JP2018039477A - Image display system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To display an overhead image which is excellent in the visibility of a periphery of a working vehicle, and by which a distance feeling between the working vehicle and a substance can be easily grasped in an image display system.SOLUTION: An image display system 10 comprises: an image display part 15 for displaying images which are photographed by cameras 11 arranged at a crane truck 1; and a display control part 12 for creating an overhead image P which is obtained by superimposing a crane truck image Pz which schematically displays the crane truck 1 on the basis of the images which are photographed by a front camera 11a, a rear camera 11b, a right camera 11c and a left camera 11d, and displays them at the image display part 15. When the crane truck 1 is in a crane work preparation state, the display control part 12 creates an overhead PTO image Pg which displays distance guide lines G1, G2 and G3 indicating a distance from a traveling body 2 of the crane truck 1 at a periphery of the crane truck image Pz in a rectangular shape, and displays them at the image display part 15.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an image display system.

  Since the work vehicle is large and easily causes blind spots, it is proposed to mount an image display system that forms a bird's-eye view around the work vehicle and presents it to the operator (see, for example, Patent Document 1). ). In this conventional image display system, a plurality of cameras that capture the periphery of the work vehicle are provided, and an image captured by each camera is converted into an image looking down from an upper virtual viewpoint, and combined to obtain an overhead view of the periphery of the work vehicle. An image is formed.

  In such a bird's-eye view image, it is difficult to grasp the sense of distance between the work vehicle and surrounding objects, and therefore, an image display system that displays a distance guide line representing the distance from the work vehicle on the bird's-eye view image has been proposed ( For example, see Patent Documents 2 and 3). In Patent Document 2, for the purpose of confirming an object located in the vicinity of the work vehicle, rectangles representing positions 3 m, 5 m, and 7 m away from the work vehicle are displayed with dotted lines around the work vehicle image displayed in the overhead image. doing. In Patent Document 3, the maximum overhang position and the intermediate overhang position of the outrigger device are shown as a distance guide line for the purpose of easily confirming an object that hinders the outrigger device of the crane vehicle and the turning of the swivel base. A linear marker or a circular marker indicating the turning range of the swivel base is displayed in the overhead view image.

  As described above, in the work vehicle, it is desired to develop an image display system that can easily grasp the sense of distance between the object projected in the overhead view image and the work vehicle. In particular, when preparing for work, without the operator getting out of the cab and checking the surroundings, or by a worker other than the operator checking, the outriggers are projected from the overhead view image or the swivel is swung. It is desirable from the viewpoint of work efficiency that it is easy to visually recognize that there is no problem even if it is a bird's-eye view image.

JP 2011-71919 A JP 2012-254650 A JP 2008-74594 A

  The present invention has been made in view of the above circumstances, and provides an image display system capable of displaying a bird's-eye view image that has excellent visibility around the work vehicle and can easily grasp the sense of distance between the work vehicle and the object. The purpose is to do.

  The image display system of the present invention includes an image display unit that displays images captured by a plurality of cameras provided in a work vehicle having a movable body, and the work based on the images captured by the plurality of cameras. A display control unit that superimposes a work vehicle image that schematically represents the vehicle and generates an overhead image and displays the image on the image display unit, and the display control unit is in a state where the work vehicle is in a work preparation state. Is characterized in that a plurality of distance guide lines representing the distance from the work vehicle are displayed on the overhead image with a predetermined distance around the work vehicle image.

  According to the image display system of the present invention, it is possible to display a bird's-eye view image that has excellent visibility around the work vehicle and can easily grasp the sense of distance between the work vehicle and the object.

It is the side view which looked at the crane vehicle as an example of a working vehicle from the left side. It is the top view which looked at the crane vehicle of FIG. 1 from upper direction. It is a block diagram which shows the structure of an image display system. It is a schematic diagram of the image display part which displayed the overhead PTO image in the crane work preparation state. It is a schematic diagram of an image display unit during traveling of a crane vehicle, and (a) is a schematic diagram of an image display unit that displays an overhead front image and a front image captured by a front camera side by side in a forward traveling state. (B) is a schematic diagram of an image display unit that displays a bird's-eye view rear image and a rear image taken by a rear camera side by side in the horizontal direction in a reverse running state.

Embodiments of an image display system according to the present invention will be described below with reference to the drawings.
<Schematic configuration of crane>
FIG. 1 is a side view of a crane vehicle 1 as an example of a work vehicle viewed from the left side, and FIG. 2 is a plan view of the crane vehicle 1 of FIG. 1 viewed from above.

  The illustrated crane vehicle 1 includes a traveling body (carrier) 2 and a revolving body 3. The traveling body 2 is a main body portion (vehicle body) of a vehicle having a traveling function, and includes a plurality of wheels and a drive source that drives the wheels and the revolving body 3. The traveling body 2 has a substantially rectangular shape in which the front-rear direction (vertical direction in the drawing) is longer than the vehicle width direction (horizontal direction in the drawing) in the plan view shown in FIG. The traveling body 2 includes a pair of left and right outriggers 4 (see FIG. 1) on the front side and the rear side, respectively. Each outrigger 4 projects in the vehicle width direction and is grounded, thereby stably supporting the traveling body 2 during work using the boom 7 (work mode). A left rear mirror 2A is provided on the left side of the front part of the traveling body 2 so that an operator Op inside the cabin 5 to be described later can visually recognize the left rear situation.

  As shown in FIG. 1, the swivel body 3 is disposed above the traveling body 2, is provided so as to be turnable horizontally, and includes a cabin 5 and a boom support 6 that can turn integrally. The cabin 5 is a passenger compartment for the operator Op to perform various operations, and is arranged to be biased to the right side in the vehicle width direction. Inside the cabin 5, operation units corresponding to various operations are provided. The various operations include, for example, turning of the revolving structure 3, raising and lowering and extending and retracting of the boom 7, winding and lowering of the winch drum provided on the boom support 6, extension and storage of each outrigger 4, There are starting and stopping.

  The boom support 6 is a member to which a boom 7 extending in the front-rear direction is attached in a lying state, and a base end portion of the boom 7 is attached to the boom support 6 via a boom root fulcrum pin. The boom is supported rotatably about the boom root fulcrum pin. A hoisting cylinder is provided between the boom support 6 and the boom 7. By extending and retracting the hoisting cylinder, the boom 7 is raised from a state where it is turned around the boom fulcrum pin and then raised. It moves up and down from the state to the state where it is lying down.

  The boom 7 has, for example, a proximal boom portion, an intermediate boom portion, and a distal end boom portion that are connected to each other by an extension cylinder. In the state where each expansion and contraction is contracted, the intermediate boom part is disposed inside the proximal boom part, and the boom 7 is contracted by being combined in a nested manner in which the distal end boom part is disposed inside the intermediate boom part. . In this state, as shown in FIG. 1, the tip portion 7 a of the boom 7 projects forward from the traveling body 2. On the other hand, when each telescopic cylinder is extended, the intermediate boom portion protrudes from the inside of the proximal boom portion, the distal boom portion protrudes from the inside of the intermediate boom portion, and the boom 7 is in an extended state.

<Camera configuration>
The crane vehicle 1 is provided with a plurality of cameras 11. Specifically, as shown in FIGS. 1 and 2, four cameras 11 are provided, for example, a front camera (F camera) 11a, a rear camera (R camera) 11b, a right camera 11c, and a left camera 11d.

  The front camera 11a is provided at the front end portion (front end portion excluding the boom 7) of the traveling body 2, and a front area including the front end portion of the traveling body 2 is defined as a horizon line as shown in FIG. A front image Pa including up to (or a horizontal line) is taken.

  The rear camera 11b is provided at the rear end of the traveling body 2, and captures a rear region including the rear end of the traveling body 2 as a rear image Pb including the horizon as shown in FIG. 5B, for example. To do.

  The right camera 11c is provided at the right end of the revolving unit 3 (the right outer plate portion of the cabin 5), and captures a right side region including the right end of the revolving unit 3 as a right image Pc including the horizon. . The left camera 11d is provided at the left end of the revolving unit 3 (the left outer plate portion of the boom support 6), and captures a left side region including the left end of the revolving unit 3 as a left image Pd including the horizon. To do.

  Each camera 11 is, for example, a wide-angle camera having an angle of view of approximately 180 degrees in order to obtain a continuous image of the periphery of the traveling body 2 (or up to the horizon) in the crane vehicle 1 over the entire circumference. The peripheral image of the traveling body 2 is an image including the ground surrounding the traveling body 2 when viewed from above, and a predetermined distance from a position adjacent to the traveling body 2 (for example, several meters of about 2 to 5 m). It is an image of the area up to. In the case of an image including the horizon, an image of an area from the position adjacent to the traveling body 2 to the horizon is acquired.

  In addition, what is necessary is just to set the installation number of the cameras 11 and an installation position suitably, if these cameras 11 can acquire the image of the periphery of the traveling body 2 all over the circumference. It is not limited to the number and position shown in this embodiment.

<Configuration of image display system>
FIG. 3 is a block diagram showing the image display system 10. The crane vehicle 1 is provided with an image display system 10 that presents images taken by the four cameras 11 described above to the operator Op. As shown in FIG. 3, the image display system 10 is photographed by an image display unit 15 that displays an image, a reception unit 16 that receives an operation of switching an image displayed on the image display unit 15, and four cameras 11. Display control in which images are input and when these images are displayed on the image display unit 15, processing is performed on the images, or an image displayed on the image display unit 15 is switched according to an operation received by the reception unit 16. Part 12.

  The receiving unit 16 is a touch panel provided on the display surface of the image display unit 15. The image display unit 15, the reception unit 16, and the display control unit 12 are all provided inside the cabin 5, and the image display unit 15 is arranged at the left corner at the front part inside the cabin 5. The position where the image display unit 15 is disposed is a position where the operator enters the field of view without moving the line of sight while the crane 1 is traveling while looking forward.

  The display control unit 12 includes a front image Pa captured by the front camera 11a, a rear image Pb captured by the rear camera 11b, a right image Pc captured by the right camera 11c, and a left image captured by the left camera 11d. On the basis of Pd, an overhead controller 13 is provided that performs a synthetic process on the entire periphery of the crane vehicle 1 into a single image (hereinafter referred to as a bird's-eye view image) that is seen overhead from above.

  The overhead view controller 13 is an overhead view PTO image Pq during crane work such as confirmation of obstacles around the installation location of the crane vehicle 1 and crane work preparation such as overhang of the outrigger 4, lifting, moving and hanging of the luggage (see FIG. 4). And an overhead view front image Pm when the crane 1 is traveling forward (see FIG. 5A) and an overhead view rear image Pn when the crane 1 is traveling backward (see FIG. 5B). Are selectively generated according to each situation.

  The crane vehicle 1 includes a shift switch 17 that detects whether the crane vehicle 1 is in a state corresponding to forward traveling or a state corresponding to backward traveling by a shift position, and an engine for a crane work preparation state or crane work. And a PTO switch 18 for detecting whether or not the power of the drive source such as PTO (Power take-off) is being taken out. These shift switch 17 and PTO switch 18 are connected to the display control unit 12.

  As shown in FIGS. 4 and 5, the image display unit 15 is set with a warning display area A1, a camera image display area A2, and a switch area A3. The warning display area A1 is provided at the upper end of the image display unit 15 and displays various warning marks and the like. The switch area A3 is provided at the lower end of the image display unit 15, and displays a plurality of touch sensor type direct selection switches and soft switches such as a camera screen selection switch. These soft switches function as the receiving unit 16. The image display area A2 is provided between the warning display area A1 and the switch area A3, and an image corresponding to the traveling state or working state of the crane vehicle 1 is displayed.

<Operation of image display system>
Hereinafter, image display processing (image display method) in the image display system 10 will be described. This image display process is executed by the display control unit 12 based on a program stored in the built-in memory or the storage unit of the display control unit 12.

  First, the operator Op instructs the mobile vehicle 1 to move to a work place and stop, and to display a crane work preparation screen using the touch panel (reception unit 16) or the like. As a result, on the image display system 10 side, it is detected by the PTO switch 18 that the crane work is ready (PTO switch 18 is on).

  When detecting that it is in the crane work preparation state, the overhead controller 13 generates an overhead PTO image Pq as shown in FIG. The bird's-eye view PTO image Pq is a bird's-eye view image in which the display areas of the front image Pa and the rear image Pb are substantially the same size, and the display areas of the right image Pc and the left image Pd are substantially the same size. Accordingly, the overhead view TPO image Pq allows the entire periphery of the crane vehicle 1 to be visually recognized as a single image during preparation for crane work, and there are obstacles or the like in the overhanging range of the outrigger 4 or the movement range of the boom 7. It is an image suitable for visually recognizing whether or not. Moreover, the overhead PTO image Pq can be displayed even during the crane work, and in this case, the image is suitable for viewing the moving range of the boom 7 evenly during the crane work.

  The overhead PTO image Pq includes a front overhead image Pa1 obtained by converting the forward image Pa into an overhead image, a rear overhead image Pb1 obtained by converting the rear image Pb into an overhead image, and a right overhead image Pc1 obtained by converting the right image Pc into an overhead image. And the left bird's-eye view image Pd1 obtained by converting the left image Pd into a bird's-eye view image, and the crane vehicle schematically representing the plan view of the crane vehicle 1 at the center of the four bird's-eye view images Pa1, Pb1, Pc1, and Pd1. It is an image obtained by synthesizing the image Pz.

  In the present embodiment, when the crane vehicle image Pz is superimposed on the overhead view PTO image Pq, the distal end portion 7a of the boom 7 protruding forward from the traveling body 2 is represented by only the outline contour line, and the image of the distal end portion 7a is half-finished. It is transparent (hidden). Thereby, the image below the front end part 7a in the front bird's-eye view image Pa1 is transmitted and displayed, and the operator Op can visually recognize the lower part hidden by the front end part 7a.

  The overhead controller 13 generates the overhead front image Pm by superimposing the three distance guide lines G1, G2, G3 around the crane vehicle image Pz. The distance guide lines G1, G2, and G3 are lines that serve as a guideline for grasping the sense of distance from the traveling body 2 when the operator Op visually recognizes an object displayed in the overhead PTO image Pq.

  The distance guide line (first distance guide line) G1 is the most reference line (reference line) indicating the distance from the traveling body 2, and is the line closest to the traveling body 2 among the three lines. The distance of the distance guide line G1 from the traveling body 2 is not particularly limited. For example, it can be a distance generally used as a scale, such as the minimum movable range of the movable body or the vicinity thereof, such as 100 mm (10 cm), 500 mm (0.5 m), or 1000 mm (1.0 m). In the present embodiment, the distance of the distance guide line G1 is set to 500 mm, which is represented by a red dotted rectangle. This distance is substantially the same distance as the distance (minimum overhang range) from the traveling body 2 when the outrigger 4 is grounded on the spot without overhanging.

  The distance of the distance guide line (second distance guide line) G3 from the traveling body 2 is not particularly limited as long as a sense of distance can be grasped. For example, it is desirable that the movable body such as the outrigger 4 and the boom 7 be at least the maximum movable range. For example, the maximum possible range or the vicinity thereof, or a distance that is an integral multiple of 500 mm or 1000 mm can be used. In the present embodiment, the distance guide line G3 is represented by a green dotted line rectangle with the distance of the distance guide line G3 from the traveling body 2 being 3000 mm (3.0 m). This distance is the maximum overhang distance of the outrigger 4 and is an integral multiple of 500 mm (first distance guide line G1).

  Since the maximum movable range of the boom 7 may be wider than 3000 mm, the maximum movable range of the boom 7 can also be displayed as a distance guide line. However, if there is a distance guide line G3 of 3000 mm, the maximum possible range of the boom 7 can be estimated based on this distance guide line, and therefore it is not always necessary to display the distance guide line indicating the maximum movable range of the boom 7. The visibility of the overhead view PTO image Pq can be improved by suppressing an increase in distance guide lines.

  Further, the distance guide line (third distance guide line) G2 can be a line indicating an appropriate distance between the distance guide lines G1 and G3. For example, an intermediate distance between the distance guide lines G1 and G3, a distance double the distance guide line G1, a half distance of the distance guide line G3, and a distance that is an integral multiple of 500 mm or 1000 mm can be used. In the present embodiment, the distance of the distance guide line G2 from the traveling body 2 is set to 1500 mm (1.5 m) which is an integral multiple of the distance guide line G1 (500 mm) and half the distance of the distance guide line G3. It is represented by a dotted rectangle.

  As long as the distance from the traveling body 2 can be grasped, the distance guide lines G1, G2, and G3 are not limited to rectangles, and may be circular, elliptical, or may be broken lines. However, it may be represented by marks such as + and dots. Also, the line type is not limited to a dotted line or a broken line. Further, the color of the line is not limited to the color as described above, and may be another different color or a translucent color.

  Moreover, when the overhead controller 13 detects that the crane vehicle 1 is in the traveling state, the overhead controller 13 generates the overhead view front image Pm or the overhead view rear image Pn.

  More specifically, it is not detected by the PTO switch 18 that the crane is in operation (PTO switch is off), and the crane vehicle 1 is in a state corresponding to forward travel by the shift switch 17 (shift for forward travel). When a position or neutral (neutral shift position) is detected, an overhead front image Pm is generated.

  Further, the overhead view controller 13 does not detect that the crane work is being performed by the PTO switch 18 and detects that the crane 1 is in a state corresponding to the reverse travel (shift position for reverse travel) by the shift switch 17. If so, an overhead view rear image Pn is generated.

  As shown in FIG. 5A, the display control unit 12 arranges the generated overhead view front image Pm and the front image Pa taken by the front camera 11a in the horizontal direction, as shown in FIG. To display. Further, in the reverse traveling state, as shown in FIG. 5B, the generated overhead view rear image Pn and the rear image Pb photographed by the rear camera 11b are arranged in the horizontal direction and displayed on the image display unit 15.

  As shown in FIG. 5A, the bird's-eye view front image Pm is a bird's-eye view image that includes the front image Pa and the left image Pd up to the horizon, and the rear image Pb and the right image Pc are also set widely. Therefore, the overhead view front image Pm allows the entire periphery of the crane vehicle 1 to be visually recognized as a single image while the crane vehicle 1 is traveling forward, and the blind angle from the front of the crane vehicle 1 and the cabin 5 is large. This is an image suitable for widely viewing each area.

  The bird's-eye view front image Pm is obtained by using the bird's-eye view controller 13 to convert the forward image Pa into the bird's-eye view image Pa2, the rear bird's-eye view image Pb2 obtained by converting the rear image Pb into a bird's-eye view image, and the right image Pc. The crane vehicle 1 viewed in plan is schematically represented at the center of the right overhead image Pc2, the left overhead image Pd2 obtained by converting the left image Pd into an overhead image, and the four overhead images Pa2, Pb2, Pc2, and Pd2. It is the image which combined the crane vehicle image (work vehicle image) Pz into one.

  As shown in FIG. 5B, the overhead rear image Pn includes the rear image Pb up to the horizon, is wider than the display area of the front image Pa, and the display areas of the right image Pc and the left image Pd are substantially the same. This is an overhead image. Therefore, the bird's-eye view rear image Pn is an image suitable for visually recognizing the entire area around the crane vehicle 1 in a single image while the crane vehicle 1 is traveling backward. is there.

  The bird's-eye view rear image Pn is converted into a bird's-eye view image of the front bird's-eye view image Pa3, which is a bird's-eye view image of the front image Pa, the bird's-eye view image Pb3, which is a bird's-eye view image of the rear image Pb. A crane vehicle 1 in plan view is schematically shown at the center of the right overhead image Pc3, the left overhead image Pd3 obtained by converting the left image Pd into an overhead image, and the four overhead images Pa3, Pb3, Pc3, and Pd3. It is the image which combined the crane vehicle image Pz into one.

  Also in the bird's-eye view front image Pm and the bird's-eye view rear image Pn, the tip portion 7a of the crane vehicle image Pz is not displayed (translucent), and the lower portion hidden by the tip portion 7a is visible. Further, the distance guide line G1 is superimposed on the overhead view front image Pm and the overhead view rear image Pn. The distance guide lines G2 and G3 can be superimposed on these as well, but if many distance guide lines are displayed during traveling, the visual recognition of the object may be affected. Therefore, if only the distance guide line G1 that is the closest to the traveling body 2 and is the reference line is displayed, the distance between the object and the traveling body 2 without reducing the visibility of the overhead view front image Pm and the overhead view rear image Pn. A feeling can be easily grasped.

  As described above, according to the image display system 10 of the present embodiment, the overhead PTO image Pq in which the distance guide lines G1, G2, and G3 are superimposed is displayed on the image display unit 15 in the crane work preparation state. Therefore, the operator Op can visually check the surroundings of the crane vehicle 1 from the overhead PTO image Pq without getting out of the cabin 5 and confirming the surroundings of the crane vehicle 1. Can be visually recognized. Furthermore, the distance guide lines G1, G2, and G3 make it easier to grasp the distance between the object and the traveling body 2, and it is possible to more quickly determine whether or not the crane preparation work or the crane work is hindered. .

  In the present embodiment, the three distance guide lines G1, G2, and G3 are displayed in different colors of red, yellow, and green. Therefore, the distance of the object in the overhead view PTO image Pq from the traveling body 2 can be grasped more clearly and more quickly. In the present embodiment, the distance guide line G1 and the distance guide line G3 are set in the vicinity of the minimum extension range of the outrigger 4 and the maximum extension range, respectively. Therefore, before the outrigger 4 extends, the overhead view PTO image Pq makes it possible to visually recognize an object existing in the extended range of the outrigger 4 and to grasp the positional relationship of the object with the traveling body 2. Further, when it is determined that there is a problem with the overhang, the outrigger 4 is not actually overhanged, so the position of the crane vehicle 1 can be changed immediately, and the efficiency of the crane preparation work can be improved.

  In addition, when the outrigger 4 is actually overhanged, the work can be performed while confirming the overhang amount of the outrigger 4 by the distance guide lines G1, G2, and G3 in the overhead PTO image Pq. At this time, the outrigger 4 can be easily grounded to any of the minimum projecting position, the intermediate projecting position, and the maximum projecting position by the three distance guide lines G1, G2, and G3, thereby improving the efficiency of the projecting operation. be able to.

  In addition, since the turning range of the boom 7 can be grasped by the distance guide lines G1, G2, G3, the operator Op can check the boom 7 without having to get off the cabin 5 and confirm it or actually turn the boom 7. The inside of the turning range can be visually recognized. Also in this case, when it is determined that there is an obstacle to the turning of the boom 7, the boom 7 is not actually turned, so the position of the crane vehicle 1 can be changed immediately, and the efficiency of the crane preparation work Can be improved.

  In addition, the overhead view PTO image Pq on which the distance guide lines G1, G2, and G3 are superimposed is displayed on the image display unit 15 during the crane operation, so that the turning range of the boom 7 and the like can be understood from the distance to the traveling body 2. Crane work can be performed while visually recognizing. Therefore, the crane work can be performed efficiently.

  In the running state, the distance guide line G1 is displayed in the overhead view front image Pm and the overhead view rear image Pn. Therefore, the entire periphery of the crane vehicle 1 can be visually recognized with a single image while grasping the sense of distance between the traveling body 2 and the object or the like without reducing the visibility.

  As described above, the image display system of the present invention has been described based on the embodiment. However, the specific configuration is not limited to the above embodiment, and design changes, additions, and the like can be made without departing from the gist of the present invention. Permissible.

1 Crane truck (work vehicle)
2 traveling body 7 boom 10 image display system 11 camera 12 display control unit 15 image display unit P overhead image Pz crane vehicle image (work vehicle image)
G1 Distance guide line (first distance guide line)
G2 Distance guide line (third distance guide line)
G3 Distance guide line (second distance guide line)

Claims (3)

An image display unit for displaying images respectively captured by a plurality of cameras provided in a work vehicle having a movable body;
A display control unit that generates a bird's-eye view image by superimposing a work vehicle image schematically representing the work vehicle based on the images taken by a plurality of the cameras, and displays the image on the image display unit;
When the work vehicle is in a work preparation state, the display control unit includes a plurality of distance guide lines representing a distance from the work vehicle in the overhead view image with a predetermined distance around the work vehicle image. An image display system characterized by displaying.   The display control unit displays, as the distance guide line, a first distance guide line indicating a minimum movable range of the movable body and a second distance guide line indicating a distance of at least the maximum movable range, and The image display system according to claim 1, wherein a third guide line is displayed between the first distance guide line and the second distance guide line.   The image display system according to claim 1, wherein the movable body is an outrigger that protrudes in the vehicle width direction and is grounded or a boom that performs an expansion and contraction operation.