JP2011195051A - Rear visibility display system of transportation vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately grasp a position to stop in earth removing work from a camera image.SOLUTION: In a position where a vehicle body rear end of a transportation vehicle or a rear wheel tire rear end is projected on a road surface, or a position on the road surface separated backward from the projected position at a predetermined distance, a distance guide line in earth removing work or a distance guide point in earth removing work is set as a reference in the earth removing work removing the load of earth from a vessel, and the distance guide line in the earth removing work or the distance guide point in the earth removing work is overlapped with an image displayed on a display part, and displayed.

Description

  The present invention provides a rear view display system for a transport vehicle that captures a field of view behind the vehicle body with a camera attached to the rear of the vehicle body of the transport vehicle having a vessel and displays the captured image on a display unit provided in a driver's cab or the like. About.

  A transport vehicle such as a dump truck has a vessel on which a load is loaded, and at the time of earth removal work, the vehicle moves backward and raises the vessel to discharge the load to the earth removal site.

The transport vehicle has a large blind spot behind the vehicle body, and it is difficult to visually confirm the field of view behind the vehicle body directly from the cab. For this reason, conventionally, in a transport vehicle, a rear view of photographing a field of view behind the vehicle body by a camera attached to the rear of the vehicle body, and displaying the photographed image on a display unit of a monitor provided in the cab is used to confirm the rear. A field of view display system has been adopted and various patent applications have been filed.

Patent Document 1 listed below describes an invention in which a camera is mounted on an upper part of a rear combination lamp composed of a plurality of lamps such as a stop lamp, a turn signal, and a tail lamp of a dump truck.

Japanese Patent Application Laid-Open No. 11-255018

Vehicles such as dump trucks are much wider than ordinary vehicles,
It is difficult to grasp the vehicle width behind the vehicle body only with the camera image for rear view shooting.

Furthermore, since a transport vehicle such as a dump truck has limitations on the camera mounting space, mounting position, mounting angle, and the like, the rear end of the vehicle body projects rearward from the camera mounting portion. For this reason, it is difficult to accurately grasp to which position in the camera image the vehicle is retracted and stopped to reach the earth removal position or whether collision, fall, etc. can be avoided.
Moreover, in the case of a transport vehicle such as a dump truck, the rear end position of the vehicle body projects rearward when the vessel is raised as compared to when the vessel is seated. For this reason, the operator has to check backward while predicting the state in which the vessel has risen, and it becomes more difficult to grasp the stop position at the time of reverse.
The present invention has been made in view of such a situation, and an object of the present invention is to make it possible to accurately grasp a position to be stopped at the time of earth removal work from a camera image.

The first invention is
In the rear view display system of the transport vehicle that captures the view of the rear of the vehicle body by a camera attached to the rear of the vehicle body of the transport vehicle including the vessel, and displays the captured image on the display unit.
The position where the rear end of the vehicle is projected to the back of the vehicle when the vessel is rising, the position where the rear end of the rear tire is projected onto the road surface, or the rear end of the rear tire is the road surface During the earth removal work that serves as a reference for the earth removal work to remove the load of the vessel at a position on the road surface between the position projected on the road and the position where the rear end of the vehicle body is projected onto the road surface when the vessel is seated Display control means for setting a distance guide line or a distance guide point for earth removal work, and displaying the distance guide line for earth removal work or a distance guide point for earth removal work superimposed on the image displayed on the display unit It is provided with.

The second invention is the first invention,
The earth removal distance reference line or the earth removal distance reference point is set at a position where the rear end of the vehicle body is projected onto the road surface when the vessel is seated.

The third invention is the first invention,
The earth removal distance reference line or the earth removal distance reference point is set to a position where the rear end of the vehicle body is projected onto the road surface when the vessel is raised.

A fourth invention is the first invention,
The soil removal work distance reference line or the soil removal work distance reference point is set to a position where the rear end of the rear tire is projected onto the road surface or a position on the road surface which is a predetermined distance away from the projected position. It is characterized by.

A fifth invention is the first invention,
The soil removal work distance guideline or the soil removal work distance guideline is set at multiple positions on the road surface, and multiple soiling work distance guidelines or multiple soiling work distance guide points can be distinguished from each other. It is characterized by being displayed.

The sixth invention
The soil removal work distance guideline or the soil removal work distance guideline is set at multiple positions on the road surface, and multiple soiling work distance guidelines or multiple soiling work distance guide points can be selected. The selected earth removal work distance reference line or earth removal work distance reference point is displayed in the image.

According to the present invention, the following effects can be obtained.

a) In the present invention, when the vessel is moving up, the rear end of the vessel is the most rearward of the vehicle body. The rear end of the vehicle is projected onto the road surface, or the rear end of the rear tire is projected onto the road surface. At the position on the road surface between the position where the rear end of the wheel tire is projected on the road surface and the position where the rear end of the vehicle body is projected on the road surface when the vessel is seated A distance guide point is set and displayed superimposed on the camera image. For this reason, in the camera image, the position where at least the rear end of the rear tire is projected onto the road surface along with the background behind the vehicle body will be displayed as the earthing distance reference line or the earthing distance reference point. If the vehicle is moved backward with the guideline as a guideline, it is possible to accurately grasp to which position on the road the vehicle will move backward and stop to reach the desired soil removal position, or whether a collision, fall, etc. can be avoided. become able to.

b) In particular, in the third invention, the distance guide line for earth removal work or the distance guide point for earth removal work is set at a position where the rear end of the vehicle body is projected onto the road surface when the vessel is raised. It becomes possible to accurately grasp the stop position when the vehicle ascends from the camera image.
Here, the “position where the rear end of the vehicle body is projected onto the road surface when the vessel is raised” is used to mean the position where the rear end of the vessel is the rearmost of the vehicle body when the vessel is raised. The fact that the rear end of the vessel is the rearmost position of the vehicle body is not always the case when the vessel is raised most. Depending on the shape of the edge of the vessel, the position projected on the road surface along the rising trajectory drawn by the edge of the vessel, i.e., the position projected on the road surface when the vessel is rising is the most rearward of the vehicle body. May be located.

FIGS. 1A and 1B are diagrams showing a camera mounting position on a vehicle body when the vehicle is a dump truck. FIG. 2 is a system configuration diagram including a rear view display system. FIG. 3 is an internal block diagram of the rear view monitor. 4 (a), (b), (c), (d), and (e) are diagrams showing screens displayed on the main monitor display unit, and are diagrams showing a rear view monitor setting screen. (F), (g), (h), and (i) are displayed on the rear view monitor display unit corresponding to FIGS. 4 (a) and (b), (c), (d), and (e), respectively. FIG. FIGS. 5A and 5B are diagrams for explaining processing for setting one distance reference line. An image of a rear view monitor display unit before setting a point when the vehicle is a dump truck, and point setting It is a figure which compares and shows the image of a rear-view monitor display part after. FIGS. 6A, 6B, and 6C are views showing images after setting distance reference lines that are different from each other in the longitudinal direction of the vehicle body. FIGS. 7A and 7B are diagrams for explaining processing for setting two distance reference lines in one screen, and images of the rear view monitor display unit before setting points when the vehicle is a dump truck. It is a figure which compares and shows the image of the rear view monitor display part after point setting. FIG. 8 is a diagram showing an image after three distance reference lines are set in one screen. FIG. 9 is a diagram for explaining processing for setting a distance guideline for earth removal work when the vehicle is a dump truck, and is a diagram in a state where a vessel of the dump truck is seated. FIG. 10 is a diagram for explaining processing for setting a distance guideline for earth removal work when the vehicle is a dump truck, and is a diagram in a state where the vessel of the dump truck is raised. FIG. 11 is a side view of the dump truck corresponding to FIG.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a rear view display system for a transport vehicle according to the present invention will be described with reference to the drawings. Hereinafter, a description will be given assuming a dump truck (hereinafter referred to as a vehicle) as a transport vehicle. There are rigid dump trucks and articulated dump trucks. The articulated dump truck is a dump truck having a configuration in which a front frame is connected to a rear frame in a refractive manner. In the present embodiment, description will be made assuming an articulated dump. In the specification, the “left” side of the vehicle body means the left side when the front is viewed from the driver's seat, and the “right” side of the vehicle body is the right side when the front is viewed from the driver's seat. It shall be said.

In the following description, it is assumed that the image of the camera is displayed on the monitor of the cab of the vehicle. However, in addition to the monitor of the cab, the display on the monitor of the base station of the unmanned dump truck system is naturally performed. Is possible.
FIG. 1 is a diagram illustrating a mounting position of a rear-view imaging camera 10 (hereinafter referred to as a camera) to a vehicle body when the vehicle 100 is a dump truck. FIG. 1A is a view showing a side surface of the vehicle 100, and FIG. 1B is a view of the rear portion of the vehicle body of the vehicle 100. The dump truck 100 is a transport vehicle provided with a cab 120 and a vessel (body) 110 on which loads can be loaded on the front frame 102F and the rear frame 102R, respectively. FIG. 1 shows a state where the vessel 110 is seated.

The camera 10 is mounted above the rear axle 101 and at an upper part of the rear combination lamp 103 mounted on the rear frame 102R, preferably at an upper central position. The rear combination lamp 103 is composed of a plurality of lamps such as a stop lamp, a turn signal, and a tail lamp.
The camera 10 is disposed so as to be positioned in front of the rear end position S1 of the rear wheel tire 104. It is desirable to attach the camera 10 at a position where the earth and sand jumped up at the rear of the vehicle body does not adhere.
In FIG. 1A, the hatched portion indicates the field of view (shooting range) of the camera 10. The camera 10 captures the field of view behind the vehicle body. A rear wheel tire 104 enters the field of view of the camera 10.

FIG. 2 shows a system configuration diagram of the rear view display system.
A rear view monitor 20 that displays an image of the camera 10 on the display unit 21 is disposed in a front console (not shown) in the cab 120 of the vehicle 100 and in front of the driver's seat. The display unit 21 of the rear view monitor 20 is configured by a liquid crystal display, for example. A luminance adjustment switch 22 is disposed below the display unit 21 of the rear view monitor 20. The luminance adjustment switch 22 is a switch for adjusting the luminance (brightness) of the screen of the display unit 21 and also serves as a setting operation switch described later. The brightness adjustment switch 22 is constituted by a seesaw switch, for example.

On the left side of the rear view monitor 20, a main monitor 30 for displaying various information on the display unit 31 is disposed. The display unit 31 of the main monitor 30 is composed of, for example, a liquid crystal display. A speedometer 107 and an engine tachometer 108 are arranged on the right side of the display unit 31 of the main monitor 30.

When the vehicle 100 is a dump truck, the shift lever 109 is disposed on the front right side as viewed from the driver's seat. For this reason, in consideration of operability, the switch panel 40 is disposed on the left side of the front console (not shown) opposite to the shift lever 109 (see FIG. 2).

On the switch panel 40, there are arranged operation switches 41 for performing an operation for setting display contents of the display unit 21 of the rear view monitor 20.
The rear view monitor 20, the main monitor 30, and the switch panel 40 are connected to each other through a communication line 50 that performs serial communication. For example, the camera 10 is connected to the rear view monitor 20 via a video signal line 55 of the NTSC signal standard.

A video signal indicating an image of the field of view behind the vehicle body taken by the camera 10 is sent to the rear view monitor 20 via the video signal line 55 and displayed on the rear view monitor display unit 21.

The rear view monitor 20, the main monitor 30, and the switch panel 40 are connected to a monitor controller 60 via a communication line 50 so as to communicate with each other. The monitor controller 60 is further connected to a T / M (transmission) controller 51, an RH (retarder, hoist) controller 52, and an engine controller 53 via a communication line 50 so as to be communicable with each other.

The T / M controller 51 is a controller that controls a transmission (not shown), and a sensor 109 a that detects the shift position of the shift lever 109 is connected via a sensor signal line 56. A signal indicating the shift position of the shift lever 109 is sent from the sensor 109 a of the shift lever 109 to the T / M controller 51 via the sensor signal line 56.

The T / M controller 51 controls the transmission so that a shift according to the shift position of the shift lever 109 is performed. Further, the T / M controller 51 sends a signal indicating the speed stage currently selected in the transmission, that is, the actual speed stage, to the monitor controller 60 via the communication line 50.

The sensor 109 a of the shift lever 109 is connected to the rear view monitor 20 via the sensor signal line 57. A signal indicating the shift position of the shift lever 109 is sent from the sensor 109 a of the shift lever 109 to the rear view monitor 20 via the sensor signal line 57.

  When the vehicle 100 is a dump truck, the cab 120 is provided with a hoist lever 111. In addition, when the vehicle 100 is a dump truck, a position sensor 112 that detects an ascending / descending position of the vessel 110 is provided.

The RH controller 52 is a controller that controls the adjustment of a retarder (brake) (not shown) and the rise and fall of the vessel 110, and a sensor 111 a that detects the operation position of the hoist lever 111 is connected via a sensor signal line 58. The position sensor 112 is connected via a sensor signal line 59. A hoist lever operation signal indicating the hoist lever operation position is sent from the sensor 111a of the hoist lever 111 to the RH controller 52 via the sensor signal line 58, and a signal indicating the vessel position is transmitted from the position sensor 112. It is sent to the RH controller 52 via the sensor signal line 59. The RH controller 52 controls the raising and lowering of the vessel 110 according to the hoist lever operation signal. Further, the RH controller 52 sends a hoist lever operation signal to the monitor controller 60 via the communication line 50.

The engine controller 53 is a controller that controls an engine (not shown).

The monitor controller 60 is connected to the main monitor 30 via the video signal line 54.

By operating the operation switch 41 of the switch panel 40, it is possible to perform settings such as the D range start speed stage and the display contents of the rear view monitor 20. The D range start speed stage is a speed stage selected at the start when the shift lever 109 is positioned in the D (drive) range. The D range start speed stage is set in consideration of the slipperiness of the road surface and the like.

The display unit 31 of the main monitor 30 is switched to a rear view monitor setting screen or a normal screen according to the operation of the operation switch 41 of the switch panel 40. On the rear view monitor setting screen, various menus for setting the display contents of the rear view monitor display unit 21 are displayed. The normal screen displays vehicle information necessary for running and working, that is, engine cooling water temperature, hydraulic oil temperature, fuel remaining amount, service meter (cumulative engine operating time), various cautions, and the like. Engine cooling water temperature, hydraulic oil temperature, fuel remaining amount, service meter (cumulative engine operating time), various cautions, and the like are detected by sensors and input to the engine controller 53 and the like as sensor signals. These sensor signals are sent to the monitor controller 60 via the engine controller 53 and the like.
When an operation for switching to the normal screen is performed by the operation switch 41 of the switch panel 40, a signal indicating the operation content of the switch panel operation switch 41 is sent to the monitor controller 60 via the communication line 50. In response to this, the monitor controller 60 constructs a normal screen in combination with the vehicle information described above, and sends a video signal for displaying the constructed normal screen to the main monitor 30 via the video signal line 54. In accordance with the video signal, the main monitor display unit 31 displays a normal screen.

When the operation switch 41 of the switch panel 40 is used to select a menu on the rear view monitor setting screen while the vehicle is stopped, a signal indicating the operation content of the switch panel operation switch 41 passes through the communication line 50. And sent to the monitor controller 60. In response to this, the monitor controller 60 sends a signal indicating the setting according to the operation content to the rear view monitor 20 via the communication line 50. The rear view monitor 20 processes the camera video sent from the camera 10 according to the set content, and generates a display signal. In addition, a control signal is generated so that shooting according to the set content is performed. As a result, an image corresponding to the display signal is displayed on the rear view monitor display unit 21. The camera 10 performs shooting according to the control signal.

By operating the operation switch 41 of the switch panel 40, for example, the following display content setting operation can be performed on the rear view monitor display unit 21.

a) Normal image / mirror image switching setting operation This is the same as when the image captured by the camera 10 and displayed on the rear view monitor display unit 21 is a normal image (image similar to visual observation) or a mirror image (projected on a mirror). This is a setting operation for switching the image. In the present embodiment, it is assumed that all images displayed on the rear view monitor display unit 21 are normal images.
b) Operation for setting the position of the vehicle width guide line and the distance guide line The vehicle width guide line is a line that serves as a guide for the vehicle width displayed in an overlapping manner in the image displayed on the rear view monitor display unit 21. As will be described later, it refers to a line indicating the left and right positions of the vehicle body of the vehicle 100. The distance guide line is a line that is a guide for the rear distance that is displayed so as to overlap the image displayed on the rear view monitor display unit 21. In the case where the vehicle 100 is a dump truck, the distance guide line is a distance guide line for soil removal work that indicates a rear position that serves as a reference during the soil removal work for discharging the load of the vessel 110. By this setting operation, the positions of the vehicle width guide line and the distance guide line in the image can be arbitrarily changed. When performing operations for setting the positions of the vehicle width guide line and the distance guide line, the captured image of the camera 10 is displayed on the rear view monitor display unit 21 and the vehicle width guide line and the distance guide corresponding to the current setting operation. The line is displayed superimposed on the image captured by the camera 10. When performing the setting operation of the position of the vehicle width guide line and the distance guide line, the brightness adjustment switch 22 functions as a setting operation switch for finely adjusting the setting positions of the vehicle width guide line and the distance guide line in the image. .

c) ON / OFF setting operation of display of vehicle width guideline and distance guideline This is whether or not to display the vehicle width guideline and the distance guideline in the image displayed on the rear view monitor display unit 21. That is, it is an operation for setting whether to turn on or off the display of the reference line. In the following description, it is assumed that the display of the vehicle width guide line and the distance guide line is turned on.
FIG. 3 is an internal block diagram of the rear view monitor 20. The CPU 23 shown in FIG. 3 constitutes display control means of the present invention.

  A signal transmitted from the monitor controller 60 is input to the CPU 23 via the communication interface 24.

A signal indicating the operation content of the brightness adjustment switch 22 is input to the CPU 23 via the on / off input circuit 25. A signal indicating the shift position of the shift lever 109 is input to the CPU 23 via the on / off input circuit 25.

A video signal indicating an image of the field of view behind the vehicle body taken by the camera 10 is input to the CPU 23 via the camera video input circuit 26.

  When a signal indicating the setting operation of the rear view monitor setting screen is input from the monitor controller 60 to the CPU 23, the data of the setting operation content is stored in the nonvolatile memory 27.

  When the setting operation content stored in the nonvolatile memory 27 is a setting for switching between the normal image and the mirror image of the camera 10, the CPU 23 sends a signal indicating the setting content to the camera normal image / mirror image switching output circuit 28. Output to. The camera normal image / mirror image switching output circuit 28 generates a control signal for causing the camera 10 to capture a normal image or a control signal for causing the camera 10 to capture a mirror image according to the set content. Output. Accordingly, the camera 10 captures a normal image or a mirror image.

When the setting operation content stored in the non-volatile memory 27 is the setting of the position of the vehicle width guide line and the distance guide line, the CPU 23 determines whether the setting operation content is in the image based on the setting content and the video of the camera 10. A display signal is generated so that the vehicle width guide line and the distance guide line are positioned at the set position. The display signal is output to the display controller 29. The display controller 29 controls the display of the rear view monitor display unit 21 according to the display signal. As a result, the vehicle width guide line and the distance guide line are overlapped and displayed at the set position in the image displayed on the rear view monitor display unit 21.

  Next, with reference to the screen transition diagram shown in FIG. 4, the procedure for setting the positions of the vehicle width guideline and the distance guideline in the embodiment will be described.

  4, FIGS. 4 (a), (b), (c), (d), and (e) shown on the left in the drawing are diagrams showing screens displayed on the main monitor display unit 31, respectively. It is a transition diagram of a setting screen. 4 (f), (g), (h), and (i) correspond to FIGS. 4 (a) and (b), (c), (d), and (e), respectively, and the rear view monitor display unit 21. It is a transition diagram of a screen displayed on the screen. The screen changes according to the black arrow (→) in the figure. A white arrow (⇒) in the figure indicates a box currently selected in the menu of the rear view monitor setting screen.

In the initial state, a captured image of the camera 10 is displayed on the rear view monitor display unit 21. In this state, when the “reference line position adjustment” box is selected from the menu of the rear view monitor setting screen by the switch panel operation switch 41 (FIG. 4A), the rear view monitor setting screen is the next point selection menu screen (FIG. 4). Transition to (b)). Accordingly, the initial positions of the vehicle width guide line 11 (11L, 11R) and the distance guide line 12 are displayed on the rear view monitor display unit 21 so as to be superimposed on the captured image of the camera 10 (FIG. 4 (f)).
Here, in the image of the rear view monitor display unit 21, a display showing the locations of the point 1, the point 2, the point 3, and the point 4 where the position is set is made. That is, “1”, “2”, “3”, and “4” that are marks for the operation of the operator are displayed at locations corresponding to the points 1, 2, 3, and 4 where the position is set in the image. . The vehicle width guide line 11 is composed of a left vehicle width guide line 11L indicating the vehicle body left position and a right vehicle width guide line 11R indicating the vehicle body right position. The distance guide line 12 intersects the right vehicle width guide line 11R at point 1 and also intersects the left vehicle width guide line 11L at point 2. The left-right direction in the figure of the image of the rear view monitor display unit 21 is defined as “X direction”, and the vertical direction in the figure is defined as “Y direction”.

The position of the vehicle body front side end point of the right vehicle width guide line 11R is point 3, and the position of the vehicle body front side end point of the left vehicle width guide line 11L is point 4.

Next, when the “point 1” box is selected by the switch panel operation switch 41 from the point selection menu on the rear view monitor setting screen (FIG. 4B), the point 1 in the image on the rear view monitor display unit 21 is displayed. An auxiliary line 13 serving as an auxiliary for moving the point 1 in the X direction is displayed (FIG. 4G). The auxiliary line 13 and the auxiliary line 14 which will be described later are configured by cross lines having colors different from those of the reference lines so as to be distinguished from the left and right vehicle width guide lines 11L and 11R and the distance guide line 12. The reason for the cross is to make it easier to understand the intersection of the left and right vehicle width guide lines 11L and 11R and the distance guide line 12. Further, the length of each line constituting the cross line changes according to the moving direction so that the moving direction can be understood. When adjusting the intersection point in the X direction, the auxiliary line 13 in which the length of the X direction line of the cross lines is longer than the length of the Y direction line (FIG. 4G) is used. When adjusting the intersection point, the auxiliary line 14 is used in which the length of the Y direction line of the cross lines is longer than the length of the X direction line (FIG. 4H).
Further, the brightness adjustment switch 22 is switched to a setting operation switch for finely adjusting the setting positions of the point 1 in the image (setting positions of the right vehicle width guide line 11R and the distance guide line 12) (FIG. 4 (g)). Further, the rear view monitor setting screen transitions to the next X-direction position adjustment screen (FIG. 4C).

Thereafter, when the brightness adjustment switch 22 (seesaw switch) is operated, the point 1 together with the auxiliary line 13 in the left and right direction according to the operation direction and the auxiliary line 13 in the image of the rear view monitor display unit 21. It moves in the X direction (see FIG. 4G; broken line arrow).

When the X direction position of the point 1 is determined, an operation for determining the X direction position of the point 1 is performed by the switch panel operation switch 41. In response to this operation, the rear view monitor setting screen transits to the next Y direction position adjustment screen (FIG. 4D), and point 1 is set to point 1 in the image of the rear view monitor display unit 21 in the Y direction. An auxiliary line 14 serving as an auxiliary for moving is displayed. The brightness adjustment switch 22 continues to function as a setting operation switch.

Thereafter, when the brightness adjustment switch 22 (seesaw switch) is operated, the point 1 together with the auxiliary line 14 in the up and down direction according to the operation direction and the auxiliary line 14 in the image of the rear view monitor display unit 21. Move in the Y direction (see FIG. 4 (h); dashed arrow).

When the Y direction position of the point 1 is determined, an operation for determining the Y direction position of the point 1 is performed by the switch panel operation switch 41. In response to this operation, the rear view monitor setting screen transitions to the next point selection menu screen (FIG. 4 (e)), and it is assumed that the setting of point 1 has been completed. The auxiliary line 14 is erased. Further, the X and Y coordinate positions of the set point 1 are stored in a predetermined memory. Also, the brightness adjustment switch 22 switches to the original brightness adjustment function.

Thereafter, for points 2, 3 and 4 in the same manner, “Point 2”, “Point 3” and “Point 4” are selected from the point selection menu on the rear view monitor setting screen, and the same as described above. By performing the processing, the position of each point can be set.

FIGS. 5A and 5B show images of the rear view monitor display unit 21 before setting points 1 and 2 (FIG. 5A) and the rear view monitor display unit 21 after setting points 1 and 2. This is compared with the image (FIG. 5B). It can be seen that the positions of point 1 and point 2, that is, the position in the longitudinal direction of the vehicle body of the distance guide line 12 connecting points 1 and 2 change before and after the setting.

Note that the positions are set in the same manner for the points 3 and 4. Before the setting of point 3 and point 4, point 3 and point 4 are positioned at the lowermost end of the image, and the left and right vehicle width guide lines 11L and 11R are displayed overlapping the left and right rear wheel tires 104L and 104R, respectively. Yes. Therefore, the operator feels uncomfortable due to the difference between the vehicle width obtained from the left and right rear wheel tires 104L and 104R and the vehicle width obtained from the vehicle width guide lines 11L and 11R overlapping the left and right rear wheel tires 104L and 104R. (FIG. 5A).
On the other hand, after setting point 3 and point 4, point 3 (the front end point on the right vehicle width guide line 11R) and point 4 (the front end point on the left vehicle width guide line 11L) are on the right rear. It is located at the rear end boundary of the wheel tire 104R and the left rear wheel tire 104L. That is, the setting positions of the points 3 and 4 are adjusted so that the left and right vehicle width guide lines 11L and 11R do not overlap the left and right rear wheel tires 104L and 104R, respectively. For this reason, the operator can accurately obtain the vehicle width information from the vehicle width guide lines 11L and 11R in the image without receiving the above-mentioned uncomfortable feeling (FIG. 5B).
As described above, the case where one distance guide line 12 is set has been described. However, a plurality of distance guide lines 12a, 12b, 12c,. In this example, the distance reference lines are distinguished from each other by adding suffixes “a”, “b”, “c”.

In this case, select “Guideline a position adjustment”, “Guideline b position adjustment”, “Guideline c position adjustment” from the menu of the rear view monitor setting screen, and select “Guideline a position adjustment” and “Guideline b position”. A function for setting the distance guide lines 12a, 12b, 12c... In the same procedure as described in FIG. 4 is added for each selection menu of “position adjustment” and “reference line c position adjustment”.

Further, when the main monitor display unit 31 is switched to the normal screen from among the plurality of set distance reference lines 12a, 12b, 12c... (Normal driving, normal operation), the rear view monitor display unit 21 A function for selecting a distance guide line to be displayed (for example, a distance guide line 12a) is added to the menu of the rear view monitor setting screen.

FIGS. 6A, 6B, and 6C show distance guide lines 12a, 12b, and 12c that are set according to the menu of the rear view monitor setting screen. The distance guide line 12a is at the rearmost position away from the vehicle body (FIG. 6A), the distance guide line 12c is closest to the vehicle body (FIG. 6C), and the distance guide line 12b is the distance guide line 12a. It is located between the distance reference lines 12c (FIG. 6B).

For example, assuming that the distance guide line 12a (FIG. 6A) is selected, when the main monitor display unit 31 is switched to the normal screen, the selected distance guide line 12a is displayed on the rear view monitor display unit 21. It is displayed superimposed on the captured image of the camera 10. 6A, 6B, and 6C, as in FIG. 5B, the setting positions of point 3 and point 4 are the rear end boundaries of the right rear wheel tire 104R and the left rear wheel tire 104L, respectively. Adjusted to be located at Therefore, the operator can accurately obtain the vehicle width information from the vehicle width guide lines 11L and 11R in the image without feeling uncomfortable.
As described above, the case where only one distance guide line 12 is set to be displayed on one screen has been described. However, a plurality of distance guide lines 12, 12 ′, 12 ″,. It can also be set to be displayed together. In this example, the distance reference lines are distinguished from each other by adding “′” (dash) to the code “12”.

This case can be dealt with by increasing the number of point selections in the point selection menu on the rear view monitor setting screen. In the example of FIG. 4, one point of reference line 12 is set by sequentially selecting four points 1, 2, 3, 4 and adjusting the positions of the selected points 1, 2, 3, 4. However, as shown in FIG. 7A, two points 5 and 6 are added, and six points 1, 2, 3, 4, 5, and 6 are sequentially selected. By adjusting the positions of the selected points 1 and 2 and points 5 and 6, two distance reference lines 12 and 12 'can be set.

Point 5 is a point added between point 1 and point 3, that is, on the right vehicle width guide line 11R. Point 6 is a point added between point 2 and point 4, that is, on the left vehicle width guide line 11L. A line segment connecting the points 5 and 6 becomes the added distance reference line 12 ′.

FIGS. 7A and 7B show the image (FIG. 7A) of the rear view monitor display unit 21 before the setting of point 1, point 2, point 5, and point 6, and point 1, point 2, and point 5. FIG. 7 shows a comparison with an image (FIG. 7B) of the rear view monitor display unit 21 after setting point 6. Before and after the setting, the positions of points 1 and 2, that is, the distance guide line 12 connecting the points 1 and 2, the vehicle body longitudinal direction position, and the points 5 and 6, that is, the distance guide line connecting the points 5 and 6. It can be seen that the position of the vehicle body 12 ′ in the longitudinal direction changes.

Similarly, points 7 and 8 may be added, and as shown in FIG. 8, three distance reference lines 12, 12 ′, 12 ″ may be displayed on the same screen.

7B and 8, as in FIG. 5B, the setting positions of point 3 and point 4 are positioned at the rear end boundaries of the right rear wheel tire 104R and the left rear wheel tire 104L, respectively. Adjusted. Therefore, the operator can accurately obtain the vehicle width information from the vehicle width guide lines 11L and 11R in the image without feeling uncomfortable.
Next, a procedure for setting one distance reference line 12 will be described.

When setting the distance reference line 12, as shown in FIG. 9 or FIG. 10, each point on the road surface corresponding to the point 1 and the point 2 to be set, and the intermediate point between the point 1 and the point 2 to be set. The pylon 200 is installed at the corresponding road surface. FIG. 9 shows a state where the vessel 110 is seated, and FIG. 10 shows a state where the vessel 110 is raised.

FIG. 11 is a view corresponding to FIG. 1A and is a side view of the vehicle 100 when the vessel 110 is raised.

The road surface position where the pylon 200 is installed is as shown in the following 1) to 6), and the distance guide line 12 is set as a distance guide line at the time of soil removal work as a reference at the time of soil removal work.

1) Set the distance guide line 12 at the time of earth removal work to a position S2 (a position just below the rear end of the vehicle body) where the rear end of the vehicle body is projected on the road surface when the vessel 110 is seated (FIG. 1 (a), FIG. 9, refer to S2 in FIGS. The position S2 is a position indicating that there is a possibility of colliding with an obstacle in the rear if the vehicle 110 is further retracted when the vessel 110 is seated.

2) Position on the road surface spaced apart from the position S2 by projecting the rear end of the vehicle body on the road surface when the vessel 110 is seated (position immediately below the rear end of the vehicle body) S2 S21 is set (see S21 in FIGS. 1A, 10 and 11). Here, the predetermined distance is a distance that allows for a margin in order to avoid a collision with a rear obstacle when the vessel 110 is seated.

3) Set the distance guide line 12 at the time of earth removal work to the position S3 (position just below the rear end of the vehicle body) where the rear end of the vehicle body is projected on the road surface when the vessel 110 is rising (S3 in FIGS. 10 and 11). reference). The position S3 is a position indicating that there is a possibility of colliding with an obstacle in the rear if the vessel 110 is further retracted when the vessel 110 is raised. In the embodiment, the position S3 is set to a position when the vessel 110 is raised most. The position S3 is used to mean the position where the rear end of the vessel 110 is at the rear of the vehicle body when the vessel 110 is raised. In the embodiment, it is assumed that the position where the rear end of the vehicle body is projected on the road surface when the vessel 110 is most lifted is the rearmost position of the vehicle body, but the rear end of the vessel 110 is the rearmost position of the vehicle body. This is not always the case when the vessel 110 has risen the most. Depending on the shape of the end of the vessel 110, a point on the road surface projected on the road surface of the rising trajectory drawn by the end of the vessel 110, that is, the end portion of the vessel 110 when the vessel 110 is on the road is projected onto the road surface. The position may be the most rearward of the vehicle body. Therefore, depending on the vehicle model, the position S3 may be set to a rotational position other than the highest position.
4) A position on the road surface spaced apart from the position S3 by projecting the rear end of the vehicle body on the road surface when the vessel 110 is raised (a position directly below the rear end of the vehicle body) S3. Set to S31 (see S31 in FIG. 11). Here, the predetermined distance is a distance that allows for a margin in order to avoid a collision with an obstacle behind when the vessel 110 is raised.

5) The distance guide line 12 at the time of earth removal work is set to a position (a position immediately below the rear end of the rear wheel) S1 where the rear end of the rear tire 104 is projected onto the road surface (FIGS. 1A, 9 and 11). S1). The position S1 is a position indicating that there is a risk of falling, stacking or the like by interfering with a cliff or a depression if it is further retreated.

6) The distance guide line 12 at the time of soil removal work is set to a position S11 on the road surface that is spaced a predetermined distance rearward from a position S1 (a position immediately below the rear wheel rear end) S1 projected on the road surface of the rear wheel tire 104. (See S11 in FIGS. 1A, 9 and 11). Here, the predetermined distance is a distance that allows for a margin in order to avoid falling, stacking, etc. if the vehicle travels further. The position S11 is set to a position on the road surface between a position S1 where the rear end of the rear wheel tire 104 is projected onto the road surface and a position S2 where the rear end of the vehicle body is projected onto the road surface when the vessel 110 is seated. .

5) and 6) are collectively referred to as “near the rear end of the rear tire” (position near the rear end of the rear tire from position S1 to position S11).
Next, an operator or an operator such as a serviceman moves the auxiliary lines 13 and 14 on the screen with the pylon 200 reflected in the image of the rear view monitor display unit 21 as a mark in the same procedure as in FIG. The position of the guide line 12 is adjusted and set to the distance guide line 12 for the earthing work in any one of the above 1) to 6). That is, the distance reference line 12 shown in FIG. 5B is defined at any one of the positions S2, S21, S3, S31, S1, and S11 shown in the above 1) to 6).

When the setting work of the distance guideline 12 for earthing work as described above is completed, the operation switch 41 of the switch panel 40 is operated to switch the main monitor display unit 31 to the normal screen. Thus, the operator can obtain vehicle information necessary for traveling and working from the main monitor display unit 31, and can perform traveling and working. On the other hand, on the rear view monitor display unit 21, the distance guide line 12 for earth removal work is displayed while being superimposed on the image taken by the camera 10 during traveling and work. As a result, if the operator retreats with reference to the distance guide line 12 at the time of earth removal work in the camera image, to which position on the road surface the vehicle 100 moves backward and stops to reach the desired earth removal position or a collision. It becomes possible to accurately grasp whether or not a fall or the like can be avoided. In particular, when the distance guide line 12 at the time of earth removal work is set to a position S31 that is a predetermined distance behind the position S3 that projects the rear end of the vehicle body on the road surface when the vessel 110 is raised (for example, when the vessel 110 is at its highest position). The operator can accurately grasp the stop position from the camera image when the vessel 110 is raised (for example, when the vessel 110 is most raised).

Note that by setting the position S3 in accordance with the highest rise of the vessel 110 and confirming the rear of the vehicle body from the camera image using the position S3 as a guide, interference can be avoided in the entire operating range of the vessel 110.
Images taken by the camera 10 may be displayed on the rear view monitor display unit 21 at all times during travel and work, or may be displayed only when it is determined necessary. For example, the following modes a) and b) are conceivable.

a) When the shift position of the shift lever 109 is positioned in the R (reverse) range, the captured image of the camera 10 is displayed on the rear view monitor display unit 21.

b) It is determined that the earth removal work is being performed, and when it is determined that the earth removal work is being performed, an image captured by the camera 10 is displayed on the rear view monitor display unit 21.

“Performing the earthing work” can be determined, for example, when the following conditions (a), (b), or (c) are satisfied.

(A) When the shift lever position is R (at the start of the soil removal work when the vehicle 100 is moving backward)
(B) When the shift lever position is N (neutral) and the hoist lever 111 is in the “up” and “down” positions (when the vehicle 100 is stopped and the vessel 110 is raised and lowered)
(C) When the shift lever position is in the D range of F (forward), the hoist lever 111 is in the “up” and “down” positions, and the actual speed stage is equal to or less than the D range start speed stage (vehicle (When the earth removal work is completed, when 100 finishes the earth removal and starts from the earthing point)
As described above, in the present embodiment, the position of the distance guide line 12 is adjusted by manually adjusting the positions of the points 1 and 2 in the image, and is set as the distance guide line 12 at the time of soil removal work. Yes. Therefore, even if the rear end position of the vehicle body and the rear end position of the rear wheel tire are different for each model and unit of the vehicle 100, the soil removal work machine can be easily and accurately placed at a position suitable for each model and each unit. The distance guide line 12 can be adjusted to be set.

Further, two or more earthing work distance standard lines 12a, 12b, 12c,... In the above 1) to 6) are set, and the set earthing work distance standard lines 12a, 12b, 12c are set. When any one of the guidelines for distance of earthing work is selected and the main monitor display part 31 is switched to the normal screen, the rearview monitor display part 21 May be displayed.

For example, the distance guide line 12a shown in FIG. 6 (a) is set as the distance guide line 12a at the position S21 (see FIG. 9), and the guide line 12b at the time of earthing work shown in FIG. The distance guide line 12b at the position S2 (see FIG. 9) is set as the distance guide line 12b at the time of earth removal work, and the distance guide line 12c shown in FIG. 6 (c) is positioned near the rear end of the rear tire from the position S1 to the position S11 (FIG. 9). For example, when the main monitor display unit 31 is switched to the normal screen by selecting the earth removal operation reference line 12a and the main monitor display unit 31 is switched to the normal screen, the rear view monitor display unit 21 The selected distance guide line 12a for earth removal work (position S21 at a predetermined distance behind the rear end of the vehicle body when seated on the vessel 110) can be displayed superimposed on the captured image of the camera 10.

Moreover, you may display the 2 or more distance standard lines 12, 12 '... in said 1) -6) on one screen.

For example, the distance guide line 12 shown in FIG. 7B is set as the distance guide line 12 at the time of earth removal work at the position S21 (see FIG. 9), and the distance guide line 12 ′ is set at the position S2 (see FIG. 9). When the main monitor display unit 31 is switched to the normal screen, the distance reference line 12 (the vehicle body when seated on the vessel 110 is set on the rear view monitor display unit 21 when the main monitor display unit 31 is switched to the normal screen. The position S21) behind the predetermined position from the rear end position, and the distance guide line 12 'during the earth removal operation (the rear end position S2 of the vehicle body when the vessel 110 is seated) can be simultaneously displayed superimposed on the captured image of the camera 10.

Further, for example, the distance guide line 12 shown in FIG. 7B is set as the distance guide line 12 at the time of soiling operation at the position S3 (see FIG. 10), and the distance guide line 12 ′ is set at the position S2 (see FIG. 10). ) Of the earthing work distance guideline 12 ′, and when the main monitor display unit 31 is switched to the normal screen, the rearview monitor display part 21 displays the earthing work distance guideline line 12 (when the vessel 110 is raised). The vehicle rear end position S3) and the distance guide line 12 'during the earth removal operation (the vehicle rear end position S2 when the vessel 110 is seated) can be simultaneously displayed superimposed on the captured image of the camera 10.

In addition, as shown in FIG. 8, the position of the three distance guide lines 12, 12 ', 12' 'is adjusted, and the three guide lines 12 for the earthing work in the above 1) to 6). , 12 ′, 12 ″ may be displayed on one screen.

When two or more earthing work machine distance reference lines 12, 12 '... are displayed on one screen, it is desirable to display them so that they can be distinguished from each other. Examples of display modes that can be identified include the following modes.

-Each earthmoving machine distance standard line 12, 12 '... is displayed with a different color or a different brightness.

-Display each earthing work machine distance standard line 12, 12 '... by making the line width into different thickness.

-Displaying the earthing work machine distance reference lines 12, 12 '... with different line types (solid lines, broken lines, etc.) or shapes.

-Display the different earthing work machine distance reference lines 12, 12 '... with different lighting states (flashing, non-flashing, etc.).

  In addition, a distance scale may be displayed in the image so that the distance between the earth removal work machine distance reference lines 12, 12 ',. For example, in FIG. 9, the predetermined distance from the position S2 where the rear end of the vehicle body is projected onto the road surface when the vessel 110 is raised to the rear position S21 is measured, and the measurement data is input to display the rear view monitor shown in FIG. A scale of distance is displayed between each earth removal work machine distance reference line 12 and the earth removal distance reference line 12 ′ on the screen of the unit 21.

  As described above, in each embodiment, each earth removal work machine distance reference line 12 or 12a, 12b, 12c, 12 ′, 12 ″ is a line segment connecting points 1, 2, or 5, 6, or points 7, 8. Although it has been described that there is a guideline, it may be a guideline at the time of earth removal work, and may not necessarily be a line segment but a dot-like one.

  1, 2, 3, 4, 5, 6, 7, 8 points, 10 cameras, 12, 12a, 12b, 12c, 12 ′, 12 ″ Distance guideline for earth removal work (distance guideline), 12P1, 12P2 , 12P5, 12P6 Distance reference point at earth removal work, 20 rear view monitor, 21 display unit, 23 CPU, 100 vehicle, 104 rear wheel tire

Claims (6)

In the rear view display system of the transport vehicle that captures the view of the rear of the vehicle body by a camera attached to the rear of the vehicle body of the transport vehicle including the vessel, and displays the captured image on the display unit.
The position where the rear end of the vehicle is projected to the back of the vehicle when the vessel is rising, the position where the rear end of the rear tire is projected onto the road surface, or the rear end of the rear tire is the road surface During the earth removal work that serves as a reference for the earth removal work to remove the load of the vessel at a position on the road surface between the position projected on the road and the position where the rear end of the vehicle body is projected onto the road surface when the vessel is seated Display control means for setting a distance guide line or a distance guide point for earth removal work, and displaying the distance guide line for earth removal work or a distance guide point for earth removal work superimposed on the image displayed on the display unit A rear view display system for a transport vehicle, comprising: 2. The rear view display of a transport vehicle according to claim 1, wherein the earthing distance reference line or the earthing distance reference point is set at a position where the rear end of the vehicle body is projected onto the road surface when the vessel is seated. system. 2. The rear view display of a transport vehicle according to claim 1, wherein the earthing distance reference line or the earthing distance reference point is set at a position where the rear end of the vehicle body is projected onto the road surface when the vessel is raised. system. The soil removal work distance reference line or the soil removal work distance reference point is set to a position where the rear end of the rear tire is projected onto the road surface or a position on the road surface which is a predetermined distance away from the projected position. The rear view display system for a transport vehicle according to claim 1. The soil removal work distance guideline or the soil removal work distance guideline is set at multiple positions on the road surface, and multiple soiling work distance guidelines or multiple soiling work distance guide points can be distinguished from each other. The rear view display system for a transport vehicle according to claim 1, wherein the display is displayed on the rear view. The soil removal work distance guideline or the soil removal work distance guideline is set at multiple positions on the road surface, and multiple soiling work distance guidelines or multiple soiling work distance guide points can be selected. 2. The rear view display system for a transporting vehicle according to claim 1, wherein the selected distance guide line for earth removal work or the distance guide point for earth removal work is displayed in the image.

Images