monitoring cameras 21 for shooting the outriggers 8 and image recognition means 22 for recognizing the projecting amounts of the outriggers 8 from images shot by the monitoring cameras 21. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an outrigger extension amount detection device that detects an extension amount of an outrigger that is disposed so as to be extended in the front, rear, left, and right sides of a vehicle on which a work machine is mounted and supports the vehicle.

  This type of outrigger is attached to the vehicle frame of the vehicle, a slide composed of an outer box attached perpendicular to the longitudinal direction of the vehicle, an inner box fitted into the outer box and projecting sideways, and attached to the tip of the slide. The outriggers are arranged in four sets on the front, back, left and right to support the vehicle on the ground.

  When this outrigger is used, the inner box is extended from the outer box of the slide (hereinafter described as the outrigger extension), and then the jack is extended to support the vehicle on the ground. Since it greatly affects the stable performance of the work implement when using the work implement, the limit performance of the performance by the safety device provided in the work implement is determined by detecting the amount of outrigger overhang. Therefore, it is necessary to accurately detect the outrigger extension amount related to the determination of the limit performance of the work implement.

Therefore, as a conventional outrigger extension amount detection device, a pattern in which different lattice patterns are sequentially formed as the inner box moves in the extension direction by combining a plurality of two surfaces having different reflectivities on the inner box side surface of the slide. An optical sensor that reads a pattern placed on the side of the inner box and generates a signal is fixed to the tip of the outer box, and the signal output from the optical sensor is converted into an overrigger extension amount by a calculator. It is. (Patent Document 1, pages 1 to 2, page 2)
In addition, as an outrigger overhang detection device, there are a discontinuous detection method using a limit switch and an analog continuous detection method using a potentiometer. (Patent Document 1 page 1)
Japanese Utility Model Publication No. 61-30927 (page 1 to page 2, FIG. 2)

However, in any of the outrigger extension amount detection devices described above, it is necessary to arrange a detector between the slide outer box and the inner box of each outrigger. For example, what is detected by the above-described optical sensor must be provided with a pattern that forms a lattice pattern on the side of the inner box and an optical sensor that generates a signal for reading the pattern arranged on the side of the inner box at the tip of the outer box. . Similarly, when a limit switch or potentiometer is used, it is necessary to place a detector between the slide outer box and the inner box of each outrigger, and this part has a mechanical structure. The failure due to the malfunction of this is considered and the reliability is low.

  An object of the present invention is to provide an outrigger extension amount detection device that solves such problems.

  In order to achieve the above object, the outrigger extension amount detection device according to claim 1 according to the present invention includes an outrigger that is arranged so as to be able to extend on the front, rear, left, and right of the vehicle on which the work implement is mounted, and supports the vehicle. The outrigger extension amount is detected by a monitoring camera that captures the outrigger and an image recognition unit that recognizes the outrigger extension amount captured by the monitoring camera.

  According to a second aspect of the present invention, there is provided the outrigger extension amount detecting device according to the first aspect, wherein the surveillance camera is attached at a position where the front and rear outriggers are photographed at a time, and the image recognition means is the front and rear outrigger extension amount from the photographed image. The surveillance camera and the image recognition means are arranged in pairs with respect to the left and right outriggers.

  According to a third aspect of the present invention, there is provided the outrigger extension amount detection device according to the first aspect, wherein the surveillance camera is attached at a position where the left and right outriggers are photographed at a time, and the image recognition means The surveillance camera and the image recognition means are arranged in pairs with respect to the front and rear outriggers.

  According to a fourth aspect of the present invention, there is provided the outrigger extension amount detection device according to the first aspect, further comprising a bird's-eye image processing means for converting an image photographed by the monitoring camera into a bird's-eye image, and the image recognition means is processed by the bird's-eye image processing means. The outrigger extension amount is recognized from the obtained image, and the outrigger extension amount is detected.

  According to a fifth aspect of the present invention, there is provided the outrigger extension amount detecting device according to the fourth aspect, wherein a plurality of the monitoring cameras are arranged, and the bird's-eye view image processing means has a function of combining images from the plurality of monitoring cameras and converting them into a bird's-eye view image. It is characterized by having.

  The outrigger extension amount detection device according to the first aspect of the present invention captures an outrigger with a monitoring camera, and recognizes and detects the overhang amount of the photographed outrigger with an image recognition means. It is possible to detect the extension amount of the outrigger using a detection device with as few failures as possible because no mechanical structure is used for detection.

  According to a second aspect of the present invention, there is provided an outrigger overhang detection apparatus for photographing the front and rear outriggers at a time with the monitoring camera, and allowing the image recognition means to individually recognize the front and rear outrigger overhangs. Since the camera and the image recognizing means are arranged in a pair with respect to the left and right outriggers so as to detect the extension amount of each outrigger, the number of detectors can be reduced.

  According to a third aspect of the present invention, there is provided an outrigger extension amount detection device for photographing left and right outriggers at a time with the monitoring camera, and causing the image recognition means to individually recognize the photographed left and right outrigger extension amounts. Since the camera and the image recognizing means are arranged in a pair with respect to the front and rear outriggers so as to detect the extension amount of each outrigger, the number of detectors can be reduced.

  In the outrigger extension amount detection device according to the present invention according to claim 4, the bird's-eye image processing means converts the image taken by the monitoring camera into a bird's-eye image, and the image image recognition means uses the converted bird's-eye image to output the outrigger extension amount. Therefore, the outrigger extension amount can be accurately detected.

  According to the fifth aspect of the present invention, the outrigger extension amount detection device of the present invention combines the images photographed by a plurality of monitoring cameras by the bird's-eye image processing means and converts them into a bird's-eye image, so that an accurate bird's-eye image can be obtained. Therefore, it is possible to accurately detect the amount of the outrigger overhang.

  Embodiments of an outrigger overhang amount detection device according to the present invention will be described below with reference to FIGS. FIG. 3 is an explanatory view for explaining the mobile crane A provided with the outrigger extension amount detecting device according to the present invention. In FIG. 3, the mobile crane A has a crane portion disposed on the vehicle frame 2 as a work machine. This crane part arrange | positions the swivel base 3 on the vehicle frame 2 so that turning is possible, it equips it with a suitable turning drive means between the turn base 3 and the vehicle frame 2, and makes a turning drive possible. Is arranged to be stretchable and undulating. The telescopic boom 4 is composed of a multi-stage boom that is sequentially inserted and retracted, and an expansion / contraction drive means (not shown) such as an appropriate hydraulic cylinder is disposed in each boom stage. The hoisting cylinder 5 is arranged between the telescopic boom 4 and the swivel 3 so that the telescopic boom 4 can be driven to hoist. A winch (not shown) is provided at the rear part of the swivel base 3, and the wire rope 6 fed from the winch passes through the tip of the telescopic boom 4, and the hook 7 is suspended from the tip of the telescopic boom 4 by the wire rope 6. I am letting.

  Further, outriggers 8 are disposed so as to be able to project from the front, rear, left and right of the vehicle frame 2 respectively. As shown in FIG. 8, the outrigger 8 includes an outer box 9a attached to the vehicle frame 2 at right angles to the front-rear direction of the vehicle 1, and an inner box 9b fitted into the outer box 9a and extending laterally. The slide 9 and the jack 10 attached to the tip of the slide 9 are configured, and four sets of the outriggers 8 are arranged on the front, rear, left, and right to support the vehicle 1 on the ground.

First Embodiment First, a first embodiment of an outrigger extension amount detection device according to the present invention will be described below. As shown in FIG. 3, the mobile crane A has a surveillance camera 21 attached via a mounting bracket 20 (not shown) so that the front, rear, left and right outriggers 8 can be photographed at the lower end of the proximal boom. The photographing signal from the monitoring camera 21 is output to the image recognition means 22 as shown in FIG. The image recognition means 22 comprises an image storage means 22a and an image discrimination means 22b. The image storage means 22a calculates and stores in advance the amount of overhang of the plurality of outriggers 8 from the image taken by the monitoring camera 21.

  That is, the overhang amount of the outrigger 8 can be calculated from the photographed image as follows. The calculation of the overhang amount of the outrigger 8 from the captured image will be described with reference to FIG. In FIG. 10, the xyz coordinate system is a surveillance camera coordinate system with the surveillance camera lens center as the coordinate origin, the extension amount of the outrigger 8 is L, the distance from the outrigger 8 to the surveillance camera 21 is D, and the focus of the lens of the surveillance camera 21 If the distance is f and the overhang amount of the photographed outrigger is l, the overhang amount L of the outrigger 8 is L = D / f × l.

  Here, the outrigger extension l on the shooting screen is the number of pixels in the x direction of the shooting screen, the size of the x direction of the shooting screen is W, the outrigger is recognized by image processing, and it is p pixels on the shooting screen. If there is, l = W / w × p. The overhang amount of the outrigger 8 can be calculated from the image taken from the above relationship.

  The image discriminating means 22b compares the photographed outrigger image with a plurality of images stored in the image storage means 22a, determines the overhang amount of the outrigger 8 from the matched images, and the outrigger 8 photographed by the monitoring camera 21. Detect the amount of overhang. The detected extension amount of the outrigger 8 is output to the safety device 23 and the display means 24.

  The image recognizing means 22 stores a plurality of images for determining the extension amounts of the four outriggers 8 in the image storage means 22a so as to individually recognize the extension amounts of the four outriggers 8 arranged in the front, rear, left and right. The image discriminating means 22b compares the images of the four sets of outriggers 8 stored in the image storage means 22a with the captured images of the four sets of outriggers 8 individually, and compares each of the outrigger 8 images. The amount of overhang is determined.

  The image recognizing means 22 is determined in advance by calculating the amount of outrigger extension by the above relational expression for each stored image. The amount of outrigger overhang may be calculated by calculating from the photographed image.

  The safety device 23 is a safety device that monitors and controls the mobile crane A so as not to be overloaded by the suspended load when working on the mobile crane A. The safety device 23 is applied to the telescopic boom 4 from the suspended load. Compare the actual moment load that acts and the limit load moment load that is determined in advance by the state of the telescopic boom 4 and the extension amount of the outrigger 8, and when the former moment load reaches the latter moment load, the mobile crane A is operated. Is supposed to stop. Therefore, the overhang amount of the outrigger 8 detected as described above is used when calculating this limit load moment load.

  Further, the display means 24 displays the outrigger 8 taken as shown in FIG. 2 as the overhang amount of the detected outrigger 8, and numerically displays the overhang amount of each outrigger 8 recognized by the image recognition means 22 ( Although no numerical values are shown in FIG. 2, they are displayed in four frames).

  As described above, the outrigger extension amount detection device according to the present invention captures the outrigger 8 with the monitoring camera 21 and recognizes and detects the extension amount of the photographed outrigger 8 with the image recognition means 22. It is not necessary to arrange a detector directly on the detector, and since no mechanical structural part is used for detection, it is possible to detect the amount of outrigger extension using a detection device with as little failure as possible. Further, since the amount of overhang of the four outriggers 8 can be photographed and recognized by one monitoring camera 21 at a time, the number of detectors can be reduced.

Second Embodiment Next, in the first embodiment, the case where one monitoring camera 21 is arranged has been described. However, as shown in FIG. 3, the base boom of the multi-stage boom is protruded toward the distal boom. FIG. 4 shows a second embodiment in which the right monitoring camera 31R and the left monitoring camera 31L are attached to the tips of the left and right arms 30R and 30L, respectively, and the left and right outriggers 8 are photographed by separate monitoring cameras. explain. In this case, the left monitoring camera 31L is attached to the arm 30L so as to photograph the left front outrigger 8 and the left rear outrigger 8 at a time as shown in FIG. Similarly, although not shown, the right monitoring camera 31R is attached to the arm 30R so as to photograph the right front outrigger 8 and the right rear outrigger 8 at a time.

  As shown in FIG. 4, the left monitoring camera 31L outputs the imaged image signal of the left outrigger 8 to the left image recognition means 32L. The left image recognition unit 32L includes a left image storage unit 32La and a left image determination unit 32Lb. The left image storage means 32La pre-calculates and stores the projection amounts of the plurality of left outriggers 8 from an image taken by the monitoring camera 31L. The left image discriminating means 32Lb compares the photographed outrigger image with a plurality of left images stored in the left image recognition storage means 32La, determines the overhang amount of the left outrigger 8 from the matched images, and monitors the surveillance camera 31L. The amount of overhang of the left outrigger 8 photographed in step 1 is detected.

  The left image recognition means 32L has two sets (left front outrigger 8 and left rear) so that the left image storage means 32La recognizes the outrigger extension amount of two sets (left front outrigger 8 and left rear outrigger 8). The left-side image discriminating means 32Lb stores two sets of images (the left front outrigger 8 and the left rear outrigger 8). The image for determining the overhang amount and the two sets of captured images (the left front outrigger 8 and the left rear outrigger 8) are individually compared to determine the overhang amount of each outrigger 8. .

  Similarly, the right monitoring camera 31R outputs the captured right image signal to the right image recognition means 32R. The right image recognition unit 32R includes a right image storage unit 32Ra and a right image determination unit 32Rb. This right image storage means 32Ra pre-calculates and stores the overhang amounts of the plurality of right outriggers 8 from the image taken by the monitoring camera 31R. The right image discriminating means 32Rb compares the photographed right outrigger image with a plurality of right images stored in the right image recognition storage means 32Ra, determines the overhang amount of the right outrigger 8 from the matched images, and monitors the monitoring camera. The overhang amount of the right outrigger 8 photographed with 3R is detected.

  The right image recognition means 32R has two sets (right front outrigger 8 and right rear) so that the right image storage means 32Ra recognizes the outrigger extension amount of two sets (right front outrigger 8 and right rear outrigger 8). The right-side image discriminating means 32Rb stores two sets (the right front outrigger 8 and the right rear outrigger 8). The image for determining the overhang amount and the two sets of captured images (the right front outrigger 8 and the right rear outrigger 8) are individually compared to determine the overhang amount of each outrigger 8. .

  The detected extension amounts of the left and right outriggers 8 are output to the safety device 33 and the display means 34. Since the safety device 33 is the same as the safety device 23 described above, detailed description thereof is omitted. In outputting the detected amounts of the left and right outriggers 8 to the display means 34, the screen to be displayed on the display device 34 is switched. That is, the right image recognition means 32R and the left image recognition means 32L output to the display means 34 via the display screen switching means 36. The display screen switching means 36 receives the selection signal from the display screen selection means 35. Then, an output signal from the right side image recognition unit 32R or the left side image recognition unit 32L on the selected side is output to the display unit 34.

For example, when the selection display means 35 is selected so as to display the overhang amount of the left outrigger 8, the output signal from the left image recognition means 32L is output to the display means 34 via the display screen switching means 36, and is shown in FIG. A numerical display of the overhang amount of each outrigger 8 recognized by the left image recognition means 32L (although numerical values are not shown in FIG. 5, numerical values are displayed in two frames) together with such a photographed image of the left outrigger 8 ) When the selection display means 35 selects to display the overhang amount of the right outrigger 8, the output signal from the right image recognition means 32R is output to the display means 34 via the display screen switching means 36, and although it is not shown in the drawing, Along with the captured image of the right outrigger 8, the numerical display of the overhang amount of each outrigger 8 recognized by the right image recognition means 32R is displayed. Further, the display means 34 displays the above-mentioned right and left display images by switching the screens individually. However, the selection means 35 divides the screen of the display means 34 into left and right and displays it at once. When the two-screen display is selected, the left outrigger may be displayed on the left screen, and the right outrigger may be switched and displayed by the display screen switching means 36 so as to be displayed on the right screen at a time.

  As described above, the outrigger extension amount detection device according to the present invention separately captures the left and right outriggers 8 with the right monitoring camera 31R and the left monitoring camera 31L, and the left image recognizing means 32L determines the extension amounts of the captured left and right outriggers 8. Since the right image recognition means 32R recognizes and detects the detection, there is no need to directly place a detector on each outrigger 8, and since no mechanical structure is used for detection, detection with as little failure as possible is possible. It is possible to detect the outrigger extension amount using the apparatus. In addition, since the overhang amounts of the two sets of outriggers 8 can be photographed and recognized by the right monitoring camera 31R and the left monitoring camera 31L at a time, the number of detectors can be reduced.

Third Embodiment In the second embodiment, the right monitoring camera 31R and the left monitoring camera 31L are arranged on the left and right sides to photograph the front and rear outriggers 8 at the same time. A front monitoring camera 41F is arranged at the lower part via a bracket 40F (not shown), and a rear monitoring camera 41R is arranged at the upper rear end of the swivel base 3 via a bracket 40R (not shown). A third embodiment in which images are taken with the monitoring camera 41F and the rear left and right outriggers 8 are taken with the rear monitoring camera 41R is shown in FIG. 6 and described below.

  The front monitoring camera 41F outputs the captured front image signal to the front image recognition means 42F. The front image recognition unit 42F includes a front image storage unit 42Fa and a front image determination unit 42Fb. This front image storage means 42Fa pre-calculates and stores the amount of projection of the plurality of front outriggers 8 from the image taken by the front monitoring camera 41F. The front image discriminating means 4Fb compares the photographed image of the front outrigger with a plurality of front images stored in the front image storage means 42Fa, determines the amount of overhang of the front outrigger 8 from the matched images, and the front monitoring camera The overhang amount of the front outrigger 8 photographed at 41F is detected.

  The front image storage means 42F has two sets (left front outrigger 8 and right front) so that the front image storage means 42Fa recognizes the outrigger extension amount of two sets (left front outrigger 8 and right front outrigger 8). A plurality of images for determining the amount of extension of the outrigger 8) are stored individually, and the front image discriminating means 42Fb stores two sets (the left front outrigger 8 and the right front outrigger 8) stored in the front image storage means 42Fa. The images for determining the amount of overhang 8 and the two sets of captured images (the left front outrigger 8 and the right front outrigger 8) are individually compared to determine the amount of overhang of each outrigger 8. .

  Similarly, the rear monitoring camera 41R outputs the captured rear image signal to the rear image recognition means 42R. The rear image recognition unit 42R includes a rear image storage unit 42Ra and a rear image determination unit 42Rb. This rear image storage means 42Ra pre-calculates and stores the amount of extension of the plurality of rear outriggers 8 from the image taken by the rear monitoring camera 41R. The rear image storage means 42Ra compares the captured image of the rear outrigger with a plurality of rear images stored in the rear image storage means 42Ra, and determines the amount of overhang of the rear outrigger 8 from the matched images. Then, the amount of overhang of the rear outrigger 8 taken by the rear monitoring camera 41R is detected.

  The rear image recognition means 42R has two sets (left rear rear outrigger 8 and rear rear image recognition means 42Ra) so as to recognize two sets (left rear outrigger 8 and right rear outrigger 8). A plurality of images for determining the extension amount of the right rear outrigger 8) are individually stored, and the rear image discriminating means 42Rb stores two sets (the left rear outrigger 8 and the right rear rear) stored in the rear image storage means 42Ra. The outriggers 8) of the outriggers 8) and the two sets of captured images (the left rear outrigger 8 and the right rear outrigger 8) are individually compared to determine the amount of overhang of each outrigger 8. I am doing so.

  The detected extension amounts of the left and right rear outriggers 8 are output to the safety device 43 and the display means 44. Since the safety device 43 is the same as the safety device 23 described above, detailed description thereof is omitted. In outputting the detected amount of the left and right rear outriggers 8 to the display means 44, the screen displayed on the display device 44 is switched. That is, the front image recognition means 42F and the rear image recognition means 42R output to the display means 44 via the display screen switching means 46, and the display screen switching means 46 receives the selection signal from the display screen selection means 45. In response, an output signal from the selected front-side image recognition means 42F or rear-side image recognition means 42R is output to the display means 44.

  For example, when the selection display means 45 selects to display the overhang amount of the front outrigger 8, the output signal from the front image recognition means 42F is output to the display means 44 via the display screen switching means 46. Along with the captured image of the outrigger 8, a numerical display of the overhang amount of each outrigger 8 recognized by the front image recognition means 42F is displayed. When the selection display means 45 selects to display the overhang amount of the rear outrigger 8, the output signal from the rear image recognition means 42R is output to the display means 44 via the display screen switching means 46, and although it is not shown in the drawing, In addition to the captured image of the rear outrigger 8, the numerical display of the overhang amount of each outrigger 8 recognized by the rear image recognition means 42R is displayed.

  Further, the display means 44 displays the above-mentioned front and rear display images individually by switching the screens. However, the display means 44 is selected so that the screen is displayed at one time by dividing it into front and rear or left and right. When the two-screen display is selected by the means 45, the front outrigger is displayed on the upper screen or the left screen, and the rear outrigger is switched by the display screen switching means 46 so as to be displayed on the lower screen or the right screen at a time. You may make it display.

  As described above, the outrigger extension amount detection device according to the present invention separately captures the front and rear outriggers 8 with the front monitoring camera 41F and the rear monitoring camera 41R, and the front image recognition means determines the extension amount of the front and rear outriggers 8 that have been photographed. 42F and the rear image recognition means 42R recognize and detect, so that it is not necessary to place a detector directly on each outrigger 8, and no mechanical structural part is used for detection, so that failure can be prevented as much as possible. It is possible to detect the extension amount of the outrigger using a small number of detection devices. Further, since the extension amounts of the two sets of outriggers 8 can be photographed and recognized by the front monitoring camera 41F and the rear monitoring camera 41R at a time, the number of detectors can be reduced.

Fourth Embodiment Further, in the first to third embodiments, the image taken by the monitoring camera is directly recognized and the outrigger extension amount is detected, but the image taken by the monitoring camera is used. May be converted into a bird's-eye view image and the outrigger extension amount may be detected based on the result of conversion. This embodiment will be described below as a fourth embodiment.

  The outrigger extension amount detection device shown in FIG. 7 uses the monitoring camera 21 shown in FIG. The shooting signal from the monitoring camera 21 is output to the bird's-eye image processing means 50, and the bird's-eye image processing means 50 converts the shooting signal into a bird's-eye image as shown in FIG. 8 in advance (this conversion is performed by a conventionally known technique). And output to the image storage means 52.

  The image storage means 52 includes an image recognition storage means 52a and an image discrimination means 52b. The image recognition storage means 52a pre-calculates and stores the overhang amounts of the plurality of outriggers 8 from the bird's-eye view image. The image discriminating means 52b compares the photographed outrigger image with a plurality of images stored in the image recognition storage means 52a, determines the extension amount of the outrigger 8 from the matched images, and the outrigger photographed by the monitoring camera 21. An overhang amount of 8 is detected. The detected extension amount of the outrigger 8 is output to the safety device 53 and the display means 54.

Here, the image storage means 52a individually recognizes the images for determining the extension amounts of the four sets of outriggers 8 converted into the bird's-eye view image so that the extension amounts of the four outriggers 8 arranged in the front, rear, left and right are individually recognized. In the image discriminating means 52b, the bird's-eye images for determining the amount of overhang of the four sets of outriggers 8 stored in the image storage means 52a and the captured bird's-eye images of the four sets of outriggers 8 are individually compared. Thus, the safety device 53 that determines the overhang amount of each outrigger 8 is the same as the safety device 23 described and illustrated in FIG. The display unit 54 can select and display an image captured by the monitoring camera 21 and an image converted into a bird's-eye view image. That is, the display screen switching unit 56 receives the selection signal from the display screen selection unit 55 and outputs the image from the monitoring camera 21 to the display unit 54 when selecting to display the image captured by the monitoring camera 21. When the image shown in FIG. 2 (however, the numerical display displayed in the four frames shown in FIG. 2 is not displayed) is selected to display the bird's-eye view image, the image from the image recognition means 52 is displayed. Is displayed on the display means 54, and a bird's-eye view image as shown in FIG. 8 is displayed, and the overhang amount of each outrigger 8 recognized by the image recognition means 52 is displayed numerically (although no numerical value is shown in FIG. 8). Display numerical values in four frames).

  As described above, the outrigger overhang amount detection device according to the present invention images the outrigger 8 with the monitoring camera 21, converts the overhang amount of the imaged outrigger 8 into a bird's-eye image with the bird's-eye image processing means 50, and converts it into a bird's-eye image. Since the image recognizing means 52 recognizes the image and detects the amount of the overhang of the outrigger 8, the amount of the overhang of the outrigger can be accurately detected. In addition, since it is not necessary to arrange a detector directly on the outrigger 8 and no mechanical structural part is used for detection, it is possible to detect the amount of outrigger extension using a detection device with as little failure as possible. it can. Further, since the amount of overhang of the four outriggers 8 can be photographed and recognized by one monitoring camera 21 at a time, the number of detectors can be reduced.

  In addition, since the image photographed by the monitoring camera 21 and the image converted into the bird's-eye view image can be selected and displayed, not only the detection of the extension amount of the outrigger 8 but also the image photographed by the monitoring camera 21 can be displayed. When displayed, it is possible to check the extended storage state of the outrigger 8, confirm the situation (obstacles) around the outrigger 8 before the extension.

Fifth Embodiment Next, in the fourth embodiment, an outrigger extension amount is determined and detected based on a result obtained by converting an image captured by one monitoring camera 21 into a bird's-eye view image. Alternatively, the images may be captured by a plurality of surveillance cameras, and the images captured by the plurality of cameras may be combined and converted into a bird's-eye view image as illustrated in FIG. Hereinafter, this embodiment will be described as a fifth embodiment with reference to FIG.

  The outrigger extension amount detection apparatus according to the present invention shown in FIG. 9 is different from that shown in FIG. 7 in that a plurality of surveillance cameras are used. In this embodiment, a case where the monitoring camera 31R and the monitoring camera 31L described in FIG. 4 are used will be described. The captured image signals from the monitoring camera 31R and the monitoring camera 31L are output to the bird's-eye image processing means 60, and the bird's-eye image processing means 60 combines the captured images from both cameras into a bird's-eye image as shown in FIG. Convert. The synthesized bird's-eye image is image-recognized by the image recognizing means 52 to detect the overhang amount of the outrigger 8. Here, the image recognition means 52 and the safety device 53 are the same as those described with reference to FIG. The display means 64 can select and display an image captured by the monitoring camera 31R and the monitoring camera 31L and an image converted into a bird's-eye view image. That is, the display screen switching unit 66 receives the selection signal from the display screen selection unit 65 and outputs the selected monitoring camera image or bird's-eye view image to the display unit 64.

  As described above, the outrigger extension amount detection device according to the present invention images the outrigger 8 with a plurality of surveillance cameras (the surveillance camera 31R and the surveillance camera 31L), and shows the extension amount of the outrigger 8 taken with the plurality of surveillance cameras. Since the processing means 60 converts the image into a bird's-eye view image and recognizes the image by the image recognition means 52 with the image converted into the bird's-eye view image and detects the overhang amount of the outrigger 8, the outrigger overhang amount is accurately detected. Can do. In addition, since it is not necessary to arrange a detector directly on the outrigger 8 and no mechanical structural part is used for detection, it is possible to detect the amount of outrigger extension using a detection device with as little failure as possible. it can. Further, since the image captured by the monitoring camera 31R and the monitoring camera 31L and the image converted into the bird's-eye view image can be selected and displayed, not only the detection of the overhang amount of the outrigger 8 but also the monitoring camera 31R can be displayed. When an image photographed by the monitoring camera 31L is displayed, it is possible to confirm the overhanging storage state of the outrigger 8, confirm the situation (obstacles) around the outrigger 8 before overhanging, and the like.

  In the fifth embodiment, the outrigger 87 is photographed by the monitoring cameras 31R and 31L arranged in a pair on the left and right, and is synthesized with the bird's-eye image by the bird's-eye image processing means 60 and converted into a bird's-eye image as shown in FIG. However, the present invention is not limited to this example, and a larger number of surveillance cameras may be arranged on the mobile crane A, combined with the bird's-eye image by the bird's-eye image processing means, and converted into a bird's-eye image as shown in FIG. . By arranging many surveillance cameras, a more accurate bird's-eye view image can be obtained.

  In the above embodiment, a plurality of outriggers 8 are photographed by one monitoring camera and the protruding amount of the outrigger is recognized by the image recognition means. However, the monitoring camera and the image recognition means are provided for each outrigger. It may be arranged to detect the overhang amount of each outrigger. In this case, although the number of monitoring cameras to be arranged increases, the monitoring camera can be arranged at a position where the outrigger extension state can be completely confirmed for each outrigger, and the outrigger extension amount can be detected more accurately.

  Further, in the above embodiment, the case of the mobile crane A as a vehicle equipped with a work machine has been described. However, the outrigger overhang amount detection device of the present invention includes an outrigger such as an aerial work vehicle, a digging column car, etc. Of course, the present invention can also be applied to vehicles with different working machines.

It is explanatory drawing of 1st Embodiment explaining the outrigger protrusion amount detection apparatus which concerns on this invention. It is explanatory drawing explaining the screen displayed with the display means of 1st Embodiment explaining the outrigger protrusion amount detection apparatus which concerns on this invention. It is explanatory drawing explaining the mobile crane provided with the outrigger extension amount detection apparatus which concerns on this invention. It is explanatory drawing 2nd Embodiment explaining the outrigger protrusion amount detection apparatus which concerns on this invention. It is explanatory drawing explaining the screen displayed by the display means of 2nd Embodiment explaining the outrigger protrusion amount detection apparatus which concerns on this invention. It is explanatory drawing 3rd Embodiment explaining the outrigger protrusion amount detection apparatus which concerns on this invention. It is explanatory drawing 4th Embodiment explaining the outrigger protrusion amount detection apparatus which concerns on this invention. It is explanatory drawing explaining the bird's-eye view screen displayed with the display means of the outrigger protrusion amount detection apparatus which concerns on this invention. It is explanatory drawing 5th Embodiment explaining the outrigger protrusion amount detection apparatus which concerns on this invention. It is explanatory drawing explaining the image recognition means of the outrigger protrusion amount detection apparatus which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle 8 Outrigger 21 Monitoring camera 22 Image recognition means 31R Right side monitoring camera 31L Left side monitoring camera 32R Right side image recognition means 32L Left side image recognition means 41F Front side monitoring camera 41R Rear side monitoring camera 42F Front side image recognition means 42R Rear side image recognition means 50 Bird's-eye image processing means 52 Image recognition means 60 Bird's-eye image processing means

Claims (5)

A surveillance camera that has an outrigger that supports the vehicle and is arranged to be able to project from the front, rear, left, and right of the vehicle on which the work machine is mounted, and image recognition that recognizes the extension amount of the outrigger captured by the surveillance camera An outrigger extension amount detecting device, wherein the outrigger extension amount is detected by means. The surveillance camera according to claim 1, wherein the surveillance camera is attached at a position where the front and rear outriggers are photographed at a time, and the image recognition means has a function of individually recognizing the extension amount of the front and rear outriggers from the photographed image, An outrigger extension amount detecting device, wherein a pair of image recognition means are arranged with respect to the left and right outriggers. In Claim 1, the said surveillance camera is attached to the position which image | photographs a right and left outrigger at a time, and the said image recognition means is provided with the function to recognize separately the protrusion amount of a left and right outrigger from the image | photographed image, An outrigger extension amount detecting device, wherein a pair of image recognition means are arranged with respect to the front and rear outriggers. 2. The image processing apparatus according to claim 1, further comprising a bird's-eye image processing unit that converts an image captured by the monitoring camera into a bird's-eye image, wherein the image recognition unit recognizes the amount of outrigger extension from the image processed by the bird's-eye image processing unit. An outrigger overhang amount detection device characterized by detecting an overhang amount. 5. The outrigger extension amount detection device according to claim 4, wherein a plurality of the monitoring cameras are arranged, and the bird's-eye view image processing unit has a function of combining images from the plurality of monitoring cameras and converting the images into a bird's-eye view image.

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