WO2017146403A1 - Système d'affichage - Google Patents

Système d'affichage Download PDF

Info

Publication number
WO2017146403A1
WO2017146403A1 PCT/KR2017/001426 KR2017001426W WO2017146403A1 WO 2017146403 A1 WO2017146403 A1 WO 2017146403A1 KR 2017001426 W KR2017001426 W KR 2017001426W WO 2017146403 A1 WO2017146403 A1 WO 2017146403A1
Authority
WO
WIPO (PCT)
Prior art keywords
photographing
photographed
image
area
person
Prior art date
Application number
PCT/KR2017/001426
Other languages
English (en)
Korean (ko)
Inventor
장경률
Original Assignee
두산인프라코어 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 두산인프라코어 주식회사 filed Critical 두산인프라코어 주식회사
Priority to CN201780013077.4A priority Critical patent/CN108699816A/zh
Publication of WO2017146403A1 publication Critical patent/WO2017146403A1/fr

Links

Images

Classifications

    • 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
    • B60R1/02—Rear-view mirror arrangements
    • B60R1/08—Rear-view mirror arrangements involving special optical features, e.g. avoiding blind spots, e.g. convex mirrors; Side-by-side associations of rear-view and other mirrors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • 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
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—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

Definitions

  • Embodiments of the present invention relate to a display system, and more particularly, to a display system for providing an image photographing an external area of a construction machine to a driver located inside the construction machine.
  • a construction machine is supported by a turning body on the traveling body.
  • the swinging body is rotated to carry out excavation work and earthwork loading work. That is, since the swinging body is rotated in the work area where the construction machine is located, the work may be performed, and thus, the work may be performed in a wide area by the driving, and the work may be performed in the wide area according to the rotation.
  • the construction machine is formed to have a relatively high garage compared to the general vehicle, there are a number of blind spots that the driver is difficult to identify the external area of the construction machine as a side mirror or room mirror.
  • An embodiment of the present invention provides a display system for displaying image information so that a driver can check an external area of a construction machine therein.
  • a plurality of photographing apparatuses and the plurality of photographing apparatuses installed on the construction machine are spaced apart from each other, and the photographing apparatus generates a photographed image by photographing a part of an external area of the construction machine to overlap each other.
  • a control device for converting an image to a point of time when the construction machine is viewed from the top by combining the photographed images, and selectively outputting the photographed image of the overlapping region to the display device according to whether the detection apparatus is detected;
  • the control apparatus may include an image converter configured to generate a converted image by synthesizing the captured images photographed by the plurality of photographing apparatuses based on a predetermined reference line.
  • the control apparatus may combine the photographed images photographed by the plurality of photographing apparatuses and combine the images based on a predetermined reference line to generate a converted image of the time point of view of the construction machine from the top.
  • the detection apparatus may detect the presence or absence of a person or an object located in an area where the reference line is formed among the overlapped areas.
  • control device displays the captured image of the overlapping area where a person or an object is detected and the converted image converted by the image converting unit together. Can output to the device.
  • control device may determine one direction of the overlapping area where the person or the object is detected among the captured images photographed by the plurality of photographing apparatuses. You can output the captured video.
  • control device may detect one or more directions of the overlapping area where a person or an object is detected among the captured images photographed by the plurality of photographing apparatuses.
  • the photographed image photographing the other direction of the overlapping region where the object is detected may be output.
  • control device may further include a position display unit for displaying the position of the person or object detected in the converted image output to the display device.
  • the plurality of photographing apparatuses may include a first photographing member installed in front of the construction machine, a second photographing member installed at a right side of the construction machine, a third photographing member installed at the rear of the construction machine, and the construction machine. It may include a fourth photographing member installed on the left side of the.
  • the plurality of overlapping regions may be formed in plural, the first overlapping region where the region photographed by the first photographing member and the region photographed by the second photographing member overlap each other, and the region photographed by the second photographing member;
  • the region photographed by the photographing member and the region photographed by the first photographing member may include a fourth overlapped region.
  • the detection device may be formed of a plurality of first detection member for detecting the presence of a person or object in the first overlapping region, and a second detection member for detecting the presence or absence of a person or object in the second overlapping region; And a third detecting member detecting the presence or absence of a person or an object in the third overlapping region, and a fourth detecting member detecting the presence or absence of a person or an object in the fourth overlapping region.
  • control device when the control device detects that at least two of the plurality of detection devices are located at two or more of the plurality of overlapping areas, the control device may detect the at least two overlapping areas of the captured images taken by the plurality of photographing devices. All of the photographed images photographed may be output to the display device.
  • the display system can effectively provide image information photographing the external area of the construction machine without distortion of the image so that the driver can check the external area of the construction machine from the inside.
  • FIG. 1 is a configuration diagram illustrating a configuration of a display system according to an exemplary embodiment of the present invention.
  • FIG. 2 is a view showing an installation position and a photographing area of FIG.
  • 3 to 5 illustrate an output state of the display device.
  • FIG. 6 is a view showing an operation procedure of the control device of FIG.
  • Embodiments of the invention specifically illustrate ideal embodiments of the invention. As a result, various modifications of the drawings are expected. Thus, the embodiment is not limited to the specific form of the illustrated region, but includes, for example, modification of the form by manufacture.
  • the display system 101 includes a plurality of photographing apparatuses 100, a detection apparatus 200, a display apparatus 300, and a control apparatus 600. ).
  • the plurality of photographing apparatuses 100 are spaced apart from each other in the construction machine 50.
  • the plurality of photographing apparatuses 100 photograph so that a part of the external area of the construction machine 50 overlaps each other. That is, the plurality of photographing apparatuses 100 generate a photographed image by photographing part of an external area of the construction machine 50 so as to overlap each other.
  • the construction machine 50 includes a traveling body 10 and a revolving body 20.
  • the revolving body 20 is rotatably supported by the traveling body 10.
  • the plurality of photographing apparatuses 100 are spaced apart from each other on the outside of the revolving structure 20 supported by the traveling body 10 of the construction machine 50.
  • the plurality of photographing apparatuses 100 are spaced apart from each other on the outside of the pivoting body 20 of the construction machine 50 so that a part of the external area of the construction machine 50 overlaps each other (3d-view). Create a captured image taken with.
  • the plurality of photographing apparatuses 100 may be installed outside the revolving structure 20 of the construction machine 50, and may be inclined at an angle from the top of the construction machine 50 toward the lower direction of the construction machine 50. Shoot the external area in 3D.
  • the detection apparatus 200 detects the presence or absence of a person or an object located in the overlapping area 400 where the plurality of photographing apparatuses 100 are overlapped with each other.
  • the detection apparatus 200 is installed outside the swinging body 20 of the construction machine 50 between the plurality of photographing apparatuses 100 so that the plurality of photographing apparatuses 100 overlap each other. The presence or absence of a person or object located in).
  • the detection apparatus 200 may detect the presence or absence of a person or an object located in the space of the overlapping area 400 where the plurality of photographing apparatuses 100 are overlapped with each other.
  • the display device 300 is installed inside the construction machine 50.
  • the display device 300 is installed in the construction machine and outputs the image photographed by the plurality of photographing apparatus 100 to the driver.
  • the display device 300 is installed inside the cabin of the swinging body 20 of the construction machine 50, so that the driver can start to check the information provided to the display device 300.
  • the display device 300 may be installed at a position adjacent to an operation panel for operating the construction machine 50 in the cabin of the construction machine 50.
  • the control device 600 selectively outputs a captured image of the overlapped area 400 to the display device 300 according to whether the detection device 200 is detected.
  • the control device 600 converts an image to combine the images photographed by the plurality of photographing apparatus 100 to the point of view of the construction machine from the top.
  • the detection apparatus 200 detects that there is a person or an object in the overlapping area 400
  • the control device 600 detects the corresponding overlapping area 400 among the captured images photographed by the plurality of photographing devices 100.
  • the captured photographed image may be output to the display device 300.
  • control device 600 selectively outputs the captured image of the 3D image photographing the overlapping area 400 to the display device 300 according to whether the detection device 200 detects the information. You can check with
  • the display system 101 may provide the driver with the driver to effectively recognize the situation of the external area of the construction machine 50 in the cabin.
  • the display system 101 may output a captured image of the overlapped area 400 to the display device 300 according to whether the detection device 200 is detected, so that the driver inside the cabin may turn the turning body 20. It is possible to effectively determine whether the rotation of the possible and the appearance of the obstacle or whether such obstacles interfere with the rotation or operation of the swinging body (20).
  • control device 600 of the display system 101 may output a 3D image of the overlapping area 400 to the display device 300 according to whether the detection device 200 is detected. On the basis of the photographed image, it is possible to effectively prevent the collision of the turning body 20 and the obstacle when the turning body 20 is rotated or when the construction machine 50 is working.
  • control device 600 may include an image converter 610, as shown in FIG.
  • the image converter 610 converts a captured image of a 3D image captured by the plurality of photographing apparatuses 100 into a 2D image based on a predetermined reference line 500. Can be converted and synthesized.
  • the image converting unit 610 converts the coordinates of the space of the 3D image photographed by the plurality of photographing apparatuses 100 into the coordinates of the plane, and synthesizes the coordinates around the preset reference line 500. ) Can be converted to a two-dimensional image is converted image.
  • the preset reference line 500 may be a boundary line in which a 3D image photographed by each of the plurality of photographing apparatuses 100 is converted into a 2D image and combined with each other. Therefore, the number of reference lines 500 may be equal to the number of overlapping regions 400.
  • the driver may be provided with a 3D image, which is a captured image of the overlapped area 400, which is determined to be a person or an object, among the overlapped areas 400 photographed at different positions from the display device 300 inside the cabin. . Accordingly, the driver may check the external area of the construction machine 50 at various view-points by the plurality of photographing apparatuses 100 photographed at different positions.
  • control device 600 by combining the images taken by the plurality of photographing apparatus synthesized around the predetermined reference line 500 to look down the construction machine 50 from the top It can be made into the converted image of (Top-view).
  • the control apparatus 600 may convert the images photographed by the plurality of photographing apparatuses 100 to the viewpoint when the construction machine 50 is viewed from the top by combining the preset reference line 500 as a center.
  • control device 600 combines a three-dimensional image, which is a photographed image taken by the plurality of photographing apparatuses 100, so that the external area of the construction machine 50 is viewed from the top of the construction machine 50. It is synthesized based on the set reference line 500 and converted into a 2D image which is a converted image.
  • the detection apparatus 200 of the display system 101 may detect the presence or absence of a person or an object located in a region in which a predetermined reference line 500 is formed among the overlapping regions 400. Can be.
  • the overlapping area 400 may cause distortion of the image. That is, since the synthesis of the 3D image is made on the basis of the floor surface that is the plane coordinates, when the object or the person having the height is located at a specific position on the overlapped area 400, the problem of disappearing from the converted 2D image may occur. Can be.
  • the specific position on the overlapped area 400 may be a predetermined reference line 500 which is a boundary line in which a 3D image is converted into a 2D image and combined with each other. That is, the detection apparatus 200 may detect the presence or absence of a person or an object located in the space area of the preset reference line 500.
  • the detection apparatus 200 may detect the presence or absence of a person or an object located in the region where the reference line 500 is formed among the overlapping regions 400, and thus the 3D image is pre-recorded by the image converter 610.
  • the problem due to the image distortion that may be generated when the 2D image is converted by being synthesized based on the set reference line 500 may be effectively solved.
  • the detection device 200 can effectively detect when the object having the height is located in the region where the reference line 500 is formed, so that the driver can utilize the information provided by the display device 300 to swing the object. It is possible to prevent a collision with a person or an object during the rotation of the (20).
  • the predetermined reference line 500 may be considered and installed.
  • control device 600 when it is determined that there is a person or an object in the overlapped area 400, the control device 600 according to an exemplary embodiment of the present disclosure may capture a captured image and an image converter 610 of the overlapped area 400 in which the person or the object is detected. The converted image converted by) may be output to the display device 300 together.
  • the control device 600 may determine whether a person or an object exists in the overlapping area 400.
  • the control device 600 may include an area determiner 620.
  • the area determiner 620 may determine whether a person or an object is located in the overlapped area 400 based on the information detected by the detection device 200. In detail, when the detection unit 200 detects a position of a person or an object in the overlapping area 400, the area determining unit 620 may determine that there is a person or an object in the overlapping area 400.
  • the area determining unit 620 determines whether the person or the object is located in the overlapped area 400 based on the information on whether the person or the object is located in the overlapped area 400 detected by the detection apparatus 200. Can be determined.
  • the control device 600 When the area determining unit 620 determines that there is a person or an object in the area where the overlapping area 400 is formed, the control device 600 includes a 3D image that is a captured image of the overlapping area 400 in which the person or the object is detected.
  • the 2D image which is a converted image converted by the image converter 610, may be output together to the display device 300.
  • control device 600 divides the screen of the display device 300 to display a 3D image of the overlapped area 400 in which a person or an object is detected and a 2D image converted by the image converter 610. Can be output together.
  • the driver provides the 3D image information of the 3D image photographing the external area of the construction machine to the 2D image through the display device 300 and the 3D image information of the overlapped area 400 in which a person or an object is detected. I can receive it. That is, the driver may visually recognize an obstacle or an approach of a person in an external area of the construction machine 50 through the display device 300.
  • the control device 600 detects the driver or the overlapping area in which the person or object is detected through the display device 300.
  • a three-dimensional image of 400 may be provided.
  • the driver may check the interference or obstruction during the rotation of the turning body 20 or the operation of the construction machine 50 through the two-dimensional image by the control device 600. Then, the driver determines whether the object located in the overlapped area 400 interferes with the rotation of the turning body 20 or the work of the construction machine 50 through the three-dimensional image of the overlapped area 400 in which the person or the object is detected. It can be determined accurately.
  • the controller 600 may provide the driver with the two-dimensional image and the three-dimensional image of the overlapped area 400 in which the person or the object is detected, so that the driver converts the three-dimensional image to the two-dimensional image.
  • a person or an object located in the overlapped area 400 may be identified without an error such as distortion of the image that may occur when the image is converted into the dimensional image.
  • the control device 600 may include a duplicate area including the reference line 500 in which the person or the object is detected.
  • the 3D image of the 400 and the 2D image converted by the image converter 610 may be output together to the display device 300.
  • the reference line 500 is not output to the display device 300.
  • the control device 600 includes a mode selector 640.
  • the mode selector 640 includes a captured image mode for providing an image of the overlapping area 400 and a converted image mode for providing only a converted image in which the captured image is converted. Any one may be selected to output an image to the display system 101.
  • control apparatus 600 may output the converted image converted by the image converter 610 to the display apparatus 300 regardless of whether the detection apparatus 200 is detected.
  • the driver may output the captured image 400 and the converted image converted by the image converter 610.
  • control device 600 of the display system 101 may determine a plurality of photographing apparatuses when the detection apparatus 200 determines that a person or an object is located adjacent to the reference line 500.
  • the photographed image photographing the overlapped area 400 in which the person or the object is located among the photographed images photographed by 100 may be output to the display device 300.
  • the control device 600 determines that the person or the object is located at a position adjacent to the reference line 500 in the overlapping area 400, the person or the object is duplicated among the captured images photographed by the plurality of photographing apparatuses 100.
  • the captured image photographing one side of the area 400 and the other side of the overlapping area 400 adjacent to the one side may be output to the display device 300.
  • the driver may accurately deliver the driver to the driver without distortion of an image that may be generated when generating the converted image. Therefore, it is possible for the driver to prevent an accident that may be caused by a distorted image when the construction machine 50 is working.
  • control device 600 of the display system 101 is located in the overlapping area 400 in which a person or an object is relatively far from the reference line 500 by the detection device 200. If it is determined that the plurality of photographing apparatuses 100, the photographed image photographing the overlapped region 400 in which the person or the object is located among the photographed images photographed by the plurality of photographing apparatuses 100 may be output to the display apparatus 300.
  • the control device 600 determines that the person or the object is located at a relatively far position from the reference line 500 in the overlapping area 400, the person or the object is among the captured images photographed by the plurality of photographing apparatuses 100.
  • the captured image photographing one side of the overlapping area 400 located may be output to the display device 300.
  • the detection device 200 detects an adjacent distance of a person or an object from the reference line 500 and transmits the detected distance to the control device 600, and the control device 600 receives the person or object provided from the detection device 200. Based on the adjacent distance from the reference line 500, it is possible to determine which of the photographed images captured by the plurality of photographing apparatuses 100 is output to the display device 300 in a priority or overlapping manner.
  • the display system 101 according to an embodiment of the present invention, as shown in Figures 1 and 3, the upper image (301) of the construction machine to the converted image output to the display device 300 Can be displayed together.
  • the display device 300 outputs a converted image so that a driver may recognize that the 2D image, which is a converted image output through the display device 300, is a top-view from the top of the construction machine 50.
  • the upper image 301 of the construction machine 50 may be displayed. That is, the 3D images photographed by the plurality of photographing apparatuses 100 may be converted into a 2D image based on the upper image 301 of the construction machine 50 and output to the display apparatus 300.
  • control device 600 of the display system 101 may further include a position display unit 630.
  • the location display unit 630 may display the location information of the person or object detected by the detection device 200 on the converted image output to the display device 300. That is, the control device 600 may display 350 the position information of the person or the object detected by the detection device 200 on the two-dimensional image output to the display device 300 and output the same.
  • the position display unit 630 may display a current position of a person or an object on a two-dimensional image which is a converted image output to the display device 300 based on the magnitude of the sensitivity of the person or the object by the detection device 200.
  • the detection apparatus 200 may be any one of a moving object detection (MOD), an ultrasonic sensor, a radar, and a lidar.
  • control device 600 may further include a location display device 300 for converting information transmitted from the detection device 200 into coordinates and displaying the location of the person or object detected by the detection device 200. have.
  • the driver may visually check the position of the person or object detected by the detection apparatus 200 with the information provided through the display device 300.
  • the driver may visually confirm the position thereof.
  • the plurality of photographing apparatuses 100 of the display system 101 may have the first photographing member 110 and the second photographing member 120 as illustrated in FIG. 2. And a third photographing member 130 and a fourth photographing member 140.
  • the first photographing member 110 may be installed in front of the construction machine 50. Specifically, the first photographing member 110 may photograph the front direction of the construction machine 50 in a three-dimensional image to be inclined toward the lower direction from the top of the construction machine 50.
  • the second photographing member 120 may be spaced apart from the first photographing member 110 and installed on the right side of the construction machine 50. Specifically, the second photographing member 120 may photograph the right direction of the construction machine 50 in a three-dimensional image to be inclined toward the lower direction from the top of the construction machine 50.
  • the third photographing member 130 may be spaced apart from the second photographing member 120 and installed at the rear of the construction machine 50. Specifically, the third photographing member 130 may photograph the rear direction of the construction machine 50 in a three-dimensional image to be inclined toward the lower direction from the top of the construction machine 50.
  • the fourth photographing member 140 may be spaced apart from the third photographing member 130 and installed on the left side of the construction machine 50. Specifically, the fourth photographing member 140 may photograph the left direction of the construction machine 50 in a three-dimensional image to be inclined toward the lower direction from the top of the construction machine 50.
  • the plurality of photographing apparatuses 100 includes the first photographing member 110, the second photographing member 120, the third photographing member 130, and the fourth photographing member 140, and thus the construction machine 50.
  • the external area of the construction machine 50 surrounding can be effectively photographed in three dimensions. That is, the control device 600 provides the first photographing member 110 and the second photographing member 120 with information necessary to prevent a collision with an object or a person during the pivoting operation of the pivoting body 20 of the construction machine 50.
  • the third photographing member 130 and the fourth photographing member 140 may be input from the plurality of photographing apparatuses 100.
  • a plurality of overlapping areas 400 may be formed, and the first overlapping area 410, the second overlapping area 420, and the first overlapping area 400 may be formed. It may include three overlapping regions 430 and a fourth overlapping region 440.
  • the first overlapping region 410 may be a region where a portion of the region photographed by the first photographing member 110 and a portion of the region photographed by the second photographing member 120 overlap each other. That is, the first overlapping area 410 may be an area adjacent to the right edge of the front of the construction machine 50.
  • the second overlapping area 420 may be an area where a portion of the region photographed by the second photographing member 120 and a portion of the region photographed by the third photographing member 130 overlap each other. That is, the second overlapping area 420 may be an area adjacent to the right edge behind the construction machine 50.
  • the third overlapping area 430 may be an area in which an area photographed by the third photographing member 130 and a part of an area photographed by the fourth photographing member 140 overlap each other. That is, the third overlapping area 430 may be an area adjacent to the left edge behind the construction machine 50.
  • the fourth overlapping area 440 may be an area where a portion photographed by the fourth photographing member 140 and a portion of a region photographed by the first photographing member 110 overlap each other. That is, the fourth overlapping area 440 may be an area adjacent to the left edge of the front of the construction machine 50.
  • the overlapping area 400 is formed in plural, so that a wide range of the external area of the construction machine 50 surrounding the construction machine 50 can be effectively photographed.
  • the reference line 500 may include a first reference line 510 for synthesizing the captured image of the first overlapping region 410 and a second reference line 520 for synthesizing the captured image of the second overlapping region 420. ) And a third reference line 530 for composing the captured image of the third overlapping area 430 and a fourth reference line 540 for composing the captured image of the fourth overlapping area 440. .
  • the detection apparatus 200 is formed in plural, the first detection member 210 and the second detection member 220 and the first The third detecting member 230 and the fourth detecting member 240 may be included.
  • the first detection member 210 may detect the presence or absence of a person or an object in the first overlapping area 410.
  • the first detection member 210 includes a first overlapping area of a right edge portion in front of the construction machine 50 in which the photographing area photographed by the first photographing member 110 and the second photographing member 120 is partially overlapped. The presence or absence of a person or an object located at 410 may be detected.
  • the first detection member 210 is installed in the right corner of the front of the swinging body 20 of the construction machine 50, the first overlapping area 410 is formed in the first overlapping area 410 Alternatively, the presence or absence of an object can be detected. In addition, the first detection member 210 may detect the presence or absence of a person or an object located in the first overlapping area 410 inclined from the upper part of the construction machine 50 to the lower part.
  • the first detection member 210 may detect the presence or absence of a person or an object located in the space of the first overlapping area 410.
  • the second detection member 220 may detect the presence or absence of a person or an object in the second overlapping area 420.
  • the second detection member 220 includes a second overlapping area of the right edge portion at the rear of the construction machine 50 in which the photographing area photographed by the second photographing member 120 and the third photographing member 130 is partially overlapped. The presence or absence of a person or an object located at 420 may be detected.
  • the second detection member 220 is installed on the right corner of the back of the swinging body 20 of the construction machine 50, the second overlapping area 420 is formed in the second overlapping area 420 Alternatively, the presence or absence of an object can be detected. In addition, the second detection member 220 may detect the presence or absence of a person or an object located in the second overlapping area 420 inclined from the upper part of the construction machine 50 to the lower part.
  • the second detection member 220 may detect the presence or absence of a person or an object located in the space of the second overlapping area 420.
  • the third detecting member 230 may detect the presence or absence of a person or an object in the third overlapping area 430.
  • the third detecting member 230 includes a third overlapping area of the left corner of the back of the construction machine 50 in which the photographing area photographed by the third photographing member 130 and the fourth photographing member 140 is partially overlapped. The presence or absence of a person or an object located at 430 may be detected.
  • the third detection member 230 is installed on the left corner of the back of the swinging body 20 of the construction machine 50, the third overlapping area 430 is formed in the third overlapping area 430 Alternatively, the presence or absence of an object can be detected. In addition, the third detection member 230 may detect the presence or absence of a person or an object located in the third overlapping area 430 inclined from the upper portion of the construction machine 50 toward the lower portion.
  • the third detecting member 230 may detect the presence or absence of a person or an object located in the space of the third overlapping area 430.
  • the fourth detection member 240 may detect the presence or absence of a person or an object in the fourth overlapping region 440.
  • the fourth detection member 240 includes a fourth overlapping area of the left edge portion in front of the construction machine 50 in which the photographing area photographed by the fourth photographing member 140 and the first photographing member 110 is partially overlapped. The presence or absence of a person or an object located at 440 may be detected.
  • the fourth detection member 240 is installed in the left corner of the front of the swinging body 20 of the construction machine 50 in which the fourth overlapping region 440 is formed and positioned in the fourth overlapping region 440.
  • the presence or absence of an object can be detected.
  • the fourth detection member 240 may detect the presence or absence of a person or an object located in the fourth overlapping area 440 inclined from the upper part of the construction machine 50 to the lower part.
  • the fourth detection member 240 may detect the presence or absence of a person or an object located in the space of the fourth overlapping region 440.
  • the detection device 200 is formed in plural, and the control device 600 is generated when the external device of the construction machine 50 surrounding the construction machine 50 is photographed to the driver in three dimensions and converted into a two-dimensional image.
  • a person or an object located in the overlapped area 400 may be provided as a 3D image without an error such as distortion of the image.
  • the control device 600 when a person is detected in the second overlapping area 420 by the second detecting member 220, the control device 600 includes the second overlapping area 420. You can judge that there is a person. Accordingly, the controller 600 converts an image captured by the first photographing member 110, the second photographing member 120, the third photographing member 130, and the fourth photographing member 140 into an image converter 610. The converted image 310 converted into an image of a top-view view of the construction machine from the top may be output to the display device 300.
  • control device 600 may output to the display device 300 photographed images 330 and 340 photographing the second overlapping region 420 by the second photographing member 120 and the third photographing member 130, respectively. have.
  • control device 600 may display and output the position detected by the second detection member 220 on the converted image 310 together by the position display unit 630.
  • the driver receives the image of the person who was not output in the converted image 310 of the display device 300, and the second photographing member 120 and the third photographing member 130 are provided through the photographed images 330 and 340, and the detection is performed.
  • the position of the person may be provided as the detection display 350 that is output together on the converted image 310.
  • control device 600 of the display system 101 when the two or more detection device 200 detects that a person or an object is located in two or more overlapping areas 400, All of the photographed images of the overlapped area 400 may be output to the display device 300.
  • the control device 600 detects that a person or an object is located in two or more overlapping areas 400 of the plurality of overlapping areas 400, the two or more detection devices 200 of the plurality of detection devices 200, All of the captured images of the two or more overlapped areas 400 in which a person or an object is detected among the captured images photographed by the photographing apparatus 100 may be provided to the driver through the display apparatus 300.
  • the driver may accurately grasp the position of the person or the object with the image provided through the display device 300 without distorting the image that may be generated by the plurality of overlapping areas 400.
  • the control device 600 may include the first overlapping region 410 and the second overlapping region (eg, by the first detecting member 210 and the second detecting member 220).
  • the first overlapping region 410 and the second overlapping region eg, by the first detecting member 210 and the second detecting member 220.
  • the controller 600 converts an image captured by the first photographing member 110, the second photographing member 120, the third photographing member 130, and the fourth photographing member 140 into an image converter 610.
  • the converted image 310 converted into an image of a top-view view of the construction machine from the top may be output to the display device 300.
  • control device 600 may output both the images captured by the first overlapping area 410 and the second overlapping area 420 to the display device 300.
  • control device 600 displays the position where the person is detected by the first detection member 210 and the second detection member 220 together on the converted image 310 by the position display unit 630. Can be output.
  • a person or an object may be disposed in both the first overlapping region 410, the second overlapping region 420, the third overlapping region 430, and the fourth overlapping region 440.
  • the control device 600 captures the captured image photographed by the first photographing member 110, the second photographing member 120, the third photographing member 130, and the fourth photographing member 140.
  • the converted image 310 converted into an image of a top-view of the construction machine from the top through the image converter 610 may be output to the display device 300.
  • the driver selects the display system 101 to operate in either the captured image mode or the converted image mode (S100).
  • the display device 300 looks down at the upper part of the construction machine converted by the image conversion unit 610 on the images captured by the plurality of photographing apparatuses 100.
  • the image of the view is output to the display device 300 (S150). That is, when the converted image mode is selected, the control device 600 outputs only the converted image 310 converted by the image converter 610 to the display device 300 regardless of whether the detection device 200 is detected. .
  • the detection apparatus 200 detects the presence or absence of a person or an object located in the overlapped area 400 (S200).
  • the detection apparatus 200 transmits the detected information to the area determining unit 620, and the area determining unit 620 determines whether a person or an object is in the overlapping area 400.
  • the image of the top-view of the construction machine converted by the image converter 610 from the top and the overlapped area in which the person or the object is detected (S300).
  • the image of the top-view of the construction machine converted by the image converter 610 from the top is output to the display device 300. (S150).
  • the display system 101 is configured to provide a driver located in the cabin of the construction machine 50 to the driver of the outer region of the construction machine 50 surrounding the construction machine 50.
  • the photographed image can be effectively provided.
  • the display system 101 includes the detection device 200, so that even if an object having a height is located on the overlapped area 400 in which the plurality of photographing devices 100 are repeatedly photographed, the driver may display the display device 300. ) Can be provided along with the captured image and the converted image. Accordingly, the driver may check the shape and position of the object located in the overlapped area 400 without distorting the image.
  • the display system according to an exemplary embodiment of the present invention may be used to provide an image photographing an external area of a construction machine to a driver located inside the construction machine.
  • detection device 210 first detection member
  • controller 610 image conversion unit

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Image Processing (AREA)

Abstract

Selon un mode de réalisation, la présente invention concerne un système d'affichage. Le système d'affichage comprend : une pluralité de dispositifs photographiques installés dans une engin de chantier de sorte à être espacés les uns des autres, et générant des images photographiées en photographiant des zones à l'extérieur de l'engin de chantier de manière telle que les zones photographies se chevauchent partiellement; un dispositif de détection pour détecter l'existence d'une personne ou d'un objet se trouvant dans des zones superposées, qui sont photographiées de manière à se chevaucher par la pluralité de dispositifs photographiques; un dispositif d'affichage installé à l'intérieur de l'engin de chantier pour fournir en sortie des images photographiées par la pluralité de dispositifs photographiques; et un dispositif de commande pour combiner des images photographiées par la pluralité de dispositifs photographiques, convertir l'image combinée en une image ayant un point de vue dans lequel l'engin de chantier est vu du dessus, et fournir sélectivement en sortie une image photographiée dans laquelle une zone de chevauchement correspondante est capturée sur le dispositif d'affichage, sur la base du résultat de la détection par le dispositif de détection.
PCT/KR2017/001426 2016-02-23 2017-02-09 Système d'affichage WO2017146403A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201780013077.4A CN108699816A (zh) 2016-02-23 2017-02-09 显示系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020160021398A KR102484103B1 (ko) 2016-02-23 2016-02-23 표시 시스템
KR10-2016-0021398 2016-02-23

Publications (1)

Publication Number Publication Date
WO2017146403A1 true WO2017146403A1 (fr) 2017-08-31

Family

ID=59685325

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2017/001426 WO2017146403A1 (fr) 2016-02-23 2017-02-09 Système d'affichage

Country Status (3)

Country Link
KR (1) KR102484103B1 (fr)
CN (1) CN108699816A (fr)
WO (1) WO2017146403A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113785091A (zh) * 2020-03-27 2021-12-10 住友重机械工业株式会社 施工机械用图像获取装置、信息管理系统、信息终端、施工机械用图像获取程序

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230237806A1 (en) * 2022-01-24 2023-07-27 Caterpillar Inc. Object detection vision system
KR102606126B1 (ko) * 2023-08-16 2023-11-24 오토아이티(주) 영상 왜곡 영역과 카메라간 상관성을 고려한 객체 검출동작을 수행하는 어라운드 뷰 모니터 영상 처리 장치 및 방법

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008095307A (ja) * 2006-10-06 2008-04-24 Hitachi Constr Mach Co Ltd 作業機械の周囲監視装置
KR101123738B1 (ko) * 2009-08-21 2012-03-16 고려대학교 산학협력단 중장비 동작 안전 모니터링 시스템 및 방법
KR20130100919A (ko) * 2010-06-18 2013-09-12 히다찌 겐끼 가부시키가이샤 작업 기계의 주위 감시 장치
KR20140094575A (ko) * 2011-12-13 2014-07-30 스미토모 겐키 가부시키가이샤 건설기계의 주위화상 표시장치 및 주위화상 표시방법
KR20140118115A (ko) * 2013-03-28 2014-10-08 삼성전기주식회사 차량 주위 영상 보정 시스템 및 차량 주위 영상 보정 방법

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5456123B1 (ja) * 2012-09-20 2014-03-26 株式会社小松製作所 作業車両用周辺監視システム及び作業車両
JP6165085B2 (ja) * 2014-03-07 2017-07-19 日立建機株式会社 作業機械の周辺監視装置
CA2863648C (fr) * 2014-04-25 2017-06-20 Takeshi Kurihara Mecanisme de surveillance d'entourage, vehicule de travail et methode de surveillance d'entourage
JP6204884B2 (ja) * 2014-07-25 2017-09-27 日立建機株式会社 旋回式作業機の周囲表示装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008095307A (ja) * 2006-10-06 2008-04-24 Hitachi Constr Mach Co Ltd 作業機械の周囲監視装置
KR101123738B1 (ko) * 2009-08-21 2012-03-16 고려대학교 산학협력단 중장비 동작 안전 모니터링 시스템 및 방법
KR20130100919A (ko) * 2010-06-18 2013-09-12 히다찌 겐끼 가부시키가이샤 작업 기계의 주위 감시 장치
KR20140094575A (ko) * 2011-12-13 2014-07-30 스미토모 겐키 가부시키가이샤 건설기계의 주위화상 표시장치 및 주위화상 표시방법
KR20140118115A (ko) * 2013-03-28 2014-10-08 삼성전기주식회사 차량 주위 영상 보정 시스템 및 차량 주위 영상 보정 방법

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113785091A (zh) * 2020-03-27 2021-12-10 住友重机械工业株式会社 施工机械用图像获取装置、信息管理系统、信息终端、施工机械用图像获取程序
CN113785091B (zh) * 2020-03-27 2023-10-24 住友重机械工业株式会社 施工机械、信息管理系统、信息终端、程序

Also Published As

Publication number Publication date
KR20170099252A (ko) 2017-08-31
CN108699816A (zh) 2018-10-23
KR102484103B1 (ko) 2023-01-04

Similar Documents

Publication Publication Date Title
WO2012153978A2 (fr) Système de caméra de stationnement et son procédé de commande
WO2017146403A1 (fr) Système d'affichage
WO2013112016A1 (fr) Dispositif améliorant la stabilité de fonctionnement d'engins de chantier
WO2013069877A1 (fr) Système d'aide au stationnement
WO2012111889A1 (fr) Module caméra pour automobile, procédé de commande de ladite caméra et procédé d'aide au stationnement
WO2013024981A2 (fr) Caméra destinée à un véhicule
WO2017183915A2 (fr) Appareil d'acquisition d'image et son procédé
EP3359043A1 (fr) Appareil d'imagerie à rayons x, procédé de commande associé et détecteur de rayons x
WO2020122533A1 (fr) Système de surveillance de vision autour d'un véhicule par réglage de l'angle de vision d'une caméra, et procédé associé
WO2021118013A1 (fr) Appareil et procédé de prévention de collision de grue
WO2017078213A1 (fr) Procédé pour détecter un objet en déplacement dans une image photographiée, et système de prévention d'accident d'embarquement et de débarquement l'utilisant
JPH04114587A (ja) 画像処理合成システム
WO2013051801A1 (fr) Appareil d'affichage et procédé d'aide au stationnement
WO2013051753A1 (fr) Appareil et procédé permettant une aide au stationnement
WO2017195965A1 (fr) Appareil et procédé de traitement d'image en fonction de la vitesse d'un véhicule
WO2021158009A1 (fr) Dispositif de suivi, système de suivi le comprenant, et procédé de suivi pour dispositif de suivi
JP2002176641A (ja) 周囲映像提示装置
WO2020096263A1 (fr) Système de caméra inclus dans un véhicule et procédé de commande de celui-ci
WO2020230930A1 (fr) Caméra d'imagerie thermique et procédé de commande associé
WO2020218716A1 (fr) Dispositif de stationnement automatique et procédé de stationnement automatique
WO2023146071A1 (fr) Appareil de contrôle de conditions dans un véhicule extérieur de zone latérale avant
WO2021054757A1 (fr) Dispositif de génération d'image avant pour équipement de construction
WO2017217788A2 (fr) Appareil et procédé d'assistance à la conduite d'un véhicule
WO2022196884A1 (fr) Système de détection de véhicule et procédé de détection de véhicule utilisant une caméra stéréo et un radar
WO2020130663A1 (fr) Dispositif et procédé d'affichage d'image de guidage de travail utilisant une vision périphérique dans un équipement de construction

Legal Events

Date Code Title Description
NENP Non-entry into the national phase

Ref country code: DE

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17756741

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 13.02.2019)

122 Ep: pct application non-entry in european phase

Ref document number: 17756741

Country of ref document: EP

Kind code of ref document: A1