JP6756555B2 - 俯瞰画像システム、俯瞰画像表示方法およびプログラム - Google Patents
俯瞰画像システム、俯瞰画像表示方法およびプログラム Download PDFInfo
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- JP6756555B2 JP6756555B2 JP2016176872A JP2016176872A JP6756555B2 JP 6756555 B2 JP6756555 B2 JP 6756555B2 JP 2016176872 A JP2016176872 A JP 2016176872A JP 2016176872 A JP2016176872 A JP 2016176872A JP 6756555 B2 JP6756555 B2 JP 6756555B2
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- Prior art keywords
- bird
- eye view
- image
- view image
- camera
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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.)
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- 240000004050 Pentaglottis sempervirens Species 0.000 title claims description 233
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 title claims description 233
- 238000000034 method Methods 0.000 title description 44
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 239000003550 marker Substances 0.000 description 4
- 230000007935 neutral effect Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- 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
- B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
- B66C23/90—Devices for indicating or limiting lifting moment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
- B66C23/90—Devices for indicating or limiting lifting moment
- B66C23/905—Devices for indicating or limiting lifting moment electrical
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
-
- 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
-
- 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
- B60R2300/10—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
- B60R2300/60—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)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Closed-Circuit Television Systems (AREA)
- Image Processing (AREA)
- Image Analysis (AREA)
- Component Parts Of Construction Machinery (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
- Jib Cranes (AREA)
Description
2 走行体
3 旋回台
5 キャビン
10 俯瞰画像システム
11 カメラ
11A 第1前方カメラ(前方カメラ)
11B 第1後方カメラ(後方カメラ)
11C 右方カメラ
11D 左方カメラ
11E 第2前方カメラ
11F 第2後方カメラ
12 制御部
13 表示部
M 作業車両標識
M2 走行体標識部
M3 旋回台標識部
Md 走行モード
Mw 作業モード
P 俯瞰画像
Claims (3)
- 走行体に旋回可能な旋回台が設けられた作業車両の周辺画像を取得する複数のカメラと、前記各カメラで取得した画像に基づく俯瞰画像を表示する表示部と、前記各カメラで取得した画像を上方の仮想視点から見下ろした画像に変換し繋ぎ合わせて前記俯瞰画像を生成して前記表示部に表示させる制御部と、を備え、
前記各カメラは、前記走行体における前進側で前記走行体に設けられた前方カメラと、前記走行体における後退側で前記走行体に設けられた後方カメラと、前記旋回台に設けられたキャビンにおける右側で前記旋回台に設けられた右方カメラと、前記キャビンにおける左側で前記旋回台に設けられた左方カメラと、で構成され、
前記前方カメラを第1前方カメラとし、かつ前記後方カメラを第1後方カメラとして、
前記各カメラは、さらに、前記キャビンにおける正面側で前記旋回台に設けられた第2前方カメラと、前記キャビンにおける背面側で前記旋回台に設けられた第2後方カメラと、を有し、
前記制御部は、前記走行体の前進側と前記キャビンの正面側とが一致されて前記走行体を走行させる走行モードとされると、前記第1前方カメラの画像と前記第1後方カメラの画像と前記右方カメラの画像と前記左方カメラの画像とで前記俯瞰画像を生成し、前記走行体に対して前記旋回台を旋回可能とする作業モードとされると、前記第2前方カメラの画像と前記第2後方カメラの画像と前記右方カメラの画像と前記左方カメラの画像とで前記俯瞰画像を生成することを特徴とする俯瞰画像システム。 - 前記制御部は、前記作業車両を可視化して表す作業車両標識を前記俯瞰画像に重畳して前記表示部に表示させ、
前記作業車両標識は、前記走行体を示す走行体標識部と、前記旋回台を示す旋回台標識部と、を有し、
前記制御部は、前記走行モードとされると前記俯瞰画像に重畳する前記作業車両標識として前記走行体標識部と前記旋回台標識部とを表示させ、前記作業モードとされると前記俯瞰画像に重畳する前記作業車両標識として前記旋回台標識部のみを表示させることを特徴とする請求項1に記載の俯瞰画像システム。 - 前記制御部は、前記走行体標識部における前記走行体の前進側に相当する箇所を前記表示部での上側に向けて前記走行体標識部を表示させ、前記旋回台標識部における前記旋回台における前記キャビンの正面側に相当する箇所を前記表示部での上側に向けて前記旋回台標識部を表示させることを特徴とする請求項2に記載の俯瞰画像システム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016176872A JP6756555B2 (ja) | 2016-09-09 | 2016-09-09 | 俯瞰画像システム、俯瞰画像表示方法およびプログラム |
EP17848892.0A EP3512194B1 (en) | 2016-09-09 | 2017-09-08 | Bird's-eye view image system, bird's-eye view image display method and program |
PCT/JP2017/032534 WO2018047954A1 (ja) | 2016-09-09 | 2017-09-08 | 俯瞰画像システム、俯瞰画像表示方法及びプログラム |
CN201780053672.0A CN109661813B (zh) | 2016-09-09 | 2017-09-08 | 俯瞰图像系统、俯瞰图像显示方法以及存储有程序的计算机可读取的记录介质 |
US16/329,420 US10661712B2 (en) | 2016-09-09 | 2017-09-08 | Bird's-eye view image system, bird's-eye view image display method and program |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016176872A JP6756555B2 (ja) | 2016-09-09 | 2016-09-09 | 俯瞰画像システム、俯瞰画像表示方法およびプログラム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018042207A JP2018042207A (ja) | 2018-03-15 |
JP6756555B2 true JP6756555B2 (ja) | 2020-09-16 |
Family
ID=61562325
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016176872A Active JP6756555B2 (ja) | 2016-09-09 | 2016-09-09 | 俯瞰画像システム、俯瞰画像表示方法およびプログラム |
Country Status (5)
Country | Link |
---|---|
US (1) | US10661712B2 (ja) |
EP (1) | EP3512194B1 (ja) |
JP (1) | JP6756555B2 (ja) |
CN (1) | CN109661813B (ja) |
WO (1) | WO2018047954A1 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPWO2019131955A1 (ja) * | 2017-12-27 | 2021-01-14 | 住友建機株式会社 | ショベル及びショベルの出力装置 |
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 |
JP7147248B2 (ja) | 2018-04-27 | 2022-10-05 | 株式会社タダノ | クレーン車 |
EP3960938A4 (en) * | 2019-04-26 | 2022-06-22 | Sumitomo Construction Machinery Co., Ltd. | EXCAVATOR |
WO2020256101A1 (ja) * | 2019-06-20 | 2020-12-24 | 株式会社タダノ | 画像システムおよび画像システムを備える作業車両 |
JP7518664B2 (ja) | 2020-05-27 | 2024-07-18 | 株式会社アイチコーポレーション | 作業車 |
CN112019752A (zh) * | 2020-09-11 | 2020-12-01 | 三一汽车起重机械有限公司 | 一种全景监控方法、全景监控系统及起重机 |
AU2022258326A1 (en) | 2021-04-12 | 2023-11-23 | Structural Services, Inc. | Systems and methods for assisting a crane operator |
CN113225527A (zh) * | 2021-04-14 | 2021-08-06 | 三一海洋重工有限公司 | 一种全景视频监控方法、装置及一种工程设备 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7448812B2 (en) * | 2004-05-27 | 2008-11-11 | Heibel Thomas S | Camera mount |
JP4934308B2 (ja) * | 2005-10-17 | 2012-05-16 | 三洋電機株式会社 | 運転支援システム |
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 |
CN101442618A (zh) * | 2008-12-31 | 2009-05-27 | 葛晨阳 | 用于车辆辅助驾驶的360度环形视频合成方法 |
JP5462008B2 (ja) * | 2010-01-25 | 2014-04-02 | 株式会社タダノ | 画像表示システム |
JP5473870B2 (ja) * | 2010-11-15 | 2014-04-16 | 住友建機株式会社 | 建設機械のモニター装置 |
CN102175222B (zh) * | 2011-03-04 | 2012-09-05 | 南开大学 | 基于立体视觉的吊车避障系统 |
JP5841821B2 (ja) * | 2011-12-07 | 2016-01-13 | 富士通テン株式会社 | 画像処理装置、車両、画像処理方法、及び、プログラム |
JP6321977B2 (ja) * | 2014-01-23 | 2018-05-09 | クラリオン株式会社 | 重機用周辺監視装置 |
JP6313992B2 (ja) | 2014-02-18 | 2018-04-18 | クラリオン株式会社 | 牽引車用周囲監視装置 |
JP6204884B2 (ja) * | 2014-07-25 | 2017-09-27 | 日立建機株式会社 | 旋回式作業機の周囲表示装置 |
WO2015125979A1 (ja) * | 2015-04-28 | 2015-08-27 | 株式会社小松製作所 | 作業機械の周辺監視装置及び作業機械の周辺監視方法 |
-
2016
- 2016-09-09 JP JP2016176872A patent/JP6756555B2/ja active Active
-
2017
- 2017-09-08 WO PCT/JP2017/032534 patent/WO2018047954A1/ja unknown
- 2017-09-08 EP EP17848892.0A patent/EP3512194B1/en active Active
- 2017-09-08 CN CN201780053672.0A patent/CN109661813B/zh active Active
- 2017-09-08 US US16/329,420 patent/US10661712B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
JP2018042207A (ja) | 2018-03-15 |
US10661712B2 (en) | 2020-05-26 |
US20190248289A1 (en) | 2019-08-15 |
CN109661813B (zh) | 2020-10-02 |
WO2018047954A1 (ja) | 2018-03-15 |
EP3512194B1 (en) | 2021-04-21 |
CN109661813A (zh) | 2019-04-19 |
EP3512194A1 (en) | 2019-07-17 |
EP3512194A4 (en) | 2020-04-01 |
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