JP2016013889A - Obstacle notification system of crane vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an obstacle notification system of a crane vehicle that can improve safety of the crane vehicle.SOLUTION: In an obstacle notification system 10 of a crane vehicle, a television camera 12 images a monitored area constituted of a part of the crane vehicle and the vicinity of the part which are required to be monitored so as to acquire a monitoring video. A display control portion 11a performs control that the monitoring video is displayed in real time. A monitor 13 is controlled by the display control portion 11a to display the monitoring video in real time. An object detection portion 11b detects an object by determining whether or not the object entering the monitored area is an obstacle and then judging that the object is the obstacle. A notification control portion 11c, when the object detection portion 11b detects the object, sends to the display control portion 11a a signal for superimposing visual information into the monitoring video. The display control portion 11a, when receiving the signal, performs control that the visual information is superimposed into the monitoring video, and the monitor displays the monitoring video having the visual information superimposed thereinto in real time.

Description

  The present invention relates to an obstacle notification system for a crane vehicle.

  Conventionally, crane trucks equipped with a general boom monitor the area on the opposite side of the cabin (from the left front side of the crane truck to the left front side and its surroundings) by direct viewing with the left rearview mirror provided on the left front side of the car body. doing. In addition, a general boom is a boom arrange | positioned horizontally at the time of non-use, such as driving | running | working.

  Moreover, the crane vehicle provided with the slant boom arranges a television camera on the left side of the vehicle body to monitor the above-mentioned area, and displays it on the monitor in real time (for example, see Patent Document 1). In addition, a slant boom is a boom arrange | positioned with the front-end | tip falling at the time of non-use, such as driving | running | working.

JP 2000-344465 A

  A crane with a general boom can be recognized even when obstacles (people, cars, motorcycles, bicycles, etc.) enter the above area from the left and right sides or from the rear. It is desirable to improve the safety of crane vehicles by better recognizing obstacles. Therefore, it is required to better recognize obstacles regardless of the type of boom and improve the safety of the crane truck.

  This invention is made | formed in view of such a conventional subject, and it aims at providing the obstacle alerting | reporting system of the crane vehicle which can improve the safety | security of a crane vehicle.

  As a result of diligent research, the present inventors have adopted the following obstacle notification system for a crane truck in order to solve the above-mentioned problems.

The obstacle notification system for crane vehicles of the present invention is
A TV camera that captures a monitoring image by imaging a monitoring area that is attached to a crane vehicle and that needs to be monitored and a part of the crane vehicle that needs to be monitored;
A display control unit that performs control to display the monitoring video in real time;
A monitor that displays the monitoring video in real time by being placed in a cabin provided in the crane vehicle and controlled by the display control unit;
An object detection unit that detects the object by determining whether the object that has entered the monitoring area is an obstacle and determining that the object is an obstacle;
A notification control unit that sends a signal for superimposing visual information in the monitoring video to the display control unit when the object detection unit detects the object;
The display control unit receives the signal and performs control to superimpose the visual information in the monitoring video, and the monitor displays the monitoring video on which the visual information is superimposed in real time.

  In the crane vehicle obstacle notification system according to the present invention, it is preferable that the visual information is an icon simulating the obstacle.

  Moreover, in the obstacle notification system for a crane vehicle of the present invention, it is preferable that the display control unit performs control for superimposing the visual information on a part of the crane vehicle in the monitoring video.

  Further, in the obstacle notification system for a crane vehicle according to the present invention, the crane vehicle is disposed on one side with respect to the vehicle traveling direction on the swivel provided on the vehicle body, and the cabin is disposed on one side with respect to the vehicle traveling direction. A boom is disposed on the other side, and a part of the crane vehicle that serves as a monitoring region to be imaged is a portion constituted by the boom and the other front side from the other front side of the crane vehicle. It is preferable.

  Furthermore, in the obstacle notification system for a crane vehicle according to the present invention, the TV camera is attached to the other side portion of the boom at an upper part of a cover that is provided on the swivel base and covers a boom support that supports the boom. Preferably, the monitoring area is imaged.

  In the obstacle notification system for a crane vehicle according to the present invention, when an obstacle enters the monitoring area, it can be displayed on the monitor and simultaneously notified by visual information. For this reason, the driver can increase the chance of noticing the obstacle and can better recognize the obstacle. Therefore, the obstacle notification system for a crane vehicle of the present invention can improve the safety of the crane vehicle.

It is a left view of the crane vehicle of the 1st Embodiment of this invention. It is a top view of the crane truck of the embodiment. It is a block diagram which shows the structure of the obstacle alerting | reporting system of the embodiment. It is a figure which shows the state in which the monitoring image | video is displayed on the monitor of the embodiment. It is a figure which shows the state in which the obstruction entered the monitoring image | video of FIG. It is a left view of the crane vehicle of the 2nd Embodiment of this invention. It is a figure which shows the state in which the monitoring image | video is displayed on the monitor of the embodiment. It is a figure which shows the state in which the obstruction entered the monitoring image | video of FIG. It is a block diagram which shows the structure of the obstruction alerting | reporting system of the 3rd Embodiment of this invention. It is a figure which shows the list | wrist of the icon displayed on a monitoring image | video. It is explanatory drawing in the case of displaying each icon of FIG. 10 on a monitoring image | video.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
FIG. 1 is a left side view of a mobile crane 1 (rough terrain crane) according to a first embodiment of the present invention. FIG. 2 is a top view of the crane vehicle 1. First, the overall configuration of the crane vehicle 1 will be briefly described. The crane 1 includes a carrier 2 that is a main body (vehicle body) of a vehicle having a traveling function, a swivel base 3 that is attached to the top of the carrier 2 so as to be able to turn horizontally, and a cabin 4 that is provided on the swivel base 3. It has.

  A pair of left and right outriggers 5 and 5 (only the left side is shown) are provided on the front side and the rear side of the carrier 2, respectively. A boom support 6 is fixed on the upper side of the swivel base 3. A boom 7 is attached to the boom support 6.

  Further, the arrangement relationship between the cabin 4 and the boom 7 will be described with reference to FIG. 2. The cabin 4 is arranged on the right side with respect to the vehicle traveling direction A on the turntable 3, and on the left side with respect to the vehicle traveling direction A. A boom 7 is arranged.

  As shown in FIG. 1, the boom 7 is a general boom that is horizontally disposed when not in use, such as traveling, and is not a slant boom (a boom disposed with its tip lowered), which will be described later.

  The base of the boom 7 is attached to the boom support 6 via a boom root fulcrum pin (not shown), and can be raised and lowered around the boom root fulcrum pin. A hoisting cylinder (not shown) is interposed between the boom support 6 and the boom 7. The boom 7 is raised and lowered when the raising and lowering cylinder expands and contracts.

  Although not shown, the boom 7 includes a proximal boom, an intermediate boom, and a distal boom. The boom 7 is combined in this order in a nested manner from the outside to the inside. The booms are connected to each other by extension cylinders (not shown), and extend and contract as the extension cylinders expand and contract.

  An operation unit (not shown) is provided in the cabin 4. This operation unit is used for the operator to turn the swivel 3, raise and lower the boom 7, wind up and down the winch provided on the boom support 6, extend and retract each outrigger 5, start and stop the engine, etc. The operation is performed.

  FIG. 3 is a block diagram showing a configuration of the obstacle notification system 10 used for the crane vehicle 1. The obstacle notification system 10 includes a control device 11, a television camera 12 connected to the input side of the control device 11, and a monitor 13 connected to the output side of the control device 11.

  The TV camera 12 is attached to the crane vehicle 1 and captures a monitoring image by imaging a monitoring area B (see FIGS. 1 and 2) including a part of the crane vehicle 1 that needs to be monitored and its periphery. .

  As shown in FIGS. 1 and 2, a specific mounting position of the television camera 12 is a left portion of the boom 7 in the upper part of the cover 8 that covers the boom support 6.

  Further, the part of the crane vehicle 1 that becomes the monitoring region B imaged by the television camera 12 is a portion that is configured by the boom 7 and the left front side to the left front side of the crane vehicle 1.

  The control device 11 is disposed in the cabin 4 of the crane vehicle 1. The control device 11 includes a display control unit 11a, an object detection unit 11b, and a notification control unit 11c.

  The object detection unit 11b is connected to the television camera 12 on the input side and connected to the notification control unit 11c on the output side. The object detection unit 11b detects an object by determining whether or not the object that has entered the monitoring area B is an obstacle and determining that the object is an obstacle. Specifically, the object detection unit 11b recognizes and detects the object X (see FIG. 5) that has entered the region in the monitoring video 13a. The detection of the object X is performed by, for example, performing monochrome processing on the monitoring video 13a and then extracting a contour line and capturing it as a shape.

  The method of determining that the object X is an obstacle will be specifically described. The object detection unit 11b stores the shape of the obstacle in advance. The object detection unit 11b calculates whether or not the shape of the detected object X is similar to the shape of the stored obstacle by using a general image processing technique, and stores the stored obstacle. If it is similar to the shape, it is determined that the object X is an obstacle. Examples of the obstacle include a person, a bicycle, a vehicle, a motorcycle, and a fixed obstacle on the road that hinders traveling.

  In the notification control unit 11c, the object detection unit 11b is connected to the input side, and the display control unit 11a is connected to the output side. When the object detection unit 11b detects the object X (obstacle), the notification control unit 11c superimposes an icon C1 (see FIG. 5) that simulates the obstacle X, which is visual information, in the monitoring video 13a. Is sent to the display control unit 11c.

  In the display control unit 11a, the TV camera 12 and the notification control unit 11c are connected to the input side, and the monitor 13 is connected to the output side. The display control unit 11a receives information on the monitoring video from the television camera 12 and performs control to display the monitoring video in real time. Further, the display control unit 11a receives the signal from the notification control unit 11c and performs control to superimpose the icon C1 on the monitoring video 13a.

  Specifically, the display control unit 11a superimposes the icon C1 on a part of the crane vehicle 1 in the monitoring video 13a. In the present embodiment, a part of the crane vehicle 1 in the monitoring image 13a is a part constituted by the boom 7 and the left front of the crane vehicle 1 to the left front side. Region D is always occupied by carrier 2. Therefore, the display control unit 11a superimposes the icon C1 on the region D.

  The monitor 13 is disposed in the cabin 4 and displays the monitoring video 13a (see FIG. 4) in real time by being controlled by the display control unit 11a. As described above, the monitoring video 13a is a video of a part of the crane vehicle 1 (the portion formed by the boom 7 and the left front side of the crane vehicle 1 from the left front side) and the surrounding area thereof as the monitoring region B. It is.

  Further, the monitor 13 receives a signal from the display control unit 11a and displays a monitoring video 13a on which the icon C1 is superimposed as shown in FIG. More specifically, the monitor 13 superimposes the icon C1 on a part of the crane vehicle 1 (area D) in the monitoring video 13a and displays it in real time.

  As described above, the obstacle notification system 10 according to this embodiment includes the television camera 12, the monitor 13, the display control unit 11a, the object detection unit 11b, and the notification control unit 11c. As a result, the obstacle notification system 10 displays the obstacle X on the monitor 13 and simultaneously notifies the driver with visual information when the obstacle X enters the monitoring area B during traveling or working. It becomes possible to do.

  For this reason, the driver can increase the chance of noticing the obstacle X and can recognize the obstacle X better. Therefore, the obstacle notification system 10 of the present embodiment can improve the safety of the crane vehicle 1.

  In the obstacle notification system 10 of the present embodiment, the icon C1 that simulates the obstacle X is used as visual information. For this reason, the driver can recognize a specific obstacle X. Therefore, the obstacle notification system 10 according to the present embodiment can further improve the safety of the crane vehicle 1.

  Moreover, in the obstacle notification system 10 of the present embodiment, the icon C1 is displayed so as to be superimposed on a part of the crane vehicle 1 in the monitoring video 13a. Thereby, the periphery of the crane vehicle 1 is not hidden by the icon C1. Therefore, the obstacle notification system 10 according to the present embodiment can further improve the safety of the crane vehicle 1.

  Further, in the obstacle notification system 10 of the present embodiment, the crane vehicle 1 provided with the obstacle notification system 10 is arranged such that the cabin 4 is arranged on the right side with respect to the vehicle traveling direction A on the swivel 3 and the vehicle traveling direction. The boom 7 is arranged on the left side with respect to A, and a part of the crane vehicle 1 serving as the monitoring region B to be imaged is a portion constituted by the boom 7 and the left front side of the crane vehicle 1 from the left front side. It was.

  As a result, the driver can better recognize obstacles at the time of starting or passing through an intersection. Therefore, the obstacle notification system 10 according to the present embodiment can further improve the safety of the crane vehicle 1.

  Further, in the obstacle notification system 10 of the present embodiment, the television camera 12 is attached to the left portion of the boom 7 at the upper part of the cover 8 that covers the boom support 6 and images the monitoring area B.

  Thus, the driver can monitor a wide area from the front to the side of the crane vehicle 1. In addition, the number of TV cameras 12 can be set to one, and the apparatus cost can be reduced.

(Second Embodiment)
FIG. 6 is a left side view of the mobile crane 101 according to the second embodiment of this invention. In the present embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and different parts are mainly described.

  The crane vehicle 101 according to the present embodiment includes a boom 107 (slant boom) different from the crane vehicle 1 according to the first embodiment. A slant boom is a boom that is disposed with its tip lowered when not in use, such as during travel. Also in the crane vehicle 101 provided with the boom 107, the obstacle notification system 10 of the first embodiment can be applied.

  In this case, as shown in FIG. 7, the monitoring video 13b of the monitor 13 displays the entire tip portion of the boom 107, unlike the monitoring video 13a of FIG. However, the lower right region D in the monitoring video 13b is always occupied by the carrier 2 as in the monitoring video 13a of FIG.

  When the obstacle X enters the monitoring area B, the obstacle C is displayed on the monitor 13 as shown in FIG. 8, and at the same time, the icon C1 is displayed on a part of the crane vehicle 1 in the monitoring video 13b (area D). It is possible to notify the driver by superimposing on the display.

  For this reason, the driver can increase the chance of noticing the obstacle X and can recognize the obstacle X better. Therefore, the obstacle notification system 10 of the present embodiment can improve the safety of the crane vehicle 1 (101) regardless of the type of boom.

(Third embodiment)
FIG. 9 is a block diagram illustrating a configuration of an obstacle notification system 20 according to the third embodiment of this invention. In the present embodiment, the same reference numerals are given to the same parts as those in the first embodiment and the second embodiment, and different parts will be mainly described.

  The obstacle notification system 20 includes a control device 21, a television camera 12 and a sensor 15 connected to the input side of the control device 21, and a monitor 13 connected to the output side of the control device 21.

  Although the obstacle notification system 10 according to the first embodiment or the second embodiment detects the object X by image recognition, the obstacle notification system 20 according to the present embodiment includes a sensor 15 ( The object X is detected using a laser sensor, an ultrasonic sensor, or the like. Although not shown, the sensor 15 is installed at a position where the object X entering the monitoring area B can be detected in the crane 1 (101).

  Moreover, the control apparatus 21 is arrange | positioned in the cabin 4, and is provided with the display control part 11a, the object detection part 21b, and the alerting | reporting control part 21c.

  In the object detection unit 21b, the sensor 15 is connected to the input side, and the notification control unit 21c is connected to the output side. The object detection unit 21b detects the object X by determining whether the object that has entered the monitoring area B is an obstacle by using the signal acquired from the sensor 15 and determining that the object is an obstacle. To do. Here, the object detection unit 21b may detect the object X as a specific obstacle by a known method such as calculating a relative speed with the object X.

  In the notification control unit 21c, the object detection unit 21b is connected to the input side, and the display control unit 11a is connected to the output side. When the object detection unit 21b detects the object X (obstacle), the notification control unit 21c sends a signal for superimposing the icon C1 on the monitoring video 13b to the display control unit 11a.

  Therefore, also in the obstacle notification system 20 of the present embodiment, when the obstacle X enters the monitoring area B, the obstacle X is displayed on the monitor 13 and simultaneously notified to the driver with visual information. Is possible. Further, the object X can be detected by a simpler method. Therefore, the obstacle notification system 20 according to the present embodiment can better recognize the obstacle X, and can improve the safety of the crane vehicle 1 (101).

  As mentioned above, although embodiment which concerns on this invention was illustrated, these embodiment does not limit the content of this invention. Various modifications can be made without departing from the scope of the claims of the present invention.

  For example, in the embodiment, the detection method using the image recognition and the detection method using the sensor have been described as the detection method of the obstacle X. However, both detection methods may be used in combination. In this case, since the detection accuracy of the obstacle X is increased, the driver can recognize the obstacle X better and further improve the safety of the crane vehicle.

  Further, in addition to display with icons, notification of obstacles may be used outside the monitor 13. In this case, there is a method in which a separate sound notification unit is provided and a warning sound such as a buzzer or voice is used. In this case, the recognition of the obstacle by the driver can be further enhanced.

  Moreover, in embodiment, the cabin 4 is arrange | positioned on the right side with respect to the vehicle advancing direction A on the turntable 3, and the left side with respect to the vehicle advancing direction as the crane vehicle 1 (101) provided with the obstacle alerting | reporting system 10 It is assumed that the boom 7 (107) is disposed on the side. However, the crane vehicle can be provided with an obstacle notification system even if the cabin is arranged on the left side with respect to the vehicle traveling direction and the boom is arranged on the right side.

  In this case, a part of the crane vehicle that is a monitoring region imaged by the television camera is a portion that is configured by the boom and the right front side to the right front side of the crane vehicle. Moreover, it is preferable that a television camera is attached to the right part of a boom in the upper part of the cover which covers a boom support.

  Although not shown, in the monitoring video in this case, the lower left area in the monitoring video is always occupied by the carrier 2. Therefore, the icon C1 is superimposed and displayed on this area.

  Further, the background of the icon C1 may be displayed in a color other than the icon C1. This makes it easier to see the icon C1, so that the driver can better recognize the specific obstacle X. Therefore, the obstacle notification system 10 (101) can further improve the traveling safety of the crane vehicle 1.

  In the embodiment, the number of icons displayed on the monitoring video 13a (13b) is one, but a plurality of icons may be displayed. In that case, in the region D, it is preferable to display the icon C <b> 1 displayed when the obstacle X is detected near the center of the monitor 13.

  This will be described with reference to FIGS. FIG. 10 shows a list of icons displayed on the monitoring video 13a (13b). The icons shown in this list are an icon C1 that is displayed when an obstacle X is detected, an icon C2 that is displayed when an alarm buzzer provided on the crane vehicle 1 (101) is released, and an obstacle detection The icon C3 is displayed when the sensitivity is lower than a predetermined value.

  The most important icon among the three icons C1 to C3 is C1. Therefore, this icon C1 is displayed at a position D1 closer to the center that is closer to the obstacle X on the monitor 13. The icon C2 is displayed at a position D2 to the right of D1, and the icon C3 is displayed at a position D3 to the right of D2. The display positions of the icons C2 and C3 may be reversed.

  Thus, by displaying the icon C1 when the obstacle X is detected closer to the center of the monitor 13, the driver's eye movement is reduced, and the specific obstacle X can be recognized better. Become. Therefore, the obstacle notification system 10 (101) can further improve the traveling safety of the crane vehicle 1.

  In the embodiment, the icon C1 is displayed when the obstacle X is detected. However, since the icon is displayed in green or blue on the monitoring video 13a (13b) from the start, the obstacle X is displayed. When the icon is detected, the display color of the icon may be changed to red as visual information. Further, the display color of the icon C1 may be changed from yellow to red according to the degree of danger.

  In the embodiment, the case where the aspect ratio of the monitor is the normal ratio (horizontal 4: vertical 3) has been described. However, in the case of a wide display (horizontal 16: vertical 9), the monitoring video (horizontal 4: vertical 3) is displayed. In the case of display, black belt portions are displayed on the left and right of the monitoring video. Therefore, an icon may be displayed on the black belt portion.

  In addition, as in the embodiment, when there is no fixed display part (own vehicle part) in the monitoring video, an icon may be superimposed and displayed in an area that is less important to the driver in the monitoring video. good.

  In the embodiment, the icon C1 simulating the obstacle X is used as the visual information displayed on the monitoring video 13a (13b). However, the icon C1 is not limited to the icon C1, and for example, the entire monitoring image 13a (13b) is displayed. The obstacle X may be surrounded by a frame.

  Moreover, although the obstacle notification system of the embodiment has been described for a case where it is applied to a rough terrain crane, it may be applied to other crane vehicles (such as a truck crane and an all terrain crane), and is not limited to a crane vehicle. The present invention may also be applied to a construction machine where there is a range in which direct viewing from the cabin is difficult or a range in which it is difficult to confirm with a mirror alone.

1,101 Crane truck 2 Carrier (body)
DESCRIPTION OF SYMBOLS 3 Turntable 4 Cabin 6 Boom support 7, 107 Boom 8 Cover 10, 20 Obstacle notification system 11a Display control part 11b, 21b Object detection part 11c, 21c Notification control part 12 Television camera 13 Monitor 13a, 13b Monitoring image A Vehicle progress Direction B Monitoring area C1 Icon X Object (obstacle)

Claims (5)

A television camera that captures a monitoring image by imaging a monitoring area that is part of a crane truck that is attached to a crane truck and requires monitoring, and its surroundings;
A display control unit that performs control to display the monitoring video in real time;
A monitor that displays the monitoring video in real time by being placed in a cabin provided in the crane vehicle and controlled by the display control unit;
An object detection unit that detects the object by determining whether the object that has entered the monitoring area is an obstacle and determining that the object is an obstacle;
A notification control unit that sends a signal for superimposing visual information in the monitoring video to the display control unit when the object detection unit detects the object;
The display control unit receives the signal and performs control to superimpose the visual information in the monitoring video, and the monitor displays the monitoring video on which the visual information is superimposed in real time. Car obstacle notification system. In the obstacle information system of the crane vehicle according to claim 1,
The crane vehicle obstacle notification system, wherein the visual information is an icon simulating the obstacle. In the obstacle information system of the crane vehicle according to claim 2,
The obstacle control system for a crane vehicle, wherein the display control unit performs control to superimpose the visual information on a part of the crane vehicle in the monitoring video. In the obstacle information system for crane vehicles according to any one of claims 1 to 3,
The crane vehicle is configured such that a cabin is disposed on one side with respect to a vehicle traveling direction on a swivel provided on a vehicle body, and a boom is disposed on the other side with respect to the vehicle traveling direction. The crane vehicle obstacle notification system, wherein a part of the crane vehicle serving as a monitoring area is a portion constituted by the boom and the other front side of the crane vehicle from the other front side. In the obstacle information system of the crane vehicle according to claim 4,
The crane is characterized in that the television camera is attached to the other side portion of the boom at an upper part of a cover that is provided on the swivel base and covers a boom support that supports the boom, and images the monitoring area. Car obstacle notification system.