JP6167042B2 - 自走式産業機械の周囲監視装置 - Google Patents
自走式産業機械の周囲監視装置 Download PDFInfo
- Publication number
- JP6167042B2 JP6167042B2 JP2013553305A JP2013553305A JP6167042B2 JP 6167042 B2 JP6167042 B2 JP 6167042B2 JP 2013553305 A JP2013553305 A JP 2013553305A JP 2013553305 A JP2013553305 A JP 2013553305A JP 6167042 B2 JP6167042 B2 JP 6167042B2
- Authority
- JP
- Japan
- Prior art keywords
- image
- camera
- displayed
- images
- self
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012544 monitoring process Methods 0.000 title description 49
- 238000006243 chemical reaction Methods 0.000 claims description 11
- 238000012806 monitoring device Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 230000002194 synthesizing effect Effects 0.000 claims 1
- 240000004050 Pentaglottis sempervirens Species 0.000 description 21
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 21
- 230000000007 visual effect Effects 0.000 description 11
- 239000004576 sand Substances 0.000 description 7
- 230000003287 optical effect Effects 0.000 description 6
- 238000003702 image correction Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000012937 correction Methods 0.000 description 4
- 238000012790 confirmation Methods 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—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
-
- 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
- E02F9/261—Surveying the work-site to be treated
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
- G09G5/00—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators
- G09G5/14—Display of multiple viewports
-
- 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
-
- 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
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Civil Engineering (AREA)
- Mining & Mineral Resources (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Hardware Design (AREA)
- Closed-Circuit Television Systems (AREA)
- Component Parts Of Construction Machinery (AREA)
Description
20 ダンプトラック
30 カメラ
34 モニタ
35 画像表示部
36 入力部
38 表示画面
40 表示コントローラ
41 画像補正部
42 カメラ画像保持部
43 視点変換部
44 俯瞰画像保持部
45 アイコン保持部
46 画像選択部
47 画像合成部
48 表示画像生成部
50 カメラ
CR キャラクタ
ic1、ic2 アイコン
Claims (2)
- 自走式産業機械に複数設置されるカメラから取得されるカメラ画像に対して、表示コントローラが処理を行ってモニタに表示を行う自走式産業機械の周囲監視装置であって、
前記表示コントローラは、
前記各カメラ画像をそれぞれ上方視点に変換した俯瞰画像を生成する視点変換部と、
複数の前記カメラ画像と複数の前記俯瞰画像とから前記モニタに表示される1または複数の画像を選択する画像選択部と、
前記画像選択部で選択された画像を取得したカメラの配設位置を示すアイコンを前記画像上に合成する画像合成部と、
前記画像合成部で前記アイコンを合成した前記画像を表示画像として生成する画像生成部と、
を備え、
前記画像選択部は、複数の画像が選択されるときには、異なる配設位置のカメラ画像と俯瞰画像とであるか、同じ配設位置のカメラ画像と俯瞰画像とであるか、全てのカメラ画像であるか、または全ての俯瞰画像であるか、若しくは任意の1乃至複数のカメラ画像と任意の1乃至複数の俯瞰画像であるかの何れかを選択することが可能であり、
前記アイコンは、前記自走式産業機械の運転室から見て前方の向きを示す方向の前方方向表示部と、表示されている画像を撮影したカメラの位置を示すカメラ位置表示部とを備え、
前記画像合成部は、前記モニタに複数の画像が表示されるときには、それぞれの画像のアイコン同士が相互に近接した位置に配置されるように合成を行う、
ことを特徴とする自走式産業機械の周囲監視装置。 - 請求項1に記載の自走式産業機械の周囲監視装置において、
前記画像合成部は、前記自走式産業機械の左側方のカメラ画像を時計回りに90度回転させ、右側方のカメラ画像を反時計回りに90度回転させる、
ことを特徴とする自走式産業機械の周囲監視装置。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013553305A JP6167042B2 (ja) | 2012-01-12 | 2013-01-10 | 自走式産業機械の周囲監視装置 |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012003982 | 2012-01-12 | ||
JP2012003982 | 2012-01-12 | ||
JP2012111198 | 2012-05-15 | ||
JP2012111198 | 2012-05-15 | ||
PCT/JP2013/050295 WO2013105597A1 (ja) | 2012-01-12 | 2013-01-10 | 自走式産業機械の周囲監視装置 |
JP2013553305A JP6167042B2 (ja) | 2012-01-12 | 2013-01-10 | 自走式産業機械の周囲監視装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2013105597A1 JPWO2013105597A1 (ja) | 2015-05-11 |
JP6167042B2 true JP6167042B2 (ja) | 2017-07-19 |
Family
ID=48781541
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013553305A Active JP6167042B2 (ja) | 2012-01-12 | 2013-01-10 | 自走式産業機械の周囲監視装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20140375814A1 (ja) |
JP (1) | JP6167042B2 (ja) |
CN (1) | CN104041018A (ja) |
AU (1) | AU2013208525A1 (ja) |
DE (1) | DE112013000566T5 (ja) |
WO (1) | WO2013105597A1 (ja) |
Families Citing this family (31)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102013002079A1 (de) * | 2013-02-06 | 2014-08-07 | Volvo Construction Equipment Germany GmbH | Baumaschine |
JP6214976B2 (ja) * | 2013-09-11 | 2017-10-18 | 住友建機株式会社 | 建設機械 |
JP6148147B2 (ja) * | 2013-10-16 | 2017-06-14 | ヤンマー株式会社 | コンバイン |
JP2015070799A (ja) * | 2013-10-01 | 2015-04-16 | ヤンマー株式会社 | コンバイン |
WO2015049847A1 (ja) * | 2013-10-01 | 2015-04-09 | ヤンマー株式会社 | コンバイン |
JP6095592B2 (ja) * | 2014-02-17 | 2017-03-15 | 日立建機株式会社 | 油圧ショベルの監視画像表示装置 |
DE102014107235A1 (de) * | 2014-05-22 | 2015-11-26 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Verfahren zur Darstellung einer Fahrzeugumgebung auf einer Anzeigevorrichtung; eine Anzeigevorrichtung; ein System aus einer Mehrzahl an Bilderfassungseinheiten und einer Anzeigevorrichtung; ein Computerprogramm |
JP6204884B2 (ja) | 2014-07-25 | 2017-09-27 | 日立建機株式会社 | 旋回式作業機の周囲表示装置 |
CN105460785B (zh) * | 2014-10-22 | 2019-03-19 | 徐州重型机械有限公司 | 视频监控的控制方法和***、以及起重机 |
US9667875B2 (en) | 2015-01-21 | 2017-05-30 | Caterpillar Inc. | Vision system and method of monitoring surroundings of machine |
KR102027395B1 (ko) | 2015-07-31 | 2019-10-01 | 가부시키가이샤 고마쓰 세이사쿠쇼 | 작업 기계의 표시 시스템, 및 작업 기계의 표시 방법 |
JP6583883B2 (ja) * | 2015-08-21 | 2019-10-02 | キャタピラー エス エー アール エル | 作業機械 |
JP6589468B2 (ja) * | 2015-09-01 | 2019-10-16 | 株式会社タダノ | 移動式クレーンの周囲表示装置 |
JP2017081238A (ja) * | 2015-10-23 | 2017-05-18 | 株式会社小松製作所 | 表示システムおよび作業車両 |
EP3399744B1 (en) * | 2015-12-28 | 2021-09-22 | Sumitomo (S.H.I.) Construction Machinery Co., Ltd. | Shovel |
JP6568603B2 (ja) * | 2016-01-28 | 2019-08-28 | 鴻海精密工業股▲ふん▼有限公司 | 車両用画像表示システム及びその画像表示システムを搭載した車両 |
JP6713884B2 (ja) * | 2016-09-09 | 2020-06-24 | 株式会社タダノ | 俯瞰画像システム、俯瞰画像表示方法およびプログラム |
EP3537713B1 (en) * | 2016-11-01 | 2021-09-01 | Sumitomo (S.H.I.) Construction Machinery Co., Ltd. | Surroundings monitoring system for a work machine |
US10594934B2 (en) * | 2016-11-17 | 2020-03-17 | Bendix Commercial Vehicle Systems Llc | Vehicle display |
JP6612724B2 (ja) * | 2016-12-09 | 2019-11-27 | 株式会社日立ビルシステム | 映像監視システム及び監視映像表示方法 |
JP6662762B2 (ja) * | 2016-12-19 | 2020-03-11 | 株式会社クボタ | 作業車 |
JP6988206B2 (ja) * | 2017-07-07 | 2022-01-05 | 株式会社タダノ | クレーン車 |
JP2019014585A (ja) * | 2017-07-07 | 2019-01-31 | 株式会社タダノ | クレーン車 |
US10683641B2 (en) * | 2018-07-11 | 2020-06-16 | Deere & Company | Depth guidance system for a work vehicle |
JP7158216B2 (ja) * | 2018-09-03 | 2022-10-21 | 株式会社小松製作所 | 作業機械のための表示システム |
KR20210106409A (ko) * | 2018-10-19 | 2021-08-30 | 스미토모 겐키 가부시키가이샤 | 쇼벨 |
CN109963120B (zh) * | 2019-02-26 | 2020-10-09 | 北京大视景科技有限公司 | 一种虚实融合场景中多ptz相机的联合控制***及方法 |
US10882468B1 (en) * | 2019-10-29 | 2021-01-05 | Deere & Company | Work vehicle composite panoramic vision systems |
US11661722B2 (en) | 2020-11-19 | 2023-05-30 | Deere & Company | System and method for customized visualization of the surroundings of self-propelled work vehicles |
US11772562B2 (en) | 2021-03-24 | 2023-10-03 | Deere & Company | Intuitive work vehicle vision system for enhanced operator visibility |
US11590892B2 (en) | 2021-07-02 | 2023-02-28 | Deere & Company | Work vehicle display systems and methods for generating visually-manipulated context views |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3841493A (en) * | 1972-06-05 | 1974-10-15 | J Becker | Moment monitoring system for hydraulic-piston type cranes |
DE10012525A1 (de) * | 2000-03-15 | 2001-09-20 | Still Gmbh | Flurförderzeug mit einer Kameraeinrichtung |
JP2005333565A (ja) * | 2004-05-21 | 2005-12-02 | Auto Network Gijutsu Kenkyusho:Kk | 監視装置 |
JP4780385B2 (ja) * | 2005-11-17 | 2011-09-28 | アイシン精機株式会社 | 周辺監視システム |
JP2008312004A (ja) * | 2007-06-15 | 2008-12-25 | Sanyo Electric Co Ltd | カメラシステム及び機械装置 |
JPWO2009141846A1 (ja) * | 2008-05-19 | 2011-09-22 | パナソニック株式会社 | 車両周囲監視装置および車両周囲監視方法 |
JP5112998B2 (ja) * | 2008-09-16 | 2013-01-09 | 本田技研工業株式会社 | 車両周囲監視装置 |
JP5187179B2 (ja) * | 2008-12-16 | 2013-04-24 | 三菱自動車工業株式会社 | 車両周辺監視装置 |
JP4951639B2 (ja) * | 2009-03-02 | 2012-06-13 | 日立建機株式会社 | 周囲監視装置を備えた作業機械 |
JP2011135253A (ja) * | 2009-12-24 | 2011-07-07 | Fujitsu Ten Ltd | 画像処理装置、画像処理システム、および、画像処理方法 |
WO2011158609A1 (ja) * | 2010-06-15 | 2011-12-22 | アイシン精機株式会社 | 運転支援装置 |
-
2013
- 2013-01-10 JP JP2013553305A patent/JP6167042B2/ja active Active
- 2013-01-10 WO PCT/JP2013/050295 patent/WO2013105597A1/ja active Application Filing
- 2013-01-10 US US14/370,677 patent/US20140375814A1/en not_active Abandoned
- 2013-01-10 CN CN201380005240.4A patent/CN104041018A/zh active Pending
- 2013-01-10 DE DE112013000566.2T patent/DE112013000566T5/de not_active Withdrawn
- 2013-01-10 AU AU2013208525A patent/AU2013208525A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
AU2013208525A1 (en) | 2014-08-14 |
CN104041018A (zh) | 2014-09-10 |
JPWO2013105597A1 (ja) | 2015-05-11 |
DE112013000566T5 (de) | 2014-11-06 |
WO2013105597A1 (ja) | 2013-07-18 |
US20140375814A1 (en) | 2014-12-25 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6167042B2 (ja) | 自走式産業機械の周囲監視装置 | |
JP5269026B2 (ja) | 作業機械の周囲監視装置 | |
JP5750344B2 (ja) | 作業機の周囲監視装置 | |
US10145087B2 (en) | Surroundings display device for swing working machine | |
US20140111648A1 (en) | Device For Monitoring Area Around Working Machine | |
JP5814187B2 (ja) | 自走式産業機械の表示装置 | |
JP6014664B2 (ja) | 自走式産業機械の表示装置 | |
WO2016158265A1 (ja) | 作業機械 | |
CN109661813B (zh) | 俯瞰图像***、俯瞰图像显示方法以及存储有程序的计算机可读取的记录介质 | |
WO2013172172A1 (ja) | 自走式産業機械の表示装置 | |
JP2016205088A (ja) | 建設機械 | |
JP2018039477A (ja) | 画像表示システム | |
JP6756554B2 (ja) | 画像表示システム | |
JP6713884B2 (ja) | 俯瞰画像システム、俯瞰画像表示方法およびプログラム | |
JP2018039476A (ja) | 画像表示システム | |
JP7428588B2 (ja) | 建設車両用映像表示システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20150226 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20160419 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20160620 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20161206 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20170119 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20170620 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20170626 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6167042 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |