JP2008074594A - Periphery monitor of vehicle having work machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a periphery monitor supporting device of a vehicle having a work machine, used for surely confirming the periphery from an operator's seat without stepping down from the operator's seat when installing the work machine. <P>SOLUTION: A vehicle on which a work machine is mounted has monitoring cameras 10, 11 for photographing the periphery of the vehicle and a display 12 disposed at the operator's seat displaying the images photographed by the cameras. The monitoring cameras are attached to the positions where the state of the movable parts of the work machine in addition to the periphery of the vehicle with the work machine can be photographed in the same screen. Photographed image signals from the monitoring cameras are sent to the display through an image processing device 13. The image processing device has a movable part state/position information storage part 14 for storing the movable part state/position information of the work machine and a synthesizing part 15 for superimposing a movable part state/position information images on the images photographed by the monitoring cameras. With the movable parts of the work machine not moved, the movable part state/position information images of the work machine are superimposed on the images obtained by photographing the periphery of the vehicle with the work machine by the monitoring cameras, and the superimposed images are displayed on the display. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a periphery monitoring device for a work machine-equipped vehicle.

As a vehicle periphery monitoring device, a rear monitoring camera that captures the rear of the vehicle is provided behind the vehicle, and a display device that displays an image captured by the rear monitoring camera is provided in the driver's seat, and the display device captures the rear monitoring camera. When displaying a captured image, a marker with a scale at a predetermined distance from the host vehicle is superimposed on the captured image displayed on the display device, and the distance from the rear obstacle close to the host vehicle when moving backward A technique is known in which the interference between the host vehicle and the obstacle can be determined as a guideline by contrasting with the marker. (For example, see Patent Document 1)
Japanese Patent Laying-Open No. 2005-112267 (page 8, FIGS. 10 to 14)

By the way, a mobile crane as shown in FIG. 3 is known as a working machine-equipped vehicle. In this mobile crane, a swivel device 5 that enables the swivel base 2 to be swiveled on a vehicle 1 is disposed, and the telescopic boom 3 is disposed on the swivel base 2 so as to be able to drive up and down. A winch (not shown) is arranged on the base end side of the telescopic boom 3, and a wire rope (not shown) fed by the winch (not shown) is passed through the tip of the telescopic boom 3 and hung on the tip of the wire rope. A suspended load is locked through a tool, and a crane operation for lifting the suspended load and moving it to a target position is performed.
Such a mobile crane is provided with an outrigger 4 device that projects laterally from the vehicle 1 in order to stably support the lifted load. Four sets of outrigger devices 4 are provided on the front, rear, left, and right of the vehicle 1, respectively, and the vehicle 1 is supported on the ground by jacks (not shown) provided on the outrigger device 4 that are extended laterally during work. Therefore, the mobile crane has a function of stably supporting the suspended crane so as not to fall by the outrigger device 4 when lifting the suspended load.
In the mobile crane, the swivel 2 is swung by the swivel device 5, but a counterweight (weight) 5 a is disposed at the rear end of the swivel 2. The counterweight 5a is also arranged to generate a reversal overturning moment with respect to a overturning moment caused by a suspended load lifted at the tip of the telescopic boom 3. When the swivel 3 is swung and the telescopic boom 3 is turned to the side, the counterweight 5a has a corner portion of the counterweight 5a that is greatly separated from the vehicle 1 as shown in FIG. Projects backward and sideways.
Thus, both the outrigger device 4 and the turning device 5 arranged on the mobile crane are projected from the vehicle 1 during crane work. Therefore, when an operator works with a mobile crane, it is necessary to confirm that there is no obstacle around the work site where the mobile crane is installed, and to determine an installation location without the obstacle as the work site. That is, it is necessary to determine an installation place where there is no problem even if the outrigger device 4 is extended and the turning device 5 is turned. At the time of determination, the left side and the rear side of the vehicle 1 cannot be confirmed from the driver's seat 6, so it is necessary to get out of the driver's seat 6 and confirm it once, which is troublesome.
Therefore, it is conceivable to apply the technique disclosed in Japanese Patent Application Laid-Open No. 2005-112267 described above so that the user can check without getting off the driver's seat 6. That is, a monitoring camera is disposed on the side and the rear of the vehicle 1, an image captured by the monitoring camera is displayed on a display device disposed on the driver's seat 6, and an image captured by the monitoring camera is displayed on the display device. Markers with graduations at predetermined distance positions from 1 are superimposed on the captured image displayed on the display device. Then, an image captured by the monitoring camera is displayed on the display device, and the presence of an obstacle is confirmed in the display image. The distance from the vehicle 1 is determined by a marker in which the obstacle in the display image is marked. Although it can be seen, the relationship between the extended position of the outrigger 4 and the turning position of the turning device 5 cannot be immediately determined.
That is, for the outrigger device 4, the length of the overhang from the vehicle 1 is memorized in advance by the operator, the memorized length position is confirmed from the marker displayed on the display device, and there is an obstacle at that position. It is necessary to judge whether there is any. Similarly, with respect to the turning device 5, it is necessary to remember the turning position of the turntable 2 (the movement trajectory of the corner of the counterweight 5a) and determine whether there is an obstacle at that position. Further, the turning position of the turning device 5 is in a relationship with the turning movement locus, and therefore, there are places where it is difficult to determine only with a marker with a scale.

  In the present invention, when the work implement is installed in consideration of such points, the periphery of the vehicle equipped with the work implement can be surely confirmed from the driver seat without getting out of the driver seat and confirming the periphery. An object is to provide a monitoring support device.

  In order to achieve the above object, a work equipment-equipped vehicle periphery monitoring support device according to claim 1 of the present invention is provided in a work equipment-equipped vehicle that performs work using the work equipment installed on the vehicle. In a periphery monitoring support device for a work implement-equipped vehicle, which includes a monitoring camera that captures the periphery and a display device that is disposed in a driver's seat and displays an image captured by the camera. In addition to the periphery of the working machine, the movable unit state of the work machine is attached at a position for photographing, and the captured image signal from the monitoring camera is sent to the display device via the image processing unit. A movable unit state position information storage unit that stores state position information and outputs a movable unit state position information image signal, and a synthesis processing unit that superimposes the movable unit state position information image on the captured image taken by the monitoring camera, The movable unit state position information image of the work implement is superimposed on the image obtained by photographing the periphery of the vehicle equipped with the work implement with the monitoring camera in a state where the movable portion is not moved, and is displayed on the display device. It is what.

  According to a second aspect of the present invention, the periphery monitoring support device for a work machine-equipped vehicle according to the first aspect includes a bird's-eye image conversion unit that converts a captured image signal from a monitoring camera into a bird's-eye image in the image processing device. The movable part state position information storage unit of the image processing device stores the movable part state position information of the work machine, converts it into a bird's-eye view image, and outputs it as a movable part state position information image signal or the movable part state position information of the work machine. The image is converted into a bird's-eye image, stored, and output as a movable part state position information image signal, and the composition processing unit of the image processing device superimposes the image converted by the bird's eye image converter and the movable part state position information image. The movable unit state position information image of the work implement is superimposed on the bird's-eye image obtained by photographing the periphery of the work implement-equipped vehicle with the monitoring camera in a state where the movable unit of the work implement is not moved. It is characterized in that so as to shown.

  According to a third aspect of the present invention, there is provided a work equipment-equipped vehicle periphery monitoring support device according to the second aspect, wherein a plurality of the monitoring cameras are arranged, and the bird's-eye image conversion unit synthesizes captured image signals from the plurality of monitoring cameras. Then, it is configured to convert to a bird's-eye view image.

  According to a fourth aspect of the present invention, in the periphery monitoring support device for a work implement-equipped vehicle, in the first to third aspects, the movable portion of the work implement is disposed on the front, rear, left and right of the work implement equipped vehicle. This is a projecting and retracting movable part.

  According to a fifth aspect of the present invention, there is provided a work equipment-equipped vehicle periphery monitoring support device according to the first to third aspects, wherein the movable portion of the work machine is arranged so that the work machine can turn on the vehicle. It is characterized by being a turning movable part.

  According to a first aspect of the present invention, there is provided an apparatus for monitoring the periphery of a work machine-equipped vehicle according to the present invention. Since the part state position information image is superimposed and displayed on the display device, the relationship between the obstacle photographed by the surveillance camera and the movable part state position information image can be confirmed on the display device. Even if the driver does not need to get out of the driver's seat and check the surroundings, the driver can check the surroundings reliably. Moreover, since the relationship between the obstacle and the movable part state position can be confirmed without actually moving the movable part of the work implement, if it is determined that the movable part interferes with the obstacle, the installation location of the vehicle with the work implement is set. It can be changed immediately.

  Since the periphery monitoring support device for a work machine-equipped vehicle according to claim 2 converts the image photographed by the surveillance camera and the movable portion state position information image into a bird's-eye view image and causes the display device to display the image. The relationship between the obstacle photographed by the surveillance camera and the movable part state position information image can be confirmed with the bird's-eye view image, and the confirmation judgment can be facilitated.

  The periphery monitoring support device for a work machine-equipped vehicle according to claim 3 is provided with a plurality of monitoring cameras, and the bird's-eye image conversion unit synthesizes photographed image signals from the plurality of monitoring cameras and converts them into a bird's-eye image. As a result, it is possible to display a wide range of surrounding conditions as a bird's-eye view image, making it easier to confirm and confirm the relationship between the obstacle photographed by the surveillance camera and the moving part state position information image using the bird's-eye view image. Can be.

  The periphery monitoring support device for a work machine-equipped vehicle according to claim 4 is applied to a work machine-equipped vehicle having an outrigger device as a movable part of the work machine, and the obstacle and the outrigger position information of the outrigger photographed by the monitoring camera Is displayed on the display device as a movable part state position information image, so that the relationship between the two can be confirmed, so when installing the work implement, without getting out of the driver's seat and checking the outrigger extension position vicinity, The surrounding area can be confirmed reliably from the driver's seat. Moreover, the relationship between the obstacle and the extended position of the outrigger device can be confirmed without actually extending the outrigger device. Therefore, if it is determined that an obstacle interferes with the overhang position of the outrigger device, the installation location of the work implement-equipped vehicle can be changed immediately because the outrigger device is not actually overhanging.

  The periphery monitoring support device for a work machine-equipped vehicle according to claim 5 is applied to a work machine-equipped vehicle having a turning device for turning the work machine as a movable part of the work machine, and an obstacle photographed by a surveillance camera Since the turning position information is displayed on the display device as a moving part state position information image so that the relationship between the two can be confirmed, when installing the work implement, get out of the driver's seat and check the periphery of the work implement turning position Even if you do not, you can be sure of the surroundings from the driver's seat. In addition, the relationship between the obstacle and the turning position of the turning device can be confirmed without actually turning the work implement. Therefore, if it is determined that an obstacle interferes with the turning position of the turning device, the installation location of the work implement-equipped vehicle can be changed immediately because the turning device is not actually turning.

  In the following, an embodiment of the periphery monitoring support device for a work machine-equipped vehicle according to the present invention will be described as applied to the mobile crane shown and described in FIG. 3 as a work machine-equipped vehicle. Therefore, the reference numerals 1 to 6 and 5a used above when describing the mobile crane are used in the following description as the same thing, and the description thereof is omitted here.

  The periphery monitoring support device for a work implement-equipped vehicle according to the present invention includes monitoring cameras 10 and 11 that photograph the periphery of the work implement equipped vehicle, and a display that displays images taken by the cameras 10 and 11 that are arranged in the driver's seat 6. Device 12. As shown in FIG. 4, the surveillance camera 10 is attached to the distal end portion of the telescopic boom 3 of the mobile crane so as to photograph the vicinity of the left side of the vehicle 1. In addition, the movable part state of the outrigger device 4 disposed on the left side of the vehicle 1 is also attached to a position for photographing. The monitoring camera 11 is attached to the upper left part of the swivel base 2 so as to photograph the vicinity of the left side of the vehicle 1.

  Captured image signals from the monitoring cameras 10 and 11 are sent to the display device 12 via the image processing device 13 as shown in FIG. The image processing device 13 stores the movable part state position information of the work machine and outputs the movable part state position information image signal, and the movable part state is added to the captured images taken by the monitoring cameras 10 and 11. And a composition processing unit 15 for superimposing the position information image.

  The movable part state position information storage unit 14 includes an outrigger extension position information storage unit 14a and a turning position information storage unit 14b of the swivel base. The outrigger overhang position information storage unit 14 a stores the overhang state position information of each outrigger device 4, and superimposes the overhang state position information on the image captured by the monitoring camera 10. An image signal that can be displayed is output. That is, as shown in FIGS. 5 and 6, the monitoring camera 10 uses the marker a as the state position information with the outrigger device 4 extended to the maximum and the marker b as the state position information with the outrigger device 4 extended in the middle. An image signal that can be displayed in a superimposed manner in an image taken by the camera is output.

  The turning position information storage unit 14b of the turntable stores turning position information of the turning device 5, and stores a movement trajectory in which the corner portion of the counterweight 5a of the turntable 2 moves with turning. The stored turning position information is output as an image signal that can be displayed superimposed on the image captured by the monitoring camera 11. That is, as shown in FIG. 7 and FIG. 8, the marker c was photographed by the monitoring camera 11 using the movement locus of the corner weight of the counterweight 5 when the swivel base 2 was swung as the swivel position information of the swivel base. An image signal that can be displayed superimposed on the image is output.

  The composition processing unit 15 superimposes and displays the image signals of the markers a and b from the outrigger projection position information storage unit 14 a of the movable unit state position information storage unit 14 on the captured image captured by the monitoring camera 10. The combined image signal is output, or the image signal of the marker c from the swivel position information storage unit 14b of the swivel base of the movable unit state position information storage unit 14 is superimposed on the captured image captured by the monitoring camera 11. It is a processing unit that outputs a synthesized image signal by performing synthesis processing so as to be displayed.

  The input / output unit of the image processing apparatus 13 includes an image signal input interface 16 and an image signal output interface 17, respectively, and is adapted for input / output with each connected device.

  Note that the display device 12 includes a selection unit 18 configured by a switch for selecting whether to display an image captured by the monitoring camera 10 or to display an image captured by the monitoring camera 11. The selection signal from the selection means 18 is input to the image signal input interface 16, and the image signal input interface 16 switches the image signal from the monitoring camera 10 or the monitoring camera 11 according to the selection signal and outputs it to the synthesis processing unit 15. It has become.

  Further, the movable part state position information storage unit 14 receives the selection signal from the selection means 18 and selects the combined image signal (outrigger extension position information storage unit 14a or swivel position information storage unit). Any image signal from the unit 14b) is output to the synthesis processing unit 15.

  The periphery monitoring support device for a work implement-equipped vehicle according to the present invention configured as described above operates as follows. The operator installs the mobile crane and moves it to the place where it works. Then, the selection unit 18 selects the image captured by the monitoring camera 10 to be displayed on the display device 12. Then, as shown in FIG. 5, the display device 12 monitors the marker a as the state position information with the outrigger device 4 extended to the maximum and the marker b as the state position information with the outrigger device 4 extended in the middle. The image is superimposed and displayed in an image around the left side of the vehicle 1 taken by the camera 10.

  The operator confirms whether or not there is an obstacle in the image displayed on the display device 12, and when the obstacle is confirmed, when the operator wants to work with the outrigger device 4 in the fully extended state, the vehicle 1 Check that there is no obstacle between the marker a and the marker a. Further, when the outrigger device 4 is to be operated in an intermediately extended state, it is confirmed whether an obstacle is positioned between the vehicle 1 and the marker b. When the obstacle is not located, the selection unit 18 is selected to display an image captured by the monitoring camera 11 on the display device 12.

  Then, as illustrated in FIG. 7, the display device 12 is a vehicle 1 in which the surveillance camera 11 captures a marker c that is a moving miracle drawn by moving the corner of the counterweight 5 when the swivel base 2 is turned. Is superimposed on the image around the left side of the image. If no obstacle is located in the marker c, the outrigger device 4 is extended. Then, an image obtained by extending the outrigger device 4 as shown in FIG. 8 is displayed on the display screen 12. When the selection means 18 is selected to display an image captured by the monitoring camera 10 on the display device 12, an image obtained by expanding the outrigger device 4 as shown in FIG. 6 is displayed.

  If there is an obstacle between the vehicle 1 and the marker, move the mobile crane to another installation location, check the same thing again, and if safety is confirmed, move the mobile crane at that location. A crane is installed to start work.

  As described above, since the periphery monitoring support device for a work machine-equipped vehicle according to the present invention operates, the relationship between the obstacle photographed by the monitoring camera 10 and the overhang position information image of the outrigger device 4 and the monitoring The relationship between the obstacle imaged by the camera 11 and the turning position information image of the swivel base 2 can be confirmed on the display device 12, and when installing a mobile crane, without getting off the driver's seat 6 and checking the surroundings, The driver's seat 6 can confirm the surroundings reliably. In addition, since the relationship between the obstacle and the overhang position of the outrigger device 4 and the swivel position of the swivel base can be confirmed without actually moving the outrigger device 4 and the swivel base 2, it is determined that each movable part interferes with the obstacle. Then, the location of the mobile crane can be changed immediately.

  Moreover, in the said embodiment, as shown in FIG. 5 and FIG. 6, the marker a and the outrigger device 4 as the state position information which extended the outrigger device 4 to the maximum in the image image | photographed with the surveillance camera 10 are extended in the middle. The marker b as the state position information is output as an image signal that can be displayed superimposed on the image captured by the monitoring camera 10, but as shown in FIG. 9, the outrigger device 4 is extended to the maximum. The marker d as the state position information and the marker e as the state position information with the outrigger device 4 extended in the middle may be output as an image signal that can be displayed superimposed on the image captured by the monitoring camera 10. Good. That is, the overhanging movement trajectory of the outrigger device 4 is displayed. By displaying in this way, when an obstacle is confirmed between the front outrigger device 4 and the rear outrigger device 4, it is confirmed that the obstacle does not become an obstacle if it is off the marker c on the screen according to FIG. Can be confirmed and judged more effectively.

  Furthermore, in the above embodiment, 10 and 11 are arranged as monitoring cameras for monitoring the left side of the vehicle 1, but a monitoring camera for monitoring the rear of the vehicle 1 is arranged, and similarly turning on the rear side of the turntable 2. The position information may be displayed.

  Next, in the above embodiment, the movable part state position information is superimposed on the images taken by the monitoring cameras 10 and 11, but the images taken directly by the monitoring cameras are taken without being displayed. The converted image may be converted into a bird's-eye view image, and the movable part state position information converted into the bird's-eye view image may be superimposed on the converted image. The embodiment in this case is shown in FIG. 2 as a second embodiment and will be described below.

  2 is different from that illustrated and described in FIG. 1 in the periphery monitoring device for a work machine-equipped vehicle according to the present invention, but the monitoring cameras 10 and 11 and the display device 12 are the same. Therefore, the description thereof is omitted. The image processing device 23 includes a bird's-eye image conversion unit 29, a movable unit state position information storage unit 24, and a synthesis processing unit 25. The bird's-eye image conversion unit 29 captures the captured images from the monitoring cameras 10 and 11 within a predetermined fixed angle range. Therefore, the bird's-eye image conversion unit 29 converts the captured image signals into a single bird's-eye image obtained by coordinate conversion. It is the conversion part to convert. The movable part state position information storage unit 24 includes an outrigger overhang position information storage unit 24a, a swivel turn position information storage unit 24b, and a bird's-eye image conversion unit 24c.

  The outrigger overhang position information storage unit 24 a stores the overhang state position information of each outrigger device 4. The turning position information storage unit 24b of the turning table stores turning position information of the turning device 5, and stores a movement trajectory in which the corner portion of the counterweight 5a of the turning table 2 moves as turning, as turning position information. ing. The bird's-eye image conversion unit 24c includes the extended state position information of each outrigger device 4 stored in the outrigger extended position information storage unit 24a and the turning position information of the turning device 5 stored in the turning position information storage unit 24b of the turntable. An image signal that can be displayed superimposed on the synthesized one bird's-eye image is output.

  That is, the bird's-eye image conversion unit 29 displays the bird's-eye view of the mobile crane and the left side of the mobile crane in a bird's-eye view as shown by the solid line in FIG. If there is an obstacle around the left side of the crane, the obstacle will also appear in the bird's eye view. Further, as shown in FIG. 10, the bird's-eye image conversion unit 24 c is the state position where the outrigger device 4 is extended to the maximum as the extended state information of each outrigger device 4 stored in the outrigger extension position information storage unit 24 a. The image signal that can be displayed superimposed on the bird's-eye view converted by the bird's-eye image conversion unit 29 is output. Further, as shown in FIG. 10, the bird's-eye image conversion unit 24c uses the counterweight 5a of the counterweight 5a when the swivel 2 is swung as swivel position information of the swivel device 5 stored in the swivel swivel position information storage unit 24b. An image signal that can be displayed superimposed on the bird's-eye view converted by the bird's-eye image conversion unit 29 is output.

  The composition processing unit 25 superimposes the image converted by the bird's-eye image conversion unit 29 and the image converted by the bird's-eye image conversion unit 24c of the movable unit state position information storage unit 24, and outputs an image signal illustrated in FIG. The input / output unit of the image processing device 23 is provided with an image signal input interface 26 and an image signal output interface 27, respectively, and is adapted to input / output with each connected device.

  The second embodiment of the periphery monitoring support device for a work machine-equipped vehicle according to the present invention configured as described above operates as follows. The operator installs the mobile crane and moves it to the place where it works. Then, the images taken by the monitoring cameras 10 and 11 are displayed on the display device 12. In this case, as shown in FIG. 10, on the display device 12, the bird's eye view on the left side of the mobile crane and the marker f as the state position information in which the outrigger device 4 is extended to the maximum and the outrigger device 4 are extended in the middle. A marker g as state position information and a marker h which is a moving miracle drawn by moving the corner of the counterweight 5a when the swivel base 2 is swung are displayed.

  The operator checks whether or not there is an obstacle in the image displayed on the display device 12, and when the obstacle is confirmed, when the operator wants to work with the outrigger device 4 in the fully extended state, the vehicle Check if there is an obstacle between 1 and marker f. When the outrigger device 4 is to be operated in an intermediately extended state, it is confirmed whether there is an obstacle between the vehicle 1 and the marker g. It is also checked whether there is an obstacle in the marker h. When there is no obstacle in either, the outrigger device 4 is extended. Then, an image obtained by extending the outrigger device 4 as shown in FIG. 11 is displayed on the display screen 12. If there is an obstacle between the vehicle 1 and the marker, move the mobile crane to a different installation location and check the same thing again. A mobile crane is installed to start work.

  As described above, since the periphery monitoring support device for a work machine-equipped vehicle according to the present invention operates, the relationship between the obstacle photographed by the monitoring cameras 10 and 11 and the overhang position information image of the outrigger device 4 The relationship between the obstacles photographed by the monitoring cameras 10 and 11 and the turning position information image of the turning device 5 can be confirmed on the display device 12, and when the mobile crane is installed, the driver's seat 6 is lowered and the surroundings are confirmed. Even without it, the surroundings can be reliably confirmed from the driver's seat 6. Moreover, since the relationship between the obstacle and the overhang position of the outrigger device 4 and the turning position of the turning device 5 can be confirmed without actually moving the outrigger device 4 and the turning device 5, if each movable part interferes with the obstacle, Once determined, the location of the mobile crane can be changed immediately.

  In particular, in the case of the second embodiment, the image captured by the monitoring cameras 10 and 11 and the movable part state position information image are converted into a bird's-eye view image and displayed on the display device 12. , 11, the relationship between the obstacle imaged in the movable portion state position information image can be confirmed with a bird's-eye view image, and the confirmation determination can be facilitated.

  In the movable part state position information storage unit 24 of the second embodiment, the outrigger state information of each outrigger device 4 is stored in the outrigger overhang position information storage unit 24a, and each outrigger device is stored in the bird's-eye view image conversion unit 24c. 4 is converted to a bird's-eye view image, but the outrigger extension position information storage unit 24a converts the extension state position information of each outrigger device 4 into a bird's-eye image and stores it. Good. Similarly, the turning position information of the turning device 5, which is the movement trajectory along which the corner portion of the counterweight 5a of the turning table 2 moves with turning, is stored in the turning position information storage unit 24b of the turning table, and the bird's-eye image conversion unit 24c is stored. The turning position information of the turning device 5 is converted into a bird's-eye image. However, the turning position information storage unit 24b of the turning table may convert the turning position information of the turning device 5 into a bird's-eye image and store it. Good.

  In the second embodiment, the monitoring cameras 10 and 11 are arranged and converted to bird's-eye images. However, as shown in FIG. 12, a monitoring camera is additionally provided around the mobile crane. You may make it display the bird's-eye view image of the whole mobile crane, and the condition of the whole periphery of a mobile crane by a bird's-eye view image.

  Furthermore, in the above embodiment, the case where the working machine is applied to a mobile crane has been described. However, when the working machine is moved, the working machine is applied to a working machine-equipped vehicle that protrudes from the vehicle and interferes with obstacles around the vehicle. Of course, the present invention is applied to working machines such as an aerial work vehicle and an excavated pillar car.

  Next, in the above embodiment, the marker is superimposed on the image obtained by photographing the periphery of the work machine on the display device 12, but the surrounding image displayed on the display device 12 is the periphery of the vehicle 1 during traveling. Can also be used to confirm. At this time, if the marker is displayed in a superimposed manner, the marker is disturbed. That is, if a switch that can be manually operated by an operator is provided, and if it is possible to select whether or not the marker is superimposed and displayed by this switch, the marker can be prevented from being superimposed and displayed on the display device 12 during traveling. When confirming obstacles while traveling with the display device 12, it is possible to prevent the marker from interfering, and it may be selected so as to be superimposed when determining the installation location.

It is explanatory drawing explaining the periphery monitoring apparatus of the working machine mounting vehicle which concerns on this invention. It is explanatory drawing explaining 2nd Embodiment of the periphery monitoring apparatus of the working machine mounting vehicle which concerns on this invention. It is explanatory drawing explaining a mobile crane as a working machine mounting vehicle. It is explanatory drawing explaining the periphery monitoring apparatus of the working machine mounting vehicle which concerns on this invention, and is explanatory drawing explaining arrangement | positioning of a surveillance camera. It is explanatory drawing explaining the periphery monitoring apparatus of the working machine mounting vehicle which concerns on this invention, and is explanatory drawing explaining the image which superimposed and displayed the left side image of the vehicle by a monitoring camera, and the movable part state position information image by an outrigger apparatus. It is explanatory drawing explaining a state when an outrigger device is projected over the image of FIG. It is explanatory drawing explaining the periphery monitoring apparatus of the working machine mounting vehicle which concerns on this invention, and is explanatory drawing explaining the image which superimposed and displayed the movable part state position information image by the left side image of the vehicle by a surveillance camera, and turning of a turntable. is there. It is explanatory drawing explaining a state when an outrigger apparatus is projected over the image of FIG. It is explanatory drawing explaining the periphery monitoring apparatus of the working machine mounting vehicle which concerns on this invention, is explanatory drawing explaining the image which superimposed and displayed the left side image of the vehicle by a monitoring camera, and the movable part state position information image by an outrigger apparatus, It is explanatory drawing explaining the case where is changed. It is explanatory drawing explaining the periphery monitoring apparatus of the working machine mounting vehicle which concerns on this invention, The left side image of the vehicle by a monitoring camera, and the movable part state position information image by an outrigger device and a turning device were converted into a bird's-eye view image, and were superimposed and displayed. It is explanatory drawing explaining an image. It is explanatory drawing explaining a state when an outrigger apparatus is projected over the image of FIG. BRIEF DESCRIPTION OF THE DRAWINGS It is explanatory drawing explaining the periphery monitoring apparatus of the working machine mounting vehicle which concerns on this invention, and the image which added the surveillance camera, converted the whole circumference of a vehicle and a movable part state position information image into a bird's-eye view image, and demonstrated the superimposed display is demonstrated. It is explanatory drawing.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle 4 Outrigger apparatus 5 Turning apparatus 10 Monitoring camera 11 Monitoring camera 12 Display apparatus 13 Image processing apparatus 15 Compositing process part 14 Movable part state position information storage part 23 Image processing apparatus 24 Movable part state position information storage part 25 Compositing process part 29 Bird's-eye image converter

Claims (5)

A work machine-equipped vehicle that performs work using a work machine mounted on the vehicle includes a monitoring camera that captures the periphery of the work machine-equipped vehicle, and a display device that is disposed in a driver's seat and displays an image captured by the camera. In the periphery monitoring support device for a work machine-equipped vehicle,
The monitoring camera is mounted on the same screen at a position for shooting the state of the movable part of the work machine in addition to the periphery of the work machine-equipped vehicle, and the captured image signal from the monitoring camera is sent to the display device via the image processing device. In the image processing apparatus, the movable unit state position information is stored in the movable unit state position information storage unit that outputs the movable unit state position information image signal and outputs the movable unit state position information image signal. A superimposing processing unit,
The movable unit state position information image of the work implement is superimposed on the image obtained by photographing the periphery of the vehicle equipped with the work implement with the monitoring camera while the movable portion of the work implement is not moved, and is displayed on the display device. A peripheral monitoring support device for a work machine-equipped vehicle, characterized by 2. The image processing apparatus according to claim 1, further comprising a bird's-eye image conversion unit that converts a captured image signal from a monitoring camera into a bird's-eye image, wherein the movable unit state position information storage unit of the image processing device is a movable unit state of a work machine. The position information is stored and converted into a bird's-eye image and output as a movable part state position information image signal, or the movable part state position information of the work implement is converted and stored as a bird's-eye image and output as a movable part state position information image signal. The composition processing unit of the image processing device superimposes the image converted by the bird's eye image conversion unit and the movable unit state position information image,
The movable unit state position information image of the work implement is superimposed on the bird's-eye view image obtained by photographing the periphery of the vehicle equipped with the work implement with the monitoring camera in a state where the movable portion of the work implement is not moved, and is displayed on the display device. A peripheral monitoring support device for a vehicle equipped with a work machine. The work machine-equipped vehicle according to claim 2, wherein a plurality of the monitoring cameras are arranged, and the bird's-eye view image conversion unit is configured to synthesize captured image signals from the plurality of monitoring cameras and convert them into a bird's-eye view image. Perimeter monitoring support device. 4. The periphery monitoring of a work implement-equipped vehicle according to claim 1, wherein the movable portion of the work implement is a projecting and retracting movable portion of an outrigger device disposed on the front, rear, left and right of the work implement equipped vehicle. Support device. 4. The periphery monitoring support device for a vehicle equipped with a work implement according to claim 1, wherein the movable portion of the work implement is a turning movable portion of a turning device in which the work implement is disposed on the vehicle so as to be capable of turning. .

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