JP2011011620A - Vehicle periphery confirmation device of working machine - Google Patents

Vehicle periphery confirmation device of working machine Download PDF

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JP2011011620A
JP2011011620A JP2009156998A JP2009156998A JP2011011620A JP 2011011620 A JP2011011620 A JP 2011011620A JP 2009156998 A JP2009156998 A JP 2009156998A JP 2009156998 A JP2009156998 A JP 2009156998A JP 2011011620 A JP2011011620 A JP 2011011620A
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window
vehicle
image
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Mitsuyasu Shimamoto
充功 島本
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Caterpillar SARL
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Abstract

PROBLEM TO BE SOLVED: To provide a technology capable of accurately obtaining sizes or positions of objects in blind spots on the periphery of a vehicle.SOLUTION: The vehicle periphery confirmation device of the working machine includes: a plurality of imaging means 1, 2, 3, 4 which are mounted at arbitrary positions on the periphery of the vehicle, and image areas in front side, right/left sides, and rear side; a projection means for projecting images of the imaging means toward windows in the front side, right/left sides 8 and the rear side of a driver's cabin 5; and a film 14 which can display the images which are attached to the windows in the front side, the right/left sides 8, and the rear side of the driver's cabin 5, and projected by the projection means.

Description

この発明は、例えばダンプトラック等の作業機械における車両周囲を確認する装置に関する。   The present invention relates to an apparatus for confirming the surroundings of a vehicle in a work machine such as a dump truck.

ダンプトラック等の作業機械は、車体が大きいうえに、運転室が高い位置に設けられるので、運転席のオペレータの視界から死角となる範囲が他の車両に比べて大きい。そこで、死角となる車両の周囲にカメラを取り付け、その画像を専用のディスプレイで見ることのできる技術が種々提案されている(特許文献1に多数掲載されている)。そのような技術を使えば、オペレータは、所望のカメラの映像に切り替えつつ、車両の周囲を確認することができるものとなる。   A work machine such as a dump truck has a large vehicle body and is provided at a high position in the driver's cab, so the range of blind spots from the view of the operator in the driver's seat is larger than other vehicles. Thus, various technologies have been proposed that can attach a camera around a vehicle that becomes a blind spot and view the image on a dedicated display (many are disclosed in Patent Document 1). If such a technique is used, the operator can check the surroundings of the vehicle while switching to a desired camera image.

特開2008−114814号公報(0002〜0006段)JP 2008-1114814 A (0002-0006 stage) 特開2006−168699号公報(図2,図3)Japanese Patent Laying-Open No. 2006-168699 (FIGS. 2 and 3)

しかし、従来の提案技術では、ディスプレイの画像が死角の範囲と比較してあまりに小さく、映像と実際のギャップが大きくて、対象物の大きさや位置の正確な把握ができないという問題があった。   However, the conventional proposed technique has a problem that the image on the display is too small compared to the range of the blind spot, the gap between the image and the actual is large, and the size and position of the object cannot be accurately grasped.

また、画像を切り替えながら見ることになるので、切り替えながら画像を確認していると、どの位置の画像か迷うこともあり得た。この点、一般車両の技術ではあるが、画像毎に異なる表示形態として表示し、どの位置のカメラの画像なのか一見して容易に理解可能となる技術も提案されているが(特許文献2)、そもそも側方や後方の画像についても、前方にあるディスプレイで見ることになるので、前方以外の映像については、実際の位置関係がわかりにくいという問題があった。   In addition, since the images are viewed while switching, if the images are confirmed while switching, the position of the image may be lost. Although this is a general vehicle technology, a technology has also been proposed in which images are displayed in different display forms for each image and can be easily understood at a glance from which camera image (Patent Document 2). In the first place, since the side and rear images are also viewed on the front display, there is a problem that it is difficult to understand the actual positional relationship for images other than the front.

この発明は、従来技術の以上のような問題に鑑み創案されたもので、車両周囲の死角にある対象物の大きさや位置が正確に把握できる技術を提供しようとするものである。   The present invention has been devised in view of the above-described problems of the prior art, and is intended to provide a technique capable of accurately grasping the size and position of an object in a blind spot around a vehicle.

このため、この発明に係る作業機械の車両周囲確認装置は、車両の周囲の任意の箇所に取り付けられる、前方、左右側方、後方を撮像する複数の撮像手段と、運転室の前方、左右側方、後方の窓に向かって、前記撮像手段の映像を投射する投影手段と、運転室の前方、左右側方、後方の窓に貼着される、前記投影手段が投射する映像を表示できるフィルムとからなることを特徴とするものである。   For this reason, the vehicle surroundings confirmation device for a work machine according to the present invention includes a plurality of imaging means for imaging the front, left and right sides, and the rear, which are attached to arbitrary locations around the vehicle, and the front and left and right sides of the cab On the other hand, a projection means for projecting the image of the imaging means toward the rear window, and a film which can be displayed on the front, left and right sides of the cab, and the image projected by the projection means, which is attached to the rear window. It is characterized by the following.

本発明に係る作業機械の車両周囲確認装置によれば、運転室の各窓に投影手段が投射した映像が表示できるフィルムが貼着されているので、前記投影手段によりカメラの映像を投射すれば、車両周囲の映像がフィルムを通して窓に投影されることになる。このため、貼着するフィルムの大きさを適宜調整すれば、車両周囲の映像をより大きな画面で見ることができ、死角にある対象物の大きさや位置関係がより正確に把握できる。   According to the vehicle surrounding confirmation device for a work machine according to the present invention, since a film capable of displaying an image projected by the projection unit is attached to each window of the cab, if the camera image is projected by the projection unit, The image around the vehicle is projected on the window through the film. For this reason, if the size of the film to be attached is appropriately adjusted, the image around the vehicle can be viewed on a larger screen, and the size and positional relationship of the object in the blind spot can be grasped more accurately.

また、各窓の位置に対応した映像を投影する(例えば右側方の窓には右側方の映像を投影、後方の窓には後方の映像を投影)ようにすれば、死角にある対象物でも、オペレータは実際に自分の目で確認できるような感覚が得られ、対象物の大きさや位置がより正確に把握できることになる。   In addition, if an image corresponding to the position of each window is projected (for example, a right image is projected on the right window and a rear image is projected on the rear window), even an object in a blind spot is projected. The operator can actually feel with his / her own eyes and can grasp the size and position of the object more accurately.

本発明に係る具体的な実施形態例が適用されるダンプトラックの側面図である。It is a side view of a dump truck to which a specific embodiment example according to the present invention is applied. 図1に示すダンプトラックの運転室の概略説明図である。It is a schematic explanatory drawing of the cab of the dump truck shown in FIG.

本発明に係る具体的形態の一例を図面に基づき説明する。本形態例は、図1に示すようなダンプトラックに適用された例である。なお、以下に示す形態例はあくまで本発明の一例であって、それらに本発明が限定されないことは当然である。   An example of a specific form according to the present invention will be described with reference to the drawings. The present embodiment is an example applied to a dump truck as shown in FIG. In addition, the form example shown below is an example of this invention to the last, Comprising: Of course, this invention is not limited to them.

図1に示すように、ダンプトラックの車両周囲のうち、前方、左右側方、後方には、それぞれカメラ1〜4が1台ずつ取り付けられる。各カメラ1〜4は、固定式でも首振り式でも良いが、少なくとも運転室5の視野から死角となる範囲を撮像範囲となるように設定されている。なお、本形態例では、カメラ1〜4は前後左右各1台ずつの配置であるが、それぞれ複数配置させても、また前後左右の角部に配置させても良い。   As shown in FIG. 1, one camera 1 to 4 is attached to the front, left and right sides, and rear, respectively, around the dump truck. Each of the cameras 1 to 4 may be a fixed type or a swing type, but is set so that at least a range that is a blind spot from the view of the cab 5 is an imaging range. In this embodiment, the cameras 1 to 4 are arranged one by one in the front, rear, left, and right, but a plurality of cameras may be arranged, or may be arranged in the corners of the front, rear, left, and right.

運転室5の前方の窓6、左右側方の窓7,8、後方の窓(図示なし)の手前には、図2に示すように、小型のプロジェクタ9〜11がそれぞれ配置される(後方の窓に対応するプロジェクタは図示なし)。各プロジェクタは、配置される窓の位置に対応するカメラ(例えば、右側方の窓7の前に配置されるプロジェクタ10は、車両右側方に取り付けられるカメラ2)と信号ラインが接続され、そのカメラからの映像をそれぞれ投影するように設定される。各プロジェクタが投射する向きは、それぞれ、後述する、各窓に貼着されるフィルムに映像が投影されるように設定される。なお、本形態例ではプロジェクタを各窓に対応させて4カ所配置させているが、例えば運転室5天井の中央に、投射方向が全方位型のプロジェクタを1つ配置させる等しても良い。   As shown in FIG. 2, small projectors 9 to 11 are arranged in front of the front window 6 of the cab 5, the left and right side windows 7 and 8, and the rear window (not shown), respectively (rear side). (The projector corresponding to this window is not shown). Each projector has a signal line connected to a camera corresponding to the position of the window to be placed (for example, the projector 10 placed in front of the right window 7 is a camera 2 attached to the right side of the vehicle). Is set to project the video from each. The direction in which each projector projects is set such that an image is projected onto a film to be attached to each window, which will be described later. In this embodiment, four projectors are arranged corresponding to each window. However, for example, one projector having an omnidirectional projection direction may be arranged at the center of the cab 5 ceiling.

運転室5の前方の窓6、左右側方の窓7,8、後方の窓(図示なし)には、図2に示すとおり、通電により表面が透明と不透明とに切り替えられるフィルム12〜14が窓の一部分に貼着されている(後方の窓に貼着されたフィルムは図示なし)。該フィルム12〜14は、不透明に切り替えたときに、前記プロジェクタ9〜11のスクリーン面として使用するものであり、通常はウインドウ用に透明に切り替えておく。なお、本形態例のフィルム12〜14は通電によって透明性が変化する素材を用いているが、温度やさらに前記プロジェクタ9〜11の光線によって変化する素材を用いても良い。また、フィルム12〜14の貼着面の位置や大きさを適宜変更して、スクリーン面となる位置や大きさを変更しても良い。もちろん、フィルム12〜14を窓一杯に貼着し、窓全体がスクリーン面となるように設定してもよい。   As shown in FIG. 2, films 12 to 14 whose surfaces are switched between transparent and opaque when energized are provided on the front window 6, the left and right side windows 7 and 8, and the rear windows (not shown) of the cab 5. It is attached to a part of the window (the film attached to the rear window is not shown). The films 12 to 14 are used as screen surfaces of the projectors 9 to 11 when switched to opaque, and are usually switched to transparent for windows. In addition, although the film 12-14 of this embodiment uses the material which changes transparency by electricity supply, you may use the material which changes with temperature and also the light beam of the said projectors 9-11. Moreover, you may change the position and magnitude | size of the sticking surface of the films 12-14 suitably, and may change the position and magnitude | size used as a screen surface. Of course, the films 12 to 14 may be attached to the entire window, and the entire window may be set to be the screen surface.

前記各プロジェクタ9〜11及び各カメラ1〜4のオンオフと、各窓に配置されるフィルム12〜14の透明性の切替は、制御装置(図示なし)によって連動される。例えば、前方窓6の前に配置されたプロジェクタ9のスイッチをオンにすると、車両前方に取り付けられたカメラ1もオンになり、それと同時に、前方窓6に貼着されたフィルム12に通電され、フィルム12が不透明となって、前記プロジェクタ9からの映像が前方窓6のフィルム12に投影されることになる(右側方、左側方、後方の各プロジェクタ及び各カメラと、各窓のフィルムも同じ)。   The on / off of the projectors 9 to 11 and the cameras 1 to 4 and the switching of the transparency of the films 12 to 14 arranged in the windows are linked by a control device (not shown). For example, when the switch of the projector 9 disposed in front of the front window 6 is turned on, the camera 1 attached to the front of the vehicle is also turned on, and at the same time, the film 12 attached to the front window 6 is energized, The film 12 becomes opaque and the image from the projector 9 is projected onto the film 12 on the front window 6 (the right side, left side, rear projectors and cameras, and the film on each window are the same) ).

以上のような本形態例では、オペレータが、車両周囲のうちいずれかのカメラ1〜4の映像を見たいときには、そのカメラに対応する位置のプロジェクタ9〜11のスイッチをオンにすれば、そのカメラのスイッチもオンとなって、プロジェクトからそのカメラの映像が投射され、同時に対応する窓のフィルム12〜14が不透明に切り替わり、そこに投射されたカメラ映像が投影されることになる。例えば、オペレータが、窓からは確認できない左側方の車両下側(死角範囲)を確認したい場合、左側方窓8の手前に配置されるプロジェクタ11のスイッチをオンにすれば、左側方カメラ3もオンとなってその範囲を撮影し、その映像がプロジェクタ11から投射されると同時に、左側方に貼着されたフィルム14が不透明に切り替わり、そこに映像が投影されることになる。オペレータは左窓8を見ながら、その下方のカメラ3の映像を見ることになり、映像に映る対象物の位置と大きさを、実際の視線により近い感覚で捉えることになる。   In the present embodiment as described above, when an operator wants to see the image of any one of the cameras 1 to 4 around the vehicle, if the projectors 9 to 11 at positions corresponding to the cameras are turned on, the operator The camera switch is turned on, and the image of the camera is projected from the project. At the same time, the corresponding window films 12 to 14 are switched to opaque, and the projected camera image is projected there. For example, if the operator wants to check the lower side of the vehicle on the left side (dead angle range) that cannot be confirmed from the window, if the projector 11 arranged in front of the left side window 8 is switched on, the left side camera 3 is also The range is turned on and the range is photographed, and the image is projected from the projector 11. At the same time, the film 14 stuck on the left side is changed to opaque, and the image is projected there. The operator sees the video of the camera 3 below the left window 8 while looking at the left window 8, and captures the position and size of the object shown in the video with a sense closer to the actual line of sight.

なお、本発明が以上の形態に限定されないことは上述したとおりであり、例えば、適用する作業機械として油圧ショベルやブルドーザ、ホイールローダ等の他の車両を用いても良い。また、一の窓のフィルムに、複数のカメラの映像を同時に投影させたり、その投影も親子画面のような表示としたりしても良い。すなわち、種々の構成の変更があっても、特許請求の範囲の構成を満足させる形態であれば、当然にその技術的範囲に属するものである。   In addition, as above-mentioned that this invention is not limited to the above form, For example, you may use other vehicles, such as a hydraulic shovel, a bulldozer, and a wheel loader, as a working machine to apply. In addition, images from a plurality of cameras may be simultaneously projected on the film of one window, or the projection may be displayed as a parent-child screen. That is, even if there are various changes in the configuration, it is a matter of course within the technical scope as long as it satisfies the configuration of the claims.

この発明は、例えばダンプトラック等の作業機械に適用可能である。   The present invention can be applied to a work machine such as a dump truck.

1〜4 カメラ(撮像手段)
5 運転室
6 前方窓
7 右側方窓
8 左側方窓
9〜11 プロジェクタ(投影手段)
12〜14 フィルム
1 to 4 cameras (imaging means)
5 cab
6 Front window
7 Right side window
8 Left window
9-11 Projector (projection means)
12-14 films

Claims (1)

車両の周囲の任意の箇所に取り付けられる、前方、左右側方、後方を撮像する複数の撮像手段と、
運転室の前方、左右側方、後方の窓に向かって、前記撮像手段の映像を投射する投影手段と、
運転室の前方、左右側方、後方の窓に貼着される、前記投影手段が投射する映像を表示できるフィルムとからなることを特徴とする作業機械の車両周囲確認装置。
A plurality of imaging means for imaging the front, left and right sides, and the rear, which are attached to arbitrary locations around the vehicle;
Projecting means for projecting the image of the imaging means toward the front, left and right sides of the cab, and the rear window;
A vehicle surroundings confirmation device for a working machine, comprising a film that can display an image projected by the projection means, which is attached to windows in front, left and right sides, and rear of a cab.
JP2009156998A 2009-07-01 2009-07-01 Vehicle periphery confirmation device of working machine Withdrawn JP2011011620A (en)

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Cited By (11)

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JP2012201165A (en) * 2011-03-24 2012-10-22 Komatsu Ltd Large dump truck
WO2012169362A1 (en) * 2011-06-07 2012-12-13 株式会社小松製作所 Work vehicle vicinity monitoring device
WO2012169359A1 (en) * 2011-06-07 2012-12-13 株式会社小松製作所 Dump truck
WO2013175649A1 (en) * 2012-05-22 2013-11-28 株式会社小松製作所 Dump truck
JP2014221641A (en) * 2014-09-02 2014-11-27 株式会社小松製作所 Dump track
JP2016119640A (en) * 2014-12-24 2016-06-30 三菱電機株式会社 Image control device and image control system using the same
JP2017512027A (en) * 2014-03-11 2017-04-27 ノキア テクノロジーズ オーユー Display video information
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JP2012201165A (en) * 2011-03-24 2012-10-22 Komatsu Ltd Large dump truck
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AU2012268483B2 (en) * 2011-06-07 2014-05-08 Komatsu Ltd. Dump truck
JP2012252675A (en) * 2011-06-07 2012-12-20 Komatsu Ltd Dump truck
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US9956915B2 (en) 2011-06-07 2018-05-01 Komatsu Ltd. Dump truck periphery monitoring apparatus
WO2012169359A1 (en) * 2011-06-07 2012-12-13 株式会社小松製作所 Dump truck
US9291709B2 (en) 2011-06-07 2016-03-22 Komatsu Ltd. Dump truck
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JP2013241159A (en) * 2012-05-22 2013-12-05 Komatsu Ltd Dump truck
CN103608216A (en) * 2012-05-22 2014-02-26 株式会社小松制作所 Dump truck
WO2013175649A1 (en) * 2012-05-22 2013-11-28 株式会社小松製作所 Dump truck
JP2017512027A (en) * 2014-03-11 2017-04-27 ノキア テクノロジーズ オーユー Display video information
JP2014221641A (en) * 2014-09-02 2014-11-27 株式会社小松製作所 Dump track
JP2016119640A (en) * 2014-12-24 2016-06-30 三菱電機株式会社 Image control device and image control system using the same
JP2017178024A (en) * 2016-03-30 2017-10-05 矢崎総業株式会社 Driving support device
JP2022113721A (en) * 2017-09-15 2022-08-04 マクセル株式会社 Information display system
WO2023153722A1 (en) * 2022-02-08 2023-08-17 현대두산인프라코어(주) Transparent display-based work assistance method and device for construction machinery
WO2024107725A1 (en) * 2022-11-14 2024-05-23 Doosan Bobcat North America, Inc. Systems and methods for implementing integrated displays for power machines

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