JP2018039649A - Overhead image system, overhead image display method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an overhead image system which allows visual confirmation of a periphery of a travel body in both of a travel attitude and a reverse attitude, in a travel body where a swivel slide is disposed.SOLUTION: An overhead image system 10 comprises plural cameras 11, a display part 13, and a control part 12. The respective cameras 11 are formed of a front camera 11F, a rear camera 11B of the travel body 2, and a right camera 11R and a left camera 11L of a swivel slide 3. The control part 12 generates an overhead image P by using an image from the front camera 11F for a front surface region Af, an image from the rear camera 11B for a rear surface region Ab, an image from the right camera 11R for a right region Ar, and an image from the left camera 11L for a left area Al, in a travel attitude Dp, and generates an overhead image P by using an image from the rear camera 11B for the front surface region Af, using an image from the front camera 11F for the rear surface region Ab, using an image from the right camera 11R for the right area Ar, and using an image from the left camera 11L for the left area Al in a reverse attitude Rp.SELECTED DRAWING: Figure 7

Description

  The present invention relates to an overhead image system, an overhead image display method, and a program used for a work vehicle.

  In some work vehicles, a swivel is provided on a traveling body so as to be turnable, and a cabin (driver's seat) is provided on the swivel. Such a work vehicle is large and easily causes blind spots, and the position of the rearview mirror or the like is devised, but it is not easy to visually recognize the periphery from the cabin.

  For this reason, it is considered that a work vehicle uses an overhead image system that forms a bird's-eye view around the work vehicle and presents it to the worker (see, for example, Patent Document 1). In this conventional overhead view image system, a plurality of cameras are provided on the vehicle body in order to photograph the periphery of the vehicle body, and the images photographed by the cameras are combined while being converted into an image looking down from the upper virtual viewpoint, Is formed. For this reason, the conventional bird's-eye view image system can display the bird's-eye view image even in a blind spot from the driver's seat in the vicinity of the vehicle body, and can improve the safety of the work vehicle.

JP 2011-151742 A

  By the way, in the work vehicle having the above-described configuration, it is basically possible to travel in a traveling posture in which the forward side of the traveling body and the front side of the cabin coincide with each other. However, to improve the usability, There is a vehicle that can be rotated in a reverse posture in which the revolving side of the traveling body and the front side of the cabin coincide with each other by rotating the swivel base halfway. In such a work vehicle, it is desirable to facilitate visual recognition of the periphery in the inverted posture in addition to facilitating visual recognition of the periphery in the traveling posture.

  The present invention has been made in view of the above circumstances, and in a traveling body provided with a swivel, it is possible to view the entire periphery of the traveling body in both the traveling posture and the inverted posture. An object is to provide an image system.

  A bird's-eye view image system of the present invention includes a plurality of cameras that acquire peripheral images of a work vehicle provided with a turntable that can turn on a traveling body, and a display unit that displays an overhead image based on the images acquired by the cameras. A control unit that generates the overhead image and displays it on the display unit, wherein each of the cameras includes a front camera provided on the traveling body on the forward side of the traveling body, and a backward side of the traveling body The rear camera provided on the traveling body, the right camera provided on the swivel on the right side of the cabin provided on the swivel, and the left camera provided on the swivel on the left side of the cabin. And when the work vehicle is in a running posture in which the forward side of the traveling body is aligned with the front side of the cabin, the front side of the front side with respect to the cabin An image acquired by the front camera in the area, an image acquired by the rear camera in the rear area on the back side, an image acquired by the right camera in the right area on the right side, and the left in the left area on the left side. The images acquired by the two-way camera are respectively converted into images viewed from the upper virtual viewpoint and connected to generate the bird's-eye view image, and the inverted posture in which the work vehicle half-rotates the turntable from the traveling posture Then, an image acquired by the rear camera in the front area, an image acquired by the front camera in the rear area, an image acquired by the right camera in the right area, and the left area The images obtained by the left camera are respectively converted into images looked down from the upper virtual viewpoint and connected to generate the overhead image.

  According to the bird's-eye view image system of the present invention, in the traveling body provided with the swivel base, it is possible to visually recognize the periphery of the traveling body in both the traveling posture and the inverted posture.

It is explanatory drawing which shows typically a mode that the crane vehicle 1 as an example of a working vehicle was seen from the side. It is explanatory drawing which shows typically a mode that the crane vehicle 1 of the driving | running | working attitude | position mode Md (traveling attitude | position Dp) in driving | running | working mode was seen from the upper side (upper direction) of the perpendicular direction. It is explanatory drawing similar to FIG. 2 which shows an example of the aspect of the crane vehicle 1 of the reverse posture mode Mr (reverse posture Rp) in driving mode. It is explanatory drawing which shows the structure of the bird's-eye view image system 10 as an example of the bird's-eye view image system used for the crane vehicle 1 with a block diagram. It is explanatory drawing which shows a mode that the driving | running | working attitude | position mode Md (traveling attitude | position Dp) displayed the driving | running | working bird's-eye view image Pd (bird's-eye view image P) on the display part 13. FIG. It is explanatory drawing which shows a mode that the reverse bird's-eye view image Pr (bird's-eye view image P) in reverse posture mode Mr (reverse posture Rp) was displayed on the display part 13. FIG. It is a flowchart which shows an example of the bird's-eye view image display process which the control part 12 performs.

  Hereinafter, an example in which an overhead image system as an example according to the present invention is used in a work vehicle as an example will be described with reference to the drawings. 5 and 6 show a state in which the bird's-eye view image P and the posture indicator Sp corresponding to the display unit 13 are displayed in order to facilitate understanding of each bird's-eye view image P, but the operation unit 14 is also displayed. It does not necessarily coincide with the actual mode.

  An overhead image system 10 of Example 1 according to an embodiment of the overhead image system according to the present invention will be described with reference to FIGS. 1 to 7. The overhead view image system 10 of Example 1 is used for a crane vehicle 1 as an example of a work vehicle, as shown in FIGS. 1 and 2. The crane vehicle 1 includes a traveling body (carrier) 2 and a swivel base 3.

  The traveling body 2 serves as 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 swivel base 3. As shown in FIG. 2, the traveling body 2 has a substantially rectangular shape that is long in front and back (up and down when FIG. 2 is viewed from the front, with the upper side being the front side) in plan view. The traveling body 2 is configured to be able to travel with the front side (upper side) as the vehicle traveling direction, retreat back to the rear side (lower side), and bend left and right by steering. The traveling body 2 is provided with a pair of left and right outriggers 4 (see FIG. 1 (only the left side of the traveling body 2 is shown)) on the front side and the rear side, respectively. Each outrigger 4 extends and retracts to the left and right, and supports the traveling body 2 stably when working with a boom 7 to be described later (working mode to be described later) by appropriately projecting and grounding.

  As shown in FIGS. 1 and 2, the swivel base 3 is provided on the upper part of the traveling body 2 so as to be horizontally turnable, and has a cabin 5 and a boom support 6 that can turn integrally. The cabin 5 is a place where an operator (operator) gets on, and is configured such that the upper side of FIG. 2 is the front side. The cabin 5 is provided with an operation unit for an operator to perform various operations. The various operations include, for example, turning of the swivel 3, raising and lowering and expanding / contracting of a boom 7, which will be described later, hoisting and lowering of a winch provided on the boom support 6, extension and storage of each outrigger 4, and starting of the engine And stop, traveling of the traveling body 2, and the like. In the swivel base 3, a cabin 5 is provided on the right side with respect to the vehicle traveling direction (forward movement side). The swivel base 3 has a size that allows the cabin 5 and the boom support 6 to be accommodated on the traveling body 2. In the first embodiment, the width dimension (the dimension in the left-right direction when viewed from the front in FIG. 2) is substantially the same as that of the traveling body 2. The length dimension (the dimension in the vertical direction when FIG. 2 is viewed from the front) is made smaller than that of the traveling body 2.

  The boom support 6 is a part to which the boom 7 is attached. The base end of the boom 7 is attached via a boom root fulcrum pin, and the boom 7 can be raised and lowered around the boom root fulcrum pin. In the boom support 6, a hoisting cylinder is provided between the boom support 7 and the boom 7 is raised and lowered by extending and retracting the hoisting cylinder. The boom 7 has a positional relationship that extends in the front-rear direction on the left side of the cabin 5 in the swivel base 3. In the first embodiment, the boom 7 is horizontally disposed when not in use, such as during traveling, as shown in FIG. The boom 7 is a portion where the upper side (tip portion) protrudes from the traveling body 2 in the swivel base 3 as viewed in front of FIG. 2. In addition, the boom 7 is good also as what is called a slant boom arrange | positioned with the front-end | tip falling.

  The boom 7 has a proximal boom portion, an intermediate boom portion, and a distal end boom portion that are internally connected by an extendable cylinder, and the intermediate boom portion and the distal end boom portion are sequentially inserted into the proximal end boom portion from the outside to the inside. The telescopic cylinders are configured to be stored in a nested manner, and expand and contract as each telescopic cylinder expands and contracts. The boom 7 has a state in which each boom portion is housed when the wire is hung around the sheave of the tip boom portion and the hook is hung, and when the boom is not in use (such as a travel mode described later (see FIG. 2)). Is done.

  The crane vehicle 1 stores the boom 7 as described above, and a traveling mode in which movement by traveling is performed while fixing the posture of the swivel base 3 with respect to the traveling body 2 is set. Two types of travel modes, a travel posture mode Md (see FIG. 2) and a reverse posture mode Mr (see FIG. 3), are set. As shown in FIG. 2, the traveling posture mode Md is a traveling in which the front side (vehicle traveling direction) of the traveling body 2 and the front side (front direction) of the cabin 5 (operator therein) in the swivel 3 are matched. The vehicle travels in a posture Dp. This traveling posture mode Md is a mode used for normal movement, and an operator in the cabin 5 faces the front side of the traveling body 2, and basically is an upper side in front view of FIG. 2 (see arrow A1). Proceed to. For this reason, in the traveling posture mode Md, the traveling direction of the crane vehicle 1 coincides with the forward side of the traveling body 2. In the first embodiment, the crane vehicle 1 is set to the traveling posture mode Md by setting the shift switch to forward, neutral, and backward as the traveling posture Dp.

  In the reverse posture mode Mr, as shown in FIG. 3, the reverse posture Rp in which the swivel 3 is rotated halfway (turned 180 degrees) from the travel posture Dp, that is, the rear side (reverse side) of the traveling body 2 and the swivel 3 The vehicle travels in an inverted posture Rp in which the front side of the cabin 5 (the worker therein) is made to coincide. This reverse posture mode Mr is a mode used for movement when the turntable 3 cannot turn to the running posture Dp after working in a narrow place, for example, and the operator in the cabin 5 faces the rear side of the running body 2. Basically, it proceeds to the lower side (see arrow A2) when FIG. 3 is viewed from the front. For this reason, in the reverse posture mode Mr, the traveling direction of the crane vehicle 1 and the backward side of the traveling body 2 are matched. In the first embodiment, the crane 1 is in the traveling posture mode Md by setting the shift switch to forward, neutral, and backward as the reverse posture Rp.

  In addition, the crane vehicle 1 can be turned to the working mode to turn the swivel base 3 with respect to the traveling body 2 to use the boom 7. In the first embodiment, the crane vehicle 1 is switched to the working mode by turning on a PTO switch that drives a PTO (Power take-off) that is a mechanism for taking out engine power for driving the vehicle for driving the work machine. Become. An overhead view image system 10 is used for the crane vehicle 1.

  The bird's-eye view image system 10 presents each bird's-eye view image P (see FIGS. 5 and 6) showing a state where the crane 1 is looked down from the upper (upper) virtual viewpoint in the vertical direction, as shown in FIG. And four cameras 11, a control unit 12, a display unit 13, an operation unit 14, an information acquisition unit 15, and a storage unit 16. Each camera 11 is provided at a predetermined position in view of acquiring an image of the periphery of the traveling body 2 in the crane vehicle 1 and uses, for example, a wide-angle camera having an angle of view of approximately 180 degrees. The image of the periphery of the traveling body 2 is an image of the ground (the traveling surface) surrounding the traveling body 2 when viewed from the upper side (above) in the vertical direction, and the traveling from the position adjacent to the traveling body 2. It is the image of the ground of the area | region to the position of the predetermined distance centering on the body 2 (refer FIG. 5, FIG. 6).

  As shown in FIGS. 1 and 2, each camera 11 acquires a front camera 11 </ b> F that acquires a front image, a rear camera 11 </ b> B that acquires a rear image, and a right image on the basis of the traveling body 2. And a left camera 11L that acquires a left image. The front camera 11F is provided at the end (front end) of the traveling body 2 on the forward side of the traveling body 2, and the rear camera 11B is disposed on the end (rear end) of the traveling body 2 on the backward side of the traveling body 2. Provided. The right camera 11 </ b> R is provided at the right end of the swivel base 3 on the right side of the cabin 5, and the left camera 11 </ b> L is provided at the left end of the swivel base 3 on the left side of the cabin 5.

  Here, since the traveling body 2 has a substantially rectangular shape that is long in the front-rear direction (the vehicle traveling direction), even if a wide-angle camera is used, it is possible to acquire images of the regions on both sides only by providing one on each side. It is difficult to do. Further, in the crane vehicle 1 using the bird's-eye view image system 10, the traveling body 2 and the swivel base 3 have substantially the same width, so that the front side of the traveling body 2 and the front side of the swivel base 3 are matched. In the traveling posture Dp and the reverse posture Rp from which the swivel base 3 is rotated halfway, both side ends of the swivel base 3 substantially coincide with both side edges of the traveling body 2 (see FIGS. 2 and 3). For this reason, the bird's-eye view image system 10 is provided with the right camera 11R and the left camera 11L on both sides of the turntable 3, so that the installation positions thereof are higher than those of the front camera 11F and the rear camera 11B provided on the traveling body 2. Images of both sides of the swivel base 3, that is, regions on both sides of the traveling body 2 in the traveling mode (Md, Mr) (right region Ar and left region Al (see FIGS. 5 and 6 described later)). It can be acquired over the entire area. Thereby, the bird's-eye view image system 10 in the traveling mode (Md, Mr), the images on both sides of the traveling body 2 acquired by the right camera 11R and the left camera 11L, and the traveling acquired by the front camera 11F and the rear camera 11B. The image of the periphery of the traveling body 2 can be acquired over the entire circumference with the front and rear images of the body 2 (see FIGS. 5 and 6). In addition, if each camera (11) acquires the image of the periphery of the traveling body 2 seamlessly over a perimeter, what is necessary is just to set a detailed position suitably, and the structure of FIG. 1 (FIG. 1 and FIG. 1). 2).

  As shown in FIG. 4, the control unit 12 is connected to four cameras 11, a display unit 13, an operation unit 14, an information acquisition unit 15, and a storage unit 16. The control unit 12 is a microcomputer having a storage unit (built-in internal memory 12a) and a calculation unit, and is provided in the cabin 5 in the first embodiment. Based on the program stored in the storage unit 16 or the built-in memory 12a, the control unit 12 controls the operations of the cameras 11, the display unit 13, the operation unit 14, the information acquisition unit 15 and the storage unit 16 in an integrated manner. Information is appropriately acquired from the camera 11, the operation unit 14, and the information acquisition unit 15. This control unit 12 is performed by the operation unit 14 for generating each bird's-eye view image P (its image data) based on the signal from each camera 11, for displaying each bird's-eye view image P on the display unit 13, and for the operation unit 14. Control of the operation determination processing and the acquisition processing of various information acquired by the information acquisition unit 15 are performed. In the first embodiment, the control unit 12 generates each overhead image P (its image data) from the image (its image data) acquired by each camera 11 based on a program stored in the storage unit 16 or the built-in memory 12a. An image processing unit 17 is included.

  For example, the image processing unit 17 performs generation processing for generating each overhead image P (image data thereof) by performing the following processes. In addition, this generation process is a bird's-eye view image to be described later, except that the correspondence between the image (its image data) acquired by each camera 11 and each region A (Af, Ab, Ar, Al) described later is different. Since it is the same whether it is Pd (see FIG. 5) or the inverted overhead image Pr (see FIG. 6), it will be described simply as the overhead image P. First, the image processing unit 17 performs distortion correction processing for correcting distortion due to a lens by multiplying a coordinate value of an input pixel by a coefficient based on a lens distortion coefficient, an aspect ratio, or the like and converting the result to a coordinate value of an output pixel. Further, the image processing unit 17 sets all the coordinate values of the output pixels by multiplying the coordinate values of the appropriately selected input pixels by various coefficients based on the camera mounting angle and the like, and is set above the crane vehicle 1. An overhead conversion process is performed to convert the captured image (individual overhead image) as viewed from the virtual viewpoint. Furthermore, the image processing unit 17 eliminates the sense of discomfort at the joints by performing linear interpolation on the brightness of the corresponding coordinate values, and the adjacent captured images from the cameras 11 that have performed the above-described processes as one image. An image composition process for generating the overhead image P by connecting the images is performed. Note that the image processing unit 17 may perform these processes simultaneously or may process other contents as long as the overhead image P (its image data) is generated as the generation process. It is not limited to each process.

  Here, the image processing unit 17 determines each region of the image (its image data) acquired by each camera 11 depending on whether the crane vehicle 1 is in the traveling posture mode Md or the reverse posture mode Mr. Each overhead image P is generated by switching the correspondence relationship to (A1 to A4). First, the image processing unit 17 makes it easy for the operator in the cabin 5 to visually recognize the surroundings of each bird's-eye view image P. Therefore, the cabin 5 (the turntable 3 on which the cabin 5 is provided) is used as a reference. An overhead image P is generated. In the bird's-eye view image P, as shown in FIGS. 5 and 6, with the cabin 5 as a reference, the front side is a front area Af, the back side is a back area Ab, the right side is a right area Ar, and the left side is left The region is Al. When the crane 1 is in the traveling posture mode Md, the image processing unit 17 displays the image acquired by the front camera 11F in the front area Af, the image acquired by the rear camera 11B in the back area Ab, and the right area Ar. The images acquired by the direction camera 11R and the images acquired by the left camera 11L in the left area Al are converted into the images looked down from the virtual viewpoint as described above, and connected to each other to connect to the traveling overhead image Pd (FIG. 5). Reference). The traveling bird's-eye view image Pd has the positional relationship described above with respect to the front camera 11F, the rear camera 11B, the right camera 11R, and the left camera 11L. Therefore, as shown in FIG. It becomes a continuous image over.

  Further, when the crane 1 is in the reverse posture mode Mr, the image processing unit 17 displays an image acquired by the rear camera 11B in the front area Af, an image acquired by the front camera 11F in the rear area Ab, and a right area Ar. The images acquired by the right camera 11R and the images acquired by the left camera 11L in the left region Al are converted into images viewed from the virtual viewpoint as described above and connected to each other, and the inverted overhead image Pr ( (See FIG. 6). As shown in FIG. 6, the inverted bird's-eye view image Pr is changed from the traveling posture Dp to the inverted posture Rp, so that the front-rear relationship of the traveling body 2 with respect to the cabin 5 (the swivel base 3) is reversed. The camera 11 (11F, 11B) is reversed between the front area Af and the back area Ab. Here, since the left-right relationship viewed from the cabin 5 (the swivel 3) does not change even when the running posture Dp is changed to the inverted posture Rp, the camera 11 (11R, 11L) corresponding to the left and right is changed to the running posture Dp and the reversed posture. It is not changed with Rp. The inverted bird's-eye view image Pr is a continuous image around the periphery of the traveling body 2 because the front camera 11F, the rear camera 11B, the right camera 11R, and the left camera 11L have the above-described positional relationship.

  In each bird's-eye view image P thus synthesized, since each camera 11 is provided as described above, the image becomes an outer image of the traveling body 2 and image information of an inner area of the traveling body 2 is missing. To do. For this reason, the image processing unit 17 sets a missing portion in each overhead image P to, for example, a pixel value of zero (black display).

  Then, the image processing unit 17 performs a superimposition process of superimposing a work vehicle sign M (see FIGS. 5 and 6) that represents the crane vehicle 1 in a simulated manner on a missing portion of each of the overhead images P that have been combined. Do. As shown in FIGS. 5 and 6, the work vehicle sign M is a visual representation of the position and size of the crane vehicle 1 as a work vehicle in each overhead view image P. There is a swivel base marking portion M3 showing the swivel 3 including the part M2 and the boom 7 and the like thereon. As the work vehicle sign M, an overhead view photograph of the actual crane vehicle 1 may be used, or a design showing the crane vehicle 1 in an overhead view may be used.

  Here, the image processing unit 17 superimposes according to the traveling mode (the traveling posture mode Md or the reversed posture mode Mr) in the crane vehicle 1, that is, the generated overhead image P (the traveling overhead image Pd or the reversed overhead image Pr). The work vehicle sign M is switched. Specifically, when the traveling bird's-eye view image Pd is generated in the traveling posture mode Md, the image processing unit 17 performs the work indicating the traveling posture Dp in the missing region where the traveling body 2 exists, as shown in FIG. A vehicle sign M is superimposed. The work vehicle sign M indicating the traveling posture Dp is a front side of the traveling body marking part M2 (a part corresponding to the forward side of the traveling body 2) and a front side of the swivel base sign part M3 (a front side of the cabin 5 in the swivel base 3). To the same location). Then, the image processing unit 17 faces the front side of the traveling body marking unit M2 and the front side of the turntable marking unit M3 toward the front area Af as viewed from the cabin 5 (the operator). M is superimposed on the traveling bird's-eye view image Pd.

  Further, when the image processing unit 17 generates the inverted bird's-eye view image Pr in the inverted posture mode Mr, as illustrated in FIG. 6, the work vehicle sign M indicating the inverted posture Rp in the missing region where the traveling body 2 is present. Is superimposed. In the work vehicle sign M indicating the reverse posture Rp, the rear side of the traveling body marking part M2 (a portion corresponding to the backward side of the traveling body 2) and the front side of the turntable marking part M3 are made to coincide. The image processing unit 17 then directs the rear side of the traveling body marking unit M2 and the front side of the turntable marking unit M3 from the cabin 5 (the worker) to the front area Af that is the front side. Is superimposed on the traveling bird's-eye view image Pd.

  As shown in FIG. 5 and FIG. 6, the control unit 12 outputs each overhead view image P (its image data) generated by the image processing unit 17 to the display unit 13 and displays it on the display unit 13. Each overhead image P is stored in the storage unit 16 as appropriate. At this time, the control unit 12 positions the front area Af in each overhead view image P on the upper side when the display unit 13 is viewed from the front, and causes the display unit 13 to display each overhead view image P. For this reason, each bird's-eye view image P is in the cabin 5 because the front area Af which is the front as viewed from the cabin 5 and the front side of the swivel base marker M3 are displayed above the display unit 13. It matches the operator's feeling.

  The control unit 12 displays, on the display unit 13, a posture indicator Sp that indicates whether the crane vehicle 1 is in the traveling posture Dp, that is, the traveling posture mode Md, or the reversed posture Rp, that is, the reversed posture mode Mr. Display. In the first embodiment, the posture indicator Sp indicates by characters that the vehicle is in the running posture mode Md or the reverse posture mode Mr. The posture indicator Sp may be a symbol or a symbol as long as it indicates whether the crane vehicle 1 is in the traveling posture Dp (traveling posture mode Md) or the reversed posture Rp (reverse posture mode Mr). The configuration is not limited to one. The control unit 12 is input with operation information (data) performed by the operation unit 14 and various information (data) acquired by the information acquisition unit 15.

  The display unit 13 can display various information in each overhead image P and the crane vehicle 1 and is provided in the cabin 5 of the swivel base 3 in the first embodiment. The display unit 13 displays the overhead images P (see FIGS. 5 and 6) generated based on the images acquired by the cameras 11 immediately and continuously (in real time) under the control of the control unit 12. it can. In the first embodiment, the display unit 13 has a touch panel function.

  The operation unit 14 is an operation unit for using various functions in the overhead view image system 10, and outputs input information to the control unit 12. In the first embodiment, the operation unit 14 is configured as a screen (such as various icons therein) displayed on the display unit 13 having a touch panel function. The operation unit 14 can perform an operation for switching an image to be displayed on the display unit 13, an operation for various settings in the overhead image system 10 and the crane vehicle 1, and the like. The operation unit 14 may be provided in the cabin 5 independently of the display unit 13 or may be provided as a switch around the screen of the display unit 13.

  The information acquisition unit 15 acquires various types of operation information related to the crane vehicle 1 and outputs each type of operation information (data) to the control unit 12. The operation information includes, for example, mode information indicating whether the crane vehicle 1 is in the traveling posture mode Md in the traveling mode, the reverse posture mode Mr, or the working mode, and the swivel base 3 (the boom 7 ) And attitude information indicating the boom 7 undulation angle and length. In the first embodiment, the information acquisition unit 15 uses the crane vehicle 1 when the shift switch of the crane vehicle 1 is set to forward, neutral, and reverse as mode information indicating the travel posture mode Md or the reverse posture mode Mr. Is acquired (detected) as to whether the vehicle is in the running posture Dp or the reversed posture Rp.

  As described above, the bird's-eye view image system 10 includes the front camera 11F and the rear camera 11B provided on the traveling body 2, and the right camera 11R and the left camera 11L provided on the swivel 3 and images around the traveling body 2. Are obtained separately in front, rear, left and right, and each image (its data) is output to the control unit 12 (its image processing unit 17). As described above, when the crane 1 is in the traveling posture mode Md, the image processing unit 17 sets the front camera 11F to the front area Af, the rear camera 11B to the rear area Ab, and the right camera 11R to the right area Ar. In addition, the left camera 11L is made to correspond to the left region Al to generate a traveling bird's-eye view image Pd (overhead image P), and the front side of the traveling body marker M2 and the front side of the swivel marker M3 are matched. A work vehicle sign M is superimposed. The traveling bird's-eye view image Pd on which the work vehicle sign M is superimposed is displayed on the display unit 13 together with the posture sign Sp under the control of the control unit 12 (see FIG. 5). Thereby, the bird's-eye view image system 10 makes it easy to visually recognize the periphery of the traveling body 2 in the traveling posture mode Md of the crane vehicle 1.

  Further, as described above, when the crane 1 is in the reverse posture mode Mr, the image processing unit 17 sets the rear camera 11B to the front area Af, the front camera 11F to the rear area Ab, and the right camera 11R to the right. An inverted overhead view Pr (overhead view image P) is generated in correspondence with the left camera 11L in the area Ar and the left area Al, and the rear side of the traveling body marker M2 and the front side of the turntable marker M3 are displayed. The matched work vehicle sign M is superimposed. The traveling bird's-eye view image Pd on which the work vehicle sign M is superimposed is displayed on the display unit 13 together with the posture sign Sp under the control of the control unit 12 (see FIG. 6). Thereby, the bird's-eye view image system 10 makes it easy to visually recognize the periphery of the traveling body 2 in the reverse posture mode Mr of the crane vehicle 1.

  As described above, the overhead image system 10 includes the front camera 11F and the rear camera 11B provided on the traveling body 2, the right camera 11R and the left provided on the swivel 3 regardless of the type of the traveling mode of the crane vehicle 1. The camera 11L is used in common. Then, the bird's-eye view image system 10 reverses the positions corresponding to the images from the front camera 11F and the rear camera 11B provided on the traveling body 2 between the front area Af and the rear area Ab according to the type of the driving mode. The bird's-eye view image P adapted to the mode is presented.

  Next, an overhead image display process for generating each overhead image P under the control of the control unit 12 and displaying it on the display unit 13 in the overhead image system 10 will be described with reference to FIG. FIG. 7 is a flowchart illustrating an overhead image display process (overhead image display method) executed by the control unit 12 according to the first embodiment. The overhead image display processing is executed by the control unit 12 based on a program stored in the built-in memory 12a or the storage unit 16 of the control unit 12. Below, each step (each process) of the flowchart of this FIG. 7 is demonstrated. The flowchart of FIG. 7 is started when the overhead view image system 10 is in a state of executing the overhead view image display process and the traveling mode is set in the crane vehicle 1. The bird's-eye view image system 10 may always be in a state of executing the bird's-eye view image display process, and may be able to switch whether or not to perform the operation by operating the operation unit 14.

  In step S1, an image from each camera 11 is acquired, and the process proceeds to step S2. In step S1, images (image data) from the cameras 11 are input, and the control unit 12 acquires the images (image data).

  In step S2, it is determined whether or not the crane vehicle 1 is in the traveling posture mode Md. If YES, the process proceeds to step S3. If NO, the process proceeds to step S7. In step S2, mode information is acquired via the information acquisition unit 15, and whether the crane 1 is in the traveling posture mode Md (traveling posture Dp) or the reverse posture mode Mr (reverse posture Rp) in the travel mode. Judge another. In the second embodiment, step S1 determines that the traveling posture Dp is the traveling posture mode Md when the shift switch is set to forward, neutral, and backward in the crane vehicle 1, and the reverse posture Rp. And the reverse posture mode Mr.

  In step S3, the correspondence relationship between the image from each camera 11 that matches the running posture Dp and each region A is set, and the process proceeds to step S4. In this step S3, the image from the front camera 11F is set to the front area Af, the image from the rear camera 11B is set to the back area Ab, and the image from the right camera 11R is set to the driving position Dp, that is, the driving position mode Md. The image from the left camera 11L is made to correspond to the left area Al to the right area Ar.

  In step S4, a travel overhead image Pd is generated, and the process proceeds to step S5. In step S4, as described above, the image processing unit 17 of the control unit 12 shows the periphery of the traveling body 2 based on the correspondence set in step S3, and the image information of the area where the traveling body 2 exists is displayed. A traveling overhead image Pd (its image data) is generated as the missing overhead image P.

  In step S5, the work vehicle sign M corresponding to the traveling posture Dp is superimposed on the traveling overhead image Pd, and the process proceeds to step S6. In step S5, as described above, the image processing unit 17 of the control unit 12 causes the work vehicle sign M corresponding to the traveling posture Dp (traveling posture mode Md), that is, the front side of the traveling body marker M2 and the turntable marker M3. Is superposed on the traveling bird's-eye view image Pd (generates its image data).

  In step S6, the traveling bird's-eye view image Pd on which the work vehicle sign M is superimposed is displayed on the display unit 13, and the process proceeds to step S11. In step S6, the control unit 12 generates the traveling bird's-eye view image Pd (its image data) on which the work vehicle sign M corresponding to the traveling posture mode Md generated by the image processing unit 17 in steps S4 and S5 as described above is superimposed. Is displayed on the display unit 13 (see FIG. 5). In step S6, a posture indicator Sp indicating that the vehicle is in the traveling posture mode Md (traveling posture Dp) is displayed on the display unit 13 together with the traveling bird's-eye view image Pd (see FIG. 5).

  In step S7, the correspondence between the image from each camera 11 that matches the reverse posture Rp and each region A is set, and the process proceeds to step S8. In this step S7, the image from the rear camera 11B is set to the front area Af, the image from the front camera 11F is set to the back area Ab, and the image from the right camera 11R is set to the reverse attitude Rp, that is, the reverse attitude mode Mr. The image from the left camera 11L is made to correspond to the left area Al to the right area Ar.

  In step S8, a reverse overhead image Pr is generated, and the process proceeds to step S9. In step S8, as described above, the image processing unit 17 of the control unit 12 indicates the periphery of the traveling body 2 and the image information of the area where the traveling body 2 exists based on the correspondence set in step S7. A reverse bird's-eye view image Pr (its image data) is generated as the missing bird's-eye view image P.

  In step S9, the work vehicle sign M corresponding to the reverse posture Rp is superimposed on the reverse overhead image Pr, and the process proceeds to step S10. In step S9, as described above, the image processing unit 17 of the control unit 12 causes the work vehicle sign M corresponding to the reverse posture Rp (reverse posture mode Mr), that is, the rear side of the traveling body mark unit M2 and the turntable mark unit. A work vehicle sign M that is aligned with the front side of M3 is superimposed on the inverted overhead image Pr (generates its image data).

  In step S10, the inverted overhead image Pr on which the work vehicle sign M is superimposed is displayed on the display unit 13, and the process proceeds to step S11. In step S10, the control unit 12 generates the inverted overhead image Pr (its image data) generated by the image processing unit 17 in steps S8 and S9 and superimposed with the work vehicle sign M corresponding to the inverted posture mode Mr as described above. Is displayed on the display unit 13 (see FIG. 6). In step S10, a posture indicator Sp indicating that the reverse posture mode Mr (reverse posture Rp) is set is displayed on the display unit 13 together with the reverse overhead image Pr (see FIG. 6).

  In step S11, it is determined whether or not to end the overhead image display process. If YES, the overhead image display process is terminated. If NO, the process returns to step S1. Since this step S11 is after the traveling bird's-eye view image Pd or the inverted bird's-eye view image Pr is displayed on the display unit 13, whether or not the control unit 12 ends the bird's-eye view image display process, that is, each bird's-eye view image P on the display unit 13 is displayed. It is determined whether or not to stop the display. For example, when the traveling mode of the crane vehicle 1 is continued, this determination continues the overhead image display processing, and the traveling mode ends (in the first embodiment, the shift switch of the crane vehicle 1 moves from forward, neutral, backward to other If it is set to the state, the overhead image display processing is terminated. Moreover, this determination may be performed based on operation of the operation part 14, for example, may be performed by the power supply of the bird's-eye view image system 10 being turned off, or the engine of the crane vehicle 1 being stopped.

  Next, the operation of the overhead view image system 10 according to the first embodiment will be described. The bird's-eye view image system 10 is in a state of executing the bird's-eye view image display process, and when the crane 1 is set to the running posture Dp (running posture mode Md), the process proceeds from step S1 to S2 to S3 in the flowchart of FIG. Thus, the image from each camera 11 and each region A are set to correspond to the traveling posture mode Md (traveling posture Dp). Then, by proceeding to steps S4 → S5 → S6 in the flowchart of FIG. 7, a travel overhead image Pd is generated, and a work vehicle sign M corresponding to the travel attitude mode Md is superimposed thereon, and the travel overhead image Pd is displayed. It is displayed on the display unit 13 (see FIG. 5).

  Further, the overhead image system 10 is in a state of executing the overhead image display process, and when the crane 1 is set in the reverse posture Rp (reverse posture mode Mr), the process proceeds to steps S1 → S2 → S7 in the flowchart of FIG. By proceeding, the image from each camera 11 and each region A are set to correspond to each other according to the reverse posture mode Mr (reverse posture Rp). Then, by proceeding from step S8 to S9 to S10 in the flowchart of FIG. 7, the inverted overhead image Pr is generated, the work vehicle sign M corresponding to the inverted attitude mode Mr is superimposed thereon, and the inverted overhead image Pr is displayed. It is displayed on the display unit 13 (see FIG. 6).

  Then, the overhead image system 10 continues the above process until it is determined in step S11 in the flowchart of FIG. 7 that the overhead image display process is terminated. Thereby, the bird's-eye view image system 10 presents the surrounding bird's-eye view images P according to the type of traveling mode of the crane vehicle 1 to the operator via the display unit 13 in real time. Moreover, since the overhead image system 10 changes the mode of the work vehicle sign M superimposed on each overhead image P according to the type of traveling mode of the crane vehicle 1, the state is close to a state where the actual crane vehicle 1 is overhead. Are respectively presented to the operator. Furthermore, since the bird's-eye view image system 10 displays the posture indicator Sp together with each bird's-eye view image P on the display unit 13, whether the worker who is looking at each bird's-eye view image P is in the running posture mode Md or the reversed posture mode Mr. You can recognize another.

  Because of the above-described configuration, the overhead image system 10 as an embodiment of the overhead image system according to the present invention can obtain the following functions and effects.

  In the traveling posture Dp (traveling posture mode Md), the overhead view image system 10 sets the image from the front camera 11F to the front region Af, the image from the rear camera 11B to the back region Ab, and the image from the right camera 11R to the right. A travel bird's-eye view image Pd (overhead view image P) that is an image around the traveling body 2 is generated in the left region Al using the image from the left camera 11L in the left region Al. For this reason, the bird's-eye view image system 10 can appropriately generate the traveling bird's-eye view image Pd that is an image around the traveling body 2 in the traveling posture Dp and present it to the operator.

  Further, the bird's-eye view image system 10 uses the front camera 11F and the rear camera 11B provided on the traveling body 2 and the right camera 11R and the left camera 11L provided on the swivel base 3, and images around the traveling body 2. The traveling overhead view image Pd (overhead view image P) is generated. For this reason, the overhead view image system 10 can make the installation positions of the right camera 11R and the left camera 11L higher than the front camera 11F and the rear camera 11B, and the traveling body 2 is long in the front-rear direction (vehicle traveling direction). Nevertheless, the images of the regions on both sides of the traveling body 2 can each be acquired by one camera. Thereby, the bird's-eye view image system 10 uses the images from the four cameras 11 to appropriately obtain the traveling bird's-eye view image Pd, which is an image over the entire periphery of the traveling body 2 that is long in the front-rear direction (vehicle traveling direction). Can be generated and presented to the operator.

  Furthermore, in the reverse orientation Rp (reverse posture mode Mr), the bird's-eye view image system 10 displays the image from the rear camera 11B in the front area Af, the image from the front camera 11F in the rear area Ab, and the image from the right camera 11R. Is used for the right region Ar and the image from the left camera 11L is used for the left region Al, respectively, to generate an inverted overhead image Pr (overhead image P) that is an image around the traveling body 2. For this reason, the bird's-eye view image system 10 can appropriately generate and present to the operator a reverse bird's-eye view image Pr that is an image around the traveling body 2 in the reverse posture Rp. Here, the bird's-eye view image system 10 is provided with the front camera 11F and the rear camera 11B in the traveling body 2 in order to appropriately generate an image over the entire circumference of the periphery of the long traveling body 2 with the four cameras 11. A right camera 11R and a left camera 11L are provided on the swivel base 3. For this reason, in the bird's-eye view image system 10, the relationship between the image acquired by each camera 11 and each region A varies depending on whether the crane vehicle 1 is in the traveling posture Dp or the reversed posture Rp. And since the bird's-eye view image system 10 changes the correspondence between the image acquired by each camera 11 and each region A according to each of the traveling posture Dp and the reverse posture Rp, the type of traveling mode of the crane vehicle 1 is changed. Regardless of this, each bird's-eye view image P around the traveling body 2 can be appropriately generated. In addition, since the bird's-eye view image system 10 only changes the correspondence between the image acquired by each camera 11 and each region A according to the type of the running mode, the bird's-eye view image Pd and the inverted bird's-eye view image Pr with a simple configuration. Can be generated appropriately.

  The bird's-eye view image system 10 positions the front area Af in each bird's-eye view image P on the upper side of the display unit 13 and displays each bird's-eye view image P on the display unit 13. For this reason, since the bird's-eye view image system 10 displays the front area Af, which is the front as viewed from the cabin 5, positioned on the upper side of the display unit 13, an operator who is presenting each presented bird's-eye view image P in the cabin 5. This makes it possible to match the sense of the vehicle, and facilitates visual recognition of the periphery of the traveling body 2.

  Since the bird's-eye view image system 10 displays the posture sign Sp together with each bird's-eye view image P on the display unit 13, whether the crane vehicle 1 is in the traveling posture Dp (traveling posture mode Md) for the worker who is looking at each bird's-eye view image P. It is possible to recognize whether the posture is the reverse posture Rp (reverse posture mode Mr). For this reason, the bird's-eye view image system 10 prevents an unexpected situation from occurring due to the fact that the worker who is looking at each bird's-eye view image P cannot know whether it is the running posture Dp or the reversed posture Rp. Can contribute more safely.

  The bird's-eye view image system 10 superimposes a work vehicle sign M in which the front side of the traveling body marking unit M2 and the front side of the turntable marking unit M3 coincide with the traveling bird's-eye view image Pd, and the traveling body sign on the inverted bird's-eye view image Pr. A work vehicle sign M in which the rear side of the part M2 and the front side of the turntable sign part M3 are made to coincide is overlapped. For this reason, the bird's-eye view image system 10 is close to the state in which the work vehicle sign M superimposed on each bird's-eye view image P generated according to the type of the crane vehicle 1 in the travel mode is an overhead view of the actual crane vehicle 1 of the type. Can be a thing. That is, in the bird's-eye view image system 10, the traveling bird's-eye view image Pd shows the periphery of the traveling body 2 in the traveling posture Dp, and the inverted overhead view image Pr shows the surroundings of the traveling body 2 in the reversed posture Rp. The work vehicle sign M indicating Dp and the work vehicle sign M indicating the inverted posture Rp are superimposed on the inverted overhead view image Pr, respectively, so that the surroundings of the actual crane vehicle 1 according to the type in the travel mode are overlooked. Can be close to For this reason, the bird's-eye view image system 10 can present each bird's-eye view image P that enables an operator to easily and appropriately grasp the situation around the traveling body 2 without feeling uncomfortable.

  Therefore, in the bird's-eye view image system 10 as an embodiment of the bird's-eye view image system according to the present invention, in the traveling body 2 provided with the turntable 3, the surroundings of the traveling body 2 in both the traveling posture Dp and the reverse posture Rp. Visual recognition can be performed over the entire circumference.

  The overhead image system of the present invention has been described based on the first embodiment. However, the specific configuration is not limited to the first embodiment, and design changes, additions, and the like can be made without departing from the gist of the present invention. Is acceptable. In addition, the number, position, shape, and the like of the constituent members are not limited to the examples, and the number, position, shape, and the like that are suitable for implementing the present invention can be used.

  In the first embodiment described above, the bird's-eye view image system 10 as one embodiment of the bird's-eye view image system according to the present invention has been described. However, a surrounding image of a work vehicle provided with a turntable capable of turning on the traveling body is acquired. A plurality of cameras; a display unit that displays an overhead image based on an image acquired by each camera; and a control unit that generates the overhead image and displays the image on the display unit. A front camera provided on the traveling body on the forward side of the body, a rear camera provided on the traveling body on the backward side of the traveling body, and a right camera in the cabin provided on the swivel base. And a left camera provided on the swivel base on the left side of the cabin, and the control unit is configured such that the work vehicle is moved forward of the traveling body and the cabin. The image acquired by the front camera in the front area on the front side and the image acquired by the rear camera in the back area on the back side with the cabin as a reference. The image acquired by the right camera in the right area on the right side and the image acquired by the left camera in the left area on the left side are respectively converted into an image looking down from the upper virtual viewpoint and stitched together. The overhead view image is generated, and when the work vehicle is in a reversed posture in which the swivel is half-turned from the traveling posture, an image acquired by the rear camera in the front region is displayed in the front region. The image acquired by the camera is converted into an image obtained by looking down from the upper virtual viewpoint using the image acquired by the right camera in the right region and the image acquired by the left camera in the left region, respectively. May be an overhead image system for generating the overhead image by joining, not limited to the first embodiment mentioned above.

  Moreover, although the crane vehicle 1 was shown as a working vehicle using the bird's-eye view image system 10 in the above-described first embodiment, if the traveling vehicle (2) is provided with a turntable (3) capable of turning, A work vehicle having another configuration may be used, and is not limited to the first embodiment described above.

  Furthermore, in the first embodiment described above, the work vehicle sign M is superimposed on each overhead view image P as shown in FIG. 5 or FIG. 6, but depending on the installation position of each camera 11, the work vehicle sign M is displayed on each overhead view image P. May be partially hidden. As the location for hiding each overhead image P, for example, the tip location of the boom 7 surrounded by the dotted line shown in FIGS. For this reason, in the bird's-eye view image system 10, in order to make each bird's-eye view image P visible without any breaks over the entire circumference, work vehicle signs M in which these hidden portions are made semi-transparent or hidden are superimposed on each bird's-eye view image P. Also good. This can be executed by processing the display of the hidden part in each overhead image P.

DESCRIPTION OF SYMBOLS 1 Crane vehicle (as an example of a working vehicle) 2 Traveling body 3 Turntable 5 Cabin 10 Overhead image system 11 Camera 11F Front camera 11B Rear camera 11R Right camera 11L Left camera 12 Control part 13 Display part Ab Back surface area Af Front Area Al Left area Ar Right area P Overhead image Dp Running posture Rp Inverted posture Sp Posture sign

Claims (5)

A plurality of cameras that acquire peripheral images of a work vehicle provided with a turntable capable of turning on the traveling body, a display unit that displays an overhead image based on the images acquired by each camera, and generates the overhead image A control unit for displaying on the display unit,
Each camera includes a front camera provided on the traveling body on a forward side of the traveling body, a rear camera provided on the traveling body on a backward side of the traveling body, and a cabin provided on the swivel base. It is composed of a right camera provided on the swivel base on the right side and a left camera provided on the swivel base on the left side of the cabin,
When the work vehicle has a traveling posture in which the forward side of the traveling body is aligned with the front side of the cabin, the control unit obtains the front area on the front side with the front camera with respect to the cabin. The image acquired by the rear camera in the rear area on the back side, the image acquired by the right camera in the right area on the right side, and the image acquired by the left camera in the left area on the left side. , Each of which is used to convert to an image viewed from the upper virtual viewpoint and connected to generate the overhead image,
When the work vehicle is in an inverted posture in which the swivel is half-turned from the running posture, an image obtained by the rear camera in the front region, an image obtained by the front camera in the rear region, The image obtained by the right camera in the right region and the image obtained by the left camera in the left region are respectively converted into an image looking down from the upper virtual viewpoint, and the overhead image is joined together. An overhead image system characterized by generating.   The bird's-eye view image system according to claim 1, wherein the control unit displays the bird's-eye view image on the display unit with the front area facing upward in the display unit.   The bird's-eye view image system according to claim 1, wherein the control unit causes the display unit to display a posture indicator that indicates the traveling posture or the reverse posture. A plurality of cameras that acquire peripheral images of a work vehicle provided with a turntable capable of turning on the traveling body, a display unit that displays an overhead image based on the images acquired by each camera, and generates the overhead image A bird's-eye view image display method using a control unit to be displayed on the display unit,
Each camera includes a front camera provided on the traveling body on a forward side of the traveling body, a rear camera provided on the traveling body on a backward side of the traveling body, and a cabin provided on the swivel base. It is composed of a right camera provided on the swivel base on the right side and a left camera provided on the swivel base on the left side of the cabin,
When the control unit has a traveling posture in which the forward side of the traveling body and the front side of the cabin coincide with each other, the control unit obtains the front area on the front side with the front camera with respect to the cabin. The image acquired by the rear camera in the rear area on the back side, the image acquired by the right camera in the right area on the right side, and the image acquired by the left camera in the left area on the left side. Converting each of the images into an image viewed from the upper virtual viewpoint and connecting them to generate the overhead image;
When the work vehicle is in a reversed posture in which the work vehicle is rotated halfway from the running posture, an image obtained by the rear camera in the front region is obtained by the front camera in the rear region. The images acquired by the right camera in the right region and the images acquired by the left camera in the left region are converted into images looked down from the upper virtual viewpoint using the respective images. Generating the overhead view image;
A bird's-eye view image display method comprising: A plurality of cameras that acquire peripheral images of a work vehicle provided with a turntable capable of turning on the traveling body, a display unit that displays an overhead image based on the images acquired by each camera, and generates the overhead image A control unit for displaying on the display unit,
Each camera includes a front camera provided on the traveling body on a forward side of the traveling body, a rear camera provided on the traveling body on a backward side of the traveling body, and a cabin provided on the swivel base. In the control unit of the overhead view image system composed of a right camera provided on the swivel base on the right side and a left camera provided on the swivel base on the left side of the cabin,
When the work vehicle has a traveling posture in which the forward side of the traveling body and the front side of the cabin are matched, an image acquired by the front camera in the front area on the front side with respect to the cabin is An image acquired by the rear camera in the rear area on the side, an image acquired by the right camera in the right area on the right side, and an image acquired by the left camera in the left area on the left side, respectively. A function of generating a bird's-eye view image by converting and connecting to an image looked down from a virtual viewpoint;
When the work vehicle is in an inverted posture in which the swivel is half-turned from the running posture, an image obtained by the rear camera in the front region, an image obtained by the front camera in the rear region, The image obtained by the right camera in the right region and the image obtained by the left camera in the left region are respectively converted into an image looking down from the upper virtual viewpoint, and the overhead image is joined together. The function to generate,
A program characterized by realizing.