JP2013149218A - Image generation device and operation support system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image generation device for more easily grasping a distance to an object on an output image to be generated by using a spatial model or its size.SOLUTION: An image generation device 100 for generating a processing object image as the object of image conversion processing for obtaining an output image which is the circumferential image of a shovel 60 on the basis of an input image picked up by a camera 2 attached to the shovel 60 includes: coordinate association means 10 for associating coordinates on an input image plane R4 on which the input image is positioned and coordinates in a spatial model MD to which the input image is projected and coordinates on a processing object image plane R3 on which the processing object image is positioned, that is, the processing object image plane R3 to which the image projected to the spatial model MD is re-projected with each other; and auxiliary image setting means 12 for setting an auxiliary line SL1 displayed so as to be superimposed on the output image on the spatial model MD.

Description

  The present invention relates to an image generation apparatus that generates an output image based on an input image captured by a camera attached to an object to be operated, and an operation support system using the apparatus.

  Conventionally, a rear view display that superimposes a distance display line represented by an arc centered on the turning center of the upper turning body on a camera image output by one camera provided at the rear of the upper turning body of the work vehicle. An apparatus is known (see Patent Document 1). With the distance display line superimposed and displayed in this way, the rear visual field display device enables the operator to more accurately grasp the distance from the upper swing body of the image appearing in the output image.

  On the other hand, the present applicant projected an image captured by a camera mounted on a construction machine onto a space model surrounding the construction machine, and viewed the road surface from directly above using the image projected onto the space model. An image generation apparatus that generates an output image that combines a road surface image that virtually reflects a state and a horizontal image that reflects a horizontal direction has been proposed (see Patent Document 1). This image generating apparatus generates an output image that combines a road surface image and a horizontal image, so that an operator can intuitively grasp the positional relationship between a construction machine and a peripheral obstacle.

JP-A-2005-188160 Japanese Patent Application Laid-Open No. 2011-223411

  Like the distance display line of Patent Document 1, superimposing and displaying auxiliary image information on the output image generated by the image generating apparatus of Patent Document 2 is a function of determining the positional relationship between the construction machine and the surrounding obstacle. Is considered effective in understanding.

  However, the distance display line described in Patent Document 1 is a line that is directly superimposed on a raw camera image that has not been subjected to projection processing. Therefore, the distance display line cannot be adapted to an output image combining a road surface image and a horizontal image as described in Patent Document 2. This is because, if superimposed display is performed, a distorted line is presented, which may confuse the operator.

  In view of the above, the present invention provides an image generation apparatus that makes it easier to grasp the distance to an object on the output image generated using a spatial model and the size thereof, and an operation support system using the apparatus. The purpose is to do.

  In order to achieve the above-described object, an image generation apparatus according to an embodiment of the present invention generates an output image that is a surrounding image of an operated object based on an input image captured by an imaging unit attached to the operated object. An image generation device that generates a processing target image to be subjected to image conversion processing to obtain, the coordinates in the input image plane where the input image is located, the coordinates in the spatial model on which the input image is projected, A coordinate associating means for associating coordinates on the processing target image plane on which the processing target image is located and on which the image projected on the space model is re-projected; and an auxiliary display superimposed on the output image And auxiliary image setting means for setting an image on the space model.

  An operation support system according to an embodiment of the present invention is an operation support system that supports movement or operation of an object to be operated, for moving or operating the above-described image generation device and the object to be operated. And a display unit that is installed in an operation room and displays an output image generated by the image generation apparatus.

  With the above-described means, the present invention provides an image generation apparatus that makes it easier to grasp the distance to the object on the output image generated using the spatial model and the size thereof, and an operation support system using the apparatus. be able to.

It is a block diagram which shows roughly the structural example of the image generation apparatus which concerns on this invention. It is a figure which shows the structural example of the shovel mounted with an image generation apparatus. It is a figure which shows an example of the space model on which an input image is projected. It is a figure which shows an example of the relationship between a space model and a process target image plane. It is a figure for demonstrating matching with the coordinate on an input image plane, and the coordinate on a space model. It is a figure for demonstrating the matching between the coordinates by a coordinate matching means. It is a figure for demonstrating the effect | action of a parallel line group. It is a figure for demonstrating the effect | action of an auxiliary line group. It is a flowchart which shows the flow of a process target image generation process and an output image generation process. It is a display example (the 1) of an output image. It is a display example (the 2) of an output image. It is a figure which shows the position of the auxiliary image set on a space model.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram schematically showing a configuration example 100 of an image generation apparatus according to the present invention.

  The image generation apparatus 100 is an apparatus that generates an output image based on an input image captured by a camera 2 mounted on a construction machine and presents the output image to a driver, for example, a control unit 1, a camera 2, An input unit 3, a storage unit 4, and a display unit 5 are included.

  FIG. 2 is a diagram illustrating a configuration example of the excavator 60 on which the image generating apparatus 100 is mounted. The excavator 60 is configured such that the upper swing body 63 is placed on the crawler-type lower traveling body 61 via the swing mechanism 62. It is mounted so as to be pivotable around the pivot axis PV.

  The upper swing body 63 includes a cab (operator's cab) 64 on the front left side, a drilling attachment E on the front center, and the camera 2 (right camera 2R, rear camera 2B) on the right and rear surfaces. ). In addition, the display part 5 shall be installed in the position in the cab 64 where the driver | operator is easy to visually recognize.

  Next, each component of the image generation apparatus 100 will be described.

  The control unit 1 is a computer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), an NVRAM (Non-Volatile Random Access Memory), etc. A program corresponding to each of the attaching means 10, the output image generating means 11, and the auxiliary image setting means 12 is stored in a ROM or NVRAM, and the CPU executes a process corresponding to each means while using the RAM as a temporary storage area.

  The camera 2 is a device for acquiring an input image that reflects the periphery of the excavator 60. For example, the camera 2 is attached to the right side surface and the rear surface of the upper swing body 63 so as to be able to capture an image of a blind spot of the driver in the cab 64. (See FIG. 2), a right side camera 2R and a rear camera 2B provided with an image sensor such as a CCD (Charge Coupled Device) and a CMOS (Complementary Metal Oxide Semiconductor). The camera 2 may be attached to a position other than the right side and the rear side of the upper swing body 63 (for example, the front side and the left side), and a wide-angle lens or a fisheye lens is attached so as to capture a wide range. It may be.

  In addition, the camera 2 acquires an input image according to a control signal from the control unit 1 and outputs the acquired input image to the control unit 1. In addition, when the camera 2 acquires an input image using a fisheye lens or a wide-angle lens, the corrected input image obtained by correcting apparent distortion and tilt caused by using these lenses is transmitted to the control unit 1. Although it is output, an input image in which the apparent distortion or tilt is not corrected may be output to the control unit 1 as it is. In that case, the control unit 1 corrects the apparent distortion and tilt.

  The input unit 3 is a device that allows an operator to input various types of information to the image generation device 100, and is, for example, a touch panel, a button switch, a pointing device, a keyboard, or the like.

  The storage unit 4 is a device for storing various types of information, and is, for example, a hard disk, an optical disk, or a semiconductor memory.

  The display unit 5 is a device for displaying image information. For example, the display unit 5 is a liquid crystal display, a projector, or the like installed in a cab 64 (see FIG. 2) of a construction machine. Display an image.

  Further, the image generating apparatus 100 generates a processing target image based on the input image, and performs an image conversion process on the processing target image so that the positional relationship with the surrounding obstacles and a sense of distance can be intuitively grasped. After generating the output image to be performed, the output image may be presented to the driver.

  The “processing target image” is an image that is generated based on an input image and that is a target of image conversion processing (for example, scale conversion, affine conversion, distortion conversion, viewpoint conversion processing, etc.). When an input image including a horizontal image (for example, an empty portion) is used in an image conversion process with an image captured from above by a camera that captures the image from above, the horizontal image is The input image is projected onto a predetermined spatial model so that it is not unnaturally displayed (for example, the sky part is not treated as being on the ground surface), and then the projected image projected onto the spatial model is changed to another two. It is an image suitable for image conversion processing, which is obtained by reprojecting onto a dimensional plane. The processing target image may be used as an output image as it is without performing an image conversion process.

  The “spatial model” is a plane or curved surface other than the processing target image plane that is the plane on which the processing target image is located (for example, a plane parallel to the processing target image plane or an angle with the processing target image plane). A plane or a curved surface to be formed), and a projection target of an input image composed of one or a plurality of planes or curved surfaces.

  Note that the image generation apparatus 100 may generate an output image by performing image conversion processing on the projection image projected on the space model without generating a processing target image. Further, the projection image may be used as an output image as it is without being subjected to image conversion processing.

  FIG. 3 is a diagram illustrating an example of a spatial model MD onto which an input image is projected. FIG. 3A illustrates a relationship between the excavator 60 and the spatial model MD when the excavator 60 is viewed from the side. FIG. 3B shows the relationship between the excavator 60 and the space model MD when the excavator 60 is viewed from above.

  As shown in FIG. 3, the space model MD has a semi-cylindrical shape, and includes a planar region R1 inside the bottom surface and a curved region R2 inside the side surface (wall surface).

  FIG. 4 is a diagram illustrating an example of a relationship between the space model MD and the processing target image plane, and the processing target image plane R3 is a plane including the plane area R1 of the space model MD, for example. 4 shows the space model MD not in a semi-cylindrical shape as shown in FIG. 3 but in a cylindrical shape for the sake of clarity, the space model MD has a partial cylindrical shape, a semi-cylindrical shape, And any of cylindrical shapes. The same applies to the subsequent drawings. Further, as described above, the processing target image plane R3 may be a circular area including the plane area R1 of the spatial model MD, or may be an annular area not including the plane area R1 of the spatial model MD.

  Next, various units included in the control unit 1 will be described.

  The coordinate association means 10 is a means for associating coordinates on the input image plane where the input image captured by the camera 2 is located, coordinates on the space model MD, and coordinates on the processing target image plane R3. For example, various parameters relating to the camera 2 such as optical center, focal length, CCD size, optical axis direction vector, camera horizontal direction vector, projection method, etc., which are set in advance or input via the input unit 3 And the coordinates on the input image plane, the coordinates on the space model MD, and the processing target image based on the predetermined positional relationship among the input image plane, the spatial model MD, and the processing target image plane R3. The coordinates on the plane R3 are associated with each other, and the corresponding relationship is stored in the input image / space model correspondence map 40 and the space model / processing object image correspondence map 41 of the storage unit 4. .

  When the processing target image is not generated, the coordinate association unit 10 associates the coordinates on the spatial model MD with the coordinates on the processing target image plane R3, and the spatial model / processing target of the corresponding relationship. The storage in the image correspondence map 41 is omitted.

  The output image generation unit 11 is a unit for generating an output image. For example, by performing scale conversion, affine conversion, or distortion conversion on the processing target image, the coordinates on the processing target image plane R3 and the output image are changed. The input image / space model in which the coordinates on the output image plane that is positioned are associated, the correspondence is stored in the processing target image / output image correspondence map 42 of the storage unit 4, and the value is stored in the coordinate association means 10. With reference to the correspondence map 40 and the spatial model / processing object image correspondence map 41, the value of each pixel in the output image (for example, the luminance value, hue value, saturation value, etc.) and the value of each pixel in the input image. To generate an output image.

  Further, the output image generation means 11 is preset or input via the input unit 3, the optical center of the virtual camera, the focal length, the CCD size, the optical axis direction vector, the camera horizontal direction vector, the projection method. The coordinates on the processing target image plane R3 and the coordinates on the output image plane where the output image is located are associated with each other based on various parameters such as the processing target image / output image correspondence map 42 in the storage unit 4. And the values of each pixel in the output image (for example, the luminance value) while referring to the input image / spatial model correspondence map 40 and the spatial model / processing object image correspondence map 41 stored by the coordinate matching means 10. , Hue value, saturation value, etc.) and the value of each pixel in the input image are associated with each other to generate an output image.

  Note that the output image generation unit 11 may generate the output image by changing the scale of the processing target image without using the concept of the virtual camera.

  Further, when the processing target image is not generated, the output image generation unit 11 associates the coordinates on the space model MD with the coordinates on the output image plane in accordance with the applied image conversion process, and the input image / space model. With reference to the correspondence map 40, the output image is generated by associating the value of each pixel in the output image (for example, luminance value, hue value, saturation value, etc.) with the value of each pixel in the input image. In this case, the output image generation unit 11 omits the association between the coordinates on the processing target image plane R3 and the coordinates on the output image plane, and the storage of the correspondence relationship in the processing target image / output image correspondence map 42. To do.

  The auxiliary image setting unit 12 is a unit for setting an auxiliary image on the space model MD.

  The “auxiliary image” is an image superimposed on the output image, and assists the operator in grasping the contents of the output image. The auxiliary image includes, for example, an auxiliary line, an auxiliary circle, an auxiliary polygon, and the like.

  Specifically, the auxiliary image setting unit 12 sets an auxiliary image in at least one of the plane region R1 and the curved surface region R2 of the space model MD, for example. The coordinates on the spatial model MD included in the auxiliary image set on the spatial model MD are coordinated on the input image plane and the processing target image plane by the coordinate association unit 10 in the same manner as the coordinates not included in the auxiliary image. Corresponding to the coordinates on R3, the output image generating means 11 further associates with the coordinates on the output image plane. However, the output image generation unit 11 determines the pixel value of the coordinate on the output image plane corresponding to the coordinate included in the auxiliary image different from the method of determining the pixel value of the other coordinate on the output image plane. Is adopted. Specifically, the output image generation unit 11 does not directly associate the pixel value in the input image with the pixel value in the output image, but instead a predetermined pixel value or a pixel obtained by adding a predetermined correction to the pixel value in the input image. An output image is generated by associating values. The predetermined pixel value is a pixel value for making the auxiliary image stand out on the output image. The predetermined correction is a correction for making the auxiliary image stand out on the output image, and includes adjustment of a luminance value, a hue value, a saturation value, and the like, for example.

  Next, an example of specific processing by the coordinate association unit 10 and the output image generation unit 11 will be described.

  The coordinate association means 10 can associate the coordinates on the input image plane with the coordinates on the space model using, for example, a Hamilton quaternion.

  FIG. 5 is a diagram for explaining the correspondence between the coordinates on the input image plane and the coordinates on the space model. The input image plane of the camera 2 has UVW orthogonal coordinates with the optical center C of the camera 2 as the origin. The space model is represented as a three-dimensional surface in the XYZ orthogonal coordinate system.

  First, the coordinate association unit 10 converts the coordinates on the space model (coordinates on the XYZ coordinate system) into coordinates on the input image plane (coordinates on the UVW coordinate system), so that the origin of the XYZ coordinate system is optically converted. After moving parallel to the center C (the origin of the UVW coordinate system), the X axis is the U axis, the Y axis is the V axis, and the Z axis is the -W axis (the sign "-" indicates that the direction is reversed) This means that the XYZ coordinate system is rotated so that the UVW coordinate system coincides with the + W direction in front of the camera and the XYZ coordinate system in the −Z direction vertically below.

  When there are a plurality of cameras 2, each of the cameras 2 has an individual UVW coordinate system. Therefore, the coordinate association unit 10 uses an XYZ coordinate system in parallel with each of the plurality of UVW coordinate systems. It will be moved and rotated.

  In the above conversion, the XYZ coordinate system is translated so that the optical center C of the camera 2 is the origin of the XYZ coordinate system, and then the Z axis is rotated so as to coincide with the −W axis. Since it is realized by rotating to coincide with the axis, the coordinate matching means 10 can combine these two rotations into one rotation calculation by describing this transformation in Hamilton's quaternion. it can.

  By the way, the rotation for making one vector A coincide with another vector B corresponds to the process of rotating the vector A and the vector B by the angle formed by using the normal line of the surface extending between the vector A and the vector B as an axis. If the angle is θ, from the inner product of the vector A and the vector B, the angle θ is

It will be expressed as

  Further, the unit vector N of the normal line between the vector A and the vector B is obtained from the outer product of the vector A and the vector B.

It will be expressed as

  Note that the quaternion has i, j, and k as imaginary units,

In this embodiment, the quaternion Q is represented by t as a real component and a, b, and c as pure imaginary components.

The conjugate quaternion of the quaternion Q is

It shall be represented by

  The quaternion Q can represent a three-dimensional vector (a, b, c) with pure imaginary components a, b, c while setting the real component t to 0 (zero), and t, a, b , C can also be used to express a rotational motion with an arbitrary vector as an axis.

  Further, the quaternion Q can be expressed as a single rotation operation by integrating a plurality of continuous rotation operations. For example, an arbitrary point S (sx, sy, sz) can be expressed as an arbitrary unit vector. A point D (ex, ey, ez) when rotated by an angle θ with C (l, m, n) as an axis can be expressed as follows.

Here, in this embodiment, if the quaternion representing the rotation that makes the Z axis coincide with the −W axis is Qz, the point X on the X axis in the XYZ coordinate system is moved to the point X ′. X '

It will be expressed as

  In this embodiment, if the quaternion representing the rotation that matches the line connecting the point X ′ on the X axis and the origin to the U axis is Qx, “the Z axis matches the −W axis, , A quaternion R representing "rotation to make the X axis coincide with the U axis"

It will be expressed as

  As described above, the coordinate P ′ when an arbitrary coordinate P on the space model (XYZ coordinate system) is expressed by a coordinate on the input image plane (UVW coordinate system) is

Since the quaternion R is invariable in each of the cameras 2, the coordinate association unit 10 thereafter performs the above calculation to obtain the coordinates on the space model (XYZ coordinate system). It can be converted into coordinates on the input image plane (UVW coordinate system).

  After the coordinates on the space model (XYZ coordinate system) are converted to the coordinates on the input image plane (UVW coordinate system), the coordinate association means 10 determines the optical center C (coordinates on the UVW coordinate system) of the camera 2 and the space. An incident angle α formed by a line segment CP ′ connecting an arbitrary coordinate P on the model with a coordinate P ′ represented in the UVW coordinate system and the optical axis G of the camera 2 is calculated.

  In addition, the coordinate association unit 10 includes an intersection E between the plane H and the optical axis G, and a coordinate P ′ in a plane H that is parallel to the input image plane R4 (for example, CCD plane) of the camera 2 and includes the coordinate P ′. Are calculated, and the deviation angle φ formed by the line segment EP ′ connecting the two and the U ′ axis in the plane H, and the length of the line segment EP ′.

  In the optical system of the camera, the image height h is usually a function of the incident angle α and the focal length f. Therefore, the coordinate matching means 10 performs normal projection (h = ftanα) and orthographic projection (h = fsinα). Image height by selecting an appropriate projection method such as stereo projection (h = 2 ftan (α / 2)), equisolid angle projection (h = 2 fsin (α / 2)), equidistant projection (h = fα), etc. Calculate h.

  Thereafter, the coordinate matching means 10 decomposes the calculated image height h into U and V components on the UV coordinate system by the declination φ, and is a numerical value corresponding to the pixel size per pixel of the input image plane R4. By dividing, the coordinates P (P ′) on the space model MD can be associated with the coordinates on the input image plane R4.

  If the pixel size per pixel in the U-axis direction of the input image plane R4 is aU and the pixel size per pixel in the V-axis direction of the input image plane R4 is aV, the coordinates P (P The coordinates (u, v) on the input image plane R4 corresponding to ') are

It will be expressed as

  In this way, the coordinate association unit 10 associates the coordinates on the space model MD with the coordinates on one or a plurality of input image planes R4 existing for each camera, and coordinates on the space model MD, the camera identifier. And the coordinates on the input image plane R4 are stored in the input image / space model correspondence map 40 in association with each other.

  Further, since the coordinate association unit 10 calculates the coordinate conversion using the quaternion, unlike the case where the coordinate conversion is calculated using the Euler angle, there is an advantage that no gimbal lock is generated. . However, the coordinate association unit 10 is not limited to the one that calculates the coordinate conversion using the quaternion, and may perform the coordinate conversion using the Euler angle.

  Note that, when it is possible to associate the coordinates on the plurality of input image planes R4, the coordinate associating means 10 inputs the coordinates P (P ′) on the spatial model MD with respect to the camera having the smallest incident angle α. It may be associated with coordinates on the image plane R4, or may be associated with coordinates on the input image plane R4 selected by the operator.

  Next, a process of reprojecting coordinates on the curved surface area R2 (coordinates having a component in the Z-axis direction) among the coordinates on the spatial model MD onto the processing target image plane R3 on the XY plane will be described.

  FIG. 6 is a diagram for explaining the association between coordinates by the coordinate association means 10, and FIG. 6A shows an input image plane R4 of the camera 2 that employs a normal projection (h = ftanα) as an example. FIG. 6 is a diagram showing a correspondence relationship between the coordinates on the upper surface and the coordinates on the space model MD, and the coordinate associating means 10 displays the coordinates on the input image plane R4 of the camera 2 and the space model MD corresponding to the coordinates. Both the coordinates are made to correspond to each other so that each of the line segments connecting the coordinates passes through the optical center C of the camera 2.

  In the example of FIG. 6A, the coordinate association means 10 associates the coordinate K1 on the input image plane R4 of the camera 2 with the coordinate L1 on the plane area R1 of the space model MD, and inputs the image 2 R4 of the camera 2. The upper coordinate K2 is associated with the coordinate L2 on the curved surface region R2 of the space model MD. At this time, both the line segment K1-L1 and the line segment K2-L2 pass through the optical center C of the camera 2.

  In addition, when the camera 2 employs a projection method other than normal projection (for example, orthographic projection, stereoscopic projection, equisolid angle projection, equidistant projection, etc.), the coordinate association unit 10 uses each projection method. Accordingly, the coordinates K1 and K2 on the input image plane R4 of the camera 2 are associated with the coordinates L1 and L2 on the space model MD.

  Specifically, the coordinate association unit 10 is configured to use a predetermined function (for example, orthographic projection (h = fsin α), stereoscopic projection (h = 2 ftan (α / 2)), or equal solid angle projection (h = 2 fsin (α / 2)), equidistant projection (h = fα), etc.), the coordinates on the input image plane are associated with the coordinates on the space model MD. In this case, the line segment K1-L1 and the line segment K2-L2 do not pass through the optical center C of the camera 2.

  FIG. 6B is a diagram showing a correspondence relationship between coordinates on the curved surface region R2 of the space model MD and coordinates on the processing target image plane R3, and the coordinate association unit 10 is positioned on the XZ plane. The parallel line group PL that forms an angle β with the processing target image plane R3 is introduced, and the coordinates on the curved surface region R2 of the spatial model MD and the processing target image corresponding to the coordinates are introduced. The coordinates on the plane R3 are associated with each other such that the coordinates are on one of the parallel line groups PL.

  In the example of FIG. 6B, the coordinate matching means 10 assumes that the coordinate L2 on the curved surface region R2 of the space model MD and the coordinate M2 on the processing target image plane R3 are on a common parallel line, and both coordinates are obtained. Make it correspond.

  The coordinate association means 10 can associate the coordinates on the plane area R1 of the spatial model MD with the coordinates on the processing target image plane R3 using the parallel line group PL in the same manner as the coordinates on the curved surface area R2. However, in the example of FIG. 6B, since the plane area R1 and the processing target image plane R3 are a common plane, the coordinates L1 on the plane area R1 of the spatial model MD and the processing target image plane R3 The coordinate M1 has the same coordinate value.

  In this way, the coordinate association unit 10 associates the coordinates on the spatial model MD with the coordinates on the processing target image plane R3, and associates the coordinates on the spatial model MD with the coordinates on the processing target image R3. It is stored in the spatial model / processing object image correspondence map 41.

  FIG. 6C is a diagram illustrating a correspondence relationship between the coordinates on the processing target image plane R3 and the coordinates on the output image plane R5 of the virtual camera 2V that adopts the normal projection (h = ftanα) as an example. The output image generation means 11 passes through the optical center CV of the virtual camera 2V each of the line segments connecting the coordinates on the output image plane R5 of the virtual camera 2V and the coordinates on the processing target image plane R3 corresponding to the coordinates. In this way, the two coordinates are associated with each other.

  In the example of FIG. 6C, the output image generation unit 11 associates the coordinates N1 on the output image plane R5 of the virtual camera 2V with the coordinates M1 on the processing target image plane R3 (plane area R1 of the space model MD). The coordinate N2 on the output image plane R5 of the virtual camera 2V is associated with the coordinate M2 on the processing target image plane R3. At this time, both the line segment M1-N1 and the line segment M2-N2 pass through the optical center CV of the virtual camera 2V.

  Note that when the virtual camera 2V employs a projection method other than normal projection (for example, orthographic projection, stereoscopic projection, equisolid angle projection, equidistant projection, etc.), the output image generation unit 11 uses each projection method. Accordingly, the coordinates N1 and N2 on the output image plane R5 of the virtual camera 2V are associated with the coordinates M1 and M2 on the processing target image plane R3.

  Specifically, the output image generation means 11 is a predetermined function (for example, orthographic projection (h = fsin α), stereoscopic projection (h = 2 ftan (α / 2)), equal solid angle projection (h = 2 fsin (α / 2)), equidistant projection (h = fα), etc.), the coordinates on the output image plane R5 and the coordinates on the processing target image plane R3 are associated with each other. In this case, the line segment M1-N1 and the line segment M2-N2 do not pass through the optical center CV of the virtual camera 2V.

  In this way, the output image generation unit 11 associates the coordinates on the output image plane R5 with the coordinates on the processing target image plane R3, and sets the coordinates on the output image plane R5 and the coordinates on the processing target image R3. Each of the output images is stored in the processing target image / output image correspondence map 42 in association with each other in the output image while referring to the input image / spatial model correspondence map 40 and the spatial model / processing target image correspondence map 41 stored by the coordinate matching means 10. An output image is generated by associating the pixel value with the value of each pixel in the input image.

  FIG. 6D is a combination of FIGS. 6A to 6C. The camera 2, the virtual camera 2V, the plane area R1 and the curved area R2 of the space model MD, and the processing target. The mutual positional relationship of image plane R3 is shown.

  Next, the operation of the parallel line group PL introduced by the coordinate association unit 10 to associate the coordinates on the space model MD with the coordinates on the processing target image plane R3 will be described with reference to FIG.

  FIG. 7A is a diagram in the case where the angle β is formed between the parallel line group PL positioned on the XZ plane and the processing target image plane R3, and FIG. 7B is the diagram on the XZ plane. It is a figure in case angle (beta) 1 ((beta) 1> (beta)) is formed between the parallel line group PL and the process target image plane R3. Also, each of the coordinates La to Ld on the curved surface region R2 of the spatial model MD in FIGS. 7A and 7B corresponds to the coordinates Ma to Md on the processing target image plane R3, respectively. Assume that the intervals between the coordinates La to Ld in FIG. 7A are equal to the intervals between the coordinates La to Ld in FIG. The parallel line group PL is assumed to exist on the XZ plane for the purpose of explanation, but actually exists so as to extend radially from all points on the Z axis toward the processing target image plane R3. It shall be. In this case, the Z axis is referred to as a “reprojection axis”.

  As shown in FIGS. 7A and 7B, the distance between the coordinates Ma to Md on the processing target image plane R3 is such that the angle between the parallel line group PL and the processing target image plane R3 is the same. As it increases, it decreases linearly (it decreases uniformly regardless of the distance between the curved surface region R2 of the spatial model MD and each of the coordinates Ma to Md). On the other hand, since the coordinate group on the plane region R1 of the space model MD is not converted into the coordinate group on the processing target image plane R3 in the example of FIG. 7, the interval between the coordinate groups does not change. .

  The change in the interval between these coordinate groups is such that only the image portion corresponding to the image projected on the curved surface region R2 of the spatial model MD is linearly enlarged or out of the image portion on the output image plane R5 (see FIG. 6). It means to be reduced.

  Next, an alternative example of the parallel line group PL introduced by the coordinate association unit 10 to associate the coordinates on the space model MD with the coordinates on the processing target image plane R3 will be described with reference to FIG.

  FIG. 8A is a diagram in the case where all of the auxiliary line groups AL located on the XZ plane extend from the start point T1 on the Z axis toward the processing target image plane R3, and FIG. It is a figure in case all the line groups AL extend toward the process target image plane R3 from the starting point T2 (T2> T1) on the Z axis. 8A and 8B, the coordinates La to Ld on the curved surface region R2 of the spatial model MD correspond to the coordinates Ma to Md on the processing target image plane R3 ( In the example of FIG. 8A, the coordinates Mc and Md are not shown because they are outside the region of the processing target image plane R3.) The intervals between the coordinates La to Ld in FIG. It is assumed that the interval between the coordinates La to Ld in 8 (B) is equal. The auxiliary line group AL is assumed to exist on the XZ plane for the purpose of explanation, but actually exists so as to extend radially from an arbitrary point on the Z axis toward the processing target image plane R3. It shall be. As in FIG. 7, the Z axis in this case is referred to as a “reprojection axis”.

  As shown in FIGS. 8A and 8B, the distance between the coordinates Ma to Md on the processing target image plane R3 is the distance (high) between the starting point of the auxiliary line group AL and the origin O. As the distance between the curved surface region R2 of the space model MD and each of the coordinates Ma to Md is larger, the width of reduction of each interval is larger. On the other hand, since the coordinate group on the plane region R1 of the spatial model MD is not converted into the coordinate group on the processing target image plane R3 in the example of FIG. 8, the interval between the coordinate groups does not change. .

  The change in the interval between these coordinate groups corresponds to the image projected on the curved surface region R2 of the spatial model MD in the image portion on the output image plane R5 (see FIG. 6), as in the case of the parallel line group PL. It means that only the image portion is enlarged or reduced nonlinearly.

  In this way, the image generation device 100 does not affect the image portion (for example, a road surface image) of the output image corresponding to the image projected on the plane region R1 of the space model MD, and does not affect the space model MD. Since the image portion (for example, a horizontal image) of the output image corresponding to the image projected on the curved surface area R2 can be linearly or nonlinearly enlarged or reduced, the road surface image in the vicinity of the excavator 60 Without affecting the excavator 60 (virtual image when viewed from directly above), an object located in the periphery of the excavator 60 (an object in the image when viewed in the horizontal direction from the excavator 60) can be quickly and flexibly The visibility of the blind spot area of the excavator 60 can be improved.

  Next, referring to FIG. 9, the image generation apparatus 100 generates a processing target image (hereinafter referred to as “processing target image generation processing”), and an output image using the generated processing target image. Processing to be generated (hereinafter referred to as “output image generation processing”) will be described. FIG. 9 is a flowchart showing the flow of the processing target image generation process (steps S1 to S3) and the output image generation process (steps S4 to S6). Further, it is assumed that the arrangement of the camera 2 (input image plane R4), the space model (plane area R1 and curved surface area R2), and the processing target image plane R3 is determined in advance.

  First, the control unit 1 associates the coordinates on the processing target image plane R3 with the coordinates on the space model MD using the coordinate association unit 10 (step S1).

  Specifically, the coordinate association unit 10 obtains an angle formed between the parallel line group PL and the processing target image plane R3, and the parallel line group PL extending from one coordinate on the processing target image plane R3. One point that intersects the curved surface region R2 of the space model MD is calculated, and a coordinate on the curved surface region R2 corresponding to the calculated point is set to one on the curved surface region R2 corresponding to the one coordinate on the processing target image plane R3. The coordinates are derived as coordinates, and the corresponding relationship is stored in the space model / processing object image correspondence map 41. It should be noted that the angle formed between the parallel line group PL and the processing target image plane R3 may be a value stored in advance in the storage unit 4 or the like. It may be a value to be entered.

  In addition, when one coordinate on the processing target image plane R3 matches one coordinate on the plane area R1 of the space model MD, the coordinate association unit 10 uses the one coordinate on the plane area R1 as the processing target image. It is derived as one coordinate corresponding to the one coordinate on the plane R3, and the correspondence is stored in the space model / processing object image correspondence map 41.

  Thereafter, the control unit 1 causes the coordinate association unit 10 to associate one coordinate on the spatial model MD derived by the above-described processing with a coordinate on the input image plane R4 (step S2).

  Specifically, the coordinate association unit 10 acquires the coordinates of the optical center C of the camera 2 that employs normal projection (h = ftanα), is a line segment extending from one coordinate on the space model MD, and the optical center A point where the line segment passing through C intersects the input image plane R4 is calculated, and the coordinates on the input image plane R4 corresponding to the calculated point are set on the input image plane R4 corresponding to the one coordinate on the space model MD. And the corresponding relationship is stored in the input image / space model correspondence map 40.

  Thereafter, the control unit 1 determines whether or not all the coordinates on the processing target image plane R3 are associated with the coordinates on the space model MD and the coordinates on the input image plane R4 (step S3), and all the coordinates are still set. Are determined to be not associated (NO in step S3), the processes in steps S1 and S2 are repeated.

  On the other hand, when it is determined that all the coordinates are associated (YES in step S3), the control unit 1 ends the processing target image generation process, starts the output image generation process, and outputs the output image generation unit 11. Thus, the coordinates on the processing target image plane R3 are associated with the coordinates on the output image plane R5 (step S4).

  Specifically, the output image generation unit 11 generates an output image by performing scale conversion, affine conversion, or distortion conversion on the processing target image, and is determined by the content of the applied scale conversion, affine conversion, or distortion conversion. The correspondence relationship between the coordinates on the processing target image plane R3 and the coordinates on the output image plane R5 is stored in the processing target image / output image correspondence map 42.

  Alternatively, when generating the output image using the virtual camera 2V, the output image generation unit 11 calculates the coordinates on the output image plane R5 from the coordinates on the processing target image plane R3 according to the adopted projection method. The correspondence relationship may be stored in the processing target image / output image correspondence map 42.

  Alternatively, when generating an output image using the virtual camera 2V that employs normal projection (h = ftanα), the output image generation unit 11 acquires the coordinates of the optical center CV of the virtual camera 2V, A line segment extending from one coordinate on the output image plane R5 and calculating a point where a line segment passing through the optical center CV intersects the processing target image plane R3, and on the processing target image plane R3 corresponding to the calculated point. The coordinates may be derived as one coordinate on the processing target image plane R3 corresponding to the one coordinate on the output image plane R5, and the correspondence relationship may be stored in the processing target image / output image correspondence map 42.

  After that, the control unit 1 uses the output image generation unit 11 to refer to the input image / space model correspondence map 40, the space model / processing target image correspondence map 41, and the processing target image / output image correspondence map 42. Correspondence between coordinates on R4 and coordinates on space model MD, correspondence between coordinates on space model MD and coordinates on processing target image plane R3, and coordinates on processing target image plane R3 and output image plane R5 The correspondence with the upper coordinates is traced, and values (for example, luminance values, hue values, saturation values, etc.) possessed by the coordinates on the input image plane R4 corresponding to the respective coordinates on the output image plane R5 are acquired. Then, the acquired value is adopted as the value of each coordinate on the corresponding output image plane R5 (step S5). When a plurality of coordinates on the plurality of input image planes R4 correspond to one coordinate on the output image plane R5, the output image generation unit 11 respectively outputs the plurality of coordinates on the plurality of input image planes R4. A statistical value (for example, an average value, a maximum value, a minimum value, an intermediate value, or the like) based on the value of L is derived, and the statistical value is adopted as the value of the one coordinate on the output image plane R5. Good.

  Thereafter, the control unit 1 determines whether or not all the coordinate values on the output image plane R5 are associated with the coordinate values on the input image plane R4 (step S6), and all the coordinate values are still associated. If it is determined that it is not attached (NO in step S6), the processes in steps S4 and S5 are repeated.

  On the other hand, if the control unit 1 determines that all coordinate values are associated (YES in step S6), the control unit 1 generates an output image and ends the series of processes.

  Note that, when the processing target image is not generated, the image generation apparatus 100 omits the processing target image generation processing, and sets “coordinates on the processing target image plane” in step S4 in the output image generation processing to “on the spatial model”. It shall be read as "coordinates".

  With the above configuration, the image generation apparatus 100 can generate a processing target image and an output image that allow the operator to intuitively grasp the positional relationship between the construction machine and the surrounding obstacle.

  Further, the image generation apparatus 100 associates coordinates on the processing target image plane R3 from the processing target image plane R3 to the input image plane R4 through the spatial model MD, thereby obtaining the coordinates on the processing target image plane R3. One or more coordinates on R4 can be reliably associated, and compared with a case where coordinates are associated in the order from the input image plane R4 to the processing target image plane R3 via the spatial model MD (in this case) Can reliably correspond each coordinate on the input image plane R4 to one or a plurality of coordinates on the processing target image plane R3. However, a part of the coordinates on the processing target image plane R3 is part of the input image plane R4. In some cases, the coordinates may not be associated with any of the above coordinates, and in such a case, it is necessary to perform interpolation processing or the like on a part of the coordinates on the processing target image plane R3). It is possible to rapidly generate.

  Further, when enlarging or reducing only the image corresponding to the curved surface region R2 of the space model MD, the image generating apparatus 100 changes the angle formed between the parallel line group PL and the processing target image plane R3. Thus, it is possible to realize a desired enlargement or reduction without rewriting the contents of the input image / space model correspondence map 40 only by rewriting only the portion related to the curved surface region R2 in the space model / processing object image correspondence map 41. .

  Further, when changing the appearance of the output image, the image generating apparatus 100 simply rewrites the processing target image / output image correspondence map 42 by changing the values of various parameters relating to scale conversion, affine transformation, or distortion transformation. The desired output image (scale-converted image, affine-transformed image, or distortion-converted image) can be generated without rewriting the contents of the input image / space model correspondence map 40 and the space model / processing object image correspondence map 41.

  Similarly, when changing the viewpoint of the output image, the image generating apparatus 100 simply changes the values of various parameters of the virtual camera 2V and rewrites the processing target image / output image correspondence map 42 to change the input image / space. An output image (viewpoint conversion image) viewed from a desired viewpoint can be generated without rewriting the contents of the model correspondence map 40 and the space model / processing object image correspondence map 41.

  FIG. 10 is a display example when an output image generated using input images of two cameras 2 (the right side camera 2R and the rear camera 2B) mounted on the excavator 60 is displayed on the display unit 5. .

  The image generation apparatus 100 projects the input images of the two cameras 2 onto the plane region R1 and the curved surface region R2 of the space model MD, and then reprojects them onto the processing target image plane R3 to generate a processing target image. Then, an image conversion process (for example, scale conversion, affine conversion, distortion conversion, viewpoint conversion process, etc.) is performed on the generated processing target image to generate an output image, and the vicinity of the excavator 60 can be seen from above. An image looking down (image in the plane region R1) and an image of the periphery viewed from the excavator 60 in the horizontal direction (image in the processing target image plane R3) are displayed at the same time.

  When the image generation apparatus 100 does not generate the processing target image, the output image is generated by performing image conversion processing (for example, viewpoint conversion processing) on the image projected on the space model MD. Shall.

  The output image is trimmed in a circle so that the image when the excavator 60 performs the turning motion can be displayed without a sense of incongruity, and the center CTR of the circle is on the cylindrical central axis of the space model MD and the excavator 60 is turned. It is generated so as to be on the axis PV, and is displayed so as to rotate about its center CTR in accordance with the turning operation of the excavator 60. In this case, the cylindrical central axis of the space model MD may or may not coincide with the reprojection axis.

  The radius of the space model MD is, for example, 5 meters, and the angle formed between the parallel line group PL and the processing target image plane R3 or the starting point height of the auxiliary line group AL is the turning of the shovel 60. When an object (for example, a worker) exists at a position away from the center by a maximum reachable distance (for example, 12 meters) of the excavation attachment E, the object is sufficiently large (for example, 7) It can be set to be displayed.

  Further, the output image may be a CG image of the excavator 60 arranged so that the front of the excavator 60 coincides with the upper part of the screen of the display unit 5 and the turning center thereof coincides with the center CTR. This is to make the positional relationship between the shovel 60 and the object appearing in the output image easier to understand. Note that a frame image including various kinds of information such as an orientation may be arranged around the output image.

  Next, an auxiliary image set by the auxiliary image setting unit 12 will be described with reference to FIGS. 11 and 12.

  FIG. 11 shows input images of the three cameras 2 (left side camera 2L, right side camera 2R, and rear camera 2B) mounted on the excavator 60, and output images generated using these input images. FIG. FIG. 12 is a diagram showing the position of the auxiliary image set on the space model MD, and shows the positional relationship between the camera 2 and the space model MD when the space model MD is viewed obliquely from above.

  In the present embodiment, as illustrated in FIG. 11, the image generation apparatus 100 projects the input images of the three cameras 2 onto the plane region R1 and the curved surface region R2 of the spatial model MD, and then processes the target image. The image to be processed is generated by reprojecting on the plane R3. Then, the image generation apparatus 100 generates an output image by performing image conversion processing (for example, scale conversion, affine conversion, distortion conversion, viewpoint conversion processing, etc.) on the generated processing target image. In this way, the image generating apparatus 100 has a road surface image (image in the plane region R1) looking down from the vicinity of the excavator 60 from the sky, and a horizontal image (in the processing target image plane R3) viewed from the excavator 60 in the horizontal direction. Image) at the same time.

  In addition, the image generation device 100 superimposes and displays the CG image of the excavator 60 on the output image. Specifically, as illustrated in FIG. 11, the image generation apparatus 100 allows the front of the CG image of the excavator 60 to coincide with the upper part of the screen of the display unit 5 and the turning center thereof to coincide with the center of the space model. The CG image of the excavator 60 is arranged on the screen.

  In this embodiment, as shown in FIG. 12, the cylindrical central axis of the cylindrical space model MD coincides with the reprojection axis and the pivot axis PV (Z axis) of the excavator 60. The optical axis G1 of the rear camera 2B, the optical axis G2 of the right camera 2R, and the optical axis G3 of the left camera 2L are planes (XY) where the plane area R1 of the spatial model MD and the processing target image plane R3 are located, respectively. Intersect the plane). Specifically, the optical axis G1 of the rear camera 2B, the optical axis G2 of the right side camera 2R, and the optical axis G3 of the left side camera 2L form an angle γ with the vertical line. Furthermore, the perpendiculars drawn from the rear camera 2B, the right camera 2R, and the left camera 2L (for example, the front principal point of the lens) to the cylindrical central axis (reprojection axis) intersect each other. That is, in this embodiment, the rear camera 2B, the right side camera 2R, and the left side camera 2L are located on a plane parallel to the XY plane (hereinafter referred to as “camera plane”), and are the XY plane of the camera plane. The height from is Hc.

  Here, the position of the auxiliary line SL1 and the effect thereof will be described. The auxiliary line SL1 is an auxiliary image set in the curved surface region R2 of the spatial model MD by the auxiliary image setting unit 12. In the present embodiment, the auxiliary line SL1 is represented by a broken line, and corresponds to a part (arc) of a circle (intersection circle) that is an intersection line between the curved surface region R2 disposed so as to surround the excavator 60 and the camera plane. That is, the auxiliary line SL1 is a well-defined arc-shaped line segment that is set at a level corresponding to the installation height of the camera 2 and has no distorted portion. A portion of the intersection circle that is not included in the auxiliary line SL1 corresponds to a region in the front of the excavator 60 where no input image exists. Note that the auxiliary line SL1 may include all of the intersection circles when an input image in front of the excavator 60 is present.

  As shown in FIG. 11, the arc-shaped auxiliary line SL1 superimposed and displayed at the horizontal image portion in the output image is displayed on the object regardless of the distance between the object projected on the horizontal image portion and the excavator 60. If the vertex is on the auxiliary line SL1, it indicates that the height of the object is the same Hc as the height of the camera plane. Therefore, the operator of the excavator 60 can easily determine whether the size (height) of the object is equal to or higher than the height Hc by viewing the positional relationship between the object displayed in the output image and the auxiliary line SL1. I can grasp it.

  The auxiliary line SL1 can be used for calibration of the postures of the rear camera 2B, the right camera 2R, and the left camera 2L. Specifically, the auxiliary line SL1 has an angle formed between the vertical axis and each of the optical axis G1 of the rear camera 2B, the optical axis G2 of the right camera 2R, and the optical axis G3 of the left camera 2L. Can be used for calibration.

  A method for adjusting the angle formed between the optical axis G1 of the rear camera 2B and the vertical line to the angle γ will be described below. The method can be similarly applied to the case where the angle formed between each of the optical axis G2 of the right side camera 2R and the optical axis G3 of the left side camera 2L and the vertical line is adjusted to the angle γ. .

  First, an operator who performs calibration images a mark installed at a height Hc from the plane on which the excavator 60 is located, for example, a horizontal indicator line drawn on a wall surface, with the rear camera 2B. At this time, when the rear camera 2B is installed at a predetermined position of the upper swing body 63, that is, at the height Hc, when the horizontal indicator line on the screen and the auxiliary line SL1 coincide with each other, the optical axis G1 of the rear camera 2B The angle formed with the vertical line is the angle γ.

  Thereafter, the operator adjusts the installation angle of the rear camera 2B so that the horizontal instruction line on the screen coincides with the auxiliary line SL1 while viewing the output image displayed on the display unit 5. The adjustment of the installation angle of the rear camera 2B may be performed manually by an operator or may be performed using an attached actuator or the like. At this time, the operator does not need to accurately position the excavator 60 at a certain place, and does not need to adjust the distance between the shovel 60 and the wall surface on which the horizontal indicator line is drawn to a certain value. . This is because the auxiliary line SL1 is a line segment indicating that the height of the object is always the height Hc if the vertex of the object displayed in the horizontal image portion is on the auxiliary line SL1. Thus, matching the horizontal indicator line with the auxiliary line SL1 means confirming that the height of the horizontal indicator line is the height Hc, and that the vertical axis is perpendicular to the optical axis G1 of the rear camera 2B. This means that the angle formed with the line is adjusted to the angle γ.

  When the horizontal instruction line on the screen matches the auxiliary line SL1, the worker fixes the installation angle of the rear camera 2B and completes the calibration. As a result, the angle formed between the optical axis G1 of the rear camera 2B and the vertical line is fixed at the angle γ.

  In this way, the operator can easily and quickly adjust the angle between the optical axis G1 of the rear camera 2B and the vertical line to the angle γ without accurately positioning the excavator 60 at a predetermined position. it can.

  Next, the position of the auxiliary line SL2 and the effect thereof will be described. The auxiliary line SL2 is an auxiliary image that is set in the curved surface region R2 of the spatial model MD by the auxiliary image setting unit 12 in the same manner as the auxiliary line SL1. In the present embodiment, the auxiliary line SL2 is represented by a dotted line and corresponds to a part (arc) of a circle (intersection circle) that is an intersection line between the curved surface region R2 and the XY plane disposed so as to surround the excavator 60. That is, the auxiliary line SL2 is a well-defined arc-shaped line segment that is set at a level corresponding to the installation surface of the excavator 60 and has no distorted portion. A portion of the intersection circle that is not included in the auxiliary line SL2 corresponds to a region in front of the excavator 60 where no input image exists. Note that the auxiliary line SL2 may include all of the intersection circles when an input image in front of the excavator 60 is present.

  As shown in FIG. 11, the arc-shaped auxiliary line SL2 superimposed and displayed on the boundary between the road surface image portion and the horizontal image portion in the output image is a road surface on which a sense of distance to the object can be easily grasped compared to the horizontal image portion. Indicates the edge of the image part.

  Note that “the sense of distance is easier to grasp than the horizontal image portion” means that the distance from the CG image of the excavator 60 to the object image and the actual excavator 60 to the actual object are compared in the road surface image portion compared to the horizontal image portion. This means that there is a strong correlation with the distance.

  Therefore, the operator of the shovel 60 can easily grasp the distance to the object existing inside the auxiliary line SL2 by looking at the positional relationship between the object displayed in the output image and the auxiliary line SL2. Further, the auxiliary line SL2 prevents the operator from grasping the distance to the object existing outside the auxiliary line SL2 by grasping the distance to the object existing inside the auxiliary line SL2. be able to.

  As described above, the image generation apparatus 100 displays the auxiliary lines SL1 and SL2 on the output image generated using the space model MD, thereby displaying the distance to the object on the output image and the size thereof. Make it easier to grasp.

  Further, since the image generation apparatus 100 sets the auxiliary image on the space model MD instead of the input image plane R4, the image generation apparatus 100 is not affected by the deformation of the image when projecting the input image onto the space model MD. It is possible to superimpose and display an auxiliary image having a well-shaped shape without any undesired parts on the output image.

  Further, since the image generation apparatus 100 sets the auxiliary image on the spatial model MD instead of the processing target image plane R3, the effect described with reference to FIGS. 7 and 8 can be reflected on the auxiliary image. it can. Specifically, the image generating apparatus 100 determines the position of the auxiliary image according to the fact that only the image portion corresponding to the image projected on the curved surface region R2 of the spatial model MD is enlarged or reduced linearly or nonlinearly. Can be moved.

  In the present embodiment, the output image displays both the auxiliary line SL1 and the auxiliary line SL2 at the same time, but may display either one of the auxiliary line SL1 or the auxiliary line SL2.

  In addition, appropriate brightness, color, line type, thickness, and the like are employed for displaying the auxiliary lines SL1 and SL2 so that the operator can easily identify them. The auxiliary lines SL1 and SL2 may be blinked. Further, for example, display / non-display of the auxiliary lines SL1 and SL2 may be switched according to the operation content of the excavator 60.

  Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, the image generation apparatus 100 employs the cylindrical spatial model MD as the spatial model, but may employ a spatial model having other columnar shapes such as a polygonal column, A spatial model composed of two planes of side surfaces (wall surfaces) may be employed, or a spatial model having only side surfaces (wall surfaces) as curved surfaces or planes may be employed.

  The image generating apparatus 100 is mounted with a camera on a self-propelled construction machine having movable members such as a bucket, an arm, a boom, and a turning mechanism. The image generating apparatus 100 moves and moves the construction machine while presenting a surrounding image to the driver. It is built in an operation support system that supports the operation of these movable members, but it is mounted with other cameras that have movable members such as industrial machines or fixed cranes but do not self-propelled together with the camera. You may incorporate in the operation assistance system which assists operation of another to-be-operated body.

  DESCRIPTION OF SYMBOLS 1 ... Control part 2 ... Camera 2R ... Right side camera 2B ... Rear camera 3 ... Input part 4 ... Memory | storage part 5 ... Display part 10 ... Coordinate matching means 11. .. Output image generation means 12... Auxiliary image setting means 40... Input image / space model correspondence map 41... Spatial model / processing object image correspondence map 42 .. processing object image / output image correspondence map 60 ... Excavator 61 ... Lower traveling body 62 ... Turning mechanism 63 ... Upper turning body 64 ... Cab

Claims (5)

An image generating apparatus that generates a processing target image that is a target of an image conversion process for obtaining an output image that is a surrounding image of the operated object, based on an input image captured by an imaging unit attached to the operated object. And
The coordinates on the input image plane on which the input image is located, the coordinates on the spatial model on which the input image is projected, and the processing target image plane on which the processing target image is located and the image projected on the spatial model are reprojected Coordinate associating means for associating coordinates in the processing target image plane to be performed;
An auxiliary image setting means for setting an auxiliary image superimposed on the output image on the spatial model,
An image generation apparatus characterized by that. The space model includes a wall surface arranged to surround the object to be operated,
The auxiliary image setting means sets an auxiliary line at a level corresponding to the height of the imaging means on the wall surface of the space model;
The image generating apparatus according to claim 1. The space model includes a bottom surface corresponding to a surface on which the operated body is located,
The auxiliary image setting means sets an auxiliary line representing an edge of the bottom surface on the spatial model;
The image generation apparatus according to claim 1, wherein the image generation apparatus is an image generation apparatus. The space model includes a wall surface arranged so as to surround the object to be operated, and a bottom surface corresponding to a surface on which the object to be operated is located,
The auxiliary image setting means sets an auxiliary line representing a boundary between the wall surface and the bottom surface on the space model;
The image generating apparatus according to claim 1. An operation support system that supports movement or operation of an object to be operated,
An image generation device according to any one of claims 1 to 4,
A display unit installed in an operation room for moving or operating the object to be operated and displaying an output image generated by the image generation device;
An operation support system comprising: