JP6896525B2 - Asphalt finisher - Google Patents

Description

This disclosure relates to an asphalt finisher.

Conventionally, an asphalt finisher provided with a display for displaying an image of a pavement material in a hopper captured by a camera is known (see Patent Document 1). The camera is mounted on the front of the tractor to capture the interior of the hopper in front of the tractor. The image displayed on the display is an image looking down on the inside of the hopper from the tractor side, and is generated by cutting out a part of the input image captured by the camera.

Japanese Patent No. 6029941

However, the driver who sees the image displayed on the display may not be able to intuitively recognize the state of the pavement material in the hopper. This is because the viewpoint of the driver sitting in the driver's seat and the viewpoint of the camera are different.

In view of the above, it is desired to provide an asphalt finisher that allows the driver to more intuitively recognize the state in front of the tractor.

The asphalt finisher according to the embodiment of the present invention includes a tractor including a bonnet, a hopper installed on the front side of the tractor to receive the pavement material, and a conveyor for feeding the pavement material in the hopper to the rear side of the tractor. From the driver's seat perspective, a screw that spreads the pavement material fed by the conveyor on the rear side of the tractor, and a screed that spreads the pavement material spread by the screw on the rear side of the screw. A first imaging device that captures an image of the inside of the hopper, which is a blind spot, and an image of the driver's seat viewpoint generated by converting the viewpoint of the image captured by the first imaging device are transmitted at least through the central portion of the bonnet. It is provided with a display device for displaying in the state of being pavement.

The above-mentioned means provides an asphalt finisher that allows the driver to more intuitively recognize the situation in front of the tractor.

It is a side view of the asphalt finisher which concerns on embodiment of this invention. It is a top view of the asphalt finisher of FIG. It is a perspective view of the asphalt finisher in which the tractor is hidden. It is a block diagram which shows the configuration example of the display system mounted on the asphalt finisher of FIG. It is a figure which shows an example of the output image generated by the display system of FIG. It is a figure which shows an example of the projection image generated by the display system of FIG.

FIG. 1 is a side view of an asphalt finisher 100, which is an example of a road machine according to an embodiment of the present invention. FIG. 2 is a top view of the asphalt finisher 100. The asphalt finisher 100 is mainly composed of a tractor 1, a hopper 2, and a screed 3. In the following, the direction of the hopper 2 as seen from the tractor 1 (+ X direction) is the front, and the direction of the screed 3 as seen from the tractor 1 (−X direction) is the rear.

The tractor 1 is a vehicle for running the asphalt finisher 100. In this embodiment, the tractor 1 uses the rear wheel traveling hydraulic motor to rotate the rear wheels 5, and the front wheel traveling hydraulic motor to rotate the front wheels 6 to move the asphalt finisher 100. The rear wheel running hydraulic motor and the front wheel running hydraulic motor rotate by receiving the supply of hydraulic oil from the hydraulic pump. The rear wheels 5 and the front wheels 6 may be replaced by crawlers.

The controller 50 is a control device that controls the asphalt finisher 100. In this embodiment, the controller 50 is composed of a microcomputer including a CPU, a memory, and the like, and is mounted on the tractor 1. Various functions of the controller 50 are realized by the CPU executing a program stored in a non-volatile storage medium or the like.

The hopper 2 is a mechanism for receiving a pavement material, and mainly includes a hopper wing 20 and a hopper cylinder 24. In this embodiment, the hopper 2 is installed on the front side of the tractor 1. The hopper wing 20 includes a left hopper wing 20L that can be opened and closed in the Y-axis direction (vehicle width direction) by the left hopper cylinder 24L, and a right hopper wing 20R that can be opened and closed in the Y-axis direction (vehicle width direction) by the right hopper cylinder 24R. including. The asphalt finisher 100 typically receives the pavement material (eg, an asphalt mixture) from the dump truck bed with the hopper wing 20 fully open. FIG. 2 shows that the hopper wing 20 is in the fully open state. When the amount of pavement material in the hopper 2 decreases, the hopper wing 20 is closed, and the pavement material near the inner wall of the hopper 2 is collected in the central portion of the hopper 2. This is so that the convair CV in the central portion of the hopper 2 can continuously feed the pavement material to the rear side of the tractor 1. That is, it is possible to maintain the state in which the pavement material is accumulated on the conveyor CV. After that, the pavement material fed to the rear side of the tractor 1 is spread in the vehicle width direction on the rear side of the tractor 1 and the front side of the screed 3 by the screw SC. In this embodiment, the screw SC is in a state where the extension screws are connected to the left and right. 1 and 2 show the pavement material PV spread on the roadbed RB by the screw SC in a dot pattern.

The screed 3 is a mechanism for spreading the pavement material PV. In this embodiment, the screed 3 includes a front screed 30 and a rear screed 31. The screed 3 is a floating screed towed by the tractor 1 and is connected to the tractor 1 via a leveling arm 3A. The pavement material PV spread and compacted by the screed 3 forms a new pavement body NP adjacent to the existing pavement body AP.

The image pickup device 51 is a device for acquiring an image. In this embodiment, the image pickup apparatus 51 is a monocular camera and is connected to the controller 50 wirelessly or by wire. The controller 50 can generate an image of the viewpoint of the driver seated in the driver's seat 1S (hereinafter, referred to as “driver's seat viewpoint”) by subjecting the image captured by the image pickup device 51 to a viewpoint conversion process. The image pickup device 51 may be a stereo camera or a distance image camera. In this embodiment, the image pickup apparatus 51 includes a front camera 51F, a left camera 51L, a right camera 51R, and a conveyor camera 51C.

The front camera 51F captures an image of the inside of the hopper 2, which is a blind spot from the viewpoint of the driver's seat. In this embodiment, the tractor 1 is attached so that the optical axis of the front camera 51F and the visual axis of the driver seated in the driver's seat 1S (when looking at one point in the hopper 2) are different. Specifically, it is attached to the bonnet 1B, which is the front part of the tractor 1, so that the depression angle of the optical axis of the front camera 51F and the depression angle of the driver's visual axis are different. However, the front camera 51F may be mounted so that the depression angle of the optical axis and the depression angle of the driver's visual axis are the same, and the front camera 51F is mounted so that the optical axis and the driver's visual axis coincide with each other. It may be. The gray areas Z1 in FIGS. 1 and 2 indicate the imaging range of the front camera 51F. The imaging range of the front camera 51F may include the space in front of the hopper 2. The front camera 51F may be attached to the trailing edge of the hopper 2 so as to photograph the inside of the hopper 2, or may be attached to the inside of the hopper 2.

The left camera 51L captures an image of the outside of the left hopper wing 20L, which is a blind spot from the driver's seat viewpoint, in the vehicle width direction. In this embodiment, the left hopper wing 20L is attached to the tip of a rod member BL extending in the + Y direction (left) from the left side portion of the tractor 1 so that an image of a blind spot on the outside in the vehicle width direction can be captured. Specifically, the left camera 51L is attached so as to project outward (left side) in the vehicle width direction from the left end of the left hopper wing 20L in the fully opened state. The gray areas Z2 in FIGS. 1 and 2 indicate the imaging range of the left camera 51L.

The right camera 51R captures an image of the outside of the right hopper wing 20R, which is a blind spot from the driver's seat viewpoint, in the vehicle width direction. In this embodiment, the right hopper wing 20R is attached to the tip of a rod member BR extending in the −Y direction (right side) from the right side portion of the tractor 1 so that an image of a blind spot on the outside in the vehicle width direction can be captured. Specifically, the right camera 51R is attached so as to project outward (right side) in the vehicle width direction from the right end of the right hopper wing 20R in the fully opened state. The gray area Z3 in FIG. 2 shows the imaging range of the right camera 51R.

The rod members BL and BR are preferably configured to be stretchable. It may be configured to be removable. This is to deal with the case where the asphalt finisher 100 is transported by a trailer or the like.

When the asphalt finisher 100 is provided with a canopy, the left camera 51L may be attached to the left edge of the top plate of the canopy. The same applies to the right camera 51R. In this case, the front camera 51F may be attached to the front edge of the top plate of the canopy.

The conveyor camera 51C captures an image of the conveyor CV inside the tractor 1. In this embodiment, the conveyor CV is attached to the tractor 1 on the conveyor CV and inside the tractor 1 so that an image of a portion inside the tractor 1 can be captured.

FIG. 3 is a perspective view of the asphalt finisher 100 in a state where the tractor 1 is not shown, and shows the mounting position of the conveyor camera 51C. The conveyor camera 51C takes an image of the conveyor portion CV1 inside the tractor 1 among the conveyor CVs. The gray area Z4 in FIG. 3 shows the imaging range of the conveyor camera 51C. A lighting device LS is attached to the conveyor camera 51C so that an image can be taken in a dark place. Lighting devices may be similarly attached to the front camera 51F, the left camera 51L, and the right camera 51R.

The display device 52 is a device that displays various images. In this embodiment, the display device 52 is a liquid crystal display and is connected to the controller 50 wirelessly or by wire. The display device 52 is arranged so as to intersect the visual axis (when looking at one point in the hopper 2) of the driver seated in the driver's seat 1S. However, the display device 52 may be arranged so as not to intersect the visual axis of the driver seated in the driver's seat 1S. The controller 50 displays, for example, an output image generated by performing a viewpoint conversion process on the image captured by the image pickup device 51 on the display device 52. The display device 52 may be a head-up display or a projector.

Next, the display system GS mounted on the asphalt finisher 100 will be described with reference to FIG. FIG. 4 is a block diagram showing a configuration example of the display system GS. The display system GS is mainly composed of a controller 50, an image pickup device 51, a display device 52, an information acquisition device 53, a storage device 54, and the like. The display system GS generates, for example, an output image based on the input image captured by the image pickup device 51, and displays the output image on the display device 52.

The information acquisition device 53 acquires information and outputs the acquired information to the controller 50. The information acquisition device 53 includes, for example, at least one such as a hopper open / close switch, a hopper cylinder stroke sensor, a conveyor speed dial, a conveyor speed sensor, and a conveyor switch. The hopper cylinder stroke sensor detects the stroke amount of the hopper cylinder 24. The conveyor speed sensor detects the speed at which the conveyor CV feeds the pavement material. The conveyor switch is a switch that can be used by the operator to turn the conveyor CV on and off.

The storage device 54 is a device for storing various types of information. In this embodiment, the storage device 54 is a non-volatile storage device that stores the input image / output image correspondence map 54a in a referenceable manner.

The input image / output image correspondence map 54a stores the correspondence between the coordinates on the input image plane and the coordinates on the output image plane. The correspondence is preset based on various parameters such as the optical center of the imaging device 51, the focal length, the CCD size, the optical axis direction vector, the camera horizontal direction vector, and the projection method so that the desired viewpoint conversion can be realized. There is. When the input image contains an apparent distortion or tilt, the correspondence may be set so that the apparent distortion or tilt does not appear in the output image.

The controller 50 includes a viewpoint conversion unit 50a and a model creation unit 50b as functional elements. The viewpoint conversion unit 50a and the model creation unit 50b are composed of software, hardware, or firmware.

The viewpoint conversion unit 50a is a functional element that generates an output image. In this embodiment, the coordinates on the input image plane where the input image captured by the image pickup device 51 is located and the output image from the driver's seat viewpoint are obtained with reference to the input image / output image correspondence map 54a stored in the storage device 54. Corresponds to the coordinates on the output image plane where it is located. Specifically, the viewpoint conversion unit 50a associates the value of each pixel in the input image (for example, a luminance value, a hue value, a saturation value, etc.) with the value of each pixel in the output image to generate the output image. Generate.

The model creation unit 50b is a functional element that creates a model of three-dimensional computer graphics (hereinafter, referred to as "3D model") superimposed and displayed on the output image. In this embodiment, the model creation unit 50b creates a 3D model of the tractor 1 so as to match the viewpoint conversion image inside the hopper 2 generated by the viewpoint conversion unit 50a. A 3D model such as the bonnet 1B of the tractor 1, the hopper wing 20, the steering 1H, and the control panel 1P may be created.

In this embodiment, the controller 50 refers to the input image / output image correspondence map 54a by the viewpoint conversion unit 50a. Then, the values (for example, luminance value, hue value, saturation value, etc.) possessed by the coordinates on the input image plane corresponding to each coordinate on the output image plane are acquired, and the acquired values correspond to the acquired values. It is adopted as the value of each coordinate on the output image plane.

After that, the controller 50 determines whether or not all the coordinate values on the output image plane are associated with the coordinate values on the input image plane. If it is determined that the values of all the coordinates are not yet associated, the above process is repeated.

On the other hand, when it is determined that the values of all the coordinates are associated with each other, the controller 50 superimposes and displays the 3D models such as the tractor 1 and the hopper wing 20 on the output image by the model creation unit 50b. In this embodiment, the position on the output image on which the 3D model is superimposed is registered in advance, but it may be dynamically derived. Further, the controller 50 may associate the coordinates on the input image plane with the coordinates on the output image plane after displaying the 3D model.

Next, with reference to FIG. 5, input images captured by each of the four image pickup devices 51 (front camera 51F, left camera 51L, right camera 51R, and conveyor camera 51C) mounted on the asphalt finisher 100 are used. The output image generated by the above will be described. FIG. 5 is a diagram showing an example of an output image. Specifically, FIG. 5A shows an example of an output image displayed on the display device 52. FIG. 5B shows the classification of the input image used to generate the output image of FIG. 5A.

The output image of FIG. 5A is an image that virtually represents the state when the pavement material PV on the hopper 2 and the conveyor CV is viewed from the driver's seat 1S. The output image of FIG. 5A mainly includes images G1 to G4 generated by the viewpoint conversion unit 50a and 3D models CG1 to CG8 created by the model creation unit 50b.

The 3D models CG1 to CG5 are represented by wireframe models. It may be represented by a surface model or a solid model. In the case of a surface model or a solid model, it is displayed semi-transparently. The 3D models CG6 to CG8 are represented by surface models. It may be represented by a wireframe model or a solid model. The 3D models CG1 to CG8 may be expressed by other expression methods.

The 3D model CG1 is a 3D model of the main body of the tractor 1 and includes a 3D model of the bonnet 1B. The 3D model CG2 is a 3D model of the left hopper wing 20L. The 3D model CG3 is a 3D model of the control panel 1P. The 3D model CG4 is a 3D model of steering 1H. The 3D model CG5 is a 3D model of the right hopper wing 20R. The 3D model CG6 is a 3D model of the guide rail 1G. The 3D model CG7 is a 3D model with a left rear wheel of 5L. The 3D model CG8 is a 3D model of the right rear wheel 5R.

Image G1 is an image of an operator present on the left front side of the asphalt finisher 100. The image G2 is an image of the inside of the hopper 2 and includes an image of the pavement material PV in the hopper 2. Image G3 is an image of a manhole cover existing on the right front side of the asphalt finisher 100. Image G4 is an image of the conveyor portion CV1 and includes an image of the pavement material PV on the conveyor portion CV1.

5 (B) is an image corresponding to FIG. 5 (A), and the display of the 3D models CG1 to CG8 is omitted, and only the images G1 to G4 are displayed.

As shown in FIG. 5B, the worker image G1 is included in the left image R1. The left image R1 is an image generated based on the input image captured by the left camera 51L. In this embodiment, the left image R1 includes an image of the left hopper wing 20L on the outside (left side) in the vehicle width direction. The controller 50 generates the left image R1 by cutting out a part of the input image captured by the left camera 51L and performing the viewpoint conversion process by the viewpoint conversion unit 50a. The left image R1 is arranged at the upper left side of the output image.

Further, the image G2 inside the hopper 2 is included in the central upper image R2. The upper center image R2 is an image generated based on the input image captured by the front camera 51F. In this embodiment, the central upper image R2 includes an image showing a state when the inside of the hopper 2 is looked down from the tractor 1 side. The controller 50 generates the central upper image R2 by cutting out a part of the input image captured by the front camera 51F and performing the viewpoint conversion process. The upper center image R2 is arranged in the upper center of the output image.

Further, the image G3 of the manhole cover as road surface information is included in the right image R3. The right image R3 is an image generated based on the input image captured by the right camera 51R. In this embodiment, the right image R3 includes an image of the right hopper wing 20R on the outside (right side) in the vehicle width direction. The controller 50 generates the right image R3 by cutting out a part of the input image captured by the right camera 51R and performing the viewpoint conversion process by the viewpoint conversion unit 50a. The right image R3 is arranged on the upper right side of the output image.

Further, the image G4 of the conveyor portion CV1 is included in the lower center image R4. The lower center image R4 is an image generated based on the input image captured by the conveyor camera 51C. In this embodiment, the lower center image R4 includes an image showing a state when the upper surface of the conveyor portion CV1 is viewed from above. The controller 50 generates the lower center image R4 by cutting out a part of the input image captured by the conveyor camera 51C and performing the viewpoint conversion process. The lower center image R4 is arranged at the lower center of the output image.

In this embodiment, the lower center image R4 includes a first portion R4a, a second portion R4b, and a third portion R4c. The first portion R4a is an image generated based on the input image captured by the conveyor camera 51C at the present time. The second portion R4b is an image generated based on the input image captured by the conveyor camera 51C at the first time point before the present time. The third portion R4c is an image generated based on the input image captured by the conveyor camera 51C at the second time point before the first time point. The lower center image R4 may be generated based only on the image captured by the conveyor camera 51C at the present time, or based on two or four or more images captured by the conveyor camera 51C at two or four or more time points. May be generated. The controller 50 may change the method of generating the lower center image R4 based on the output of the conveyor speed sensor as the information acquisition device 53.

In this embodiment, the correspondence between the coordinates on the input image plane and the coordinates on the output image plane for each of the input images of the four cameras is the input image / output image in a state where the effect of the viewpoint conversion process is taken in advance. It is stored in the correspondence map 54a. Therefore, the controller 50 can associate the coordinates on the plurality of input image planes with the coordinates on the output image plane only by referring to the input image / output image correspondence map 54a. As a result, the controller 50 can generate and display an output image with a relatively low calculation load.

Further, the controller 50 superimposes and displays the left portion of the 3D model CG1 of the main body of the tractor 1 and the 3D model CG2 of the left hopper wing 20L on the left image R1. Therefore, the driver who sees the output image from the driver's seat viewpoint can visually recognize the image G1 of the operator through the tractor 1 and the left hopper wing 20L as if they are transparent or translucent. As a result, the driver can intuitively grasp that the operator is in front of the left front of the asphalt finisher 100.

Further, the controller 50 superimposes and displays the central portion of the 3D model CG1 of the main body of the tractor 1 on the upper center image R2. Therefore, the driver who sees the output image from the driver's seat viewpoint can visually recognize the image G2 inside the hopper 2 through the tractor 1 as if it were transparent or translucent. As a result, the driver can intuitively grasp what the inside of the hopper 2 looks like. For example, it is possible to intuitively grasp how much the pavement material PV is contained inside the hopper 2.

Further, the controller 50 superimposes and displays the right portion of the 3D model CG1 of the main body of the tractor 1 and the 3D model CG5 of the right hopper wing 20R on the right image R3. Therefore, the driver who sees the output image from the driver's seat viewpoint can visually recognize the image G3 of the manhole cover through the tractor 1 and the right hopper wing 20R as if they are transparent or translucent. As a result, the driver can intuitively grasp that the manhole cover is located in front of the asphalt finisher 100 and operate the asphalt finisher 100 so that the tires of the rear wheels 5 and the tires of the front wheels 6 do not ride on the asphalt finisher 100.

Further, the controller 50 superimposes and displays the central portion of the 3D model CG1 of the main body of the tractor 1 on the lower center image R4. Therefore, the driver who sees the output image from the driver's seat viewpoint can visually recognize the image G4 of the conveyor portion CV1 through the tractor 1 as if it were transparent or translucent. As a result, the driver can intuitively grasp what is on the conveyor portion CV1. For example, it is possible to intuitively grasp how much the pavement material PV is placed on the conveyor portion CV1.

Further, in the above-described embodiment, each of the left image R1, the upper center image R2, the right image R3, and the lower center image R4 is generated based on the input image captured by one corresponding camera. However, the present invention is not limited to this configuration. For example, each of the left image R1, the upper center image R2, the right image R3, and the lower center image R4 may be generated based on input images captured by two or more cameras.

As described above, the asphalt finisher 100 is generated by converting the viewpoint of the front camera 51F as the first imaging device that captures the image of the inside of the hopper 2 which is the blind spot from the driver's seat viewpoint and the image captured by the front camera 51F. It is provided with a display device 52 that displays an output image of the driver's seat viewpoint (for example, an output image including the upper center image R2). Therefore, the driver can more intuitively recognize the state in front of the tractor 1.

The display device 52 preferably displays an output image of the driver's seat viewpoint (for example, an output image including the left image R1, the upper center image R2, and the right image R3) together with the 3D model CG1 of the tractor 1. Therefore, the driver can visually recognize the blind spot regarding the hopper 2 by looking at the output image. As a result, the asphalt finisher 100 can improve visibility, safety, operability and workability. Specifically, the asphalt finisher 100 intuitively gives the driver the remaining amount of the pavement material PV in the hopper 2, the position of a feature (for example, a manhole) on the road surface to be paved as road surface information, and the like. Can be recognized. In addition, the driver can intuitively recognize the position of the worker working around the hopper 2. Therefore, the driver can perform various operations such as opening / closing the hopper wing 20 and turning on / off the convair CV after confirming the positions of the features and the operator by looking at the output image.

The display device 52 may display, for example, an output image of the driver's seat viewpoint including an image of the pavement material PV in the hopper 2 (for example, an output image including the upper center image R2) together with the 3D model of the bonnet 1B of the tractor 1. Good. In this case, the driver can more intuitively recognize the state of the pavement material PV inside the hopper 2.

The display device 52 includes, for example, a 3D model of the left hopper wing 20L and an output image of the driver's seat viewpoint (for example, the left image R1) generated by converting the image captured by the left camera 51L as the second imaging device into a viewpoint. The output image) may be displayed. In this case, the driver can more intuitively recognize the state of the left hopper wing 20L outside (left side) in the vehicle width direction, which is a blind spot from the driver's seat viewpoint. Similarly, the display device 52, for example, together with the 3D model of the right hopper wing 20R, outputs an output image of the driver's seat viewpoint (for example, the right image) generated by converting the viewpoint of the image captured by the right camera 51R as the second imaging device. An output image including R3) may be displayed. In this case, the driver can more intuitively recognize the state of the right hopper wing 20R outside (right side) in the vehicle width direction, which is a blind spot from the driver's seat viewpoint.

The display device 52, for example, is an output image of the driver's seat viewpoint (for example, the center) generated by converting the viewpoint of the image captured by the conveyor camera 51C as the third image pickup device together with the 3D model of the tractor 1 on the conveyor CV. The output image including the lower image R4) may be displayed. In this case, the driver can more intuitively recognize the state of the pavement material PV on the conveyor portion CV1.

Next, a case where a projector is adopted as the display device 52 will be described with reference to FIG. FIG. 6 is a diagram showing an example of an output image (projected image) of the driver's seat viewpoint displayed (projected) on the surface of the tractor 1 by the projector. Specifically, FIG. 6A shows the surface of the tractor 1 before the projected image PG visible to the driver seated in the driver's seat 1S is projected. FIG. 6B shows an example of the projected image PG. FIG. 6C shows the surface of the tractor 1 after the projected image PG is projected. In the example of FIG. 6, the projector is attached to the upper end of the attachment stay extending vertically upward from the guide rail 1G behind the driver's seat 1S. If the asphalt finisher 100 is equipped with a canopy, the projector may be mounted on the ceiling of the canopy.

In this example, as shown in FIG. 6B, the projected image PG is represented by a 3D model CG10 of the hopper 2, a 3D model CG11 of the conveyor CV, an image R10 represented by a dot pattern, and a diagonal line pattern. Includes image R11.

The image R10 is an image generated based on the input image captured by the front camera 51F. In this example, the image R10 includes an image showing a state when the inside of the hopper 2 is looked down from the tractor 1 side. The controller 50 generates the image R10 by cutting out a part of the input image captured by the front camera 51F and performing the viewpoint conversion process. In this example, image R10 includes an image of the pavement PV in the hopper 2.

The image R11 is an image generated based on the input image captured by the conveyor camera 51C. In this example, the image R11 includes an image showing a state when the upper surface of the conveyor portion CV1 is viewed from above. The controller 50 generates the image R11 by cutting out a part of the input image captured by the conveyor camera 51C and performing the viewpoint conversion process. In this example, image R11 includes an image of the pavement PV fed rearward by the conveyor CV.

In this example, the input images captured by each of the left camera 51L and the right camera 51R are not used for generating the output image. However, the projector may, for example, project an image of the driver's seat viewpoint generated based on the input image captured by the left camera 51L onto the 3D model of the left hopper wing 20L. This is to allow the driver to more intuitively recognize the state of the left hopper wing 20L on the outside (left side) in the vehicle width direction. The same applies to the image generated based on the input image captured by the right camera 51R.

With this configuration, the asphalt finisher 100 can realize the same effect as when the output image of FIG. 5 is displayed on the liquid crystal display as the display device 52.

The preferred embodiments of the present invention have been described above. However, the present invention is not limited to the above-mentioned examples. Various modifications, substitutions, etc. can be applied to the above-described examples without departing from the scope of the present invention. In addition, each of the features described with reference to the above-described embodiments may be appropriately combined as long as there is no technical contradiction.

For example, the asphalt finisher 100 may be a goose asphalt finisher using a goose asphalt mixture.

1 ... tractor 1B ... bonnet 1G ... guide rail 1H ... steering 1S ... driver's seat 2 ... hopper 3 ... screed 3A ... leveling arm 5 ... rear wheel 6・ ・ ・ Front wheel 20 ・ ・ ・ Hopper wing 20L ・ ・ ・ Left hopper wing 20R ・ ・ ・ Right hopper wing 24 ・ ・ ・ Hopper cylinder 24L ・ ・ ・ Left hopper cylinder 24R ・ ・ ・ Right hopper cylinder 30 ・ ・ ・ Front side screed 31 ... Rear screed 50 ... Controller 50a ... Viewpoint conversion unit 50b ... Model creation unit 51 ... Imaging device 51C ... Conveyor camera 51F ... Front camera 51L ... Left camera 51R ・ ・ ・ Right camera 52 ・ ・ ・ Display device 53 ・ ・ ・ Information acquisition device 54 ・ ・ ・ Storage device 54a ・ ・ ・ Input image / output image correspondence map 100 ・ ・ ・ Asphalt finisher AP ・ ・ ・ Existing pavement BL , BR ・ ・ ・ Bar members CG1 ・ CG8 ・ ・ ・ 3D model CV ・ ・ ・ Conveyor G1 ・ G4 ・ ・ ・ Image LS ・ ・ ・ Lighting device NP ・ ・ ・ New pavement PV ・ ・ ・ Pavement material R1 ・ ・ ・Left image R2 ... Upper center image R3 ... Right image R4 ... Lower center image R4a ... 1st part R4b ... 2nd part R4c ... 3rd part RB ... Roadbed SC ...・ ・ Screw

Claims (7)

With a tractor including the bonnet,
A hopper installed on the front side of the tractor to receive pavement material,
A conveyor that feeds the pavement material in the hopper to the rear side of the tractor,
A screw that spreads the pavement material fed by the conveyor behind the tractor, and
A screed that spreads the pavement material spread by the screw on the rear side of the screw, and
A first imaging device that captures an image of the inside of the hopper, which is a blind spot from the driver's seat viewpoint,
A display device including a display device that displays an image of the driver's seat viewpoint generated by converting the viewpoint of the image captured by the first imaging device in a state of being transmitted through at least the central portion of the bonnet.
Asphalt finisher. The display device displays an image of the driver's seat viewpoint together with the three-dimensional computer graphics of the tractor.
The asphalt finisher according to claim 1. The display device projects an image of the driver's seat viewpoint onto the tractor.
The asphalt finisher according to claim 1 or 2. The display device, together with three-dimensional computer graphics of the bonnet of the tractor, to display an image of the driver's seat viewpoints including image of the paving material in the hopper,
The asphalt finisher according to any one of claims 1 to 3. A second imaging device for capturing an image of the outside of the hopper wing in the vehicle width direction, which is a blind spot from the driver's seat viewpoint, is provided.
The display device displays the image of the driver's seat viewpoint generated by converting the viewpoint of the image captured by the second imaging device together with the three-dimensional computer graphics of the hopper wing.
The asphalt finisher according to any one of claims 1 to 4. The display device displays an image of the driver's seat viewpoint generated by converting the viewpoint of the image of the road surface information captured by the second imaging device.
The asphalt finisher according to claim 5. A third image pickup device for capturing an image of a portion of the conveyor inside the tractor is provided.
The display device displays an image of the driver's seat viewpoint generated by converting the image captured by the third imaging device into a viewpoint together with the three-dimensional computer graphics of the tractor on the conveyor.
The asphalt finisher according to any one of claims 1 to 6.

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