JP5750344B2 - 作業機の周囲監視装置 - Google Patents
作業機の周囲監視装置 Download PDFInfo
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- JP5750344B2 JP5750344B2 JP2011202852A JP2011202852A JP5750344B2 JP 5750344 B2 JP5750344 B2 JP 5750344B2 JP 2011202852 A JP2011202852 A JP 2011202852A JP 2011202852 A JP2011202852 A JP 2011202852A JP 5750344 B2 JP5750344 B2 JP 5750344B2
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Images
Classifications
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- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- 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
- E02F9/24—Safety devices, e.g. for preventing overload
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- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/60—Editing figures and text; Combining figures or text
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- 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
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
-
- 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
-
- 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
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Closed-Circuit Television Systems (AREA)
- Component Parts Of Construction Machinery (AREA)
Description
3 フロント作業機
4 下部走行体
5 上部旋回体
6 運転室
10 ブーム
11 アーム
12 バケット
13B 後方カメラ
13L 左方カメラ
13R 右方カメラ
13F バケット監視カメラ
14 モニタ
15 表示部
16 入力部
17B 仮想視点後方画像
17L 仮想視点左方画像
17R 仮想視点右方画像
16a〜16e スイッチ
17 仮想視点画像表示領域
18 カメラスルー画像表示領域
19L、19R 境界ライン
20 表示コントローラ
21 記憶保持部
22 画像補正部
23 視点変換部
24 画像合成部
25 表示画像生成部
26 画像整形部
41 仮想視点範囲
41B 仮想視点後方範囲
41L 仮想視点左方範囲
41R 仮想視点右方範囲
42 消失範囲
51 障害物検出部
52 マーク
Claims (5)
- 走行体に対して旋回可能な旋回体にフロント作業機を設けた作業機の周囲を監視するための作業機の周囲監視装置であって、
前記旋回体に複数台が設けられ、相互に視野範囲を部分的に重複するように設定された複数台のカメラと、
前記各カメラで取得したカメラ画像に基づいて上方視点となるように視点変換した仮想視点画像を生成する視点変換部と、
前記視点変換部が生成した複数の前記仮想視点画像をそれぞれに対応した表示領域に表示するように合成した合成画像を生成する画像合成部と、
前記合成画像を第1の画像として、前記各カメラのうち何れか1つのカメラが撮影している画像であり前記仮想視点画像間の境界線を視野内に含む画像を第2の画像として、前記第1の画像と前記第2の画像との両者を含む表示画像を生成する表示画像生成部と、
前記表示画像生成部により生成された前記第1の画像と前記第2の画像とを1つの画面で同時に表示するモニタと、
を備えていることを特徴とする作業機の周囲監視装置。 - 前記第1の画像は前記仮想視点画像間の前記境界線により立体物の上部が消失する消失範囲を含むものであり、前記第2の画像はこの消失範囲を前記モニタによる表示の一部に含むこと
を特徴とする請求項1記載の作業機の周囲監視装置。 - 前記表示画像生成部は、前記第2の画像の中での前記各仮想視点画像が表示されている仮想表示範囲および隣接する前記仮想視点画像間の領域のうち立体物の上部が消失する可能性のある範囲を示す消失範囲を前記第2の画像に表示し、前記仮想表示範囲と前記消失範囲とを異なる表示形式で表示させること
を特徴とする請求項2記載の作業機の周囲監視装置。 - 前記表示画像生成部は、前記第2の画像の中での前記各仮想視点画像が表示されている仮想表示範囲と隣接する前記仮想視点画像間の領域のうち立体物の上部が消失する可能性のある範囲を示す消失範囲との何れか一方または両方を前記第2の画像に表示することを可能にして、前記仮想表示範囲と前記消失範囲との両者を表示するときにはこれらを異なる表示形式で表示し、
前記仮想表示範囲と前記消失範囲との何れか一方を表示するモードと両者を表示するモードと何れも表示しないモードとを切り替え可能に構成したこと
を特徴とする請求項2記載の作業機の周囲監視装置。 - 前記カメラが取得した前記カメラ画像に基づいて障害物を検出する障害物検出部を備え、
前記表示画像生成部は、前記障害物検出部が検出した前記障害物の周囲に形成するマークを前記第1の画像と前記第2の画像との何れか一方または両方に表示すること
を特徴とする請求項1記載の作業機の周囲監視装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011202852A JP5750344B2 (ja) | 2011-09-16 | 2011-09-16 | 作業機の周囲監視装置 |
EP12831987.8A EP2757782A4 (en) | 2011-09-16 | 2012-08-21 | ENTOURING MONITORING DEVICE FOR WORKING MACHINE |
PCT/JP2012/071033 WO2013038874A1 (ja) | 2011-09-16 | 2012-08-21 | 作業機の周囲監視装置 |
US14/345,097 US20140354813A1 (en) | 2011-09-16 | 2012-08-21 | Surroundings Monitoring Device for Work Machine |
AU2012309727A AU2012309727A1 (en) | 2011-09-16 | 2012-08-21 | Surroundings monitoring device for work machine |
KR1020147007785A KR20140060321A (ko) | 2011-09-16 | 2012-08-21 | 작업기의 주위 감시 장치 |
CN201280045207.XA CN103797789A (zh) | 2011-09-16 | 2012-08-21 | 工作机械的周围监视装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011202852A JP5750344B2 (ja) | 2011-09-16 | 2011-09-16 | 作業機の周囲監視装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013066010A JP2013066010A (ja) | 2013-04-11 |
JP5750344B2 true JP5750344B2 (ja) | 2015-07-22 |
Family
ID=47883108
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011202852A Expired - Fee Related JP5750344B2 (ja) | 2011-09-16 | 2011-09-16 | 作業機の周囲監視装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US20140354813A1 (ja) |
EP (1) | EP2757782A4 (ja) |
JP (1) | JP5750344B2 (ja) |
KR (1) | KR20140060321A (ja) |
CN (1) | CN103797789A (ja) |
AU (1) | AU2012309727A1 (ja) |
WO (1) | WO2013038874A1 (ja) |
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CN112519679A (zh) * | 2020-11-26 | 2021-03-19 | 哈尔滨北方防务装备股份有限公司 | 一种基于4g传输的双节履带车环境辅助观察系统 |
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EP2259220A3 (en) * | 1998-07-31 | 2012-09-26 | Panasonic Corporation | Method and apparatus for displaying image |
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JP4803449B2 (ja) * | 2006-11-17 | 2011-10-26 | アイシン精機株式会社 | 車載カメラの校正装置、校正方法、並びにこの校正方法を用いた車両の生産方法 |
JP4847913B2 (ja) | 2007-03-30 | 2011-12-28 | 日立建機株式会社 | 作業機械周辺監視装置 |
IL189251A0 (en) * | 2008-02-05 | 2008-11-03 | Ehud Gal | A manned mobile platforms interactive virtual window vision system |
JP4973564B2 (ja) * | 2008-03-27 | 2012-07-11 | 三菱自動車工業株式会社 | 車両周辺表示装置 |
JP4977667B2 (ja) * | 2008-09-02 | 2012-07-18 | 日立建機株式会社 | 作業機械の視野補助装置 |
JP4831374B2 (ja) * | 2009-03-27 | 2011-12-07 | アイシン・エィ・ダブリュ株式会社 | 運転支援装置、運転支援方法、及び運転支援プログラム |
JP5108840B2 (ja) * | 2009-07-29 | 2012-12-26 | クラリオン株式会社 | 車両用周辺監視装置および車両用周辺画像表示方法 |
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 |
JP5397697B2 (ja) * | 2010-03-12 | 2014-01-22 | アイシン精機株式会社 | 画像制御装置 |
CN102291573A (zh) * | 2011-08-30 | 2011-12-21 | 山推工程机械股份有限公司 | 一种工程机械全景作业监视方法及系统 |
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CN103797789A (zh) | 2014-05-14 |
WO2013038874A1 (ja) | 2013-03-21 |
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