JP5779244B2 - 作業機械の周囲監視装置 - Google Patents
作業機械の周囲監視装置 Download PDFInfo
- Publication number
- JP5779244B2 JP5779244B2 JP2013515049A JP2013515049A JP5779244B2 JP 5779244 B2 JP5779244 B2 JP 5779244B2 JP 2013515049 A JP2013515049 A JP 2013515049A JP 2013515049 A JP2013515049 A JP 2013515049A JP 5779244 B2 JP5779244 B2 JP 5779244B2
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- vehicle
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- work machine
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- monitor
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- 238000012806 monitoring device Methods 0.000 title claims description 8
- 238000005452 bending Methods 0.000 claims description 21
- 240000004050 Pentaglottis sempervirens Species 0.000 claims description 15
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 claims description 15
- 238000012544 monitoring process Methods 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 9
- 239000002131 composite material Substances 0.000 claims description 5
- 230000002194 synthesizing effect Effects 0.000 claims 1
- 230000000007 visual effect Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 238000003702 image correction Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
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
- 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
- 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
-
- 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
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/0841—Articulated frame, i.e. having at least one pivot point between two travelling gear units
-
- 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
-
- 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
-
- 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
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/30—Monitoring
- G06F11/32—Monitoring with visual or acoustical indication of the functioning of the machine
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
-
- 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- General Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Structural Engineering (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Quality & Reliability (AREA)
- Closed-Circuit Television Systems (AREA)
- Component Parts Of Construction Machinery (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
Description
2、32 車両後部
3 ローダバケット
8 運転室
10,38 連結軸
11a〜11e,39a〜39e カメラ
12,40 モニタ
20 制御装置
21 画像補正手段
22 画像変換手段
23 画像合成手段
24 カメラ位置算出手段
25 車体情報伝達手段
27 車両画像生成手段
28 表示画像生成手段
33 荷台
1C,2C,30C,32C キャラクタ画像
11A〜11E,39A〜39E 個別俯瞰画像
Claims (3)
- 車両前部と車両後部とを連結軸により左右に屈曲可能に連結したアーティキュレート作業機械に設けられる作業機械の周囲監視装置において、
前記車両前部に設置した1または複数のカメラと、
前記車両後部に設置され、車両の後方位置を視野とするカメラを含む1または複数のカメラと、
前記作業機械の周囲監視画像を表示するためのモニタと、
前記連結軸を中心とした前記車両前部と前記車両後部との間の屈曲角度に基づいて、前記各カメラの位置を算出するカメラ位置算出部と、
前記各カメラで取得したカメラ画像を上方視点となるように視点変換して、それぞれ俯瞰画像とする画像変換手段と、
前記各カメラにより撮影した各個別俯瞰画像を、前記カメラ位置算出部により算出されたそれぞれの位置関係となるように合成した合成俯瞰画像を生成して、前記モニタにこの合成俯瞰画像を表示するための画像合成手段と、
前記合成俯瞰画像を、前記車両前部または前記車両後部のいずれか一方を固定した固定側キャラクタ像とし、他方を前記屈曲角度に基づいて前記固定側キャラクタ像に対して相対回動する可動側キャラクタ像とした車両画像と共に前記モニタに表示する表示画像生成手段とを備え、
前記作業機械の運転席は前記車両前部に設けられ、この作業機械の前進時には、前記固定側キャラクタ像は前記車両前部とし、前記作業機械の後進時には、前記固定側キャラクタ像は前記車両後部とするように、運転作動モードにより表示を変化させるようにしたこと
を特徴とする作業機械の周囲監視装置。 - 前記モニタには、車両画像の周囲に注意範囲ガイドラインを表示するようになし、前記屈曲角度が変化したときに、この注意範囲ガイドラインを屈曲角度に相応する角度分だけ変化させる構成としたことを特徴とする請求項1に記載の作業機械の周囲監視装置。
- 前記車両前部及び前記車両後部に設けた各カメラは、それぞれの視野が前記屈曲角度の全範囲にわたって少なくとも2個のカメラの視野が部分的に重なり合う位置に配置する構成としたことを特徴とする請求項1記載の作業機械の周囲監視装置。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013515049A JP5779244B2 (ja) | 2011-05-13 | 2012-04-13 | 作業機械の周囲監視装置 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011107815 | 2011-05-13 | ||
JP2011107815 | 2011-05-13 | ||
JP2013515049A JP5779244B2 (ja) | 2011-05-13 | 2012-04-13 | 作業機械の周囲監視装置 |
PCT/JP2012/060104 WO2012157379A1 (ja) | 2011-05-13 | 2012-04-13 | 作業機械の周囲監視装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2012157379A1 JPWO2012157379A1 (ja) | 2014-07-31 |
JP5779244B2 true JP5779244B2 (ja) | 2015-09-16 |
Family
ID=47176719
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013515049A Expired - Fee Related JP5779244B2 (ja) | 2011-05-13 | 2012-04-13 | 作業機械の周囲監視装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US20140088824A1 (ja) |
EP (1) | EP2712969A4 (ja) |
JP (1) | JP5779244B2 (ja) |
KR (1) | KR20140043374A (ja) |
CN (1) | CN103547747A (ja) |
AU (1) | AU2012257053A1 (ja) |
WO (1) | WO2012157379A1 (ja) |
Cited By (2)
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US10668854B2 (en) | 2017-02-09 | 2020-06-02 | Komatsu Ltd. | Work vehicle and display device |
WO2024085732A1 (ko) * | 2022-10-21 | 2024-04-25 | 현대두산인프라코어 주식회사 | 건설기계의 제어 시스템 및 방법 |
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- 2012-04-13 US US14/116,884 patent/US20140088824A1/en not_active Abandoned
- 2012-04-13 CN CN201280022215.2A patent/CN103547747A/zh active Pending
- 2012-04-13 AU AU2012257053A patent/AU2012257053A1/en not_active Abandoned
- 2012-04-13 EP EP20120785367 patent/EP2712969A4/en not_active Withdrawn
- 2012-04-13 KR KR1020137032343A patent/KR20140043374A/ko not_active Application Discontinuation
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Also Published As
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KR20140043374A (ko) | 2014-04-09 |
JPWO2012157379A1 (ja) | 2014-07-31 |
EP2712969A4 (en) | 2015-04-29 |
WO2012157379A1 (ja) | 2012-11-22 |
AU2012257053A1 (en) | 2013-11-21 |
US20140088824A1 (en) | 2014-03-27 |
EP2712969A1 (en) | 2014-04-02 |
CN103547747A (zh) | 2014-01-29 |
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