JP5124672B2 - 作業車両の周辺監視装置 - Google Patents
作業車両の周辺監視装置 Download PDFInfo
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- JP5124672B2 JP5124672B2 JP2011127307A JP2011127307A JP5124672B2 JP 5124672 B2 JP5124672 B2 JP 5124672B2 JP 2011127307 A JP2011127307 A JP 2011127307A JP 2011127307 A JP2011127307 A JP 2011127307A JP 5124672 B2 JP5124672 B2 JP 5124672B2
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- 238000012806 monitoring device Methods 0.000 title claims description 24
- 238000003384 imaging method Methods 0.000 claims description 70
- 238000012544 monitoring process Methods 0.000 claims description 19
- 240000004050 Pentaglottis sempervirens Species 0.000 description 34
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 34
- 238000006243 chemical reaction Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 9
- 238000001514 detection method Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000002194 synthesizing effect Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 238000007599 discharging Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/28—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with an adjustable field of view
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
- B60R2300/602—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective with an adjustable viewpoint
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
- B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Component Parts Of Construction Machinery (AREA)
- Closed-Circuit Television Systems (AREA)
- Image Processing (AREA)
Description
本発明の撮像部の数は上記の実施形態のように6台に限られない。また、本発明の撮像部の配置は上記の実施形態の撮像部11−16の配置に限られない。上記の実施形態では、第1仮想投影面31の第1変化部33は、地面からの高さが連続的に変化する傾斜面であるが、第1変化部33の地面からの高さが階段状に変化してもよい。同様に、第2変化部35の地面からの高さが階段状に変化してもよい。ただし、違和感の少ない自然な俯瞰画像を形成する観点からは、第1変化部33は、地面からの高さが連続的に変化する傾斜面であることが好ましい。同様に、違和感の少ない自然な俯瞰画像を形成する観点からは、第2変化部35は、地面からの高さが連続的に変化する傾斜面であることが好ましい。また、第1変化部33の傾斜面は、直線状であっても、曲線状であってもよい。同様に、第2変化部35の傾斜面は、直線状であっても、曲線状であってもよい。また、第1仮想投影面31の平坦部34は、地面と同じ高さに限らず、地面と異なる高さに位置してもよい。
10 周辺監視装置
11−16 第1〜第6撮像部
17 車速検知部
18 表示部
23 俯瞰画像作成部
31 第1仮想投影面
32 第2仮想投影面
R1 第1範囲
R2 第2範囲
Claims (6)
- 作業車両に装着され、前記作業車両の周囲の領域を撮像して画像データを得る撮像部と、
前記画像データを仮想投影面に投影することにより、前記作業車両の周囲の俯瞰画像を作成する俯瞰画像作成部と、
前記俯瞰画像を表示する表示部と、
前記作業車両が走行状態であるのか停止状態であるのかを判定する走行状態判定部と、
を備え、
前記作業車両が停止状態であるときには、前記俯瞰画像作成部は、第1仮想投影面を用いて前記俯瞰画像を作成し、
前記第1仮想投影面の少なくとも外縁部は、前記作業車両から遠ざかるほど地面からの高さが高くなる形状であり、
前記作業車両が走行状態であるときには、前記俯瞰画像作成部は、第2仮想投影面を用いて前記俯瞰画像を作成し、
前記第2仮想投影面の少なくとも外縁部は、地面からの高さが一定の平坦な形状である、
作業車両の周辺監視装置。 - 前記仮想投影面は、前記作業車両の周囲の第1範囲と、前記第1範囲よりも前記作業車両から離れた第2範囲とを含み、
前記第1仮想投影面の前記第1範囲は、地面からの高さが一定の平坦な形状であり、
前記第1仮想投影面の前記第2範囲は、前記作業車両から遠ざかるほど地面からの高さが高くなる形状であり、
前記第2仮想投影面の前記第1範囲及び前記第2範囲は、地面からの高さが一定の平坦な形状である、
請求項1に記載の作業車両の周辺監視装置。 - 前記第1仮想投影面の前記第2範囲は、前記作業車両の外形に対応する矩形の各辺に平行な仮想軸を中心に湾曲した複数の湾曲面と、隣接する一対の前記湾曲面の間にそれぞれ配置されて前記一対の湾曲面と連続的につながった複数の球面とを含む、
請求項2に記載の作業車両の周辺監視装置。 - 前記第2仮想投影面の全体が、地面からの高さが一定の平坦な形状である、
請求項1から3のいずれかに記載の作業車両の周辺監視装置。 - 前記作業車両の車速を検知する車速検知部をさらに備え、
前記走行状態判定部は、前記車速が所定の閾値以上であるときに、前記作業車両が走行状態であると判定し、前記車速が前記所定の閾値より小さいときに、前記作業車両が停止状態であると判定する、
請求項1から4のいずれかに記載の作業車両の周辺監視装置。 - 請求項1から5のいずれかに記載の周辺監視装置を備える作業車両。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011127307A JP5124672B2 (ja) | 2011-06-07 | 2011-06-07 | 作業車両の周辺監視装置 |
PCT/JP2012/063136 WO2012169353A1 (ja) | 2011-06-07 | 2012-05-23 | 作業車両の周辺監視装置 |
US13/819,137 US8982212B2 (en) | 2011-06-07 | 2012-05-23 | Surrounding area monitoring device for work vehicle |
CN201280003138.6A CN103155552B (zh) | 2011-06-07 | 2012-05-23 | 作业车辆的周边监视装置 |
AU2012268477A AU2012268477B2 (en) | 2011-06-07 | 2012-05-23 | Surrounding area monitoring device for work vehicle |
CA2805665A CA2805665C (en) | 2011-06-07 | 2012-05-23 | Surrounding area monitoring device for work vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011127307A JP5124672B2 (ja) | 2011-06-07 | 2011-06-07 | 作業車両の周辺監視装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2012256960A JP2012256960A (ja) | 2012-12-27 |
JP5124672B2 true JP5124672B2 (ja) | 2013-01-23 |
Family
ID=47295921
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011127307A Expired - Fee Related JP5124672B2 (ja) | 2011-06-07 | 2011-06-07 | 作業車両の周辺監視装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8982212B2 (ja) |
JP (1) | JP5124672B2 (ja) |
CN (1) | CN103155552B (ja) |
AU (1) | AU2012268477B2 (ja) |
CA (1) | CA2805665C (ja) |
WO (1) | WO2012169353A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3142066A1 (en) | 2015-09-10 | 2017-03-15 | KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH | Image synthesizer for a surround monitoring system |
US10611198B2 (en) | 2015-09-17 | 2020-04-07 | Knorr-Bremse Systeme Fuer Nutzfahrzeuge Gmbh | Apparatus and method for controlling a pressure on at least one tire of a vehicle |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
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KR20140043374A (ko) * | 2011-05-13 | 2014-04-09 | 히다치 겡키 가부시키 가이샤 | 작업 기계의 주위 감시 장치 |
JP5813439B2 (ja) * | 2011-09-27 | 2015-11-17 | クラリオン株式会社 | 俯瞰画像表示装置 |
US9598836B2 (en) * | 2012-03-29 | 2017-03-21 | Harnischfeger Technologies, Inc. | Overhead view system for a shovel |
JP5456123B1 (ja) * | 2012-09-20 | 2014-03-26 | 株式会社小松製作所 | 作業車両用周辺監視システム及び作業車両 |
JP6302622B2 (ja) * | 2013-03-19 | 2018-03-28 | 住友重機械工業株式会社 | 作業機械用周辺監視装置 |
US9767561B2 (en) * | 2013-11-18 | 2017-09-19 | Texas Instruments Incorporated | Method and apparatus for a optimal seam for surround view synthesis |
US10415211B2 (en) * | 2015-02-23 | 2019-09-17 | Komatsu Ltd. | Hydraulic excavator having handrail and camera |
DE102015205507B3 (de) * | 2015-03-26 | 2016-09-29 | Zf Friedrichshafen Ag | Rundsichtsystem für ein Fahrzeug |
JPWO2016157462A1 (ja) * | 2015-03-31 | 2018-01-25 | 株式会社小松製作所 | 作業機械の周辺監視装置 |
DE102015221356B4 (de) * | 2015-10-30 | 2020-12-24 | Conti Temic Microelectronic Gmbh | Vorrichtung und Verfahren zur Bereitstellung einer Fahrzeugrundumansicht |
JP6512145B2 (ja) * | 2016-03-22 | 2019-05-15 | 株式会社デンソー | 画像処理装置、画像処理方法、及びプログラム |
JP6699370B2 (ja) * | 2016-06-06 | 2020-05-27 | アイシン精機株式会社 | 車両用画像処理装置 |
JP6607272B2 (ja) * | 2018-03-02 | 2019-11-20 | 株式会社Jvcケンウッド | 車両用記録装置、車両用記録方法及びプログラム |
US11225777B2 (en) * | 2018-03-14 | 2022-01-18 | Hitachi Construction Machinery Co., Ltd. | Work machine |
DE102019110871A1 (de) * | 2019-04-26 | 2020-10-29 | Mekra Lang Gmbh & Co. Kg | Sichtsystem für ein Fahrzeug |
JP7458850B2 (ja) * | 2020-03-26 | 2024-04-01 | 住友重機械建機クレーン株式会社 | 作業機械の周囲表示装置 |
JP2022155631A (ja) * | 2021-03-31 | 2022-10-14 | 住友重機械建機クレーン株式会社 | 作業機械の周囲監視装置 |
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JP2002135765A (ja) * | 1998-07-31 | 2002-05-10 | Matsushita Electric Ind Co Ltd | カメラキャリブレーション指示装置及びカメラキャリブレーション装置 |
JP3871614B2 (ja) | 2002-06-12 | 2007-01-24 | 松下電器産業株式会社 | 運転支援装置 |
CN100456828C (zh) * | 2004-04-27 | 2009-01-28 | 松下电器产业株式会社 | 车辆周围环境显示装置 |
US7423521B2 (en) * | 2004-12-07 | 2008-09-09 | Kabushiki Kaisha Honda Lock | Vehicular visual assistance system |
JP4927512B2 (ja) * | 2006-12-05 | 2012-05-09 | 株式会社日立製作所 | 画像生成装置 |
JP4832321B2 (ja) * | 2007-01-26 | 2011-12-07 | 三洋電機株式会社 | カメラ姿勢推定装置、車両、およびカメラ姿勢推定方法 |
US8218007B2 (en) * | 2007-09-23 | 2012-07-10 | Volkswagen Ag | Camera system for a vehicle and method for controlling a camera system |
JP5222597B2 (ja) * | 2008-03-19 | 2013-06-26 | 三洋電機株式会社 | 画像処理装置及び方法、運転支援システム、車両 |
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JP4951639B2 (ja) * | 2009-03-02 | 2012-06-13 | 日立建機株式会社 | 周囲監視装置を備えた作業機械 |
WO2010137265A1 (ja) * | 2009-05-25 | 2010-12-02 | パナソニック株式会社 | 車両周囲監視装置 |
TWI392366B (zh) * | 2009-12-31 | 2013-04-01 | Ind Tech Res Inst | 全周鳥瞰影像距離介面產生方法與系統 |
-
2011
- 2011-06-07 JP JP2011127307A patent/JP5124672B2/ja not_active Expired - Fee Related
-
2012
- 2012-05-23 CA CA2805665A patent/CA2805665C/en not_active Expired - Fee Related
- 2012-05-23 WO PCT/JP2012/063136 patent/WO2012169353A1/ja active Application Filing
- 2012-05-23 CN CN201280003138.6A patent/CN103155552B/zh not_active Expired - Fee Related
- 2012-05-23 US US13/819,137 patent/US8982212B2/en not_active Expired - Fee Related
- 2012-05-23 AU AU2012268477A patent/AU2012268477B2/en not_active Ceased
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3142066A1 (en) | 2015-09-10 | 2017-03-15 | KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH | Image synthesizer for a surround monitoring system |
US10967790B2 (en) | 2015-09-10 | 2021-04-06 | Knorr-Bremse Systeme Fuer Nutzfahrzeuge Gmbh | Image synthesizer for a surround monitoring system |
US10611198B2 (en) | 2015-09-17 | 2020-04-07 | Knorr-Bremse Systeme Fuer Nutzfahrzeuge Gmbh | Apparatus and method for controlling a pressure on at least one tire of a vehicle |
Also Published As
Publication number | Publication date |
---|---|
CA2805665A1 (en) | 2012-12-13 |
US20130162830A1 (en) | 2013-06-27 |
AU2012268477A1 (en) | 2013-02-07 |
US8982212B2 (en) | 2015-03-17 |
CN103155552A (zh) | 2013-06-12 |
CA2805665C (en) | 2014-05-06 |
WO2012169353A1 (ja) | 2012-12-13 |
JP2012256960A (ja) | 2012-12-27 |
AU2012268477B2 (en) | 2014-10-09 |
CN103155552B (zh) | 2015-01-21 |
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