JP2017061283A - Periphery monitoring device of work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a periphery monitoring device of a work vehicle capable of improving safety during traveling by enabling the acquisition of a state of surroundings needed by a passenger.SOLUTION: The periphery monitoring device for a work vehicle includes imaging parts 41 to 44 for imaging a periphery of a mobile crane, an image processing controller 46 for generating a plurality of images including a range which cannot directly and visually be recognized by a passenger getting in a cab and facing surroundings of the mobile crane from the mobile crane on the basis of an image acquired by each imaging part 41 to 44, a display part 45 for displaying the images generated by the image processing controller 46, and a display setting input part 47 for performing an input for setting an image to be displayed in the display part 45 among the plurality of images generated by the image processing controller 46.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a surrounding monitoring device for a work vehicle such as a mobile crane.

  Conventionally, as a work vehicle, for example, a crane device or the like is provided on one side in the width direction of the upper part of the vehicle body and a passenger provided on the other side in the width direction on the upper side of the vehicle body is boarded. And the cab are known. When the work vehicle is running, the work device is located on the side of the cab, and there are more parts in the vicinity of the vehicle that are not directly visible to passengers. To check.

  Further, as a conventional surrounding monitoring device, which is used in a passenger car, has a plurality of cameras for imaging the surroundings of the vehicle, and the surroundings of the vehicle generated based on images acquired by the plurality of cameras An image displayed on a display unit is known. In a surrounding monitoring device used for a passenger car, when the vehicle is traveling forward, a viewpoint that faces the front from the front end of the vehicle, a viewpoint that faces the front lower part of the vehicle from an upper rear part of the vehicle, and an entire vehicle from the upper vertical direction of the vehicle It is possible to switch viewpoints such as a viewpoint from vertically above that faces (for example, see Patent Document 1).

Japanese Patent No. 5344227

  When the surroundings monitoring device is applied to the work vehicle, the surroundings of the vehicle can be displayed on the display unit, but the surroundings including the entire vehicle and the entire width direction of the vehicle are displayed in a wide range on the display unit. Therefore, for example, it is impossible for the passenger to display the detailed surrounding conditions required by the passenger, such as traffic lights on the road and road signs.

  An object of the present invention is to provide a surrounding monitoring device for a work vehicle that can improve the safety during traveling by making it possible to obtain the surrounding conditions required by the passenger. is there.

  In order to achieve the above object, the present invention is a work vehicle surroundings monitoring device including a work device that performs a predetermined work and a cab on which a passenger is boarded, and takes an image of the periphery of the work vehicle. And an image generation unit that generates a plurality of images from the work vehicle facing the periphery of the work vehicle, including a range that is not directly visible from a passenger boarding the cab, based on the image acquired by the imaging unit, and image generation A display unit for displaying an image generated in the unit, and a display setting input unit for performing an input for setting an image to be displayed on the display unit among a plurality of images generated in the image generation unit. .

  As a result, the image displayed on the display unit is switched by the input to the display setting input unit, so that the image selected by the passenger from the plurality of images generated by the image generation unit is displayed on the display unit.

  According to the present invention, since the image selected by the passenger from the plurality of images generated by the image generation unit can be displayed on the display unit, the passenger recognizes the surrounding conditions required by the passenger. It becomes possible, and it becomes possible to improve the safety | security at the time of driving | running | working.

It is a side view of the mobile crane which shows one Embodiment of this invention. It is a block diagram of a surrounding monitoring apparatus. It is a figure which shows the display part on which the perimeter image was displayed. It is a figure which shows the display part on which the front image was displayed. It is a figure which shows the display part on which the left front image was displayed. It is a figure which shows the display part on which the left back image was displayed. It is a flowchart of a display image switching process.

  1 to 7 show an embodiment of the present invention.

  As shown in FIG. 1, a mobile crane 1 as a work vehicle provided with a surrounding monitoring device of the present invention has a lower traveling body 10 for traveling on a general road or work area, and a lower traveling body. And an upper swing body 20 that is pivotable in the horizontal direction.

  The lower traveling body 10 includes wheels 11 provided on both sides in the width direction on the front side and the rear side of the carrier frame extending in the front-rear direction, outriggers 12 provided on both sides in the width direction on the front end portion and the rear end portion of the carrier frame, It has. The lower traveling body 10 travels using the engine as a driving source, and the jack cylinder of the outrigger 12 is driven by hydraulic oil discharged from a hydraulic pump driven by the engine.

  The upper turning body 20 is provided so as to be turnable with respect to the lower traveling body 10 via a ball bearing type or roller bearing type turning circle 30. The upper turning body 20 performs a turning operation on the lower traveling body 10 so that the turning direction can be switched by a turning motor driven by hydraulic oil discharged from the hydraulic pump.

  The upper swivel body 20 is provided on a swivel base 21 fixed to the swivel circle 30, a crane device 22 as a working device provided on one side in the width direction of the swivel base 21, and provided on the other side in the width direction of the swivel base 21. And a cab 23 for operating the traveling body 10 and operating the crane device 22.

  The crane device 22 includes a telescopic boom 22a that can be raised and lowered with respect to the swivel base 21, and a wire rope 22b that extends from the proximal end side of the telescopic boom 22a toward the distal end side and hangs down from the distal end portion of the telescopic boom 22a. And a winch 22c that winds and unwinds the wire rope 22b, and a hook block 22d that is suspended from the wire rope 22b that is suspended from the distal end of the telescopic boom 22a. The telescopic boom 22a performs the telescopic operation and the hoisting operation by the telescopic cylinder and the hoisting cylinder that are driven by the hydraulic oil discharged from the hydraulic pump. The winch 22c performs a winch winding and unwinding operation by a winch motor that is driven by hydraulic oil discharged from the hydraulic pump.

  The cab 23 is a box having transparent plates arranged on the front, rear, left and right sides, and the upper surface. Inside the cab 23 is a seat on which a passenger sits, a handle for steering the wheels 11, and a crane device 22 are operated. An operation lever, a switch, and the like are arranged.

  When the mobile crane 1 is traveling, since the telescopic boom 22a extends from the left side of the cab 23 toward the front, the left side of the lower traveling body 10 is directly connected to the passenger who has boarded the cab 23. The range is invisible.

  In addition, the mobile crane 1 includes a surrounding monitoring device 40 for monitoring the surroundings during traveling.

  As shown in FIG. 2, the surrounding monitoring device 40 includes a front imaging unit 41 for imaging the front of the lower traveling body 10, a rear imaging unit 42 for imaging the rear of the lower traveling body 10, and the lower traveling body. 10, a left imaging unit 43 for imaging the left side, a right imaging unit 44 for imaging the right side of the lower traveling body 10, and each imaging unit 41, 42, 43, 44 (hereinafter 41 to 41 44) to generate an image data to be displayed on the display unit 45 based on the image data acquired by each of the imaging units 41 to 44. An image processing controller 46, a display setting input unit 47 for inputting an image to be displayed on the display unit 45, a vehicle speed sensor 48 for detecting the traveling speed of the mobile crane 1, and a direction instruction Lit the instrument The direction instruction operation lever 49 as an operating portion for the rider to operate during that has a buzzer 50 for emitting alert tone to passenger, a.

  Each of the imaging units 41 to 44 is, for example, a video camera provided with a CCD (Charge Coupled Device) as an imaging device, and has a fisheye lens with an angle of view of approximately 180 degrees. The front imaging unit 41 is provided at the center in the width direction of the front surface of the lower traveling body 10. The rear imaging unit 42 is provided at the center in the width direction of the rear surface of the lower traveling body 10. The left imaging unit 43 and the right imaging unit 44 are respectively provided in the central part in the front-rear direction of the side surface of the lower traveling body 10.

  The display unit 45 is a display device such as a liquid crystal display or a plasma display, and is attached to a position where a passenger in the cab 23 can visually recognize, for example, an upper part of an operation panel positioned on the front side in the cab 23.

  The image processing controller 46 includes a CPU, a ROM, a RAM, and the like, and generates image data corresponding to a plurality of images displayed on the display unit 45 based on images acquired by the imaging units 41 to 44. Further, the image processing controller 46 causes the display unit 45 to display images corresponding to the states of the display setting input unit 47, the vehicle speed sensor 48, and the direction instruction operation lever 49. Further, the image processing controller 46 identifies the state of traffic lights and road signs installed on the road from the images acquired by the imaging units 41 to 44 and causes the display unit 45 to display the state of the identified traffic lights and road signs. . Here, the image processing controller 46 corresponds to an image generation unit, display switching means, and identification means in the claims.

  The display setting input unit 47 includes a plurality of push button switches, rotary switches, a touch panel, and the like. The display setting input unit 47 is disposed on, for example, an operation panel in the cab 23 and is operated by a passenger.

  In the mobile crane 1 configured as described above, the surrounding monitoring device 40 generates a plurality of images that can be displayed on the display unit 45 by the image processing controller 46 based on the images acquired by the imaging units 41 to 44. To do.

  In the image processing controller 46, an entire circumference image (FIG. 3) that faces the periphery including the entire mobile crane 1 from above the mobile crane 1, and a front image that faces the front from the front of the lower traveling body 10 (FIG. 4). A left front image (FIG. 5) facing the front from the left side surface portion of the lower traveling body and a left rear image (FIG. 6) facing the rear from the left side surface portion of the lower traveling body 10 are generated.

  A passenger boarding the cab 23 can arbitrarily set an image to be displayed on the display unit 45 when the mobile crane 1 travels from an all-round image, a front image, a left front image, and a left rear image. It has become. The image processing controller 46 displays an image corresponding to the setting input to the display setting input unit 47 on the display unit 45.

  Moreover, in the image processing controller 46, the state of a traffic light and a road sign are identified from the image acquired by each imaging part 41-44, and the surroundings of the mobile crane 1 displayed on the display part 45 as shown in FIG. The identified information is superimposed on the image. The state of the traffic signal is displayed on the signal display unit 45a arranged at the corner of the display unit 45, and the road sign is displayed on the sign display unit 45b arranged below the signal display unit 45a of the display unit 45. Here, the display of the signal display unit 45a and the sign display unit 45b displays a simple signal signal or road sign image that can be distinguished from the surrounding image of the mobile crane 1 displayed on the display unit 45. .

  When the image processing controller 46 recognizes that the signal installed in the traveling direction is a red signal and that the road sign installed in the traveling direction is prohibited from entering, the image processing controller 46 sounds the buzzer 50 to the passenger. Call attention.

  Further, the image processing controller 46 performs a display image switching process for switching an image to be displayed on the display unit 45 based on the detection result of the vehicle speed sensor 48 and the operation state of the direction instruction operation lever 49. This display image switching process will be described with reference to the flowchart of FIG.

(Step S1)
In step S1, the CPU determines whether or not the mobile crane 1 is stopped. If it is determined that the mobile crane 1 is stopped, the process proceeds to step S2, and if it is not determined that the mobile crane 1 is stopped (the mobile crane 1 is traveling), step S3 is performed. Move processing to.

(Step S2)
When it is determined in step S1 that the mobile crane 1 is stopped, in step S2, the CPU displays an all-round image on the display unit 45 and ends the display image switching process.

(Step S3)
When it is not determined in step S1 that the mobile crane 1 is stopped, in step S3, the CPU determines whether or not the direction indicating operation lever 49 is operated to turn left. If it is determined that the direction indicating operation lever 49 is operated to turn left, the process proceeds to step S4. If it is not determined that the direction indicating operation lever 49 is operated to turn left, the process proceeds to step S5. Move processing.

(Step S4)
When it is determined in step S3 that the direction indicating operation lever 49 is operated to turn left, in step S4, the CPU displays a left front image on the display unit 45 and ends the display image switching process.

(Step S5)
If it is not determined in step S3 that the direction indicating operation lever 49 has been operated to turn left, the CPU displays a front image on the display unit 45 in step S5 and ends the display image switching process.

  As described above, according to the work vehicle surrounding monitoring apparatus of the present embodiment, the cab 23 is based on the imaging units 41 to 44 that capture the periphery of the mobile crane 1 and the images acquired by the imaging units 41 to 44. An image processing controller 46 that generates a plurality of images that face the periphery of the mobile crane 1 from the mobile crane 1, including a range that is not directly visible to the passenger who boarded the vehicle, and an image generated by the image processing controller 46 is displayed. And a display setting input unit 47 for performing input for setting an image to be displayed on the display unit 45 from among a plurality of images generated by the image processing controller 46.

  As a result, since the image selected by the passenger from the plurality of images generated by the image processing controller 46 can be displayed on the display unit 45, the passenger can recognize the surrounding conditions required by the passenger. It becomes possible, and it becomes possible to improve the safety | security at the time of driving | running | working.

  In addition, the image displayed on the display unit 45 is switched based on a change in the state of the mobile crane 1.

  Thereby, when the state of the mobile crane 1 changes, since the image of the range which a passenger should be careful of can be displayed on the display part 45, it becomes possible to improve the safety | security at the time of driving | running | working more. .

  Further, the image displayed on the display unit 45 is switched based on the change in the vehicle speed when the mobile crane 1 is traveling.

  Thereby, when the mobile crane 1 stops, the surroundings of the entire mobile crane 1 can be confirmed so that the safety of the surroundings at the start of traveling can be confirmed. By making it possible to check in detail the tip of the crane 1 in the steering direction, it is possible to reliably check the safety of the tip of the traveling direction.

  Further, the image displayed on the display unit 45 is switched based on the change in the operation state of the direction indicating operation lever 49 operated by the passenger of the mobile crane 1.

  Thereby, when the traveling mobile crane 1 turns to the left, it is possible to surely confirm the safety on the traveling direction side by displaying an image facing the left side of the traveling direction on the display unit 45. It becomes.

  Further, the traffic lights and the signs in the images acquired by the respective imaging units 41 to 44 are identified, and the identified information is displayed on the display unit 45.

  Thereby, even if it is difficult for the passenger in the cab 23 to directly view the traffic light and the road sign, it is possible to make the passenger recognize the state of the traffic light and the road sign via the display unit 45. It is possible to prevent the passenger from overlooking the state and the road sign.

  In the above embodiment, the present invention is applied to the mobile crane 1, but the present invention is not limited to this. For example, the present invention can be applied to any work vehicle equipped with a work device such as an aerial work vehicle or an excavator.

  In the above-described embodiment, the image displayed on the display unit 45 can be arbitrarily set from the all-round image, the front image, the left front image, and the left rear image, but is not limited thereto. It is not a thing. The image displayed on the display unit may be, for example, an image facing the side from the side surface of the lower traveling body 10 or an image facing the rear from the rear surface of the lower traveling body 10. Further, in each of the all-round image, the front image, the left front image, and the left rear image displayed on the display unit 45, the display unit 45 displays an enlarged and narrow range, or reduces and displays a wide range. The setting to be performed may be executed by the display setting input unit. In addition, the display setting input unit can execute settings for moving the viewpoint position and the facing direction up, down, left, and right in each of the all-round image, the front image, the left front image, and the left rear image displayed on the display unit 45. Also good.

  Moreover, in the said embodiment, in the display image switching process, the front image is displayed on the display unit 45 when the mobile crane 1 travels straight, and the left front image is displayed on the display unit 45 when turning left. However, it is not limited to this. For example, the rear image may be displayed on the display unit 45 when the mobile crane 1 travels straight, and the left front may display the image on the display unit 45 when turning left. Further, for example, a left front image may be displayed on the display unit 45 when the mobile crane 1 is traveling straight ahead, and an image that faces the left side of the left front image during straight travel when turning left may be displayed on the display unit 45. .

  Moreover, although the said embodiment showed what switched the image displayed on the display part 45 by operation of the direction indication operation lever 49 at the time of the left turn of the mobile crane 1, it is not restricted to this. For example, when the mobile crane 1 turns to the left, the rotation angle of the steering wheel is detected, the state in which the rotation angle of the steering wheel is rotated counterclockwise to a predetermined angle is detected, and the image displayed on the display unit 45 is switched. It may be.

  In the embodiment, the front imaging unit 41 for imaging the front of the lower traveling body 10, the rear imaging unit 42 for imaging the rear of the lower traveling body 10, and the left side of the lower traveling body 10 are imaged. In this example, an image to be displayed on the display unit 45 is generated by the left image capturing unit 43 for capturing and the right image capturing unit 44 for capturing the right side of the lower traveling body 10. It is not limited to. If an image to be displayed on the display unit can be generated, an image to be displayed on the display unit may be generated by 3 or less or 5 or more imaging units. Further, in the case of a mobile crane in which an imaging unit is provided at the tip of the telescopic boom of the crane device, an image to be displayed on the display unit is generated using an image acquired by the imaging unit at the tip of the telescopic boom. Also good.

  DESCRIPTION OF SYMBOLS 1 ... Mobile crane, 22 ... Crane apparatus, 23 ... Cab, 40 ... Ambient monitoring device, 41 ... Front imaging part, 42 ... Rear imaging part, 43 ... Left imaging part, 44 ... Right imaging part, 45 ... Display 45a ... Signal display unit 45b ... Signal display unit 46 ... Image processing controller 47 ... Display setting input unit 48 ... Vehicle speed sensor 49 ... Direction operation lever.

Claims (5)

A work vehicle surrounding monitoring device comprising: a work device that performs a predetermined work; and a cab on which a passenger is boarded,
An imaging unit for imaging the periphery of the work vehicle;
An image generation unit that generates a plurality of images facing the periphery of the work vehicle from the work vehicle, including a range that is not directly visible from the passenger boarding the cab, based on the image acquired by the imaging unit;
A display unit for displaying an image generated in the image generation unit;
A work vehicle surroundings monitoring device, comprising: a display setting input unit configured to perform input for setting an image to be displayed on a display unit from among a plurality of images generated by an image generation unit. The work vehicle surroundings monitoring device according to claim 1, further comprising display switching means for switching an image to be displayed on the display unit based on a change in the state of the work vehicle. The work vehicle surroundings monitoring device according to claim 2, wherein the display switching means switches an image to be displayed on the display unit based on a change in the vehicle speed during traveling of the work vehicle. 3. The work vehicle surrounding monitoring apparatus according to claim 2, wherein the display switching means switches an image to be displayed on the display unit based on a change in an operation state of the operation unit operated by a passenger of the work vehicle. An identification means for identifying a traffic light and a sign in an image acquired by the imaging unit;
The work vehicle surroundings monitoring device according to any one of claims 1 to 4, wherein the display unit displays information identified by the identifying means.