WO2014020973A1 - 運搬車両の監視装置 - Google Patents
運搬車両の監視装置 Download PDFInfo
- Publication number
- WO2014020973A1 WO2014020973A1 PCT/JP2013/064368 JP2013064368W WO2014020973A1 WO 2014020973 A1 WO2014020973 A1 WO 2014020973A1 JP 2013064368 W JP2013064368 W JP 2013064368W WO 2014020973 A1 WO2014020973 A1 WO 2014020973A1
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- WO
- WIPO (PCT)
- Prior art keywords
- image
- camera
- rear camera
- view
- dump truck
- Prior art date
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- 230000003287 optical effect Effects 0.000 claims abstract description 12
- 240000004050 Pentaglottis sempervirens Species 0.000 claims description 23
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 claims description 23
- 238000006243 chemical reaction Methods 0.000 claims description 19
- 239000002131 composite material Substances 0.000 claims description 12
- 238000012806 monitoring device Methods 0.000 claims description 6
- 230000002194 synthesizing effect Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims 1
- 230000032258 transport Effects 0.000 description 15
- 238000003702 image correction Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 11
- 239000004576 sand Substances 0.000 description 9
- 230000007935 neutral effect Effects 0.000 description 8
- 239000000203 mixture Substances 0.000 description 7
- 238000012937 correction Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 239000004575 stone Substances 0.000 description 3
- 238000003786 synthesis reaction Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 101100494448 Caenorhabditis elegans cab-1 gene Proteins 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
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- 238000005192 partition Methods 0.000 description 1
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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
-
- 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
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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
-
- 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
-
- 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
Definitions
- the present invention relates to a monitoring device for a transport vehicle that monitors the lower and surroundings of a transport vehicle that transports earth and sand.
- the dump truck As a transport vehicle, the dump truck is provided with a bed (vessel) that can be raised and lowered on the frame of the vehicle body, and a transport object such as crushed stone or earth and sand is loaded on the vessel. Then, the dump truck transports earth and sand to a predetermined dump and discharges it. When discharging the earth and sand loaded on the vessel, the dump truck is moved backward to the discharging position and stopped. In this state, the vessel is inclined to remove earth and sand. When the earth is discharged, the vessel is returned to the original position and the dump truck is advanced.
- a bed vehicle
- a transport object such as crushed stone or earth and sand
- the image transferred from the camera to the monitor is not a normal image, and the operator cannot accurately recognize the situation at the bottom of the vessel and the rear of the dump truck.
- the rear combination lamp can be used as illumination light at night.
- the intensity of the illumination light increases, in this case, the image taken by the camera is greatly influenced by the rear combination lamp. Therefore, the image captured by the camera is almost unrecognizable, and the operator cannot confirm the situation below and behind the vessel.
- a monitoring device for a transport vehicle of the present invention is a lower part of a vessel of the transport vehicle, and is provided with a ramp part attached to a rear end of the frame of the transport vehicle, and an upper part of the ramp part,
- a rear camera that captures at least a part of an axle of a rear wheel of the transport vehicle in a field of view, and has an optical axis obliquely below, and is located between the lamp unit and the rear camera;
- a shielding part that extends at least a part of the ASKUL to a position where the field of view is included in the field of view of the rear camera, and a rear camera image that is provided in the cab of the transport vehicle and that is captured by the rear camera are displayed.
- a display device that displays at least a part of the ASKUL to a position where the field of view is included in the field of view of the rear camera, and a rear camera image that is provided in the cab of the transport vehicle and that is captured by the rear camera are displayed.
- a left camera for photographing the left side of the transport vehicle and a right camera for photographing the right side, and at least the rear camera, the left camera, and the right camera were photographed with the optical axis in the oblique lower part.
- a viewpoint conversion unit that generates an individual overhead image obtained by individually converting the viewpoint so as to be an upper viewpoint with respect to the image, and a synthesized overhead image by synthesizing the individual overhead image around a symbol image that symbolizes the transport vehicle
- a combined overhead image generation unit that divides the display area of the screen portion of the display device, and displays the rear camera image and the synthesized overhead image in each of the divided display areas. Also good.
- the image correction unit 31 inputs images taken by the front camera 10F, the rear camera 10B, the right camera 10R, and the left camera 10L. Then, various image corrections such as aberration correction, contrast correction, and color tone correction are performed on each input image based on camera optical system parameters and the like. Thereby, the image quality of each input image is improved.
- Each corrected image input by the image correction unit 31 is output to the viewpoint conversion unit 32 as a camera image (through image). That is, four cameras of a front camera image (front camera image), a rear camera image (rear camera image), a left camera image (left camera image), and a right camera image (right camera image). The image is output to the viewpoint conversion unit 32. Further, the rear camera image among the camera images is also output to the display image generation unit 35.
- the viewpoint conversion unit 32 performs a viewpoint conversion process on each individual camera image input from the image correction unit 31 to generate an overhead image (virtual viewpoint image).
- each camera 10 has an optical axis direction obliquely below, and converts this into a virtual viewpoint from above.
- the optical axis A of the objective lens of the camera 10 front camera 10F, rear camera 10B, right camera 10R, left camera 10L
- the optical axis of the camera 10 is obliquely downward.
- the video imaged by the rear camera 10 ⁇ / b> B is output to the image correction unit 31 in FIG. 8.
- the image correction unit 31 improves the image quality of the rear camera image by performing a predetermined correction process on the input image from the rear camera 10B. Then, the rear camera image with improved image quality is output to the display image generation unit 35.
- the extension position of the shielding plate 16 is regulated. That is, the shielding plate 16 is extended so that the rear end of the axle 11 enters the field of view of the rear camera 10B. Under the condition that the rear end of the axle 11 is included in the field of view of the rear camera 10B, the shielding plate 16 can be extended to an arbitrary position. In particular, the shielding plate 16 is extended as much as possible under the condition that the rear end of the axle 11 is included in the field of view of the rear camera 10B. Thereby, the influence of the light L emitted from the lamp unit 13 can be minimized.
- the composite bird's-eye view image displayed in the display area 25B displays the situation around the dump truck 1, and when any obstacle approaches the dump truck 1, the obstacle and the dump truck 1 are The interval can be clearly recognized.
- the obstacle S1 is approaching the dump truck 1, and the operator can clearly recognize the positional relationship between the dump truck 1 and the obstacle S1.
- the number of divisions of the display area of the screen unit 25 is desirably about 2 to 4.
- the number of divisions of the display area of the screen unit 25 is set to two, and sufficient safety can be ensured by simultaneously displaying the combined overhead image and the rear camera image.
Abstract
Description
2 運転室
3 フレーム
4 ベッセル
6 後輪
10 カメラ
10B 後方カメラ
10F 前方カメラ
10L 左方カメラ
10R 右方カメラ
11 アクスル
13 ランプ部
16 遮蔽板
18 レンズ
24 モニタ
25 画面部
30 表示コントローラ
31 画像補正部
32 視点変換部
33 シンボル画像保持部
34 画像合成部
35 表示画像生成部
36 表示態様制御部
37 画像拡大部
40 車体コントローラ
41 シンボル画像
41A 部分シンボル画像
42B 後方俯瞰画像
42F 前方俯瞰画像
42L 左方俯瞰画像
42R 右方俯瞰画像
Claims (5)
- 運搬車両のベッセル下部であり、前記運搬車両のフレーム後端に取り付けられたランプ部と、
前記ランプ部の上部に設けられ、前記運搬車両の後輪のアクスルの少なくとも一部を視野に含み、光軸を斜め下方とした前記運搬車両の後方を撮影する後方カメラと、
前記ランプ部と前記後方カメラとの間に設けられ、前記後方カメラの視野に前記アスクルの少なくとも一部が視野に含まれる位置にまで延出させた遮蔽部と、
前記運搬車両の運転室に備えられ、前記後方カメラが撮影する後方カメラ画像を表示する表示装置と、
を備えた運搬車両の監視装置。 - 前記後方カメラは前記アクスルの後端の一部を視野に含む画角を有し、前記遮蔽部は前記アクスルの後端の一部が視野に含まれる位置にまで延出させた
請求項1記載の運搬車両の監視装置。 - 斜め下方を光軸とし、前記運搬車両の左方を撮影する左方カメラおよび右方を撮影する右方カメラと、
少なくとも前記後方カメラと前記左方カメラと前記右方カメラとが撮影した画像に対して上方視点となるように個別的に視点変換した個別俯瞰画像を生成する視点変換部と、
前記運搬車両をシンボル化したシンボル画像の周囲に前記個別俯瞰画像を合成して合成俯瞰画像を生成する合成俯瞰画像生成部と、
を備え、
前記表示装置の画面部の表示領域を分割して、分割したそれぞれの表示領域に前記後方カメラ画像と前記合成俯瞰画像とを表示する
請求項1または2記載の運搬車両の監視装置。 - 前記後方カメラ画像を非表示として、前記画面部の分割したそれぞれの表示領域に前記後方カメラ画像のうち前記アスクルと左右の前記後輪との間の部分を拡大した拡大後方カメラ画像と前記合成俯瞰画像とを表示する
請求項3記載の運搬車両の監視装置。 - 前記後方カメラ画像を非表示として、前記画面部の分割したそれぞれの表示領域に前記後方カメラ画像のうち前記アスクルと左右の前記後輪との間の部分を拡大した画像を前記視点変換部により視点変換した拡大後方俯瞰画像と前記合成俯瞰画像とを表示する
請求項3記載の運搬車両の監視装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE201311003858 DE112013003858T5 (de) | 2012-08-03 | 2013-05-23 | Überwachungsvorrichtung für Transportfahrzeug |
CN201380040981.6A CN104509103A (zh) | 2012-08-03 | 2013-05-23 | 搬运车辆的监视装置 |
AU2013297845A AU2013297845B2 (en) | 2012-08-03 | 2013-05-23 | Conveyance vehicle surveillance device |
US14/418,978 US20150203034A1 (en) | 2012-08-03 | 2013-05-23 | Surveillance apparatus for transportation vehicle |
US15/619,727 US20170274824A1 (en) | 2012-08-03 | 2017-06-12 | Surveillance apparatus for transportation vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012172702A JP5938292B2 (ja) | 2012-08-03 | 2012-08-03 | 運搬車両の監視装置 |
JP2012-172702 | 2012-08-03 |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/418,978 A-371-Of-International US20150203034A1 (en) | 2012-08-03 | 2013-05-23 | Surveillance apparatus for transportation vehicle |
US15/619,727 Continuation US20170274824A1 (en) | 2012-08-03 | 2017-06-12 | Surveillance apparatus for transportation vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2014020973A1 true WO2014020973A1 (ja) | 2014-02-06 |
Family
ID=50027666
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2013/064368 WO2014020973A1 (ja) | 2012-08-03 | 2013-05-23 | 運搬車両の監視装置 |
Country Status (6)
Country | Link |
---|---|
US (2) | US20150203034A1 (ja) |
JP (1) | JP5938292B2 (ja) |
CN (1) | CN104509103A (ja) |
AU (1) | AU2013297845B2 (ja) |
DE (1) | DE112013003858T5 (ja) |
WO (1) | WO2014020973A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2016038925A1 (ja) * | 2015-04-22 | 2016-03-17 | 株式会社小松製作所 | 作業車両 |
US9667875B2 (en) | 2015-01-21 | 2017-05-30 | Caterpillar Inc. | Vision system and method of monitoring surroundings of machine |
Families Citing this family (7)
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JP5938292B2 (ja) * | 2012-08-03 | 2016-06-22 | 日立建機株式会社 | 運搬車両の監視装置 |
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 |
DE102015219179A1 (de) | 2015-10-05 | 2017-04-06 | Franz Xaver Meiller Fahrzeug- Und Maschinenfabrik - Gmbh & Co Kg | Lastentransportfahrzeug mit Überwachungsmitteln zur gesicherten Handhabung eines Wechselbehälters |
JP6475178B2 (ja) * | 2016-03-10 | 2019-02-27 | 日立建機株式会社 | 電気駆動車両 |
JP7171436B2 (ja) * | 2016-11-01 | 2022-11-15 | 住友建機株式会社 | 作業機械用周辺監視システム、表示装置 |
JP6752168B2 (ja) * | 2017-02-27 | 2020-09-09 | 日立建機株式会社 | ダンプトラック及び後退支援装置 |
JP6700644B2 (ja) * | 2017-03-29 | 2020-05-27 | 日立建機株式会社 | 放土状態監視装置 |
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-
2013
- 2013-05-23 WO PCT/JP2013/064368 patent/WO2014020973A1/ja active Application Filing
- 2013-05-23 DE DE201311003858 patent/DE112013003858T5/de not_active Withdrawn
- 2013-05-23 AU AU2013297845A patent/AU2013297845B2/en not_active Ceased
- 2013-05-23 CN CN201380040981.6A patent/CN104509103A/zh active Pending
- 2013-05-23 US US14/418,978 patent/US20150203034A1/en not_active Abandoned
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2017
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US9667875B2 (en) | 2015-01-21 | 2017-05-30 | Caterpillar Inc. | Vision system and method of monitoring surroundings of machine |
WO2016038925A1 (ja) * | 2015-04-22 | 2016-03-17 | 株式会社小松製作所 | 作業車両 |
JP5985060B2 (ja) * | 2015-04-22 | 2016-09-06 | 株式会社小松製作所 | 作業車両 |
JPWO2016038925A1 (ja) * | 2015-04-22 | 2017-04-27 | 株式会社小松製作所 | 作業車両 |
US9702113B2 (en) | 2015-04-22 | 2017-07-11 | Komatsu Ltd. | Work vehicle |
Also Published As
Publication number | Publication date |
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AU2013297845A1 (en) | 2015-03-19 |
CN104509103A (zh) | 2015-04-08 |
JP2014033340A (ja) | 2014-02-20 |
JP5938292B2 (ja) | 2016-06-22 |
US20150203034A1 (en) | 2015-07-23 |
AU2013297845B2 (en) | 2016-03-24 |
US20170274824A1 (en) | 2017-09-28 |
DE112013003858T5 (de) | 2015-04-23 |
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