WO2012169362A1 - 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
- Publication number
- WO2012169362A1 WO2012169362A1 PCT/JP2012/063255 JP2012063255W WO2012169362A1 WO 2012169362 A1 WO2012169362 A1 WO 2012169362A1 JP 2012063255 W JP2012063255 W JP 2012063255W WO 2012169362 A1 WO2012169362 A1 WO 2012169362A1
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- WIPO (PCT)
- Prior art keywords
- camera
- vehicle body
- vehicle
- work vehicle
- outer edge
- Prior art date
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- 238000012806 monitoring device Methods 0.000 title claims abstract description 21
- 238000003384 imaging method Methods 0.000 claims description 13
- 238000012544 monitoring process Methods 0.000 claims description 11
- 230000002093 peripheral effect Effects 0.000 claims description 8
- 230000015654 memory Effects 0.000 description 7
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 240000004050 Pentaglottis sempervirens Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 241000905137 Veronica schmidtiana Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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
- B60R1/002—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 specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like
-
- 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
- B60R1/26—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 to the rear of the vehicle
-
- 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
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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
- H04N23/60—Control of cameras or camera modules
- H04N23/63—Control of cameras or camera modules by using electronic viewfinders
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
-
- 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
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
- B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
-
- 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
- B60R2300/605—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 the adjustment being automatic
-
- 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
- B60R2300/8093—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 obstacle warning
-
- 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
Definitions
- the present invention relates to a surrounding area monitoring apparatus, and more particularly to a surrounding area monitoring apparatus that displays a camera image around a work vehicle on a display device.
- a dump truck used to transport crushed stone in a mine or the like is known as a super large work vehicle.
- This type of dump truck has a remarkably wide vehicle width and a long front-rear length compared to a general truck or other vehicle, so it is difficult for the driver to grasp the surrounding situation with a side mirror etc. .
- Non-Patent Document 1 proposes a periphery monitoring device that causes a display device to display bird's-eye images in front of the vehicle and left and right, and camera images in the rear of the vehicle for the purpose of making the driver easily grasp the surrounding conditions. ing.
- the periphery monitoring device of Non-Patent Document 1 includes three cameras for capturing the front of the vehicle and left and right, and a rear camera for capturing the rear of the vehicle.
- the rear camera is disposed under the vehicle body having a vessel, and the camera image shows the ground behind the vehicle body.
- Non-Patent Document 1 since the vehicle body exists above the rear camera, it is not easy to grasp the positional relationship between the vehicle body and an object around the vehicle body (for example, a person, a car, a building, etc.) . That is, it is difficult to determine in the camera image whether a person is in the space under the vehicle body or how close the vehicle body is to a building.
- an object around the vehicle body for example, a person, a car, a building, etc.
- the present invention has been made in view of the above-described circumstances, and an object thereof is to provide a periphery monitoring device capable of easily determining the positional relationship between a vehicle body and an object around the vehicle body on a camera image. (Means to solve the problem)
- the periphery monitoring device for a work vehicle is a periphery monitoring device for displaying an image of the periphery of the work vehicle on a display device, which is disposed below the vehicle body of the work vehicle and acquires camera images around the work vehicle And a display control unit that causes a display device to display a camera, a camera image acquired by the camera, and a vehicle body outer edge line indicating the outer edge of the vehicle body vertically projected on the ground on the camera image.
- the driver can reference the positional relationship between the vehicle body located above the camera and an object around the vehicle body (for example, a person, a car, a building, etc.) Can be easily grasped. Therefore, for example, it can be easily determined on the camera image whether a person is in the space under the vehicle body or how close the vehicle body is to the building. As a result, the driver can easily grasp the situation around the work vehicle.
- an object around the vehicle body for example, a person, a car, a building, etc.
- the work vehicle peripheral monitoring apparatus relates to the first invention, and the display control unit sets a warning line indicating a position at a predetermined distance from the vehicle body outer edge line on the ground of the camera image outside the vehicle body outer edge line. Display.
- a work vehicle periphery monitoring apparatus according to the first or second aspect, wherein the vehicle body includes a frame and a vessel disposed on the frame. Includes the back end.
- the work vehicle peripheral monitoring apparatus since the rear end of the vessel can be directly confirmed on the camera image, the positional relationship between the vessel and the object around the vessel can be made clearer to the driver. It can be made to grasp.
- the work vehicle surroundings monitoring apparatus is a surroundings monitoring apparatus that displays an image of the surroundings of the work vehicle on the display device, and is mounted on the vehicle body of the work vehicle and acquires camera images around the work vehicle Displaying a plurality of cameras, a bird's-eye view around the work vehicle based on a plurality of camera images acquired by the plurality of cameras, and a specific camera image of the plurality of camera images side by side And a display control unit configured to display a vehicle body outer edge line indicating the outer edge of the vehicle body vertically projected on the ground on the camera image. (Effect of the invention)
- a periphery monitoring device capable of easily determining the positional relationship between a vehicle body and an object around the vehicle body on a camera image.
- front, rear, left, right is a term based on the operator seated in the driver's seat
- vehicle width direction is synonymous with “left-right direction”.
- FIG. 1 is a perspective view showing an entire configuration of a dump truck 1 provided with a periphery monitoring device according to an embodiment of the present invention.
- the dump truck 1 is a self-propelled ultra large work vehicle used for mining work and the like.
- the dump truck 1 mainly includes a body frame 2, a cab 3, a vessel 4, two front wheels 5, two rear wheels 6, and a base 7.
- the dump truck 1 also includes a periphery monitoring device 10 that displays an image of the surroundings of the vehicle on a monitor. The configuration of the periphery monitoring device 10 will be described later.
- the vehicle body frame 2 supports a power mechanism such as a diesel engine and a transmission (not shown) and other accessories. Further, front wheels 5 (only the right front wheel is shown in FIG. 1) are supported at the front left and right of the vehicle body frame 2, and rear wheels 6 (only the right rear wheel are shown in FIG. 1) are supported at the left and right rear.
- the vehicle body frame 2 has a lower deck 2A on the side closer to the ground, and an upper deck 2B above the lower deck 2A. Two movable ladders 2C are provided between the lower deck 2A and the ground, and a diagonal ladder 2D is provided between the lower deck 2A and the upper deck 2B. On the upper deck 2B, rail-like handrails are fixed to the front left and right, the side, and a part of the rear.
- the cab 3 is disposed on the upper deck 2B so as to be biased leftward from the center in the vehicle width direction.
- a driver's seat a shift lever, a controller, a monitor, a steering wheel, an accelerator pedal, a brake pedal and the like are provided.
- the controller, the monitor and the shift lever form part of the periphery monitoring device 10.
- the vessel 4 is a container for loading heavy materials such as crushed stone.
- the rear bottom of the vessel 4 is pivotably connected to the rear end of the vehicle body frame 2 via a pivot pin (not shown).
- the vessel 4 is lifted up by the actuator, such as a hydraulic cylinder (not shown), so that the front portion thereof rotates upward to discharge the load, and the front portion is positioned above the cab as shown in FIG. Attitude can be taken.
- the base 7 is disposed on the upper deck 2B.
- the base 7 is a power feeding device for installing a pantograph that receives power from an overhead wire for a trolley.
- the vehicle body frame 2 and the vessel 4 constitute the “vehicle body” of the dump truck 1.
- FIG. 2 is a block diagram showing the configuration of the periphery monitoring device 10 provided in the dump truck 1.
- the periphery monitoring device 10 has six cameras 11 to 16, six frame memories 11A to 16A, an operator switch 20, a monitor 30, and a display control unit 40.
- FIG. 3 is a plan view of the dump truck 1 showing the mounting positions of the six cameras 11 to 16 and the two-dimensional imaging range.
- FIG. 4 is a perspective view of the dump truck 1 showing a three-dimensional imaging range by six cameras 11-16.
- FIG. 5 is a perspective view showing an attached state of the sixth camera 16.
- Six cameras 11 to 16 are mounted on the outer periphery of the dump truck 1 and acquire images around the dump truck 1.
- the first camera 11 is disposed at the upper end portion of the oblique rudder 2D, and is fixed toward the front of the vehicle.
- the first imaging range 11R of the first camera 11 is in front of the vehicle.
- the second camera 12 is disposed at the right end of the front side surface of the upper deck 2B, and is fixed toward the front right of the vehicle.
- the second imaging range 12R of the second camera 12 is the front right of the vehicle.
- the third camera 13 is disposed at a symmetrical position with the second camera 12, that is, at the left end of the front side surface of the upper deck 2B, and is fixed toward the front left of the vehicle.
- the third imaging range 13R of the third camera 13 is obliquely left forward.
- the fourth camera 14 is disposed at the front end of the right side surface of the upper deck 2B, and is fixed toward the vehicle diagonally rearward to the right.
- the fourth imaging range 14R of the fourth camera 14 is obliquely backward right.
- the fifth camera 15 is disposed at a position symmetrical with the fourth camera, that is, at the front end of the left side surface of the upper deck 2B, and is fixed obliquely toward the rear left of the vehicle.
- the fifth shooting range 15R of the fifth camera 15 is diagonally left backward.
- the sixth camera 16 is disposed so as to dive below the vessel 4 and is fixed toward the rear of the vehicle. Specifically, the sixth camera 16 is fixed to a bracket 9 a attached to the cross bar 9 above the rear axle 8.
- the sixth camera 16 is fixed to be obliquely rearward and downward, and an imaging range 16R of the rear camera 16 is below the vessel 4 and the rear of the vehicle.
- the imaging range 16R of the sixth camera 16 includes the vehicle body itself (the rear end of the vessel 4) unlike the imaging range images of other cameras (see FIG. 6).
- Images of almost the entire periphery of the dump truck 1 are acquired by the six cameras 11 to 16 described above.
- Each of the six cameras 11 to 16 transmits camera image data indicating a camera image photographed by the own device to each of the frame memories 11A to 16A.
- the six frame memories 11A to 16A are connected to the six cameras 11 to 16.
- the six cameras 11 to 16 temporarily store camera image data received from the six cameras 11 to 16.
- the six frame memories 11A to 16A transmit the stored camera image data to the display control unit 40.
- the operator switch 20 is an operating tool for specifying a camera image to be displayed on the monitor 30 among the camera images of the six cameras 11 to 16.
- the driver can display a desired camera image on the monitor 30 by operating the operator switch 20.
- the operator switch 20 notifies the display control unit 40 which camera image has been selected.
- FIGS. 6 and 7 are schematic views showing the configuration of the monitor 30.
- FIG. The monitor 30 is disposed in front of the driver's seat in the cab 3. As shown in FIGS. 6 and 7, the monitor 30 has a display area 30a for displaying a camera image.
- FIG. 6 shows that the camera image 16G of the sixth camera 16 and the overhead image F are displayed in the display area 30a.
- FIG. 7 shows a state in which the camera image 15G of the fifth camera 15 and the overhead image F are displayed in the display area 30a.
- a plurality of camera images may be displayed in the display area 30a, or only the overhead image F may be displayed.
- Such display on the monitor 30 may be switched automatically according to the traveling state of the dump truck 1. For example, it is possible to display the camera image of the first camera 11 and the overhead image F at the time of forward movement and stop, and to display only the camera image 16G of the sixth camera 16 at reverse time. Further, at the time of reverse movement, the camera image 16G and the overhead image F may be displayed, or the camera image 16G and another camera image may be displayed.
- the display control unit 40 selects camera image data corresponding to the selected camera image based on the notification from the operator switch 20. Further, the display control unit 40 coordinate-transforms the camera image data of the six cameras 11 to 16 to project a plurality of images on a predetermined projection plane and to display a bird's eye image F surrounding the entire periphery of the dump truck 1. The bird's eye view image data shown is generated. The display control unit 40 combines the camera image data and the overhead image data to generate 2-screen data corresponding to a 2-screen image in which the selected camera image and the overhead image F are arranged.
- the display control unit 40 generates car body outer edge line data corresponding to the car body outer edge line BL indicating the outer edge of the car body (including the car body frame 2 and the vessel 4) vertically projected on the ground in the selected camera image. .
- the display control unit 40 generates vehicle body outer edge line data according to the distortion of the camera image of the target camera according to the procedure described below.
- the display control unit 40 defines three matrices Ra, Rb, and Rc indicating the orientation of the target camera based on the following equations (1) to (3).
- the display control unit 40 sets one point on the outer edge of the vehicle body vertically projected on the ground based on the following equation (4)
- (tx, ty, tz) are coordinates of the target camera in the physical coordinate system.
- the display control unit 40 determines three-dimensional coordinates (x of the camera coordinate system based on the following equations (5) to (11).
- y, z) are converted to two-dimensional coordinates (u, v) on the display area 30 a of the monitor 30.
- the display control unit 40 acquires two-dimensional coordinates (u, v) on the display area 30a of one point on the outer edge of the vehicle body vertically projected on the ground.
- the display control unit 40 similarly generates vehicle outer edge line data corresponding to the vehicle outer edge line BL of a desired shape (such as a broken line or a chain line) by acquiring two-dimensional coordinates for a plurality of points on the outer edge of the vehicle body.
- the display control unit 40 similarly uses the above equations (1) to (11) to indicate warnings corresponding to first to third warning lines L1 to L3 indicating positions of a predetermined distance outside from the vehicle body outer edge line BL. Generate line data.
- the first warning line L1 is the outer 3 m of the vehicle outer edge line BL
- the second warning line L2 is the outer 5 m of the vehicle outer edge line BL
- the third warning line L3 is the vehicle outer edge line BL. It is an outer 7m line.
- the display control unit 40 generates display image data by superimposing the generated two-screen data, the generated vehicle body outer edge line data, and the generated warning line data.
- the display control unit 40 transmits the generated display image data to the monitor 30.
- the monitor 30 is provided with a vehicle body outer edge line BL indicating the outer edge of the vehicle body projected vertically onto the ground, and 3, 5 and 7 m lines outside the vehicle body from the vehicle body outer edge line BL.
- the first to third warning lines L1 to L3 shown are displayed together with the camera images 15G and 16G.
- the display control unit 40 causes the monitor 30 to display the camera image and the vehicle body outer edge line BL indicating the outer edge of the vehicle body (including the vessel 4) vertically projected on the ground on the camera image. Equipped with
- the driver can easily grasp the positional relationship between the vehicle body located above the camera and an object around the vehicle body (for example, a person, a car, a building, etc.) based on the vehicle body outer edge line. Therefore, for example, it can be easily determined on the camera image whether a person is in the space under the vehicle body or how close the vehicle body is to the building. As a result, the driver can easily grasp the situation around the dump truck 1.
- an object around the vehicle body for example, a person, a car, a building, etc.
- the display control unit 40 causes the monitor 30 to display the first to third warning lines L1 to L3 indicating the position of a predetermined distance from the vehicle body outer edge line BL.
- the imaging range 16R of the sixth camera 16 includes the ground in the lower part of the screen as shown in FIG. 6, and the vessel 4 constituting a part of the vehicle body in the upper part of the screen facing the ground.
- the rear end lower surface side is included. Therefore, since the rear end portion of the vessel 4 can be directly confirmed on the camera image 16G, the driver can more clearly understand the positional relationship between the vessel and an object around the vessel.
- the display control unit 40 causes the monitor 30 to display the first to third warning lines L1 to L3.
- the display control unit 40 may not display any of the first to third warning lines L1 to L3, or may display four or more warning lines.
- the display control unit 40 indicates the vehicle body outer edge line BL and the first to third warning lines L1 to L3 with broken lines, but the present invention is not limited to this.
- the display control unit 40 may indicate the vehicle body outer edge line BL and the first to third warning lines L1 to L3 with a solid line or a chain line. Further, the display control unit 40 may indicate the vehicle body outer edge line BL and the first to third warning lines L1 to L3 in different colors.
- the dump truck 1 is provided with six cameras 11 to 16. However, the present invention is not limited to this.
- the dump truck 1 may include one to five cameras, or seven or more cameras.
Abstract
Description
(課題を解決するための手段)
第3発明に係る作業車両の周辺監視装置は、第1又は第2発明に係り、車体は、フレームと、フレーム上に配置されるベッセルと、を有し、カメラの撮像範囲には、ベッセルの後端部を含んでいる。
第3発明に係る作業車両の周辺監視装置によれば、ベッセルの後端部をカメラ画像上において直接確認することができるので、ベッセルとベッセル周辺の物体との位置関係をより明確に運転者に把握させることができる。
第4発明に係る作業車両の周辺監視装置は、作業車両の周囲の画像を表示装置に表示する周辺監視装置であって、作業車両の車体に装着され、作業車両の周囲のカメラ画像をそれぞれ取得する複数のカメラと、複数のカメラによって取得される複数のカメラ画像に基づく作業車両の周囲の俯瞰画像と、複数のカメラ画像のうち特定のカメラ画像と、を並べて表示するとともに、カメラ画像上の地面に垂直投影される車体の外縁を示す車体外縁線をカメラ画像上に表示させる表示制御部と、を備える。
(発明の効果)
図1は、本発明の一実施形態による周辺監視装置を備えたダンプトラック1の全体構成を示す斜視図である。ダンプトラック1は、鉱山作業などに用いられる自走式の超大型作業車両である。
図2は、ダンプトラック1が備える周辺監視装置10の構成を示すブロック図である。
図3は、6台のカメラ11~16の装着位置と2次元撮影範囲とを示すダンプトラック1の平面図である。図4は、6台のカメラ11~16による3次元撮像範囲を示すダンプトラック1の斜視図である。図5は、第6カメラ16の取付け状態を示す斜視図である。6台のカメラ11~16は、ダンプトラック1の外周に装着され、ダンプトラック1の周囲の画像を取得する。
第2カメラ12は、アッパデッキ2Bの前側面右端部に配置され、車両右斜め前方に向かって固定されている。第2カメラ12の第2撮影範囲12Rは車両右斜め前方である。
第3カメラ13は、第2カメラ12と左右対称位置、すなわちアッパデッキ2Bの前側面左端部に配置され、車両左斜め前方に向かって固定されている。第3カメラ13の第3撮影範囲13Rは左斜め前方である。
第4カメラ14は、アッパデッキ2Bの右側面前端部に配置され、車両右斜め後方に向かって固定されている。第4カメラ14の第4撮影範囲14Rは右斜め後方である。
第5カメラ15は、第4カメラと左右対称位置、すなわちアッパデッキ2Bの左側面前端部に配置され、車両左斜め後方に向かって固定されている。第5カメラ15の第5撮影範囲15Rは左斜め後方である。
第6カメラ16は、図5に示すように、ベッセル4の下方に潜り込むように配置されており、車両後方に向かって固定されている。具体的に、第6カメラ16は、リヤアクスル8の上方において、クロスバー9に取り付けられたブラケット9aに固定されている。第6カメラ16は後方斜め下向きに固定されており、後方カメラ16の撮像範囲16Rはベッセル4下方と車両後方である。ここで、本実施形態において、第6カメラ16の撮像範囲16Rには、他のカメラの撮像範囲画像とは異なり、車体自体(ベッセル4の後端部)を含んでいる(図6参照)。
6つのフレームメモリ11A~16Aは、6台のカメラ11~16に接続されている。6台のカメラ11~16は、6台のカメラ11~16から受信するカメラ画像データを一旦記憶する。6つのフレームメモリ11A~16Aは、記憶したカメラ画像データを表示制御部40に送信する。
オペレータスイッチ20は、6台のカメラ11~16それぞれのカメラ画像のうちモニタ30に表示すべきカメラ画像を指定するための操作具である。運転者は、オペレータスイッチ20を操作することによって、所望のカメラ画像をモニタ30に表示させることができる。オペレータスイッチ20は、いずれのカメラ画像が選択されたかを表示制御部40に通知する。
図6及び図7は、モニタ30の構成を示す模式図である。
モニタ30は、キャブ3内において運転席の前方に配置される。モニタ30は、図6及び図7に示すように、カメラ画像を表示する表示領域30aを有する。なお、図6は、第6カメラ16のカメラ画像16Gと俯瞰画像Fとが表示領域30aに表示された様子を示している。図7は、第5カメラ15のカメラ画像15Gと俯瞰画像Fとが表示領域30aに表示された様子を示している。
表示制御部40は、オペレータスイッチ20からの通知に基づいて、選択されたカメラ画像に対応するカメラ画像データを選択する。また、表示制御部40は、6台のカメラ11~16のカメラ画像データを座標変換することによって、複数の画像が所定の投影面上に投影されダンプトラック1の全周囲を囲む俯瞰画像Fを示す俯瞰画像データを生成する。表示制御部40は、カメラ画像データと俯瞰画像データとを合成することによって、選択されたカメラ画像と俯瞰画像Fとが並んだ2画面画像に対応する2画面データを生成する。
ca=cos(roll),sa=sin(roll)
cb=cos(pitch),sb=sin(pitch)
cc=cos(yaw),sc=sin(yaw)
rollは、前後方向に平行な軸周りにおける対象カメラの振れ角
pitchは、車幅方向に平行な軸周りにおける対象カメラの振れ角
yawは、鉛直方向に平行な軸周りにおける対象カメラの振れ角
pitch,roll,yawは、表示制御部40が内蔵するメモリに格納されている
次に、表示制御部40は、次式(4)に基づいて、地面に垂直投影された車体の外縁上の1点の物理座標系での3次元座標( Xr, Yr, Zr )を鉛直方向-前後方向-車幅方向のオイラー角として、対象カメラの向きおよび位置を基準とするカメラ座標系での3次元座標( x , y , z )に変換する。
次に、表示制御部40は、次式(5)~(11)に基づいて、カメラ座標系における3次元座標( x , y , z )を、モニタ30の表示領域30a上における2次元座標(u , v)に変換する。
k1,k2.k3は、半径方向歪係数
p1,p2は、せん断方向歪係数
fx、fyは、カメラ焦点距離
cx、cyは、カメラの焦点方向をZ軸,撮像面方向をX軸,Y軸とするカメラ座標系
このように、表示制御部40は、地面に垂直投影された車体の外縁上の1点の表示領域30a上における2次元座標( u , v )を取得する。表示制御部40は、車体の外縁上の複数点について同様に2次元座標を取得することによって、所望の形状(破線や鎖線など)の車体外縁線BLに対応する車体外縁線データを生成する。
(1)周辺監視装置10は、カメラ画像と、カメラ画像上の地面に垂直投影される車体(ベッセル4を含む)の外縁を示す車体外縁線BLと、をモニタ30に表示させる表示制御部40を備える。
(3)第6カメラ16の撮像範囲16Rには、図6に示すように、画面下方には地面が含まれており、地面に対向する画面上方には車体の一部を構成するベッセル4の後端部下面側が含まれている。
従って、ベッセル4の後端部をカメラ画像16G上において直接確認することができるので、ベッセルとベッセル周辺の物体との位置関係をより明確に運転者に把握させることができる。
本発明は以上のような実施形態に限定されるものではなく、本発明の範囲を逸脱することなく種々の変形又は修正が可能である。
2 車体フレーム
3 キャブ
4 ベッセル
10 周辺監視装置
11~16 カメラ
11A~16A フレームメモリ
20 オペレータスイッチ
30 モニタ
30a 表示領域
40 表示用制御部
BL 車体外縁線
L1 第1警告線
L2 第2警告線
L3 第3警告線
Claims (4)
- 作業車両の周囲の画像を表示装置に表示する周辺監視装置であって、
前記作業車両の車体下方に配置され、前記作業車両の周囲のカメラ画像を取得するカメラと、
前記カメラによって取得される前記カメラ画像と、前記カメラ画像上の地面に垂直投影される前記車体の外縁を示す車体外縁線と、を前記表示装置に表示させる表示制御部と、
を備える作業車両の周辺監視装置。 - 前記表示制御部は、前記カメラ画像の地面上において前記車体外縁線から所定距離の位置を示す警告線を、前記車体外縁線の外側に表示させる、
請求項1に記載の作業車両の周辺監視装置。 - 前記車体は、フレームと、フレーム上に配置されるベッセルと、を有し、
前記カメラの撮像範囲には、前記ベッセルの後端部を含んでいる、
請求項1又は2に記載の作業車両の周辺監視装置。 - 作業車両の周囲の画像を表示装置に表示する周辺監視装置であって、
前記作業車両の車体に装着され、前記作業車両の周囲のカメラ画像をそれぞれ取得する複数のカメラと、
前記複数のカメラによって取得される複数のカメラ画像に基づく前記作業車両の周囲の俯瞰画像と、前記複数のカメラ画像のうち特定のカメラ画像と、を並べて表示するとともに、前記カメラ画像上の地面に垂直投影される前記車体の外縁を示す車体外縁線を前記カメラ画像上に表示させる表示制御部と、
を備える作業車両の周辺監視装置。
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CA2808260A CA2808260C (en) | 2011-06-07 | 2012-05-24 | Work vehicle periphery monitoring apparatus |
CN201280002726.8A CN103079891B (zh) | 2011-06-07 | 2012-05-24 | 作业车辆的周边监视装置 |
AU2012268486A AU2012268486A1 (en) | 2011-06-07 | 2012-05-24 | Work vehicle vicinity monitoring device |
US13/818,323 US20130155240A1 (en) | 2011-06-07 | 2012-05-24 | Work vehicle periphery monitoring apparatus |
US15/392,458 US9956915B2 (en) | 2011-06-07 | 2016-12-28 | Dump truck periphery monitoring apparatus |
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JP5597596B2 (ja) | 2014-10-01 |
CN103079891A (zh) | 2013-05-01 |
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CA2808260A1 (en) | 2012-12-13 |
AU2012268486A1 (en) | 2013-02-28 |
CA2808260C (en) | 2015-07-14 |
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