WO2022230939A1 - 表示制御装置、表示制御方法および作業機械 - Google Patents
表示制御装置、表示制御方法および作業機械 Download PDFInfo
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- WO2022230939A1 WO2022230939A1 PCT/JP2022/019100 JP2022019100W WO2022230939A1 WO 2022230939 A1 WO2022230939 A1 WO 2022230939A1 JP 2022019100 W JP2022019100 W JP 2022019100W WO 2022230939 A1 WO2022230939 A1 WO 2022230939A1
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- image
- display
- turning
- lower traveling
- bird
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- 238000000034 method Methods 0.000 title description 5
- 238000003384 imaging method Methods 0.000 claims abstract description 17
- 240000004050 Pentaglottis sempervirens Species 0.000 claims description 34
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 claims description 34
- 238000010586 diagram Methods 0.000 description 9
- 239000004576 sand Substances 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 238000004549 pulsed laser deposition Methods 0.000 description 1
Images
Classifications
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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
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—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
-
- 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
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/203—Drawing of straight lines or curves
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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
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/412—Excavators
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
Definitions
- the present disclosure relates to a display control device, a display control method, and a working machine.
- This application claims priority to Japanese Patent Application No. 2021-075949 filed in Japan on April 28, 2021, the content of which is incorporated herein.
- the display image described in Patent Literature 1 is composed of an appearance image of the work machine viewed from above, a bird's-eye composite camera image of the surroundings of the machine body, and a plurality of camera images.
- the appearance image is composed of a bitmap image preset for each model of the work machine, and includes a revolving body image representing the revolving body.
- a traveling body image representing the traveling body is superimposed and displayed on the revolving body image representing the revolving body.
- the external image is a fixed image, while the traveling body image rotates around the turning center as the turning body turns.
- the visual field assisting device for the work machine described in Patent Document 1 it is possible to provide the driver with suitable visual field information, so that the driver can always recognize the situation in the direction of travel.
- the driver can easily determine the range to be focused on when the upper rotating body of the work machine is turned and the range to be focused on when the work machine is moved forward and backward by the lower traveling body against surrounding obstacles. There was a problem that it was not possible to grasp the
- the present disclosure has been made in view of the circumstances described above, and provides a display control device, a display control method, and a working machine that enable a driver to easily grasp a range to be focused on while driving the working machine. for the purpose.
- one aspect of the present disclosure is to provide a work machine including a lower traveling body and an upper revolving body rotatably supported by the lower traveling body.
- a bird's-eye view image generation unit that generates a bird's-eye view image of the surroundings of the working machine based on one or more captured images captured by an imaging device; and a display image output unit configured to output the display image.
- FIG. 1 is a schematic diagram showing the configuration of a working machine according to an embodiment;
- FIG. It is a top view showing typically the imaging range of a plurality of cameras with which a work machine concerning an embodiment is provided.
- It is a figure which shows the structure inside the cab which concerns on embodiment.
- 1 is a schematic block diagram showing the configuration of a display control system;
- FIG. It is a figure which shows the example of the display screen which concerns on embodiment.
- FIG. 4 is a flow chart showing the operation of the display control device according to the embodiment;
- FIG. 10 is a diagram showing another example of the display screen according to the embodiment;
- FIG. 10 is a diagram showing another example of the display screen according to the embodiment;
- FIG. 1 is a schematic diagram showing the configuration of a working machine 100 according to the embodiment.
- FIG. 2 is a plan view schematically showing imaging ranges of a plurality of cameras (imaging devices) 121A to 121D provided in work machine 100 according to the embodiment.
- FIG. 3 is a diagram showing the internal configuration of the driver's cab 140 according to the embodiment.
- FIG. 4 is a schematic block diagram showing a configuration example of the display control system 60. As shown in FIG. 5 to 7 are diagrams showing examples of display screens according to the embodiment.
- FIG. 8 is a flow chart showing an operation example of the display control device 61 according to the embodiment. 9 and 10 are FIG. 10 is a diagram showing another example of the display screen according to the embodiment;
- a local coordinate system is set in the work machine 100, and the positional relationship of each part will be described with reference to the local coordinate system.
- the first axis extending in the left-right direction (vehicle width direction) of work machine 100 is the x-axis
- the second axis extending in the front-rear direction of work machine 100 is the y-axis
- the third axis extending in the vertical direction of work machine 100 is the z-axis.
- the x-axis and the y-axis are orthogonal.
- the y-axis and z-axis are orthogonal.
- the z-axis and the x-axis are orthogonal.
- the arrow direction of the x-axis is to the left and the opposite direction is to the right.
- the arrow direction of the y-axis is forward and the opposite direction is backward.
- the z-axis arrow direction is upward and the opposite direction is downward.
- FIG. 1 shows a configuration example of a working machine 100 according to an embodiment.
- the work machine 100 operates at a construction site and constructs a construction target such as earth and sand.
- a working machine 100 according to the embodiment is a hydraulic excavator as an example.
- Work machine 100 includes lower traveling body 110 , upper revolving body 120 , and work machine 130 .
- the upper revolving body 120 has an operator's cab 140 and a display control device 61 mounted thereon.
- the lower traveling body 110 supports the work machine 100 so that it can travel.
- Undercarriage 110 includes, for example, a pair of left and right crawler belts 110a (also referred to as left crawler belt 110a) and crawler belt 110b (also referred to as right crawler belt 110b).
- the upper revolving body 120 is supported by the lower traveling body 110 so as to be able to revolve around the revolving center c.
- Work implement 130 is hydraulically driven.
- Work implement 130 is supported on the front portion of upper revolving body 120 so as to be vertically drivable.
- the operator's cab 140 is a space for an operator (driver) to operate the work machine 100 .
- the driver's cab 140 is provided in the front left portion of the upper revolving body 120 .
- a portion of the upper revolving body 120 to which the work implement 130 is attached is referred to as a front portion.
- the front portion is referred to as the rear portion
- the left portion is referred to as the left portion
- the right portion is referred to as the right portion.
- the left and right crawler belts 110a and 110b can drive the drive wheels independently (forward and backward).
- the undercarriage 110 moves forward when the left crawler 110a and the right crawler 110b are moved forward at the same time, and the undercarriage 110 moves backward when the left crawler 110a and the right crawler 110b are moved backward at the same time.
- the driving wheels of one crawler belt and the driving wheels of the other crawler belt are driven in opposite directions, for example, when the right crawler belt 110b is moved forward and the left crawler belt 110a is moved backward, the lower traveling body 110 is centered on the turning center. can be rotated to Such a turning method is called supercenter turning.
- the turning center when the lower traveling body 110 is pivotally turned and the turning center c of the upper turning body 120 may be configured to be the same or may be different.
- the “turning center” described in the claims may be either the turning center at the time of pivot turning or the turning center c of the upper turning body 120 .
- the work machine 100 also includes a turning angle sensor 160 .
- the turning angle sensor 160 measures the turning angle of the upper turning body 120 with respect to the lower traveling body 110 from a predetermined reference angle.
- the turning angle sensor 160 is used to grasp the relative positional relationship between the upper turning body 120 and the lower traveling body 110 .
- the turning angle sensor 160 can be configured using, for example, a rotary potentiometer, a rotary encoder, or the like.
- Upper swing body 120 is provided with a plurality of cameras (front camera 121A, left side camera 121B, rear camera 121C, and right side camera 121D) for imaging the surroundings of work machine 100 .
- the front camera 121A is provided in the driver's cab 140.
- the front camera 121A, the left camera 121B, the rear camera 121C, and the right camera 121D are collectively referred to as a plurality of cameras 121A to 121D.
- FIG. 2 schematically shows imaging ranges of a plurality of cameras 121A to 121D included in work machine 100 according to the embodiment.
- the upper rotating body 120 includes a front camera 121A that captures an image of a front area Ra of the periphery of the upper rotating body 120, a left side camera 121B that captures an image of a left side area Rb of the periphery of the upper rotating body 120, A rear camera 121C that captures an image of a rear area Rc around the upper swing body 120 and a right side camera 121D that captures an image of a right side area Rd around the upper swing body 120 are provided.
- Part of the imaging ranges of the plurality of cameras 121A to 121D may or may not overlap each other.
- one omnidirectional camera or the like may be used.
- the imaging ranges of the multiple cameras 121A to 121D are not limited to the example shown in FIG. For example, imaging of the left front region that is visible from the driver's cab 140 may be omitted.
- the number and imaging range of the plurality of cameras 121A-121D may differ from the examples shown in FIGS.
- Work implement 130 includes boom 131, arm 132, bucket 133, boom cylinder 131C, arm cylinder 132C, and bucket cylinder 133C.
- the base end of the boom 131 is attached to the upper swing body 120 via a boom pin 131P.
- Arm 132 connects boom 131 and bucket 133 .
- the base end of the arm 132 is attached to the tip of the boom 131 via an arm pin 132P.
- the bucket 133 includes a blade for excavating earth and sand and a container for containing the excavated earth and sand.
- a base end of the bucket 133 is attached to a tip of the arm 132 via a bucket pin 133P.
- the boom cylinder 131C is a hydraulic cylinder for operating the boom 131.
- a base end of the boom cylinder 131 ⁇ /b>C is attached to the upper swing body 120 .
- a tip portion of the boom cylinder 131 ⁇ /b>C is attached to the boom 131 .
- the arm cylinder 132C is a hydraulic cylinder for driving the arm 132.
- a base end portion of the arm cylinder 132C is attached to the boom 131 .
- a tip portion of the arm cylinder 132C is attached to the arm 132 .
- the bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133.
- a base end of the bucket cylinder 133C is attached to the arm 132 .
- a tip of the bucket cylinder 133 ⁇ /b>C is attached to a link member connected to the bucket 133 .
- FIG. 3 shows an example of the internal configuration of the driver's cab 140 according to the embodiment.
- a driver's seat 141 , an operating device 142 , and a display input device 145 are provided in the driver's cab 140 .
- the operation device 142 is a device for driving the lower traveling body 110, the upper revolving body 120, and the working machine 130 by manual operation by the operator.
- the operating device 142 includes a left operating lever 142LO, a right operating lever 142RO, a left foot pedal 142LF, a right foot pedal 142RF, a left travel lever 142LT, and a right travel lever 142RT.
- the left operating lever 142LO is provided on the left side of the driver's seat 141.
- the right operating lever 142RO is provided on the right side of the driver's seat 141. As shown in FIG.
- the left operation lever 142LO is an operation mechanism for rotating the upper rotating body 120 and excavating/dumping the arm 132. Specifically, when the operator of work machine 100 tilts left operation lever 142LO forward, arm 132 performs a dump operation. Further, when the operator of work machine 100 tilts left operation lever 142LO rearward, arm 132 excavates. Further, when the operator of work machine 100 tilts left operation lever 142LO rightward, upper swing body 120 swings rightward. Further, when the operator of work machine 100 tilts left operation lever 142LO leftward, upper swing body 120 swings leftward.
- the upper rotating body 120 when the left operating lever 142LO is tilted in the front-rear direction, the upper rotating body 120 turns rightward or leftward, and when the left operating lever 142LO is tilted in the left-right direction, the arm 132 excavates. Alternatively, a dump operation may be performed.
- the right operation lever 142RO is an operation mechanism for performing excavation/dumping operations of the bucket 133 and raising/lowering operations of the boom 131. Specifically, when the operator of work machine 100 tilts right operation lever 142RO forward, boom 131 is lowered. Further, when the operator of work machine 100 tilts right operation lever 142RO rearward, boom 131 is raised. When the operator of work machine 100 tilts right operation lever 142RO rightward, bucket 133 is dumped. When the operator of work machine 100 tilts right operation lever 142RO leftward, bucket 133 performs an excavation operation.
- the bucket 133 when the right operating lever 142RO is tilted in the front-rear direction, the bucket 133 is dumped or excavated, and when the right control lever 142RO is tilted in the left-right direction, the boom 131 is raised or lifted. Lowering may be performed.
- the left foot pedal 142LF is arranged on the left side of the floor in front of the driver's seat 141.
- the right foot pedal 142 RF is arranged on the right side of the floor in front of the driver's seat 141 .
- the left running lever 142LT is pivotally supported by the left foot pedal 142LF, and configured so that the tilting of the left running lever 142LT and the depression of the left foot pedal 142LF are interlocked.
- the right running lever 142RT is pivotally supported by the right foot pedal 142RF, and configured so that the tilting of the right running lever 142RT and the depression of the right foot pedal 142RF are interlocked.
- the left foot pedal 142LF and the left travel lever 142LT correspond to rotational driving of the left crawler belt 110a of the lower travel body 110. Specifically, when the operator of work machine 100 tilts left foot pedal 142LF or left travel lever 142LT forward, left crawler belt 110a rotates forward. When the operator of work machine 100 pushes left foot pedal 142LF or left travel lever 142LT backward, left crawler belt 110a rotates backward.
- the right foot pedal 142RF and the right travel lever 142RT correspond to the rotational drive of the right crawler belt 110b of the lower travel body 110. Specifically, when the operator of work machine 100 tilts right foot pedal 142RF or right travel lever 142RT forward, right crawler belt 110b rotates forward. When the operator of work machine 100 pushes right foot pedal 142RF or right travel lever 142RT backward, right crawler belt 110b rotates backward.
- the display input device 145 is a device that displays information related to multiple functions of the work machine 100 and inputs various instruction operations.
- the display input device 145 has a display 145D.
- the display 145D is composed of, for example, a touch panel or the like.
- FIG. 4 shows a configuration example of a display control system 60 according to the embodiment.
- the display control system 60 includes a display control device 61 , a plurality of cameras 121A to 121D, an operating device 142 , a turning angle sensor 160 and a display input device 145 .
- the display input device 145 includes a display section 145A and a selection section 145B as a functional configuration composed of a combination of hardware constituting the display 145D and software such as a program for controlling the hardware.
- the display unit 145A displays an instructed image on the display 145D according to an instruction from the display control device 61.
- the selection unit 145B selects whether or not to display a crosshair, which will be described later, according to the operator's input operation on the display 145D, for example.
- the display control device 61 can be configured using a computer such as a microcomputer and a CPU (Central Processing Unit), and hardware such as peripheral circuits and peripheral devices of the computer.
- the display control device 61 includes an input/output unit 62, a bird's-eye view image generation unit 63, an upper rotating body image superimposition unit 64, and a functional configuration composed of a combination of hardware and software such as a program executed by a computer. , a reference line superimposition unit 65 , a cross line superimposition unit 66 , a traveling direction image generation unit 67 and a display image output unit 68 .
- the display control device 61 and the display input device 145 may be configured using a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device).
- PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array).
- PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array).
- part or all of the functions implemented by the processor may be implemented by the integrated circuit.
- the display 145D and the operation device 142 may be configured to be provided in a remote control room provided remotely from the working machine 100.
- the input/output unit 62 repeats at a predetermined cycle to input image transmission signals indicating images captured by the plurality of cameras 121A to 121D, to input operation information of the operation device 142, and to input the turning angle sensor 160.
- a signal indicating the turning angle that has been set is input, and an input operation signal to the selection unit 145B of the display input device 145 is input.
- Bird's-eye view image generation unit 63 displays a bird's-eye view image as if the surroundings of work machine 100 were viewed from above based on the images captured by cameras 121A to 121D (see bird's-eye view image G20 in FIG. 5). to generate Specifically, coordinate transformation of image data is performed using transformation information stored in a predetermined storage unit, and images captured by a plurality of cameras 121A to 121D are viewed from a virtual viewpoint located above work machine 100. An image projected onto a predetermined virtual projection plane, that is, an upper viewpoint image is converted.
- the bird's-eye view image generation unit 63 converts each image data captured by the four cameras 121A to 121D into an upper viewpoint image, respectively, and then synthesizes each image data after conversion to create a single work machine 100. To generate a bird's-eye view image that allows a bird's-eye view of the surroundings. The bird's-eye view image generator 63 synthesizes surrounding images, for example, using the turning center c as a reference. At that time, the bird's-eye view image generation unit 63 generates the bird's-eye view image so that the front of the driver's cab 140 is always in the upward direction of the image.
- the bird's-eye view image generation unit 63 is one or more installed on the upper revolving body 120 of the work machine 100 including the lower traveling body 110 and the upper revolving body 120 supported by the lower traveling body 110 so as to be able to revolve.
- a bird's-eye view image of the surroundings of the work machine 100 is generated based on one or a plurality of captured images captured by the cameras (imaging devices) 121A to 121D.
- the upper rotating body image superimposing unit 64 superimposes a prepared upper surface image IM1 of the upper rotating body 120 and the work implement 130 on the overhead image G20 generated by the overhead image generating unit 63. superimpose.
- FIG. 5 shows a display example (display screen 1451) of the display 145D.
- the display screen 1451 includes a display image G21 and a traveling direction image G22.
- the top image IM1, the reference line images m1 and m2, the cross line image L1, and the turning center image c1 are superimposed on the overhead image G20.
- the upper revolving body image superimposing unit 64 superimposes the top image IM1 of the work machine 100 on the central portion of the bird's-eye image G20 generated by the bird's-eye image generating unit 63 .
- the operator who sees the display image G21 shown in FIG. 5 can easily grasp the positional relationship and sense of distance between the work machine 100 and the surrounding obstacles displayed in the bird's-eye view image G20.
- Bird's-eye view image G20 includes actual captured images of crawler tracks 110a and 110b.
- the reference line superimposing unit 65 generates reference line images m1 and m2, which are images representing the turning focus range accompanying the turning of the upper turning body 120, and superimposes them on the bird's-eye view image G20.
- the reference line superimposing unit 65 superimposes, for example, the reference line images m1 and m2 (rectangles with rounded corners) on the bird's-eye view image G20 in a translucent state.
- the reference line image m1 and the reference line image m2 have different colors, for example.
- the reference line image m1 is, for example, an image corresponding to the outer edge (outermost trajectory) when the upper swing body 120 swings.
- the reference line image m1 indicates that if there is an obstacle or the like within the range indicated by the reference line image m1 when the upper rotating body 120 turns, the possibility of contact, interference, collision, or the like occurring is higher than that outside the range. , and an image representing a range (turning focus range) that the operator should pay attention to.
- "attention” means to look carefully, especially to pay attention to, for example, “caution”, “attention", “warning”, You can read it differently.
- the reference line image m2 is an image representing a range separated from the upper revolving body 120 by a certain distance (for example, 2 to 3 m) from the reference line image m1.
- the reference line image m1 indicates the range to which attention should be paid when turning
- the reference line image m2 indicates the range to which attention should be paid when turning, although the degree of caution is lower than the range indicated by the reference line image m1.
- the range indicated by the reference line image m1 and the range indicated by the reference line image m2 may be, for example, ranges corresponding to a stop control range by automatic control by automatic detection of an obstacle or the like and a deceleration control range outside the stop control range, or a warning A range and a caution range outside thereof may be used, or each range corresponding to a stop determination range and a deceleration determination range outside thereof may be used.
- the crosshair superimposing unit 66 generates a crosshair image L1 and a turning center image c1, which is an image representing the turning center c, based on the turning angle measured by the turning angle sensor 160, and superimposes them on the overhead image G20.
- the crosshair superimposing unit 66 superimposes the crosshair image L1 on the bird's-eye view image G20 in a translucent state.
- the turning center image c1 is an image having a predetermined shape representing the turning center c, and is, for example, a translucent or non-translucent round mark of a specific color.
- the crosshair image L1 is an image (focus range image) representing a travel focus range associated with the forward and backward movement of the lower running body 110 and a turning focus range associated with the turning of the upper swing body 120 .
- the travel focus range associated with the forward and backward movement of the lower traveling body 110 is indicated by the crosshair image L1 when the lower traveling body 110 is moved forward or backward (or when the upper rotating body 120 is turned while being moved forward or backward).
- the crosshair image L1 In the direction (forward direction or backward direction), when there is an obstacle or the like within the range (width and length) indicated by the crosshair image L1, there is a higher possibility that contact or the like will occur compared to outside the range, and the operator will This is an area to watch out for.
- the crosshair image L1 includes an arrow image L11 and a line segment image L12.
- the crosshair image L1 includes an arrow image L11, a line segment image L12, and a turning center image c1.
- the crosshair superimposing unit 66 superimposes the crosshair image L1 or stops superimposing according to the selection operation by the selection unit 145B.
- Arrow image L11 indicates the direction in which lower traveling body 110 travels when the operator of work machine 100 simultaneously pushes left foot pedal 142LF or left traveling lever 142LT and right foot pedal 142RF or right traveling lever 142RT forward. Indicated by the direction of the arrow.
- the arrow image L11 also indicates the length of the travel attention range by the length of the arrow.
- a line segment image L12 represents a line segment that intersects the arrow of the arrow image L11 at the turning center c of the work machine 100 and indicates the length corresponding to the turning target range.
- the arrow image L11 and the line segment image L12 are orthogonal to each other at the position of the turning image c1. have a tangent length.
- FIG. 6 shows the display image G21a in a state where the lower traveling body 110 is turned rightward by 45 degrees from the state shown in FIG. 7 shows a display image G21b in a state where the lower traveling body 110 is turned rightward by 90 degrees from the state shown in FIG.
- the crosshair superimposed portion 66 is a crosshair image L1 (focus range image) representing a turning focus range accompanying turning of the upper swing body 120 and a traveling focus range accompanying forward and backward movement of the lower traveling body 110. ) is superimposed on the overhead image G20 to generate a display image G21. Further, the crosshair image L1 is a predetermined forward or backward instruction operation for the operation device 142 that operates the lower traveling body 110 (when the operator of the work machine 100 performs the left foot pedal 142LF or left traveling lever 142LT and the right foot pedal 142RF or right foot pedal 142RF or right foot pedal 142RF).
- the crosshair image L1 includes an image (arrow image L11) representing an arrow indicating a length corresponding to the traveling target range and a direction corresponding to the predetermined instruction operation, and an arrow (arrow image L11) at the turning center c of the work machine 100 an arrow represented by L11) and an image (line segment image L12) representing a line segment that intersects and indicates the length corresponding to the turning target range.
- the traveling direction image generating section 67 advances the lower traveling body 110 based on images captured by one or a plurality of cameras 121A to 121D. Generate a heading image corresponding to the direction.
- a traveling direction image G22 shown in FIG. 5 is an image displayed when an instruction operation for instructing forward movement of work machine 100 in the state displayed in display image G21 is performed on operation device 142 .
- the traveling direction image G22 is, for example, an image captured by the front camera 121A.
- the traveling direction image generation unit 67 selects one of the images captured by the cameras 121A to 121D as the traveling direction image, or generates a traveling direction image from an image obtained by combining the images captured by the cameras 121A to 121D. An image corresponding to the traveling direction can be cut out and used as a traveling direction image. Note that, for example, when a predetermined instruction operation for instructing forward movement or backward movement is not performed on the operating device 142, the traveling direction image generation unit 67 generates an image of the lower traveling body based on images captured by one or a plurality of cameras 121A to 121D. A heading image corresponding to the heading of 110 may be generated.
- the display image output unit 68 outputs the display image and the traveling direction image to the display unit 145A together with a display instruction.
- FIG. 8 An operation example of the display control device 61 shown in FIG. 4 will be described with reference to FIGS. 8 and 5.
- FIG. The processing shown in FIG. 8 is repeatedly executed at a predetermined cycle.
- the bird's-eye view image generator 63 generates the bird's-eye view image G20 (S1).
- the upper rotating body image superimposing unit 64 superimposes the top image IM1 on the overhead image G20 (S2).
- the reference line superimposing unit 65 superimposes the reference line image m1 and the reference line image m2 on the overhead image G20 on which the top image IM1 is superimposed (S3).
- the crosshair superimposing unit 66 superimposes the crosshair image L1 and the turning center image c1 on the overhead image G20 in which the upper surface image IM1, the reference line image m1, and the reference line image m2 are superimposed (this is the display image G21).
- the traveling direction image generator 67 generates a traveling direction image G22 (S5).
- the display image output unit 68 outputs the display image G21 and the traveling direction image G22 to the display unit 145A, and causes the display 145D to display the display image G21 and the traveling direction image G22 (S6).
- the operator can easily grasp the range of interest associated with the operation (running and turning) of the work machine 100 .
- FIG. A display image G21c shown in FIG. 9 differs from the display image G21 shown in FIG. 5 in the following points. That is, the display image G21c shown in FIG. 9 does not include the reference image m1 and the reference image m2 illustrated in FIG. 5, but includes the reference image m3.
- the reference image m3 shows an area including all of the area in the reference image m1 (area Rm1 shaded in FIG. 9) and the arrow image L11.
- the reference image m3 includes a turning target range associated with the turning of the upper rotating body 120 and a traveling target range associated with the forward and backward movement of the lower traveling body 110 . That is, in the display image G21c shown in FIG. 9, the cross image L1 alone is the range-of-interest image, and the reference image m3 is also the range-of-interest image alone.
- the display image G21d shown in FIG. 10 differs from the display image G21 shown in FIG. 5 in the following points. That is, the display image G21d shown in FIG. 10 does not include the reference image m1, the reference image m2, and the cross image L11 illustrated in FIG. 5, but includes the reference image m4.
- a reference image m4 indicates an area having the same shape as that of the reference image m3 shown in FIG. However, unlike the reference image m3, the reference image m4 represents the direction of the lower traveling body 110 by changing the display mode of the upper half reference image m4a and the lower half reference image m4b.
- the change in the display mode includes a difference in color, a difference in cycle of blinking display, a difference in thickness of dashed lines, and the like.
- the reference image m4 alone is the target range image, and indicates the direction corresponding to the predetermined forward or backward instruction operation on the operation device 142 that operates the lower traveling body 110 .
- the reference line superimposed portion 65 corresponds to the “superimposed portion”, like the crosshair superimposed portion 66 .
- the work machine 100 is a hydraulic excavator, it is not limited to this.
- the work machine 100 according to other embodiments may be other work machines such as a dump truck, a bulldozer, and a wheel loader.
- part or all of the programs executed by the computer in the above embodiments can be distributed via computer-readable recording media or communication lines.
Abstract
Description
本願は、2021年4月28日に日本に出願された特願2021-075949号について優先権を主張し、その内容をここに援用する。
実施形態に係る表示画面の他の例を示す図である。
図1は、実施形態に係る作業機械100の構成例を示す。作業機械100は、施工現場にて稼働し、土砂などの施工対象を施工する。実施形態に係る作業機械100は、一例として油圧ショベルである。作業機械100は、下部走行体110、上部旋回体120、および作業機130を備える。上部旋回体120は、運転室140と、表示制御装置61を搭載している。
上部旋回体120には、作業機械100の周囲を撮像する複数のカメラ(前方カメラ121A、左側方カメラ121B、後方カメラ121Cおよび右側方カメラ121D)が設けられる。なお、図1に示す例において前方カメラ121Aは、運転室140内に設けられている。また、前方カメラ121A、左側方カメラ121B、後方カメラ121Cおよび右側方カメラ121Dを総称する場合、複数のカメラ121A~121Dと称する。図2は、実施形態に係る作業機械100が備える複数のカメラ121A~121Dの撮像範囲を模式的に示す。
作業機130は、ブーム131、アーム132、バケット133、ブームシリンダ131C、アームシリンダ132C、およびバケットシリンダ133Cを備える。
図3は、実施形態に係る運転室140の内部の構成例を示す。運転室140内には、運転席141、操作装置142、および表示入力装置145が設けられる。
図4は、実施形態に係る表示制御システム60の構成例を示す。表示制御システム60は、表示制御装置61と、複数のカメラ121A~121Dと、操作装置142と、旋回角センサ160と、表示入力装置145とを備える。
図8と図5を参照して、図4に示す表示制御装置61の動作例について説明する。図8に示す処理は、所定の周期で繰り返し実行される。図8に示す処理が開始されると、まず、俯瞰画像生成部63が俯瞰画像G20を生成する(S1)。次に、上部旋回体画像重畳部64が上面画像IM1を俯瞰画像G20に重畳する(S2)。次に、目安線重畳部65が、上面画像IM1が重畳された俯瞰画像G20に、目安線画像m1と目安線画像m2を重畳する(S3)。次に、十字線重畳部66が、上面画像IM1と目安線画像m1と目安線画像m2が重畳された俯瞰画像G20に、十字線画像L1と旋回中心画像c1を重畳する(これが表示画像G21)(S4)。次に、進行方向画像生成部67が、進行方向画像G22を生成する(S5)。次に、表示画像出力部68が、表示画像G21と進行方向画像G22を表示部145Aに出力し、表示ディスプレイ145Dに表示画像G21と進行方向画像G22を表示させる(S6)。
本実施形態によれば、作業機械100の運転(走行および旋回)に伴う着目範囲をオペレータ(運転者)が容易に把握することができる。
次に図9と図10を参照して、図5に示す表示画像G21の変形例(表示画像G21cと表示画像G21d)について説明する。図9に示す表示画像G21cは、図5に示す表示画像G21に対して次の点が異なる。すなわち、図9に示す表示画像G21cは、図5に示す目安画像m1と目安画像m2を含まず、目安画像m3を含んでいる。目安画像m3は、目安画像m1内の領域(図9で網掛けして示す領域Rm1)のすべてと、矢印画像L11とを含む領域を示す。この場合、目安画像m3は、上部旋回体120の旋回に伴う旋回着目範囲と下部走行体110の前後進に伴う走行着目範囲とを含んでいる。すなわち、図9に示す表示画像G21cで、十字画像L1が単独で着目範囲画像であるとともに、目安画像m3も単独で着目範囲画像である。
Claims (6)
- 下部走行体と前記下部走行体に旋回可能に支持された上部旋回体とを備える作業機械の前記上部旋回体に設置された1または複数の撮像装置が撮像した1または複数の撮像画像に基づき、前記作業機械の周囲の俯瞰画像を生成する俯瞰画像生成部と、
前記上部旋回体の旋回に伴う旋回着目範囲と前記下部走行体の前後進に伴う走行着目範囲とを表す着目範囲画像を前記俯瞰画像に重畳した表示画像を生成する重畳部と、
前記表示画像を出力する表示画像出力部と
を備える表示制御装置。 - 前記着目範囲画像は、前記下部走行体を操作する操作装置に対する前進または後進の所定の指示操作に対応する向きを示す情報を表す
請求項1に記載の表示制御装置。 - 前記着目範囲画像は、前記走行着目範囲に対応する長さと前記指示操作に対応する向きを示す矢印を表す画像と、前記作業機械の旋回中心で前記矢印と交差して前記旋回着目範囲に対応する長さを示す線分を表す画像とを含む
請求項2に記載の表示制御装置。 - 前記1または複数の撮像画像に基づき前記下部走行体の進行方向に対応する進行方向画像を生成する進行方向画像生成部をさらに備え、
前記表示画像出力部は、前記表示画像とともに、前記進行方向画像を出力する
請求項1から3のいずれか1項に記載の表示制御装置。 - 下部走行体と前記下部走行体に旋回可能に支持された上部旋回体とを備える作業機械の前記上部旋回体に設置された1または複数の撮像装置が撮像した1または複数の撮像画像に基づき、前記作業機械の周囲の俯瞰画像を生成するステップと、
前記上部旋回体の旋回に伴う旋回着目範囲と前記下部走行体の前後進に伴う走行着目範囲とを表す着目範囲画像を前記俯瞰画像に重畳した表示画像を生成するステップと、
前記表示画像を出力するステップと
を含む表示制御方法。 - 下部走行体と、
前記下部走行体に旋回可能に支持された上部旋回体と、
前記上部旋回体に設置された1または複数の撮像装置と、
表示制御装置と
を備え、
前記表示制御装置が、
前記1または複数の撮像装置が撮像した1または複数の撮像画像に基づき、前記上部旋回体と前記下部走行体の周囲の俯瞰画像を生成する俯瞰画像生成部と、
前記上部旋回体の旋回に伴う旋回着目範囲と前記下部走行体の前後進に伴う走行着目範囲とを表す着目範囲画像を前記俯瞰画像に重畳した表示画像を生成する重畳部と、
前記表示画像を出力する表示画像出力部と
を有する
作業機械。
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US18/288,431 US20240141621A1 (en) | 2021-04-28 | 2022-04-27 | Display control device, display control method, and work machine |
KR1020237037003A KR20230159892A (ko) | 2021-04-28 | 2022-04-27 | 표시 제어 장치, 표시 제어 방법 및 작업 기계 |
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JP2010059653A (ja) * | 2008-09-02 | 2010-03-18 | Hitachi Constr Mach Co Ltd | 作業機械の視野補助装置 |
JP2013142228A (ja) * | 2012-01-10 | 2013-07-22 | Hitachi Constr Mach Co Ltd | 作業機械の走行支援装置 |
WO2016159012A1 (ja) * | 2015-03-31 | 2016-10-06 | 株式会社小松製作所 | 作業機械の周辺監視装置 |
JP2017066860A (ja) * | 2016-09-21 | 2017-04-06 | 株式会社小松製作所 | クローラ式作業機械の周辺監視装置 |
JP2020176460A (ja) * | 2019-04-19 | 2020-10-29 | コベルコ建機株式会社 | 作業機械の周囲監視装置 |
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JP2010059653A (ja) * | 2008-09-02 | 2010-03-18 | Hitachi Constr Mach Co Ltd | 作業機械の視野補助装置 |
JP2013142228A (ja) * | 2012-01-10 | 2013-07-22 | Hitachi Constr Mach Co Ltd | 作業機械の走行支援装置 |
WO2016159012A1 (ja) * | 2015-03-31 | 2016-10-06 | 株式会社小松製作所 | 作業機械の周辺監視装置 |
JP2017066860A (ja) * | 2016-09-21 | 2017-04-06 | 株式会社小松製作所 | クローラ式作業機械の周辺監視装置 |
JP2020176460A (ja) * | 2019-04-19 | 2020-10-29 | コベルコ建機株式会社 | 作業機械の周囲監視装置 |
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