WO2016159012A1 - 作業機械の周辺監視装置 - Google Patents
作業機械の周辺監視装置 Download PDFInfo
- Publication number
- WO2016159012A1 WO2016159012A1 PCT/JP2016/060250 JP2016060250W WO2016159012A1 WO 2016159012 A1 WO2016159012 A1 WO 2016159012A1 JP 2016060250 W JP2016060250 W JP 2016060250W WO 2016159012 A1 WO2016159012 A1 WO 2016159012A1
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- WIPO (PCT)
- Prior art keywords
- guide information
- upper swing
- swing body
- image
- work machine
- Prior art date
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- 238000012806 monitoring device Methods 0.000 title claims abstract description 21
- 238000012544 monitoring process Methods 0.000 claims abstract description 32
- 230000002093 peripheral effect Effects 0.000 claims abstract description 8
- 238000012545 processing Methods 0.000 claims description 12
- 238000010586 diagram Methods 0.000 description 17
- 240000004050 Pentaglottis sempervirens Species 0.000 description 10
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 10
- 238000004891 communication Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 239000003921 oil Substances 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000001678 irradiating effect Effects 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
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- 238000002485 combustion reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000002194 synthesizing effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- 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
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/60—Editing figures and text; Combining figures or text
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- 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
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
-
- 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
-
- 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
- B60R2300/8086—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 vehicle path indication
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
-
- 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
Definitions
- the present invention relates to a work machine periphery monitoring apparatus capable of displaying guideline information that can improve work efficiency.
- a plurality of cameras are installed behind the vehicle body or on the side of the vehicle body so that the operator can visually recognize obstacles around the vehicle body. And the image which the camera imaged is projected on the monitor in the cab of a working machine as a single camera image.
- an apparatus that generates a bird's-eye view image by synthesizing the images of each camera after converting the images of each camera into an upper viewpoint so that 360 degrees around the vehicle body can be monitored simultaneously.
- a device that displays a single camera image captured by a camera selected by an operator on a monitor (see Patent Document 1).
- a plurality of concentric circular broken lines may be displayed in the overhead image from the turning center of the upper turning body.
- the plurality of concentric circular broken lines merely indicate the distance from the turning center of the upper turning body. Therefore, the operator stops at a position of 90 degrees or 180 degrees to the left or right with respect to an object other than the hydraulic excavator, for example, the direction of the dump truck, specifically, the hydraulic excavator that is performing excavation work, depending on the situation of the work.
- the accuracy of the stop position of the dump truck does not increase and work efficiency is poor. There was a problem.
- the present invention has been made in view of the above, and an object thereof is to provide a work machine periphery monitoring device capable of displaying guideline information capable of improving work efficiency.
- a work machine periphery monitoring apparatus is a work machine periphery monitoring apparatus including a work machine on an upper swing body, and includes a periphery of the work machine.
- a plurality of cameras for acquiring the situation, an image processing unit for generating an overhead image based on images captured by the plurality of cameras, a single camera image that is an image of one of the plurality of cameras, and / or Alternatively, a display unit that displays the bird's-eye view image, and display control that displays direction guide information arranged around the upper swing body from the reference position of the upper swing body on the single camera image and / or the overhead image. And a section.
- the direction guide information is a straight line extending from a reference position of the upper swing body toward the periphery of the upper swing body. To do.
- the direction guide information has a predetermined distance on each side in the circumferential direction from the reference direction guide information extending linearly from the turning center of the upper swing body. And parallel arrangement direction guide information arranged in parallel.
- the work machine periphery monitoring device includes, in the above invention, a guideline display setting unit configured to set display / non-display of the direction guide information, and the display control unit includes the guide display setting unit.
- the direction guide information is displayed / hidden according to the setting.
- the work machine periphery monitoring device is characterized in that, in the above invention, the direction guide information is position information at a ground surface level.
- the work machine periphery monitoring device is characterized in that, in the above invention, the display unit is provided in a remote control seat, a control room, or a portable terminal.
- the direction guide information arranged around the upper swing body from the reference position of the upper swing body is displayed on the image.
- the direction becomes easy to read, and the working efficiency can be improved.
- FIG. 1 is a side view showing an overall configuration of a hydraulic excavator on which a working machine periphery monitoring device according to an embodiment of the present invention is mounted.
- FIG. 2 is a diagram showing the internal arrangement of the cab.
- FIG. 3 is a block diagram showing the detailed configuration of the entire control system of the excavator and the peripheral monitoring controller.
- FIG. 4 is an explanatory diagram illustrating the overhead image generation process performed by the overhead image generation unit.
- FIG. 5 is a side view showing the arrangement of the cameras.
- FIG. 6 is a plan view schematically showing the arrangement of the cameras.
- FIG. 7 is a side view showing the arrangement of the radar.
- FIG. 8 is a plan view schematically showing the arrangement of the radar.
- FIG. 1 is a side view showing an overall configuration of a hydraulic excavator on which a working machine periphery monitoring device according to an embodiment of the present invention is mounted.
- FIG. 2 is a diagram showing the internal arrangement of the cab.
- FIG. 9 is a diagram illustrating a display example of an overhead image and a single camera image.
- FIG. 10 is a diagram illustrating a concept of guide information having a straight line portion.
- FIG. 11 is a diagram illustrating a display example of a bird's-eye view image and a single camera image on which guide information having a straight line portion is displayed.
- FIG. 12 is a diagram illustrating an example of work in the case of using guide information having a straight line portion.
- FIG. 13 is a diagram illustrating a display example of guide information when the center of the overhead image is the center of gravity of the upper swing body.
- FIG. 14 is a diagram illustrating an example in which the direction guide line information is displayed as dots.
- FIG. 15 is a diagram illustrating another example in which the direction guide line information is displayed as dots.
- FIG. 16 is a diagram showing an example in which the periphery monitoring monitor is provided in the remote control seat.
- FIG. 17 is a diagram illustrating an example in which the periphery monitoring monitor is provided in the mobile terminal.
- FIG. 1 is a side view showing an overall configuration of a hydraulic excavator on which a working machine periphery monitoring device according to an embodiment of the present invention is mounted.
- This hydraulic excavator 1 is a large hydraulic excavator such as a mining excavator used in a mine or the like shown as an example of a work machine.
- the hydraulic excavator 1 includes a self-propelled lower traveling body 2, an upper revolving body 3 that is pivotably installed on the lower traveling body 2, and a working machine that bends and undulates at the front center of the upper revolving body 3. 4.
- the work machine 4 includes a boom 4a, an arm 4b, a bucket 4c, a boom cylinder 4d, an arm cylinder 4e, and a bucket cylinder 4f.
- a base end portion of the boom 4a is rotatably connected to the upper swing body 3.
- the distal end portion of the boom 4a is rotatably connected to the proximal end portion of the arm 4b.
- the tip of the arm 4b is rotatably connected to the bucket 4c.
- the boom cylinder 4d, the arm cylinder 4e, and the bucket cylinder 4f are hydraulic cylinders that are driven by hydraulic oil discharged from a hydraulic pump.
- the boom cylinder 4d operates the boom 4a.
- the arm cylinder 4e operates the arm 4b.
- the bucket cylinder 4f is connected to the bucket 4c via a link member, and operates the bucket 4c.
- the bucket 4c operates as the cylinder rod of the bucket cylinder 4f expands and contracts.
- the opening of the bucket 4 c functions as a backhoe that faces the turning center, but the opening of the bucket 4 c may function as a front shovel that faces outward from the turning center.
- a cab 6 is installed on the left side of the front part of the upper swing body 3 via a cab base 5.
- a power container 7 is mounted on the rear part of the upper swing body 3.
- an engine, a hydraulic pump, a radiator, an oil cooler, and the like are accommodated.
- a counterweight 8 is attached to the rear end portion of the upper swing body 3.
- An elevating ladder 9 is disposed on the left side of the upper swing body 3 so as to be positioned behind the cab base 5. The lifting ladder 9 supports the lifting and lowering of the driver and the maintenance worker with respect to the upper swing body 3.
- FIG. 2 is a diagram showing the internal arrangement of the cab 6.
- the operation levers 11 and 12 are disposed on the left and right sides of the operator seat 10 in the cab 6.
- the operation lever 11 is disposed on the left hand side when the operator is seated on the operator seat 10.
- the operation lever 11 corresponds to the turning operation of the upper swing body 3 and the operation of the arm 4b.
- the operation lever 11 is operated to the left and right, the upper swing body 3 is turned to the left and right, and when the operation lever 11 is operated up and down, the arm 4b. Rotates in the front-rear direction.
- the operation lever 12 corresponds to the operation of the boom 4a and the operation of the bucket 4c.
- the traveling lever 13 can move forward and backward of the crawler track on the left side of the lower traveling body 2 according to the operation. Further, the traveling lever 14 can perform forward and backward movement of the right crawler belt of the lower traveling body 2 in accordance with an operation. If the traveling levers 13 and 14 are operated at the same time, the left and right crawler belts are driven simultaneously, and the entire excavator 1 can be moved forward and backward.
- the periphery monitoring monitor 15 is an input / output device formed by a touch panel, and can display at least the surroundings of the excavator 1 acquired by a plurality of cameras as an overhead image and a single camera image.
- the monitor 16 is an input / output device having a liquid crystal display unit and a key input unit.
- the monitor 16 can display various information including the state of the engine and the hydraulic pump. For example, the monitor 16 can display warning information indicating an engine water temperature, an oil temperature, a remaining amount of combustion, an abnormality of the device, and the like.
- the buzzer 17 issues a warning when an obstacle is detected by a plurality of radars. When an obstacle is detected, this obstacle information is also displayed on the image of the periphery monitoring monitor 15 described above.
- FIG. 3 is a block diagram showing a configuration of the entire control system of the hydraulic excavator 1.
- the periphery monitoring controller 40 is connected to a CAN 41 that is one of in-vehicle networks.
- a communication controller 42, a monitor controller 43, an engine controller 44, a pump controller 45, etc. are connected to the CAN 41.
- a camera group C including a plurality of cameras C1 to C7, a radar group R including a plurality of radars R1 to R8, a periphery monitoring monitor 15, and a buzzer 17 are connected to the periphery monitoring controller 40.
- the periphery monitoring controller 40 performs periphery monitoring control.
- the periphery monitoring controller 40 includes an image processing unit 51, an obstacle processing unit 52, and a display control unit 53. Further, the image processing unit 51 includes an overhead image generation unit 54 and an image composition unit 55.
- the overhead image generation unit 54 generates the overhead image 61 based on the images obtained from the cameras C1 to C7. As shown in FIG. 4, the overhead image generation unit 54 converts the images P1 to P7 obtained from the cameras C1 to C7 into an upper viewpoint image. That is, the overhead image generation unit 54 converts the image into an image viewed from a predetermined virtual viewpoint located above the excavator 1. Specifically, the bird's-eye view image generation unit 54 performs image conversion to be projected from a virtual viewpoint above the excavator 1 onto a predetermined virtual projection plane corresponding to the ground level GL.
- the overhead image generation unit 54 cuts out the converted images P11 to P17 corresponding to the regions E1 to E7 of the frame displaying the overhead image, and synthesizes the converted images P11 to P17 in the frame.
- An image P corresponding to a plan view of the excavator 1 is pasted in advance on the overhead image 61 generated by the overhead image generation unit 54.
- the obstacle processing unit 52 detects an obstacle based on the information of the radars R1 to R8.
- the obstacle processing unit 52 sounds the buzzer 17 to notify the obstacle, and outputs obstacle information such as the size and position of the detected obstacle to the image composition unit 55.
- the image composition unit 55 receives the above-described bird's-eye view image 61 and images (single camera images 62) captured by the cameras C1 to C7.
- the image composition unit 55 When the obstacle information is input from the obstacle processing unit 52, the image composition unit 55 generates an image in which the obstacle information is combined with the above-described overhead image 61 and single camera image 62. For example, the obstacle information A1 in the area E4 of FIG.
- the display control unit 53 performs control to display the overhead monitor image 61 input from the image composition unit 55 and the single camera image 62 selected from the images captured by the cameras C1 to C7 on the periphery monitoring monitor 15.
- the monitor controller 43 is connected to the monitor 16.
- the monitor controller 43 performs input / output control of various information such as information transmitted from various sensors via the CAN 41 and information input via the monitor 16.
- the monitor 16 can display, for example, warning information indicating an engine water temperature, an oil temperature, a remaining amount of fuel, a device abnormality, and the like.
- each of the cameras C1 to C7 may be attached to the upper swing body 3.
- each of the cameras C1 to C7 has a visual field range of 120 degrees in the left-right direction (60 degrees left and right) and 96 degrees in the height direction.
- a CCD (Charge-Coupled Device) camera can be used as the camera.
- Each of the cameras C1 to C7 may have a wide dynamic range function.
- the camera C ⁇ b> 1 is provided on the front surface of the cab base 5 which is the lower part of the cab 6 of the upper swing body 3 and images the front of the upper swing body 3.
- the camera C ⁇ b> 2 is provided at the lower right front of the upper swing body 3 and images the right front of the upper swing body 3.
- the camera C3 is provided at the lower part of the right side surface of the upper swing body 3 and images the right rear of the upper swing body 3.
- the camera C ⁇ b> 4 is provided in the lower rear center of the counterweight 8 disposed behind the upper swing body 3 and images the rear of the upper swing body 3.
- the camera C5 is provided at the lower part of the left side surface of the upper swing body 3 and images the left rear of the upper swing body 3.
- the camera C6 is provided on the upper left side surface of the cab base 5 and images the left front of the upper swing body 3.
- the camera C ⁇ b> 7 is provided in the lower part of the power container 7 and images the lower area of the power container 7 and the counterweight 8. Since the imaging ranges of the adjacent cameras C1 to C7 overlap, it is possible to take an image of the outer circumference of 360 degrees near the excavator.
- each of the radars R1 to R8 detects the relative position (relative position) and direction between the obstacle and the excavator 1 around the excavator 1.
- the radars R1 to R8 are attached to the outer peripheral portion of the excavator 1 as shown in FIGS.
- each of the radars R1 to R8 has a detection angle of 80 degrees ( ⁇ 40 degrees) in the azimuth (horizontal) direction and 16 degrees ( ⁇ 8 degrees) in the vertical (vertical) direction, and a UWB (maximum detection distance of 15 m or more).
- Ultra Wide Band (radar) radar Ultra Wide Band
- the radar R1 is provided at the lower left end of the front part of the upper swing body 3 and detects an obstacle on the left front side of the upper swing body 3.
- the radar R ⁇ b> 2 is provided at the front lower right end of the upper swing body 3 and detects an obstacle on the right front side of the upper swing body 3. Further, the installation directions of the radars R1 and R2 are adjusted so as not to detect the work machine 4 such as the bucket 4c, and the detection areas of the radars R1 and R2 do not overlap.
- the radar R3 is provided at the lower right side of the upper swing body 3 and detects an obstacle on the right rear side of the upper swing body 3.
- the radar R ⁇ b> 4 is provided at the lower right side of the upper swing body 3 and detects an obstacle on the right front side of the upper swing body 3.
- the radar R3 is adjacent to the radar R4 and is disposed in front of the position of the radar R4.
- the radars R3 and R4 detect obstacles on the entire right side of the upper swing body 3 by irradiating radar signals so as to cross each other.
- the radar R5 is provided below the counterweight 8 of the upper swing body 3 and detects an obstacle on the left rear of the upper swing body 3.
- the radar R6 is provided below the counterweight 8 and detects an obstacle on the right rear side of the upper swing body 3.
- the radar R5 is adjacent to the radar R6 and is arranged on the right side with respect to the position of the radar R6.
- the radars R5 and R6 detect obstacles on the entire rear surface of the upper swing body 3 by irradiating radar signals so as to cross each other.
- the radar R8 is provided on the lower left side of the upper swing body 3 and detects an obstacle on the left front side of the upper swing body 3.
- the radar R ⁇ b> 7 is provided at the lower left side of the upper swing body 3 and detects an obstacle on the left rear side of the upper swing body 3.
- the radar R8 is disposed adjacent to the radar R7 and rearward with respect to the position of the radar R7.
- the radars R8 and R7 detect obstacles on the entire left side of the upper swing body 3 by radiating radar signals so as to cross each other.
- the periphery monitoring monitor 15 shown in FIG. 9 is an example of an initial screen that is displayed first when the key is turned on.
- a bird's-eye view image 61 is displayed in the upper area of the periphery monitoring monitor 15, and a single camera image 62 is displayed in the lower area.
- icons I1 and I2 are displayed on the lower right of the periphery monitoring monitor 15.
- the displayed single camera image 62 is a rear image of the upper swing body 3 captured by the camera C4.
- the icon I1 indicates the seven image positions displayed by the single camera image 62. Since the single camera image 62 shown in FIG.
- FIG. 9 is a rear image, the lower region of the icon I1 corresponding to the rear position of the upper swing body 3 is filled and displayed.
- the dump truck TR exists behind the upper swing body 3.
- the dump truck TR is at a position 180 degrees from the front where the work implement 4 is disposed, and is parked facing outward.
- the bird's-eye view image 61 and the single camera image 62 display guide information D indicating the distance and direction from the upper swing body 3 described later.
- the icon I2 reference display setting unit
- FIG. 10 is a diagram showing the concept of the guide information D.
- the standard information D includes distance standard information D1 and direction standard information D2.
- the guide information D is, for example, position information on the ground level GL. By doing so, it becomes easier to discriminate the positional relationship with the obstacle around the hydraulic excavator in the single camera image 62 described later.
- the distance guide information D1 is information indicating a distance from the turning center CT of the upper swing body 3, and includes first distance guide information D11, second distance guide information D12, and third distance guide information D13.
- the first distance guide information D11 is information indicating the distance from the turning center CT of the upper swing body 3 to the left and right front-rear direction to the end of the counterweight 8 provided at the rear part of the upper swing body 3. That is, when there is an obstacle in the area inside the first distance guide information D11, it means that the hydraulic excavator 1 may collide when turning.
- the second distance guide information D12 is information indicating a distance that is further increased from the first distance guide information D11 by a predetermined distance d1 in the radial direction and prohibits the proximity of an external work vehicle such as the dump truck TR. .
- the predetermined distance d1 is, for example, when the excavator 1 is traveling by operating the traveling levers 13 and 14 toward the stopped dump truck TR, and the dump truck is located inside the second distance guide information D12. This is a distance that can be safely stopped without interrupting the operation of the travel levers 13 and 14 after determining that TR has entered and without entering the dump truck TR inside the first distance guide information D11.
- the predetermined distance d1 is 2 m, for example. Therefore, it is preferable that the second distance guide information D12 is set so that the obstacle processing unit 52 detects an obstacle and issues an alarm such as a buzzer when an obstacle enters the area.
- the third distance guide information D13 is information indicating a distance that is further increased from the second distance guide information D12 by a predetermined distance d2 in the radial direction.
- the third distance guide information D13 is information indicating the limit of the turning area of the work machine 4 in a state where the work machine 4 is extended to the maximum.
- the area between the second distance guide information D12 and the third distance guide information D13 is a work area by the work implement 4. In this case, even if there is a dump truck TR located between the second distance guide information D12 and the third distance guide information D13, the buzzer 17 may not be notified.
- the direction guide information D2 is information indicating the front / rear and left / right directions of the upper swing body 3 from the turning center CT of the upper swing body 3, and includes front reference direction guide information D21, left reference direction guide information D22, and rear reference direction guide. Information D23 and right reference direction guide information D24.
- the direction guide information D2 is a straight line that extends linearly from the turning center CT toward the front / rear / right / left direction of the upper swing body 3 and connects the intersections of the first distance guide information D11 and the third distance guide information D13. .
- the distance guide information D1 will be described in more detail.
- the first distance guide information D11 is the intersection of the front reference direction guide information D21, the left reference direction guide information D22, the rear reference direction guide information D23, and the right reference direction guide information D24 with respect to the guide information D21 to D24.
- Each has four straight portions 101 extending vertically.
- Each of the straight portions 101 has a predetermined length d3.
- the straight line portions 101 are provided at positions spaced equidistantly in the front-rear and left-right directions from the turning center CT.
- the predetermined length d3 coincides with the length in the left-right width direction of the upper swing body of the excavator 1.
- each of the second distance guide information D12 and the third distance guide information D13 includes straight portions 102 and 103 having the same predetermined length d3.
- the 1st distance standard information D11 connects between each end of four straight parts 101 by the same circle centering on turning center CT, respectively, and forms four circular arc parts 111.
- the second distance guide information D12 is formed by connecting the end portions of the four linear portions 102 by the same circle centered on the turning center CT, thereby forming four arc portions 112.
- the third distance guide information D13 is formed by connecting the end portions of the four linear portions 103 by the same circle centering on the turning center CT, thereby forming four arc portions 113.
- parallel placement direction guide information 201 and 202 connecting the end portions of the straight portions 101 to 103 may be provided.
- Two pieces of parallel arrangement direction guide information 201 and 202 are arranged in parallel to the front reference direction guide information D21, the left reference direction guide information D22, the rear reference direction guide information D23, and the right reference direction guide information D24. Therefore, a belt-like portion having a predetermined length d3 with respect to the front / rear / left / right direction of the upper swing body 3 is formed.
- FIG. 11 is a diagram illustrating a display example of the overhead image 61 and the single camera image 62 on which the above-described parallel arrangement direction guide information 201 and 202 are displayed.
- the direction guide information D21 ′, D22 ′, D23 ′, and D24 ′ constituting the direction guide information D2 ′ includes the parallel placement direction guide information 201 and 202 in the direction guide information D21, D22, D23, and D24. It is added.
- the dump truck TR is positioned 180 degrees from the front where the work implement 4 is disposed, facing outward, and positioned outside the second distance guide information D12.
- the straight lines 101 to 103 of the distance guide information D1 and the parallel placement direction guide information 201 and 202 can be displayed in a grid pattern, the direction and direction of the work vehicle such as the dump truck TR (FIG. 10).
- the side of the dump truck or the rear surface is compared with the straight portions 101 to 103, so that the dump truck TR It is possible to confirm whether the vehicle is parked diagonally), and the distance from the excavator can be easily recognized.
- some of the above areas are displayed in a grid pattern, other areas are displayed with arc-shaped lines, making it easy to grasp the distance between the images without complicating the whole overhead view image. .
- the first distance guide information D11, the second distance guide information D12, and the third distance guide information D13 constituting the guide information D described above are displayed in colors or different line types according to the distance.
- the first distance guide information D11 may be displayed as a red dotted line
- the second distance guide information D12 may be displayed as a yellow dotted line
- the third distance guide information D13 may be displayed as a white, green, or blue dotted line.
- the direction guide information D2 between the first distance guide information D11 and the second distance guide information D12 is displayed in the same yellow dotted line as the second distance guide information D12
- the second distance guide information D12 and the third distance guide are displayed.
- the direction guide information D2 between the information D13 and the third distance guide information D13 is preferably displayed in the same green or blue dotted line.
- the guide information D may be information in which marks are arranged instead of lines.
- the central portion of the vessel and the hydraulic excavator 1 are disposed.
- the left 90 degrees, right 90 degrees, and 180 degrees can be easily matched. By doing so, it is possible to efficiently carry out the loading work of the earth and sand onto the dump truck TR by the excavator 1 (when the position of the dump truck TR is deviated from the position described in FIG. 12, the loading is performed). Work efficiency decreases).
- the horizontal position of the dump truck TR with respect to the straight portion 102 may be at the rear end of the dump truck TR or at the side.
- the guide information D is displayed centering on the turning center CT.
- the present invention is not limited to this, and as shown in FIG.
- the guide information D may be displayed.
- the direction guide line information D2 is displayed as a broken line or a straight line.
- the direction guide line information D2 and the distance guide line information D1 include Direction guide line information D3 (D31 to D34) displaying points may be displayed at the intersecting positions.
- direction guide line information D4 (D41 to D44) displaying a point at a position where the direction guide line information D2 and one of the distance guide line information D1 (distance guide line information D13) intersect. ) May be displayed.
- the peripheral monitoring monitor 15 is provided separately from the monitor 16, but the present invention is not limited to this, and the overhead image 61 and the single camera image 62 may be displayed on the monitor 16. Good.
- the periphery monitoring monitor 15 is configured as a touch panel display, a normal display without a built-in touch sensor may be used.
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Abstract
Description
まず、図1は、本発明の実施の形態である作業機械の周辺監視装置が搭載される油圧ショベルの全体構成を示す側面図である。この油圧ショベル1は、作業機械の一例として示した、鉱山などで使用されるマイニングショベルなどの大型油圧ショベルである。油圧ショベル1は、自走可能な下部走行体2と、下部走行体2上に旋回自在に設置された上部旋回体3と、上部旋回体3の前部中央に屈曲起伏自在に動作する作業機4とを備える。
図2は、運転室6の内部配置を示す図である。図2に示すように、操作レバー11,12は、運転室6内のオペレータシート10の左右に配置される。操作レバー11は、オペレータがオペレータシート10に着座した時に左手側に配置される。操作レバー11は上部旋回体3の旋回動作とアーム4bの動作に対応しており、操作レバー11を左右に操作すると上部旋回体3が左右に旋回し、操作レバー11を上下に操作するとアーム4bが前後方向に回動する。操作レバー12はブーム4aの動作とバケット4cの動作に対応しており、操作レバー12を左右に操作するとバケット4cが掘削・排土方向に回動し、操作レバー12を上下に操作するとブーム4aが上下方向に回動する。尚、操作レバー11,12の操作と、どの作業機が動作するかの組み合わせは、本実施形態のものには限られない。
図3は、油圧ショベル1の制御系全体の構成を示すブロック図である。図3に示すように、周辺監視コントローラ40は、車内ネットワークの一つであるCAN41に接続される。CAN41には、通信コントローラ42、モニタコントローラ43、エンジンコントローラ44、ポンプコントローラ45等が接続される。また、周辺監視コントローラ40には、複数のカメラC1~C7からなるカメラ群C、複数のレーダR1~R8からなるレーダ群R、周辺監視モニタ15、及びブザー17が接続される。
つぎに、図5及び図6を参照して、各カメラC1~C7の構成と配置とについて説明する。すべてのカメラC1~C7は、上部旋回体3に取り付けられてもよい。例えば、各カメラC1~C7は、左右方向において120度(左右60度ずつ)、高さ方向において96度の視野範囲を有する。カメラとしてCCD(Charge-Coupled Device)カメラを用いることができる。また、各カメラC1~C7は、ワイドダイナミックレンジ(Wide Dynamic Range)機能を有してもよい。
つぎに、図7及び図8を参照して、各レーダR1~R8の構成と配置とについて説明する。すべてのレーダR1~R8は、上部旋回体3に設けられてもよい。各レーダR1~R8は、油圧ショベル1の周囲に存在する障害物と油圧ショベル1との相対的な位置(相対位置)と方向とを検出する。例えば、レーダR1~R8は、図7及び図8に示すように、油圧ショベル1の外周部分に取り付けられる。また、各レーダR1~R8は、方位(水平)方向80度(±40度)、上下(垂直)方向16度(±8度)の検出角度を有し、検出距離が最大15m以上のUWB(Ultra Wide Band:超広帯域)レーダである。
図9に示した周辺監視モニタ15は、キーオンしたときに最初に表示される初期画面の例である。図9では、周辺監視モニタ15の上部領域に俯瞰画像61が表示され、下部領域に単カメラ画像62が表示されている。また、周辺監視モニタ15の右下には、アイコンI1,I2が表示されている。表示されている単カメラ画像62は、カメラC4によって撮像された上部旋回体3の後方画像である。アイコンI1は、単カメラ画像62が表示する7つの画像位置を示すものである。図9に示した単カメラ画像62は、後方画像であるため、上部旋回体3の後方位置に対応するアイコンI1の下側領域が塗りつぶされて表示されている。なお、図9に示した俯瞰画像61及び単カメラ画像62では、上部旋回体3の後方にダンプトラックTRが存在している。図9では、ダンプトラックTRが、作業機4が配置される前方から180度の位置であって、外側を向き停車していることがわかる。さらに、俯瞰画像61及び単カメラ画像62には、後述する上部旋回体3からの距離及び方向を示す目安情報Dが表示されている。また、アイコンI2(目安表示設定部)は、このアイコンを選択することによって、目安情報Dの表示、非表示を切り替えるものである。
次に、俯瞰画像61及び単カメラ画像62に表示される目安情報Dについて説明する。図10は、目安情報Dの概念を示す図である。図10に示すように、目安情報Dは、距離目安情報D1と方向目安情報D2とを有する。なお、目安情報Dは、例えば地表面レベルGLの位置情報である。そうすることにより、後述する単カメラ画像62において、油圧ショベルの周辺にある障害物との位置関係がより判別しやすくなる。
図11は、上述した平行配置方向目安情報201,202が表示された俯瞰画像61及び単カメラ画像62の表示例を示す図である。なお、図11において、方向目安情報D2´を構成する方向目安情報D21´,D22´,D23´,D24´は、方向目安情報D21,D22,D23,D24に平行配置方向目安情報201,202を加えたものである。図11では、ダンプトラックTRが、作業機4が配置される前方から180度の位置であって、外側を向き、第2距離目安情報D12の外側に位置していることがわかる。また、距離目安情報D1の直線部101~103と平行配置方向目安情報201,202とにより線を格子状に表示することができるので、ダンプトラックTR等の作業車両の方向やその向き(図10に記載されているダンプトラックTRのように、油圧ショベルに対し横向きや縦向きに停車する場合には、ダンプトラックの側面や背面と直線部101~103とを比較することにより、ダンプトラックTRが斜めに停車していないか確認することができる)、油圧ショベルとの距離を容易に認識することができる。さらに、上記の一部領域は格子状に表示されているが、他の領域は円弧状の線が表示されているため、俯瞰画像全体が煩雑とならずに画像内の距離間を把握しやすい。
図12は、上述した目安情報Dを用いた場合における作業の一例を示す図である。図12に示すように、上述した目安情報Dを用いると、上部旋回体3の前後左右方向に対する旋回中心CTからの方向と全周に対する距離とを把握しやすくなる。具体的には、距離目安情報D1を表示することにより、障害物がどの程度油圧ショベル1に近づいているか把握することができると共に、直線部101~103を有することにより、ダンプトラックTRが油圧ショベルに対し横向きや縦向きに停車する場合に、ダンプトラックの側面や背面と直線部101~103とを比較することにより、ダンプトラックTRが斜めに停車していないか確認することができる。
前記実施形態では、モニタ16とは別に、周辺監視モニタ15を設けていたが、本発明はこれに限られず、モニタ16上に俯瞰画像61や単カメラ画像62を表示するように構成してもよい。また、周辺監視モニタ15をタッチパネルディスプレイとして構成していたが、タッチセンサを内蔵しない通常のディスプレイを用いてもよい。
2 下部走行体
3 上部旋回体
4a ブーム
4b アーム
4c バケット
4d ブームシリンダ
4e アームシリンダ
4f バケットシリンダ
4 作業機
5 キャブベース
6 運転室
7 パワーコンテナ
8 カウンタウェイト
10 オペレータシート
11,12 操作レバー
13,14 走行レバー
15 周辺監視モニタ
16 モニタ
17 ブザー
40 周辺監視コントローラ
42 通信コントローラ
43 モニタコントローラ
44 エンジンコントローラ
45 ポンプコントローラ
51 画像処理部
52 障害物処理部
53 表示制御部
54 俯瞰画像生成部
55 画像合成部
61 俯瞰画像
62 単カメラ画像
63 領域
101~103 直線部
111~113 円弧部
201,202 平行配置方向目安情報
300 遠隔操作席
301 遠隔操作用モニタ
302 携帯端末
A1 障害物情報
B10 ボタン
C カメラ群
C1~C7 カメラ
CT 旋回中心
D 目安情報
D1 距離目安情報
D11 第1距離目安情報
D12 第2距離目安情報
D13 第3距離目安情報
D2,D2´,D3,D4 方向目安情報
D21,D21´ 前基準方向目安情報
D22,D22´ 左基準方向目安情報
D23,D23´ 後基準方向目安情報
D24,D24´ 右基準方向目安情報
E0,E1~E8,E20 領域
E21 昇降ラダー周辺領域
GL 地表面レベル
I1,I2 アイコン
P,P1~P7 画像
P11~P17 変換画像
R レーダ群
R1~R8 レーダ
TR ダンプトラック
Claims (6)
- 上部旋回体に作業機を備えた作業機械の周辺監視装置であって、
前記作業機械の周囲状況を取得する複数のカメラと、
前記複数のカメラが撮像した画像をもとに俯瞰画像を生成する画像処理部と、
前記複数のカメラのうちの1つのカメラの画像である単カメラ画像及び/または前記俯瞰画像を表示する表示部と、
前記上部旋回体の基準位置から該上部旋回体の周囲に配置された方向目安情報を前記単カメラ画像上及び/または前記俯瞰画像上に表示する表示制御部と、
を備えたことを特徴とする作業機械の周辺監視装置。 - 前記方向目安情報は、前記上部旋回体の基準位置から該上部旋回体の周囲に向けて延びる直線であることを特徴とする請求項1に記載の作業機械の周辺監視装置。
- 前記方向目安情報は、前記上部旋回体の旋回中心から直線状に延びる基準方向目安情報から周方向両側にそれぞれ所定距離をおいて平行配置される平行配置方向目安情報を有することを特徴とする請求項1または2に記載の作業機械の周辺監視装置。
- 前記方向目安情報の表示/非表示の設定を行う目安表示設定部を備え、
前記表示制御部は、前記目安表示設定部の設定に従って前記方向目安情報の表示/非表示を行うことを特徴とする請求項1~3のいずれか一つに記載の作業機械の周辺監視装置。 - 前記方向目安情報は、地表面レベルの位置情報であることを特徴とする請求項1~4のいずれか一つに記載の作業機械の周辺監視装置。
- 前記表示部が、遠隔操作席、管制室、または携帯端末に設けられたことを特徴とする請求項1に記載の作業機械の周辺監視装置。
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DE112016000127.4T DE112016000127B4 (de) | 2015-03-31 | 2016-03-29 | Umgebungsüberwachungsvorrichtung für Arbeitsmaschine |
JP2017510058A JP6216097B2 (ja) | 2015-03-31 | 2016-03-29 | 作業機械の周辺監視装置 |
KR1020177006581A KR101895830B1 (ko) | 2015-03-31 | 2016-03-29 | 작업 기계의 주변 감시 장치 |
US15/509,264 US20170284069A1 (en) | 2015-03-31 | 2016-03-29 | Surrounding monitoring device for work machine |
CN201680002588.1A CN106716988B (zh) | 2015-03-31 | 2016-03-29 | 作业机械的周边监视装置 |
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WO2022230939A1 (ja) * | 2021-04-28 | 2022-11-03 | 株式会社小松製作所 | 表示制御装置、表示制御方法および作業機械 |
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Also Published As
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KR20170040349A (ko) | 2017-04-12 |
CN106716988A (zh) | 2017-05-24 |
DE112016000127T5 (de) | 2017-08-03 |
KR101895830B1 (ko) | 2018-09-07 |
US20170284069A1 (en) | 2017-10-05 |
WO2016157463A1 (ja) | 2016-10-06 |
DE112016000127B4 (de) | 2019-06-13 |
JPWO2016157463A1 (ja) | 2018-01-18 |
CN106716988B (zh) | 2019-01-22 |
JPWO2016159012A1 (ja) | 2017-06-15 |
JP6216097B2 (ja) | 2017-10-18 |
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