WORKING VEHICLE PERIPHERY MONITORING SYSTEM AND WORKING VEHICLE

• US 20150217690A1
• Filed: 10/19/2012
• Published: 08/06/2015
• Est. Priority Date: 09/21/2012
• Status: Active Grant

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: Mitsuta, Shinji, Kurihara, Takeshi
• Granted Patent: US 9,796,330 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 2300/303 using joined images, e.g. multiple camera images
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: G06T 11/00 2D [Two Dimensional] image generation
• CPC Class Codes: G06T 3/4038 Image mosaicing, e.g. composing plane images from plane sub-images
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

A working vehicle periphery monitoring system includes: image capturing devices attached to a working vehicle with a vessel and capturing the periphery of the working vehicle to output image information; a bird'"'"'s eye image synthesizing unit synthesizing the image information to generate a bird'"'"'s eye image information for displaying bird'"'"'s eye images of the working vehicle and the periphery thereof; and a display control unit displaying at least one of a first bird'"'"'s eye image obtained by superimposing a first vessel image including the vessel other than a part of the vessel at a rear side of the working vehicle on an area of the working vehicle in the bird'"'"'s eye image and a second bird'"'"'s eye image obtained by superimposing a second vessel image including all of the vessel on the area.

Claims

1. A working vehicle periphery monitoring system that monitors a periphery of a working vehicle including a vehicle body frame which supports front and rear wheels and a vessel which protrudes toward a rear side of the vehicle body frame than the rear wheels to load freight thereon, the working vehicle periphery monitoring system comprising:

a plurality of image capturing devices each of which is attached to the working vehicle and captures the periphery of the working vehicle to output a piece of image information;

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

a display control unit that displays, on the display device, at least one of a first image obtained by superimposing a first vessel image including at least the vessel other than a part of the vessel at the rear side of the working vehicle on an area in which the working vehicle is present in the bird'"'"'s eye image and a second image obtained by superimposing a second vessel image including at least all of the vessel on the area in which the working vehicle is present in the bird'"'"'s eye image.

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

wherein the display control unit switches the display of the first image and the display of the second image based on an operation of an operator that operates the working vehicle.

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

wherein the display control unit switches the display of the first image and the display of the second image according to a state of the working vehicle.

4. The working vehicle periphery monitoring system according to claim 3,

wherein the display control unit switches the display of the first image and the display of the second image based on a running speed of the working vehicle.

5. The working vehicle periphery monitoring system according to claim 3,

wherein the working vehicle includes an object detection device that detects an object existing behind the working vehicle, and

wherein the display control unit switches the display of the first image and the display of the second image when the object detection device detects the object.

6. The working vehicle periphery monitoring system according to claim 3,

wherein the display control unit switches the display of the first image and the display of the second image when a traveling mode of the working vehicle becomes a reverse traveling mode.

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

wherein the first vessel image includes the front and rear wheels displayed with the vessel, and the second vessel image includes the front and rear wheels displayed with the vessel.

14. The working vehicle periphery monitoring system according to claim 13,

wherein the display control unit displays all of the front and rear wheels.

15. The working vehicle periphery monitoring system according to claim 13,

wherein as the rear wheels, a plurality of vehicle wheels are displayed at each of left and right sides of the vessel.

16. The working vehicle periphery monitoring system according to claim 13,

wherein in the first vessel image, a rear side of the vessel than an end of the rear wheel at the rear side of the working vehicle is excluded.

17. A working vehicle comprising:

the working vehicle periphery monitoring system according to claim 1.

7. A working vehicle periphery monitoring system that monitors a periphery of a working vehicle including a vehicle body frame which supports front and rear wheels and a vessel which protrudes toward a rear side of the vehicle body frame than the rear wheels to load freight thereon, the working vehicle periphery monitoring system comprising:

a plurality of image capturing devices each of which is attached to the working vehicle and captures the periphery of the working vehicle to output a piece of image information;

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

a display control unit that displays, on the display device, at least one of a first image obtained by superimposing a first vessel image including at least the vessel other than a part of the vessel at the rear side of the working vehicle on an area in which the working vehicle is present in the bird'"'"'s eye image and a second image obtained by superimposing a second vessel image including at least all of the vessel on the area in which the working vehicle is present in the bird'"'"'s eye image,

wherein the display control unit switches the display according to an operation of an operator that operates the working vehicle or a state of the working vehicle.

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

wherein the first vessel image includes the front and rear wheels displayed with the vessel, and the second vessel image includes the front and rear wheels displayed with the vessel.

9. The working vehicle periphery monitoring system according to claim 8,

wherein the display control unit displays all of the front and rear wheels.

10. The working vehicle periphery monitoring system according to claim 8,

wherein as the rear wheels, a plurality of vehicle wheels are displayed at each of left and right sides of the vessel.

11. The working vehicle periphery monitoring system according to claim 8,

wherein in the first vessel image, a rear side of the vessel than an end of the rear wheel at the rear side of the working vehicle is excluded.

12. A working vehicle comprising:

the working vehicle periphery monitoring system according to claim 7.