WO2020153292A1 - 作業機械のシステム及び方法 - Google Patents
作業機械のシステム及び方法 Download PDFInfo
- Publication number
- WO2020153292A1 WO2020153292A1 PCT/JP2020/001696 JP2020001696W WO2020153292A1 WO 2020153292 A1 WO2020153292 A1 WO 2020153292A1 JP 2020001696 W JP2020001696 W JP 2020001696W WO 2020153292 A1 WO2020153292 A1 WO 2020153292A1
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- WIPO (PCT)
- Prior art keywords
- work machine
- panoramic video
- image
- viewpoint
- processor
- Prior art date
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- 230000002093 peripheral effect Effects 0.000 claims abstract description 22
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- 238000012545 processing Methods 0.000 description 9
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- 239000010720 hydraulic oil Substances 0.000 description 4
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 2
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- 238000013519 translation Methods 0.000 description 2
- 240000004050 Pentaglottis sempervirens Species 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
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- 239000011159 matrix material Substances 0.000 description 1
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Images
Classifications
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- 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
-
- 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
- B60R1/28—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 an adjustable field of view
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- 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
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B15/00—Special procedures for taking photographs; Apparatus therefor
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
- B60R2300/602—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective with an adjustable viewpoint
- B60R2300/605—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective with an adjustable viewpoint the adjustment being automatic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
- B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
-
- 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
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/7604—Combinations of scraper blades with soil loosening tools working independently of scraper blades
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
Definitions
- the present disclosure relates to a work machine system and method.
- the system includes a plurality of cameras attached to a work machine and a controller.
- a plurality of cameras capture images of the work machine and its surroundings.
- the controller synthesizes an overhead image from images captured by a plurality of cameras.
- the controller synthesizes a plurality of images captured by the camera to generate an image showing the work machine and its surroundings. Therefore, the controller can generate images from various viewpoints.
- the system includes a work machine, a plurality of cameras, a processor, and a display.
- the work machine includes a work machine. Multiple cameras capture peripheral images of the work machine.
- the processor acquires image data indicating a peripheral image.
- the processor synthesizes the peripheral images to generate a panoramic video from a viewpoint moving around the work machine.
- the display displays a panoramic video from a viewpoint moving around the work machine based on a signal from the processor.
- the method according to the second aspect is a method executed by the processor to display the periphery of the work machine including the work machine on the display.
- the method includes the following processes.
- the first process is to acquire image data indicating a peripheral image of the work machine.
- the second process is to combine the peripheral images to generate a panoramic video from a viewpoint moving around the work machine.
- the third process is to display a panoramic video from the viewpoint moving around the work machine on the display.
- the system includes a processor and a display.
- the processor acquires image data indicating a peripheral image of the work machine.
- the processor synthesizes the peripheral images to generate a panoramic video from a viewpoint moving around the work machine.
- the display displays a panoramic video from a viewpoint moving around the work machine based on a signal from the processor.
- a panoramic video from the viewpoint of moving around the work machine is displayed on the display. Therefore, the operator can easily overlook a wide range around the work machine by the display.
- FIG. 1 is a side view showing a work machine 1 according to the embodiment.
- the work machine 1 is a bulldozer.
- the work machine 1 includes a vehicle body 2, a work machine 3, and a traveling device 4.
- the vehicle body 2 includes an engine room 11.
- a driver's cab 12 is arranged behind the engine compartment 11.
- a ripper device 5 is attached to the rear portion of the vehicle body 2.
- the traveling device 4 is a device for traveling the work machine 1.
- the traveling device 4 includes a pair of crawler belts 13 arranged on the left and right sides of the vehicle body 2.
- the work machine 1 runs by driving the crawler belt 13.
- the work machine 3 is arranged in front of the vehicle body 2.
- the work machine 3 is used for work such as excavation, soil transportation, or leveling.
- the work machine 3 includes a blade 14, a lift cylinder 15, a tilt cylinder 16, and an arm 17.
- the blade 14 is supported by the vehicle body 2 via an arm 17.
- the blade 14 is provided so as to be vertically movable.
- the lift cylinder 15 and the tilt cylinder 16 are driven by hydraulic oil discharged from a hydraulic pump 22 described later to change the attitude of the blade 14.
- FIG. 2 is a block diagram showing the configuration of a system 100 for controlling the work machine 1.
- the work machine 1 includes an engine 21, a hydraulic pump 22, a power transmission device 23, and a control valve 24.
- the engine 21, the hydraulic pump 22, and the power transmission device 23 are arranged in the engine compartment 11.
- the hydraulic pump 22 is driven by the engine 21 and discharges hydraulic oil.
- the hydraulic oil discharged from the hydraulic pump 22 is supplied to the lift cylinder 15 and the tilt cylinder 16.
- one hydraulic pump 22 is shown in FIG. 2, a plurality of hydraulic pumps may be provided.
- the power transmission device 23 transmits the driving force of the engine 21 to the traveling device 4.
- the power transmission device 23 may be, for example, an HST (Hydro Static Transmission).
- the power transmission device 23 may be, for example, a torque converter or a transmission having a plurality of transmission gears.
- the control valve 24 is a proportional control valve and is controlled according to an input command signal.
- the control valve 24 is arranged between hydraulic actuators such as the lift cylinder 15 and the tilt cylinder 16 and the hydraulic pump 22.
- the control valve 24 controls the flow rate of the hydraulic oil supplied from the hydraulic pump 22 to the lift cylinder 15 and the tilt cylinder 16.
- the control valve 24 may be a pressure proportional control valve.
- the control valve 24 may be an electromagnetic proportional control valve.
- the system 100 includes a first controller 31, a second controller 32, an input device 33, and communication devices 34 and 35.
- the first controller 31 and the communication device 34 are mounted on the work machine 1.
- the second controller 32, the input device 33, and the communication device 35 are arranged outside the work machine 1.
- the second controller 32, the input device 33, and the communication device 35 are arranged in a control center remote from the work site.
- the work machine 1 can be remotely controlled by the input device 33.
- the first controller 31 and the second controller 32 are programmed to control the work machine 1.
- the first controller 31 includes a memory 311 and a processor 312.
- the memory 311 includes, for example, a volatile memory such as a RAM and a non-volatile memory such as a ROM.
- the memory 311 stores programs and data for controlling the work machine 1.
- the processor 312 is, for example, a CPU (Central Processing Unit), and executes processing for controlling the work machine 1 according to a program.
- the first controller 31 drives the work machine 1 by controlling the traveling device 4 or the power transmission device 23.
- the first controller 31 operates the work machine 3 by controlling the control valve 24.
- the second controller 32 includes a memory 321 and a processor 322.
- the memory 321 includes, for example, a volatile memory such as a RAM and a non-volatile memory such as a ROM.
- the memory 321 stores programs and data for controlling the work machine 1.
- the processor 322 is, for example, a CPU (Central Processing Unit), and executes processing for controlling the work machine 1 according to a program.
- the second controller 32 receives an operation signal from the input device 33.
- the input device 33 receives an operation by the operator and outputs an operation signal according to the operation.
- the input device 33 outputs an operation signal to the second controller 32.
- the input device 33 includes an operator such as an operating lever, a pedal, or a switch for operating the traveling device 4 and the working machine 3.
- the input device 33 may include a touch panel.
- the traveling of the work machine 1 such as forward and backward, is controlled. Further, operations such as raising and lowering of the work machine 3 are controlled according to the operation of the input device 33.
- the second controller 32 can communicate with the first controller 31 wirelessly via the communication devices 34 and 35.
- the second controller 32 acquires the operation data D4 from the operation signal from the input device 33, and transmits the operation data D4 to the first controller 31.
- the operation data D4 indicates the operation of the input device 33 for operating the traveling device 4 and the working machine 3.
- the first controller 31 controls the traveling device 4 and the work machine 3 according to the operation data D4.
- FIG. 3 is a block diagram showing a configuration of a system 100 for displaying an image of the work machine 1 and its surroundings, and a flow of processing by the system.
- the system 100 includes a plurality of cameras C1-C4.
- the plurality of cameras C1-C4 are attached to the vehicle body 2.
- the plurality of cameras C1-C4 are fisheye cameras.
- the angle of view of each of the plurality of cameras C1-C4 is 180 degrees. However, the angle of view of each of the plurality of cameras C1-C4 may be smaller than 180 degrees. Alternatively, the angle of view of each of the plurality of cameras C1-C4 may be greater than 180 degrees.
- the plurality of cameras C1-C4 includes a front camera C1, a first side camera C2, a rear camera C3, and a second side camera C4.
- the front camera C1 is attached to the front part of the vehicle body 2.
- the vehicle body 2 includes a support member 18.
- the support member 18 extends upward and forward from the front portion of the vehicle body 2.
- the front camera C1 is attached to the support member 18.
- the rear camera C3 is attached to the rear part of the vehicle body 2.
- the first side camera C2 is attached to one side of the vehicle body 2.
- the second side camera C4 is attached to the other side portion of the vehicle body 2.
- the first side camera C2 is attached to the left side portion of the vehicle body 2, and the second side camera C4 is attached to the right side portion of the vehicle body 2.
- the first side camera C2 may be attached to the right side portion of the vehicle body 2, and the second side camera C4 may be attached to the left side portion of the vehicle body 2.
- the front camera C1 acquires an image in front of the vehicle body 2.
- the rear camera C3 acquires an image behind the work machine 1.
- the first side camera C2 acquires an image on the left side of the vehicle body 2.
- the second side camera C4 acquires an image on the right side of the vehicle body 2.
- the cameras C1-C4 output image data indicating the acquired image.
- the system 100 includes a shape sensor 36, a posture sensor 37, and a position sensor 38.
- the shape sensor 36 measures a three-dimensional shape around the work machine 1 and outputs shape data D1 indicating the three-dimensional shape.
- the shape sensor 36 is, for example, a lidar (LIDAR: Laser Imaging and Ranging).
- the shape sensor 36 measures the distance to the measurement point by irradiating a laser and measuring the reflected light.
- the attitude sensor 37 detects the attitude of the work machine 1 and outputs attitude data D2 indicating the attitude.
- the posture sensor 37 includes, for example, an IMU (Inertial Measurement Unit).
- the posture data D2 includes an angle (pitch angle) with respect to the horizontal in the vehicle front-rear direction and an angle (roll angle) with respect to the horizontal in the vehicle lateral direction.
- the attitude sensor outputs attitude data D2.
- the position sensor 38 includes a GNSS (Global Navigation Satellite System) receiver such as a GPS (Global Positioning System).
- the position sensor receives the positioning signal from the satellite, and acquires the position data D3 indicating the position coordinates of the work machine 1 from the positioning signal.
- the position sensor outputs position data D3.
- GNSS Global Navigation Satellite System
- GPS Global Positioning System
- the shape sensor 36 is attached to the support member 18, for example. Alternatively, the shape sensor 36 may be attached to another part of the vehicle body 2.
- the attitude sensor 37 and the position sensor 38 are attached to the vehicle body 2. Alternatively, the attitude sensor 37 and the position sensor 38 may be attached to the work machine 3.
- the system 100 includes an image controller 41 and a display 42.
- the image controller 41 is programmed to generate an image IS showing the work machine 1 and its periphery and display the image IS on the display 42.
- the image controller 41 includes a storage device 411 and a processor 412.
- the storage device 411 includes, for example, a volatile memory such as a RAM and a non-volatile memory such as a ROM.
- the storage device 411 may include an auxiliary storage device such as an HDD or SSD.
- the storage device 411 stores a program and data for generating the image IS.
- the processor 412 is, for example, a CPU (Central Processing Unit), and executes processing for generating an image IS and displaying it on the display 42 according to a program.
- CPU Central Processing Unit
- the image controller 41 is connected to the first controller 31 by wire or wirelessly so as to be communicable.
- the image controller 41 is connected to the second controller 32 in a wired or wireless manner so that they can communicate with each other.
- the image controller 41 may be mounted on the work machine 1.
- the image controller 41 may be integrated with the first controller 31 or may be a separate body.
- the image controller 41 may be arranged outside the work machine 1.
- the image controller 41 may be arranged in the control center.
- the image controller 41 may be integrated with the second controller 32 or may be a separate body.
- the image controller 41 is connected to the cameras C1-C4 by wire or wirelessly so that they can communicate with each other.
- the image controller 41 receives image data from the cameras C1-C4.
- the image controller 41 may receive the image data via the first controller 31 and/or the second controller 32.
- the image controller 41 is connected to the shape sensor 36, the posture sensor 37, and the position sensor 38 by wire or wirelessly so that they can communicate with each other.
- the image controller 41 receives the shape data D1 from the shape sensor 36.
- the image controller 41 receives the posture data D2 from the posture sensor 37.
- the image controller 41 receives the position data D3 from the position sensor 38.
- the image controller 41 may receive the shape data D1, the posture data D2, and the position data D3 via the first controller 31 and/or the second controller 32.
- the image controller 41 receives the operation data D4 from the input device 33.
- the image controller 41 may receive the operation data D4 via the first controller 31 and/or the second controller 32.
- the display 42 is, for example, a CRT, LCD or OELD. However, the display 42 is not limited to these displays and may be another type of display.
- the display 42 displays an image based on the signal from the image controller 41.
- the display 42 may receive a signal from the image controller 41 via the first controller 31 and/or the second controller 32.
- the image controller 41 generates an image IS based on the above-mentioned image data, shape data D1, posture data D2, and position data D3.
- FIG. 4 is a diagram showing an example of the image IS.
- the image IS includes the work machine 1 and objects around the work machine 1.
- the target around the work machine 1 includes the terrain around the work machine 1. Objects around the work machine 1 may include other work machines, buildings, or people. The generation of the image IS will be described below.
- the cameras C1-C4 take images of the work machine 1 and its surroundings.
- the image controller 41 acquires the front image Im1, the left image Im2, the rear image Im3, and the right image Im4 from the cameras C1-C4.
- the front image Im1 is an image in front of the vehicle body 2.
- the left image Im2 is an image on the left side of the vehicle body 2.
- the rear image Im3 is an image behind the vehicle body 2.
- the right image Im4 is an image on the right side of the vehicle body 2.
- the image controller 41 generates a peripheral image IS1 from the images Im1-Im4 acquired by the cameras C1-C4.
- the peripheral image IS1 is a synthetic image that shows a bird's eye view of the periphery of the work machine 1.
- the image controller 41 generates the peripheral image IS1 by projecting the images Im1-Im4 acquired by the cameras C1-C4 on the three-dimensional projection model M1 by texture mapping.
- the three-dimensional projection model M1 is composed of a polygon mesh indicating the shape of the target around the work machine 1.
- the image controller 41 may use a three-dimensional projection model M1 stored in advance. Alternatively, the image controller 41 may generate the three-dimensional projection model M1 based on the shape data D1 acquired from the shape sensor 36.
- the image controller 41 synthesizes the machine image IS2 showing the work machine 1 and the peripheral image IS1.
- the machine image IS2 is a three-dimensional image of the work machine 1 itself.
- the image controller 41 determines the posture of the machine image IS2 on the image IS from the posture data D2.
- the image controller 41 determines the orientation of the machine image IS2 on the image IS from the position data D3.
- the image controller 41 synthesizes the mechanical image IS2 with the image IS so that the orientation and orientation of the mechanical image IS2 on the image IS match the actual orientation and orientation of the work machine 1.
- the image controller 41 may generate the machine image IS2 from the images Im1-Im4 acquired by the cameras C1-C4.
- the image of the work machine 1 is included in each of the images captured by the cameras C1-C4, and the image controller 41 generates the machine image IS2 by projecting each part of the image onto the machine model M2.
- the machine model M2 may be a projection model having the shape of the work machine 1 and may be stored in the storage device 411.
- the machine image IS2 may be a preset image captured in advance or a three-dimensional computer graphics created in advance.
- the display 42 displays the image IS.
- the image IS is updated in real time and displayed on the display 42 as a moving image. Therefore, when the work machine 1 is running, the posture, orientation, and orientation of the peripheral image IS1 and the machine image IS2 in the image IS are determined according to the surrounding objects, the orientation, orientation, and actual position of the work machine 1. The position is also changed and displayed in real time.
- the three-dimensional projection model M1 and the machine model M2 are changed from the posture, orientation, and position when the work machine 1 starts traveling. It rotates according to the rotation matrix that it represents and translates according to the translation vector.
- the rotation vector and the translation vector are acquired from the posture data D2 and the position data D3 described above.
- the image IS is an image of the work machine 1 and its surroundings viewed from the left.
- the image controller 41 can switch the image IS to an image of the work machine 1 and its surroundings from a perspective of forward, backward, rightward, upward, or an oblique direction in each direction.
- the image controller 41 also generates a panoramic video from the viewpoint VP moving around the work machine 1 and displays it on the display 42.
- FIG. 5A is a side view showing the movement of the viewpoint VP.
- FIG. 5A is a top view showing the movement of the viewpoint VP.
- the viewpoint VP is located diagonally above the work machine 1.
- the image controller 41 rotates the viewpoint VP around the work machine 360 by 360 degrees.
- the image controller 41 rotates the viewpoint VP once along a circular trajectory centered on the work machine 1 in a top view of the work machine 1.
- the viewpoint VP is always arranged so as to face the work machine 1.
- FIGS. 6 and 7 show a part of the frame of the panoramic video PV. As shown in FIGS. 6 and 7, in the panoramic video PV, the work machine 1 is displayed at the center of the screen.
- the panoramic video PV shows the work machine 1 and the entire periphery of the work machine 1.
- the work machine 1 is displayed in the horizontal center of the screen in the panoramic video PV.
- the work machine 1 is displayed in the vertical center of the screen in the panoramic video PV.
- the work machine 1 may be displayed eccentric from the center of the screen in the left-right direction or the vertical direction.
- the frame F1 shown in FIG. 6 is an image of the work machine 1 and its surroundings viewed from the viewpoint VP1 shown in FIG. 5B.
- the viewpoint VP1 is located in front of and above the work machine 1.
- a frame F2 shown in FIG. 6 is an image of the work machine 1 and its surroundings viewed from the viewpoint VP2 shown in FIG. 5B.
- the viewpoint VP2 is located diagonally to the front right of the work machine 1 and above.
- a frame F3 shown in FIG. 6 is an image of the work machine 1 and its surroundings viewed from the viewpoint VP3 shown in FIG. 5B.
- the viewpoint VP3 is located to the right and above the work machine 1.
- the frame F4 shown in FIG. 6 is an image of the work machine 1 and its surroundings viewed from the viewpoint VP4 shown in FIG. 5B.
- the viewpoint VP4 is located diagonally rearward and rightward of the work machine 1 and upward.
- a frame F5 shown in FIG. 6 is an image of the work machine 1 and its surroundings viewed from the viewpoint VP5 shown in FIG. 5B.
- the viewpoint VP5 is located behind and above the work machine 1.
- a frame F6 shown in FIG. 7 is an image of the work machine 1 and its surroundings viewed from the viewpoint VP6 shown in FIG. 5B.
- the viewpoint VP6 is located diagonally left rearward and upward of the work machine 1.
- a frame F7 shown in FIG. 7 is an image of the work machine 1 and its surroundings viewed from the viewpoint VP7 shown in FIG. 5B.
- the viewpoint VP7 is located diagonally to the front left of the work machine 1 and above.
- a frame F9 shown in FIG. 7 is an image of the work machine 1 and its surroundings viewed from the viewpoint VP1 shown in FIG. 5B.
- the viewpoint VP starts moving from the viewpoint VP1, passes through the viewpoints VP2-VP8, and returns to the viewpoint VP1.
- the panoramic video PV is continuously generated while moving the viewpoints VP1 to VP9 and the positions between them.
- the start position of movement of the viewpoint VP is not limited to the viewpoint PV1 and may be another position.
- the image controller 41 generates the panoramic video PV and displays it on the display 42 when receiving the start signal of the work machine 1.
- the image controller 41 also stores data indicating the panoramic video PV in the storage device 411.
- the image controller 41 receives, for example, a start signal of the work machine 1 as the operation data D4 from the input device 33 described above.
- the start signal of the work machine 1 is, for example, a signal for starting the engine 21.
- the start signal of the work machine 1 may be a signal that activates the system of the work machine 1.
- the panoramic video PV from the viewpoint VP moving around the work machine 1 is displayed on the display 42. Therefore, the operator can easily overlook a wide range around the work machine 1 by the display 42.
- the panoramic video PV is generated when the work machine 1 is started and displayed on the display 42. Therefore, the operator can confirm the situation around the work machine 1 at the start of work by the work machine 1.
- the panoramic video PV is stored in the storage device 411. Thereby, the panoramic video PV can be stored as a safety record at the work site.
- the work machine is not limited to a bulldozer, but may be another type such as a wheel loader or a hydraulic excavator.
- the work machine 1 may be operated in the cab instead of being operated remotely.
- FIG. 8 is a figure which shows the structure of the working machine 1 which concerns on other embodiment.
- the work machine 1 may include a controller 30 mounted on the work machine 1.
- the input device 33 may be arranged in the cab.
- the controller 30 may execute the above-described process of generating the image IS and the panoramic video PV.
- the controller 30 has the same configuration as the first controller 31 and the second controller 32 described above, and thus detailed description thereof will be omitted.
- the first controller 31 is not limited to a single unit and may be divided into a plurality of controllers.
- the second controller 32 is not limited to be integrated, and may be divided into a plurality of controllers.
- the controller 30 is not limited to a single unit and may be divided into a plurality of controllers.
- the image controller 41 is not limited to a single unit and may be divided into a plurality of controllers.
- All or part of the above-described processing for generating the image IS may be executed by another controller instead of the image controller 41.
- All or part of the above-described processing of generating the panoramic video PV may be executed by the other controller instead of the image controller 41.
- the number of cameras is not limited to four, but may be three or less, or five or more.
- the camera is not limited to a fisheye camera, and may be another type of camera.
- the arrangement of the cameras is not limited to the arrangement of the above-described embodiment, but may be different arrangement.
- the attitude sensor 37 is not limited to the IMU and may be another sensor.
- the position sensor 38 is not limited to the GNSS receiver and may be another sensor.
- the shape sensor 36 is not limited to the rider, but may be another measuring device such as a radar.
- the panoramic video PV may be generated and displayed on the display 42 not only at the time of receiving the start signal of the work machine but at another timing. For example, when the operator operates the input device 33, the panoramic video PV may be generated at any timing and displayed on the display 42.
- the position and orientation of the viewpoint VP in the panoramic video PV are not limited to those in the above embodiment, and may be changed.
- the viewpoint VP may be at the same height as the work machine 1.
- the viewpoint VP may move so that the work machine 1 is displayed at a position eccentric from the center of the screen.
- FIG. 8A is a side view showing the movement of the viewpoint VP according to the modification.
- FIG. 8B is a side view showing the movement of the viewpoint VP according to the modification.
- the viewpoint VP is located obliquely above the work machine 1 as in the above embodiment.
- the controller 30 moves the viewpoint VP along an elliptical trajectory surrounding the work machine 1 in a top view of the work machine 1 to generate the panoramic video PV.
- the viewpoint VP is arranged so that it does not pass through the work machine 1.
- the viewpoint VP is arranged toward the work machine 1 in a direction passing through one side of the work machine 1 on the left and right sides.
- the viewpoint VP is arranged so as to face the work machine 1 and pass through the left side of the work machine 1.
- the viewpoint VP may be arranged so as to face the work machine 1 and pass through the right side of the work machine 1.
- FIGS. 9 and 10 show a part of the frame of the panoramic video PV according to the modified example.
- the work machine 1 is displayed to the right of the center of the screen.
- the work machine 1 may be displayed to the left of the center of the screen.
- a frame F1 shown in FIG. 10 is an image of the work machine 1 and its surroundings viewed from the viewpoint VP1 shown in FIG. 9B.
- a frame F2 shown in FIG. 10 is an image of the work machine 1 and its surroundings viewed from the viewpoint VP2 shown in FIG. 9B.
- a frame F3 shown in FIG. 10 is an image of the work machine 1 and its surroundings viewed from the viewpoint VP3 shown in FIG. 9B.
- a frame F4 shown in FIG. 10 is an image of the work machine 1 and its surroundings viewed from the viewpoint VP4 shown in FIG. 9B.
- a frame F5 shown in FIG. 10 is an image of the work machine 1 and its surroundings viewed from the viewpoint VP5 shown in FIG. 9B.
- a frame F6 shown in FIG. 11 is an image of the work machine 1 and its surroundings viewed from the viewpoint VP6 shown in FIG. 9B.
- a frame F7 shown in FIG. 11 is an image of the work machine 1 and its surroundings viewed from the viewpoint VP7 shown in FIG. 9B.
- a frame F9 shown in FIG. 11 is an image of the work machine 1 and its surroundings viewed from the viewpoint VP1 shown in FIG. 9B.
- the viewpoint VP starts moving from the viewpoint VP1, passes through the viewpoints VP2-VP8, and returns to the viewpoint VP1.
- the panoramic video PV is continuously generated while moving the viewpoints VP1 to VP9 and the positions between them.
- the movement start position is not limited to the viewpoint PV1 and may be another position.
- a panoramic video from the viewpoint of moving around the work machine is displayed on the display. Therefore, the operator can easily overlook a wide range around the work machine by the display.
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Abstract
Description
3 作業機
42 ディスプレイ
411 記憶装置
412 プロセッサ
C1-C4 カメラ
Claims (19)
- 作業機を含む作業機械と、
前記作業機械の周辺画像を撮影する複数のカメラと、
前記周辺画像を示す画像データを取得し、前記周辺画像を合成して、前記作業機械の周りを移動する視点からのパノラマ動画を生成するプロセッサと、
前記プロセッサからの信号に基づき、前記作業機械の周りを移動する視点からの前記パノラマ動画を表示するディスプレイと、
を備えるシステム。
- 前記プロセッサは、前記視点を前記作業機械の回りに少なくとも360度回転させて、前記パノラマ動画を生成する、
請求項1に記載のシステム。
- 前記プロセッサは、前記作業機械の上面視で、前記作業機械を囲む円状の軌跡に沿って前記視点を移動させて、前記パノラマ動画を生成する、
請求項1に記載のシステム。
- 前記プロセッサは、前記作業機械の上面視で、前記作業機械を囲む楕円状の軌跡に沿って前記視点を移動させて、前記パノラマ動画を生成する、
請求項1に記載のシステム。
- 前記パノラマ動画は、前記作業機械の全周囲における前記作業機械の周辺を示す、
請求項1に記載のシステム。
- 前記パノラマ動画において、前記作業機械は画面の中心に表示される、
請求項1に記載のシステム。
- 前記パノラマ動画において、前記作業機械は、画面の中心よりも右方、又は左方に表示される、
請求項1に記載のシステム。
- 前記プロセッサは、前記作業機械の始動信号を受信したときに、前記パノラマ動画を生成して前記ディスプレイに表示させる、
請求項1に記載のシステム。
- データを記憶する記憶装置をさらに備え、
前記プロセッサは、前記パノラマ動画を示すデータを前記記憶装置に保存する、
請求項1に記載のシステム。
- 作業機を含む作業機械の周辺をディスプレイに表示するためにプロセッサによって実行される方法であって、
前記作業機械の周辺画像を示す画像データを取得することと、
前記周辺画像を合成して、前記作業機械の周りを移動する視点からのパノラマ動画を生成することと、
前記作業機械の周りを移動する視点からの前記パノラマ動画を前記ディスプレイに表示すること、
を備える方法。
- 前記パノラマ動画を生成することは、前記視点を前記作業機械の回りに少なくとも360度回転させることを含む、
請求項10に記載の方法。
- 前記パノラマ動画を生成することは、前記作業機械の上面視で、前記作業機械を囲む円状の軌跡に沿って前記視点を移動させることを含む、
請求項10に記載の方法。
- 前記パノラマ動画を生成することは、前記作業機械の上面視で、前記作業機械を囲む楕円状の軌跡に沿って前記視点を移動させることを含む、
請求項10に記載の方法。
- 前記パノラマ動画は、前記作業機械の全周囲における前記作業機械の周辺を示す、
請求項10に記載の方法。
- 前記パノラマ動画において、前記作業機械は画面の中心に表示される、
請求項10に記載の方法。
- 前記パノラマ動画において、前記作業機械は、画面の中心よりも右方、又は左方に表示される、
請求項10に記載の方法。
- 前記作業機械の始動信号を受信したときに、前記パノラマ動画が生成されて前記ディスプレイに表示される、
請求項10に記載の方法。
- 前記パノラマ動画を示すデータを記憶装置に保存することをさらに備える、
請求項10に記載の方法。
- 作業機械の周辺画像を示す画像データを取得し、前記周辺画像を合成して、前記作業機械の周りを移動する視点からのパノラマ動画を生成するプロセッサと、
前記プロセッサからの信号に基づき、前記作業機械の周りを移動する視点からの前記パノラマ動画を表示するディスプレイと、
を備えるシステム。
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