JP2017101420A5 - - Google Patents
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- JP2017101420A5 JP2017101420A5 JP2015233980A JP2015233980A JP2017101420A5 JP 2017101420 A5 JP2017101420 A5 JP 2017101420A5 JP 2015233980 A JP2015233980 A JP 2015233980A JP 2015233980 A JP2015233980 A JP 2015233980A JP 2017101420 A5 JP2017101420 A5 JP 2017101420A5
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- work machine
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- periphery monitoring
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- 238000001514 detection method Methods 0.000 claims description 18
- 230000000875 corresponding Effects 0.000 claims description 6
- 238000003384 imaging method Methods 0.000 claims description 2
- 239000003086 colorant Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 description 1
Description
しかしながら、上述のショベルは、ショベル周辺で人を検知したときと検知していないときとで表示態様を変えることはない。そのため、検知した人の存在が認識され難いおそれがある。 However, shovel above does not change the display mode between when not detected a when detecting a human around sheet Yoberu. Therefore, the presence of the person who detected it may hardly be recognized.
上述に鑑み、検知した障害物の存在を操作者が迅速に認識できるようにする作業機械用周辺監視システムの提供が望まれる。 In view of the above, it is desired to provide a work machine periphery monitoring system that enables an operator to quickly recognize the presence of a detected obstacle .
本発明の実施例に係る作業機械用周辺監視システムは、作業機械の周辺に存在する障害物を検知する検知部と、前記作業機械に搭載された制御部と、を備え、前記制御部は、前記作業機械に取り付けられる撮像装置の撮像画像を用いて生成される第１画像と前記作業機械の周囲領域を表す図形を含む第２画像とを表示装置に表示し、且つ、前記第２画像に含まれる前記作業機械の周囲領域を表す図形において、前記検知部が検知した障害物の存在方向に対応する領域を強調する。 A work machine periphery monitoring system according to an embodiment of the present invention includes a detection unit that detects an obstacle existing around a work machine, and a control unit mounted on the work machine, wherein the control unit includes: A first image generated using a captured image of an imaging device attached to the work machine and a second image including a graphic representing a surrounding area of the work machine are displayed on a display device, and the second image is displayed on the display device. In the figure representing the surrounding area of the work machine included, the area corresponding to the direction of the obstacle detected by the detection unit is emphasized .
上述の手段により、検知した障害物の存在を操作者が迅速に認識できるようにする作業機械用周辺監視システムが提供される。 By the means described above, a work machine periphery monitoring system is provided that enables the operator to quickly recognize the presence of the detected obstacle .
以上の構成により、コントローラ３０は、図１５の出力画像を表示した場合と同様の効果を実現できる。特許文献１では、ショベルは、周辺監視用仮想視点画像を表示している場合には、ショベル周辺で人を検知したときと検知していないときとで表示態様を変えることはない。そのため、検知した人の画像を含む領域が重要度の高い領域として認識され難いおそれがある。これに対し、本発明の実施例に係る周辺監視システム１００は、表示装置の画面内における重要度の高い領域を操作者が迅速に認識できるようにする。 With the above configuration, the controller 30 can achieve the same effect as when the output image of FIG. 15 is displayed. In Patent Document 1, when the excavator displays a virtual viewpoint image for periphery monitoring, the display mode does not change depending on whether a person is detected around the shovel or not. Therefore, there is a possibility that the area including the detected person image is difficult to be recognized as a highly important area. On the other hand, the periphery monitoring system 100 according to the embodiment of the present invention allows the operator to quickly recognize a highly important area in the screen of the display device.
Claims (9)
前記作業機械に搭載された制御部と、を備え、
前記制御部は、
前記作業機械に取り付けられる撮像装置の撮像画像を用いて生成される第１画像と前記作業機械の周囲領域を表す図形を含む第２画像とを表示装置に表示し、且つ、
前記第２画像に含まれる前記作業機械の周囲領域を表す図形において、前記検知部が検知した障害物の存在方向に対応する領域を強調する、
作業機械用周辺監視システム。 A detector that detects obstacles around the work machine;
A control unit mounted on the work machine,
The controller is
Displaying a first image generated using a captured image of an imaging device attached to the work machine and a second image including a graphic representing a surrounding area of the work machine on a display device; and
In the graphic representing the surrounding area of the work machine included in the second image, the area corresponding to the direction of the obstacle detected by the detection unit is emphasized.
Perimeter monitoring system for work machines.
請求項１に記載の作業機械用周辺監視システム。 The display area where the graphic representing the surrounding area of the work machine is displayed is displayed on the display device so as to include the rear of the graphic representing the work machine.
The work machine periphery monitoring system according to claim 1.
前記２段階の検知状態は、第１検知状態及び第２検知状態を含み、
前記第１検知状態をもたらす障害物の前記作業機械からの距離は、前記第２検知状態をもたらす障害物の前記作業機械からの距離より大きい、
請求項１又は２に記載の作業機械用周辺監視システム。 The detection unit determines a non-detection state and a two-stage detection state based on a distance from the work machine,
The two-stage detection state includes a first detection state and a second detection state,
The distance of the obstacle causing the first detection state from the work machine is greater than the distance of the obstacle causing the second detection state from the work machine,
The work machine periphery monitoring system according to claim 1 or 2.
請求項１乃至３の何れかに記載の作業機械用周辺監視システム。 The display area on which the graphic representing the surrounding area of the work machine is displayed is divided into a plurality of areas by boundary lines with respect to the distance and direction, and an area corresponding to a place where an obstacle is detected is emphasized.
The work machine periphery monitoring system according to any one of claims 1 to 3 .
請求項３に記載の作業機械用周辺監視システム。 The control unit corresponds to the area corresponding to the first detection state, the area corresponding to the second detection state, and the non-detection state in a display area where a graphic representing the surrounding area of the work machine is displayed. Display different areas with different colors,
The work machine periphery monitoring system according to claim 3 .
請求項１乃至５の何れかに記載の作業機械用周辺監視システム。 The display area where the graphic representing the surrounding area of the work machine is displayed has a shape of a partial circle in which a portion corresponding to the front of the graphic representing the work machine is cut out.
The work machine periphery monitoring system according to claim 1 .
請求項１乃至５の何れかに記載の作業機械用周辺監視システム。 The figure representing the surrounding area of the work machine has a shape of a partial circle, and a plurality of fan shapes are formed so as to correspond to the direction by a plurality of lines extending from the figure representing the work machine to the outer circumference of the partial circle. Divided into shapes,
The work machine periphery monitoring system according to claim 1 .
請求項３に記載の作業機械用周辺監視システム。 The control unit does not display a message notifying that the first detection state is in the first detection state, but displays a message notifying that the second detection state is in the second detection state. To
The work machine periphery monitoring system according to claim 3 .
請求項１乃至８の何れかに記載の作業機械用周辺監視システム。 The display area where the first image is displayed is larger than the display area where the second image is displayed.
The work machine periphery monitoring system according to claim 1 .
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015233980A JP6419677B2 (en) | 2015-11-30 | 2015-11-30 | Perimeter monitoring system for work machines |
| PCT/JP2016/085043 WO2017094626A1 (en) | 2015-11-30 | 2016-11-25 | Periphery monitoring system for work machine |
| EP16870563.0A EP3385457A4 (en) | 2015-11-30 | 2016-11-25 | Periphery monitoring system for work machine |
| CN201680053174.1A CN108026714A (en) | 2015-11-30 | 2016-11-25 | Construction machinery surroundings monitoring system |
| US15/976,146 US11697920B2 (en) | 2015-11-30 | 2018-05-10 | Surroundings monitoring system for work machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015233980A JP6419677B2 (en) | 2015-11-30 | 2015-11-30 | Perimeter monitoring system for work machines |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2017101420A JP2017101420A (en) | 2017-06-08 |
| JP2017101420A5 true JP2017101420A5 (en) | 2018-10-04 |
| JP6419677B2 JP6419677B2 (en) | 2018-11-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2015233980A Active JP6419677B2 (en) | 2015-11-30 | 2015-11-30 | Perimeter monitoring system for work machines |
Country Status (1)
| Country | Link |
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| JP (1) | JP6419677B2 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6838040B2 (en) * | 2018-12-21 | 2021-03-03 | コベルコ建機株式会社 | Obstacle detector for construction machinery |
| JP7016900B2 (en) * | 2019-04-11 | 2022-02-07 | 三菱ロジスネクスト株式会社 | Controls, control methods and programs |
| EP3722522B1 (en) | 2019-04-11 | 2024-03-27 | Mitsubishi Logisnext Co., Ltd. | Control device, control method, and program |
| KR102362953B1 (en) * | 2020-06-04 | 2022-02-16 | (주)에이치브레인 | Safety system for excavator using SVM and Neuromachine based and FPGA |
| JP7399836B2 (en) | 2020-10-12 | 2023-12-18 | ヤンマーホールディングス株式会社 | work vehicle |
| KR102582871B1 (en) * | 2020-10-26 | 2023-09-26 | 금오공과대학교 산학협력단 | Excavator bucket position estimation system and method using neural network learning |
| CN113990012B (en) * | 2021-10-27 | 2023-08-11 | 上海亥伯智能科技有限公司 | Organism invasion monitoring and alarming system and method |
| JP2023176830A (en) | 2022-06-01 | 2023-12-13 | ヤンマーホールディングス株式会社 | Control method for work machine, control program for work machine, control system for work machine, and work machine |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008179940A (en) * | 2005-03-31 | 2008-08-07 | Hitachi Constr Mach Co Ltd | Surrounding monitoring equipment of working machine |
| JP5974433B2 (en) * | 2011-08-03 | 2016-08-23 | 日本精機株式会社 | Peripheral image display device |
| JP6545430B2 (en) * | 2013-03-19 | 2019-07-17 | 住友重機械工業株式会社 | Shovel |
| JP2015184839A (en) * | 2014-03-21 | 2015-10-22 | 富士通テン株式会社 | Image generation device, image display system, and image generation method |
| WO2015125979A1 (en) * | 2015-04-28 | 2015-08-27 | 株式会社小松製作所 | Work machine perimeter monitoring device, and work machine perimeter monitoring method |
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