WORK VEHICLE PERIPHERY MONITORING SYSTEM AND WORK VEHICLE

• US 20150183370A1
• Filed: 11/30/2012
• Published: 07/02/2015
• Est. Priority Date: 09/20/2012
• Status: Active Grant

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: Nakanishi, Yukihiro, Kurihara, Takeshi
• Granted Patent: US 9,333,915 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60R 1/00 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
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60R 2300/303 using joined images, e.g. multiple camera images
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: B60R 2300/70 characterised by an event-triggered choice to display a specific image among a selection of captured images
• CPC Class Codes: E02F 9/24 Safety devices , e.g. for preventing overload E02F9/226 takes precedence
• CPC Class Codes: E02F 9/261 Surveying the work-site to be treated
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A controller includes: a bird'"'"'s eye image synthesizer generating bird'"'"'s eye image information for displaying a bird'"'"'s eye image of a work vehicle and a periphery of the work vehicle; a display controller displaying a first image in which a mark representing an object detected by radar devices overlaps the bird'"'"'s eye image and a second image captured on the same screen of a monitor; an alarm notifying unit notifying, as the alarm, at least one of a first alarm of displaying a region with the mark differently from a region without the mark in the first image and a second alarm of notifying the existence of the object by a sound; and an alarm releasing unit releasing the alarm in accordance with a releasing order based on a position in which the object exists.

Claims

1. A work vehicle periphery monitoring system comprising:

a plurality of image capturing devices each of which is attached to a work vehicle and captures a periphery of the work vehicle to output an image information item;

a plurality of object detecting devices each of which is attached to the work vehicle to detect an object existing around the work vehicle;

a bird'"'"'s eye image synthesizing unit that acquires the plurality of image information items and synthesizes the acquired image information items to generate a bird'"'"'s eye image information item for displaying a bird'"'"'s eye image of the work vehicle and the periphery of the work vehicle on a display device;

a display control unit that displays a first image in which a mark representing the object detected by the object detecting device overlaps the bird'"'"'s eye image based on the bird'"'"'s eye image information item and a second image which is captured by the image capturing device on a same screen of the display device;

an alarm notifying unit that notifies, as an alarm, at least one or both of a first alarm of displaying a region with the mark in a manner different from a region without the mark in the first image and a second alarm of notifying an existence of the object by a sound;

an alarm releasing instruction unit that receives an input for releasing the alarm; and

an alarm releasing unit that releases the alarm in accordance with a releasing order based on a position in which the object exists based on an alarm releasing signal from the alarm releasing instruction unit.

2. The work vehicle periphery monitoring system according to claim 1,

wherein in order to release the alarm, the alarm releasing unit displays the region with the mark in a same manner as the region without the mark in the first image to release the first alarm and changes or stops the sound to release the second alarm.

3. The work vehicle periphery monitoring system according to claim 1,

wherein the alarm notifying unit changes a notification mode of the alarm to correspond to the releasing order.

4. The work vehicle periphery monitoring system according to claim 1,

wherein the display control unit keeps displaying the mark even after the alarm releasing unit releases the alarm.

5. The work vehicle periphery monitoring system according to claim 1,

wherein when the object detecting device detects a movement of the object, the display control unit moves the mark in the bird'"'"'s eye image in accordance with the movement of the object and the alarm notifying unit notifies at least the first alarm.

6. The work vehicle periphery monitoring system according to claim 1,

wherein when the object detecting device detects a new object, the display control unit displays a mark representing the new object in the first image and the alarm notifying unit notifies at least the first alarm.

7. The work vehicle periphery monitoring system according to claim 1,

wherein before the alarm releasing instruction unit receives an input for releasing the alarm, the display control unit displays, as the second image on the display device, an image corresponding to a position in which the alarm releasing unit first releases the alarm among images captured by the image capturing devices.

8. The work vehicle periphery monitoring system according to claim 7,

wherein after the alarm releasing instruction unit receives an input for releasing the alarm and then the alarm releasing unit releases the alarm, the display control unit displays, as the second image on the display device, an image corresponding to a position in which the alarm is released at a next time.

9. The work vehicle periphery monitoring system according to claim 1,

wherein the alarm releasing unit changes the releasing order in accordance with a state of the work vehicle.

10. The work vehicle periphery monitoring system according to claim 1,

wherein the display control unit displays, on the same screen of the display device, a third image representing at least one of a position as a subject of the alarm and a position in which the second image is displayed on the display device.

11. The work vehicle periphery monitoring system according to claim 10,

wherein the display control unit stops the display of the first image on the display device and displays only the third image and the second image displaying the mark on the same screen of the display device.

12. The work vehicle periphery monitoring system according to claim 1,

wherein when the work vehicle runs backward, the display control unit displays, as the second image on the display device, an image at a rear side of the work vehicle among images captured by the image capturing devices, and

wherein when the work vehicle runs forward, the display control unit displays, as the second image on the display device, an image of a position in which a dead angle from a driver seat of the work vehicle is the largest at a front side of the work vehicle among images captured by the image capturing devices.

13. The work vehicle periphery monitoring system according to claim 1,

wherein when at least one of the object is detected, the first alarm and the second alarm are released at a same time based on the alarm releasing signal.

16. A work vehicle comprising:

the work vehicle periphery monitoring system according to claim 1.

14. A work vehicle periphery monitoring system comprising:

a plurality of image capturing devices each of which is attached to a work vehicle and captures a periphery of the work vehicle to output an image information item;

a plurality of object detecting devices each of which is attached to the work vehicle to detect an object existing around the work vehicle;

a bird'"'"'s eye image synthesizing unit that acquires the plurality of image information items and synthesizes the acquired image information items to generate a bird'"'"'s eye image information item for displaying a bird'"'"'s eye image of the work vehicle and the periphery of the work vehicle on a display device;

a display control unit that displays a first image in which a mark representing the object detected by the object detecting device overlaps the bird'"'"'s eye image based on the bird'"'"'s eye image information item and a second image which is captured by the image capturing device on a same screen of the display device;

an alarm notifying unit that notifies an alarm by displaying a region with the mark in a manner different from a region without the mark in the first image and notifying an existence of the object by a sound;

an alarm releasing instruction unit that receives an input for releasing the alarm; and

an alarm releasing unit that releases the alarm in accordance with a releasing order based on a position in which an object exists based on an alarm releasing signal from the alarm releasing instruction unit,

wherein the display control unit displays, on the same screen of the display device, a third image representing at least one of a position as a subject of the alarm and a position in which the second image is displayed on the display device, and even after the alarm releasing unit releases the alarm, the display control unit keeps displaying the mark.

15. A work vehicle comprising:

the work vehicle periphery monitoring system according to claim 14.