JP6540948B2 - Camera system - Google Patents

Description

  The present invention relates to a camera system and heavy equipment.

  As disclosed in Patent Document 1, in the field of construction machines for excavating work, a camera attached to an arm or boom of a heavy machine having an arm and a boom such as a hydraulic shovel is generally known. The optical axis of the camera is set parallel to the arm. It is directed to a bucket attached to the tip of the arm. When such heavy equipment digs the ground, a blind spot is formed from the edge of the ground to the inside of the drill hole from the viewpoint of the driver of the driver's seat, and the deep position of the drill hole can not be visually recognized. The camera image helps eliminate blind spots.

Japanese Patent Application Laid-Open No. 8-319640

  Similarly, from the driver's point of view, the near side of the drilled hole can not be viewed. If the driver does not notice and digging to the near side of the drilled hole, the ground on the foot may fall and the heavy machinery may fall into the drilled hole. Visual observation of the front side of the wellbore can minimize the possibility of such a fall.

  According to some aspects of the present invention, a camera system can be provided that helps avoid heavy equipment falling.

  One aspect of the present invention is a heavy machine including at least a car body, an arm and a boom, and is attached to at least one of the arm or the boom and virtually taken forward of the car body on a reference plane on which the car body is placed. An imaging unit whose optical axis is directed in a direction inclining forward from a vertical plane erected perpendicularly to the reference plane and perpendicular to the straight-ahead direction of the vehicle body, and an imaging signal output from the imaging unit And a signal processing apparatus that vertically receives the image captured by the imaging unit and outputs the image as an image signal.

  When heavy machinery digs into the ground, a blind spot is formed inside the drilling hole from the edge of the ground from the viewpoint of the driver of the driver's seat. It is not possible to view the near side of the drilling hole from the driver's point of view. When the direction of incidence of the image leans forward from the vertical plane, the foot of the heavy equipment can be imaged. At this time, when the arm is moved downward because the imaging unit is upside down, the boundary between the drilling hole and the ground moves from the top to the bottom on the screen on which the image captured by the imaging unit is displayed. The driver feels a sense of discomfort because Since the action of lowering the arm is equivalent to the action of moving the viewpoint of the imaging unit gradually from the top to the bottom, at this time the arm goes down when the boundary between the drilling hole and the ground moves from the bottom of the screen to the top It is easy to recognize the situation because the action and the display match. Therefore, the captured image is vertically inverted and output. As a result, when the arm is moved downward, the boundary between the drilling hole and the ground moves from the bottom to the top on the screen on which the image captured by the imaging unit is displayed, and the driver confirms the image well. Can. Thus, the camera system helps to prevent the fall of heavy equipment. On the other hand, when the imaging unit is disposed so that the incident direction of the image is inclined backward (to the driver's seat side) from the vertical plane, the imaged image is vertically inverted because the imaging unit is not inverted vertically. It is output as it is without inverting it. When the arm is moved downward, the image moves from top to bottom and there is no sense of discomfort. The incident direction of the image can, for example, be defined by the optical axis of the lens. Alternatively, if it is lensless, it can be defined in the vertical direction from the array surface of the imaging device.

  The signal processing device may switch the output from an image signal that does not invert the captured image to the upper or lower image signal in which the captured image is inverted. The driver can observe the image without feeling of incongruity as if looking into the drilled hole. Thus, the driver can well grasp the inside of the drilling hole.

  In the camera system, when the optical axis direction exceeds +45 degrees with respect to the vertical plane, the output of the image signal may be switched. If the angle is less than +45 degrees, the boundary between the drilled hole and the ground does not move up and down on the screen on which the image captured by the imaging unit is displayed. Therefore, it is not necessary to switch the upside down. When the angle exceeds +45 degrees, the boundary between the drilled hole and the ground displays the image captured by the imaging unit up and down, so the driver grasps the image well by switching to the display upside down. be able to.

  As described above, according to the disclosed aspects, the camera system can help prevent heavy machinery from falling.

It is a side view showing one embodiment of a hydraulic shovel. It is a conceptual diagram which shows the optical axis direction of a camera. It is a conceptual diagram which shows the optical axis direction of a camera. It is a conceptual diagram which shows the optical axis direction of a camera. It is a conceptual diagram which is imaging a wellbore. It is a photograph which shows the picture picturized with the 1st camera at the time of verification. It is a photograph which shows the picture picturized with the 2nd camera at the time of verification.

  Hereinafter, an embodiment of the present invention will be described with reference to the attached drawings.

(1) Configuration of Heavy Equipment FIG. 1 schematically shows a hydraulic shovel 11 as a specific example of heavy equipment. The hydraulic shovel 11 includes a vehicle body 12. The vehicle body 12 is pivotably connected to the crawler 14 about a vertical axis 13 orthogonal to the ground surface G. The hydraulic shovel 11 can travel on the ground surface G by the action of the crawler 14. The vehicle body 12 can change direction with respect to the crawler 14 about the vertical axis 13.

  A driver's seat 15 is mounted on the vehicle body 12. The driver's seat 15 is installed on a reference plane 16 orthogonal to the vertical axis 13. A seat is installed in the driver's seat 15. The driver can sit on the seat and operate the hydraulic shovel 11.

  A boom 17 is mounted on the vehicle body 12. The boom 17 is connected to the vehicle body 12 so as to be freely raised and lowered relative to the ground surface G. The undulations of the boom 17 are realized around the first rotation axis 18. A first hydraulic cylinder 19 is connected between the boom 17 and the vehicle body 12. In response to the expansion and contraction of the first hydraulic cylinder 19, the undulation of the boom 17 is caused.

  The first position detection device 21 is attached to the boom 17. The first position detection device 21 detects the inclination angle θ of the boom 17 around the first rotation axis 18. In the detection of the depression angle θ, for example, the first position detection device 21 may detect the position of the piston or the rod by the first hydraulic cylinder 19. The first position detection device 21 outputs a dip angle signal. The depression angle of the boom 17 is identified by the depression signal. The first position detection device 21 may be attached to the vehicle body 12 instead of the boom 17.

  An arm 22 is supported by the boom 17. The arm 22 is rotatably coupled to the boom 17 around the second rotation axis 23. The second rotation shaft 23 is disposed, for example, at the tip of the boom 17. The second hydraulic cylinder 24 is connected between the arm 22 and the boom 17. The arm 22 operates in response to the expansion and contraction of the second hydraulic cylinder 24.

  The second position detection device 25 is attached to the arm 22. The second position detection device 25 detects the rotation angle γ of the arm 22 around the second rotation shaft 23. In order to detect the rotation angle γ, for example, the second position detection device 25 may detect the position of the piston or rod of the second hydraulic cylinder 24. The second position detector 25 outputs a rotation angle signal. The rotation angle γ of the arm 22 is specified by the rotation angle signal. The second position detection device 25 may be attached to the boom 17 instead of the arm 22.

  A bucket 26 is supported by the arm 22. The bucket 26 is connected to the arm 22 rotatably around the third rotation axis 27. The third rotation shaft 27 is disposed, for example, at the tip of the arm 22. A third hydraulic cylinder 28 is connected between the bucket 26 and the arm 22. Relative rotation of the bucket 26 relative to the arm 22 is triggered in response to the extension and contraction of the third hydraulic cylinder 28. However, other attachments besides the bucket 26 may be attached to the arm 22.

  A camera system 31 is mounted on the hydraulic shovel 11. The camera system 31 includes an imaging unit 32. The imaging unit 32 has a first camera 33a. The first camera 33 a is attached to the boom 17. The incident direction of the first camera 33a can be defined, for example, by the optical axis of the lens. Alternatively, if it is lensless, it can be defined in the vertical direction from the array surface of the imaging device.

  The imaging unit 32 further includes a second camera 33 b that captures an image. The second camera 33 b is attached to the arm 22 and can image the inside of the hole, for example, when the hole is dug below the reference plane 16. The incident direction of the second camera 33b can be defined, for example, by the optical axis of the lens. Alternatively, if it is lensless, it can be defined in the vertical direction from the array surface of the imaging device. The second camera 33 b outputs a second imaging signal. The imaging unit 32 may be attached not only to the boom 17 and the arm 22 but also to any one of the boom 17 and the arm 22.

  The mounting position and the incident direction of the second camera 33 b are set on the reference plane 16 based on the vertical plane 34 virtually defined in front of the driver's seat 15. The vertical surface 34 is orthogonal to the reference plane 16, extends parallel to the first rotation axis 18, and contacts the front end of the crawler 14. Here, the maximum inclination angle θmax of the boom 17 established when the bucket 26 is positioned at the highest position away from the ground surface G (reference plane 16) and the position when the bucket 26 is positioned at the deepest position The attachment position and the incident direction of the first camera 33a are set so as to continue imaging the intersection line P of the reference plane 16 and the vertical plane 34 within the inclination angle range specified between the minimum inclination angle θmin of the boom 17. The first camera 33a outputs a first imaging signal.

  The mounting position and the incident direction of the second camera 33 b may be set based on the reference plane 16 and the vertical surface 34. According to the second camera 33b, when the bucket 26 operates at the foot of the hydraulic shovel 11, the second camera 33b can always image the front side of the excavated hole. The second camera 33 b outputs a second imaging signal.

  The camera system 31 comprises a signal processor 37. The signal processing device 37 is connected to the first camera 33a and the second camera 33b. Wired or wireless may be used for such connection. The signal processing device 37 receives the first imaging signal from the first camera 33a and receives the second imaging signal from the second camera 33b. The signal processing device 37 generates an image signal in accordance with the incident direction of the first camera 33a and the second camera 33b. The image signal is output from the signal processing device 37.

  The first position detection device 21 and the second position detection device 25 are connected to the signal processing device 37. An inclination signal is supplied from the first position detector 21 to the signal processor 37. A rotation angle signal is supplied from the second position detector 25 to the signal processor 37. The signal processing unit 37 refers to the tilt angle signal and the rotation angle signal in generating the image signal.

  The camera system 31 includes a display device 38. The display device 38 is installed in the driver's seat 15. The display 38 is placed in the field of view of the driver in operation. Thus, the driver can visually recognize the state of the foot of the hydraulic shovel 11 on the screen of the display device 38 when the hydraulic shovel 11 is operated.

(2) Generation of image signal As shown in FIG. 2, when the optical axis of the imaging unit 32 is inclined backward (to the driver's seat 15 side) from the vertical plane VP orthogonal to the reference plane 16, the image of the signal processing device 37 The signal is not inverted upside down and outputs an image as it is. If the inclination angle α between the vertical plane VP orthogonal to the reference plane 16 from the intersection point P of the optical axis of the second camera 33 b and the reference plane 16 and the optical axis of the second camera 33 b does not exceed +45 degrees, Do not turn upside down. The inclination angle α is a positive angle in the clockwise direction starting from the vertical surface VP, and is a negative angle in the counterclockwise direction.

  As shown in FIG. 3, when the incident direction of the image is tilted forward (tilted forward) from the vertical plane VP orthogonal to the reference plane 16, the vertically inverted image signal of the signal processing device 37 is output. The signal processing device 37 has an inclination angle α formed by the vertical plane VP orthogonal to the reference plane 16 from the intersection point P of the reference plane 16 and the extension line of the optical axis of the second camera 33b and the extension line of the optical axis of the second camera 33b. When + exceeds 45 degrees, the image signal is flipped upside down.

(3) Operation of Camera System As shown in FIG. 5, when the hydraulic shovel 11 digs the ground G, a blind spot 42 is inside the drilling hole 41 from the edge of the ground G from the viewpoint of the driver of the driver's seat 15. It can not be formed and viewed. Similarly, in the blind spot 42 from the driver, the excavated surface 43 in front of the excavated hole 41 can not be visually recognized. Within the first depression angle range from the maximum value of the depression angle θ, the image is displayed on the screen of the display device 38 based on the image signal for arranging the image of the tip end of the arm 22 on the upper end side of the screen. A normal image is displayed corresponding to the driver's line of sight. The driver can observe the image on the screen without feeling a sense of discomfort as if looking into the drilling hole 41. Thus, the driver can grasp the inside of the drilling hole 41 well.

  When the arm 22 is displaced downward and shifts to α2 <inclination angle α ≦ α3, as shown in FIGS. 3 and 4, the optical axis direction of the second camera 33b is inclined forward from the vertical plane VP. Here, α2 shown in FIG. 3 is α2 = 45 degrees, and α3 shown in FIG. 4 is the maximum inclination angle at which the hydraulic shovel 11 can move. Images are switched within this range. The top and bottom of the captured image are displayed inverted. The driver can check the image well. Thus, the camera system 31 helps to prevent the hydraulic shovel 11 from falling. On the other hand, when the arm 22 is displaced upward and shifts to α1 ≦ inclination angle α ≦ α2, the upper and lower sides of the captured image are not reversed but are displayed as they are. Here, α1 shown in FIG. 2 is the minimum inclination angle at which the hydraulic shovel 11 can move.

  In the camera system 31, when the incident direction exceeds +45 degrees with respect to the vertical plane VP, an image is displayed on the screen based on the image signal in which the top and bottom of the screen are inverted. Since the boundary between the reference plane 16 and the drilling hole 41 is looked down at less than +45 degrees, the boundary between the reference plane 16 and the drilling hole 41 does not move up and down on the screen. Therefore, there is no need to switch. When the angle exceeds +45 degrees, the boundary between the reference plane 16 and the excavating hole 41 moves up and down on the screen, so that the driver can grasp the image well by switching to the display upside down. .

(4) Verification The inventor verified the image. A model of the hydraulic shovel 11 was used for verification. A first camera 33a and a second camera 33b were attached to the model boom 17 and arm 22, respectively. Imaging was performed with the first camera 33 a and the second camera 33 b according to the inclination angle θ of the boom 17 and the rotation angle γ of the arm 22. As shown in FIG. 6, the maximum dip angle θmax and discomfort to the image of the first camera 33a of mounting it from the small dip angle theta ₁ in boom 17 is also of the boom 17 does not occur. In small dip theta ₂ than dip theta _1, the optical axis of the image from the vertical plane VP is inclined forward. At this time, although the user did not feel discomfort in the image, the improvement in the visibility was recognized by the upside down. Reversing the upper and lower dip theta ₂ smaller dip theta ₃ in the image, that good images are displayed it has been confirmed on the screen. As shown in Figure 7, the maximum dip angle θmax boom 17 with γ the maximum rotation angle of the arm 22 is reduced to dip theta _1, the optical axis of the second camera 33b of the mounting on the arm 22 is tilted forward from the vertical plane VP . At this time, it was confirmed that when the top and bottom of the image are reversed according to the rotation angles γ ₂ and γ ₃ and the inclination angles θ ₂ and θ ₃ of the arm 22, a good image is displayed on the screen.

  11 Heavy equipment (hydraulic shovel), 12 vehicle bodies, 15 driver's seats, 16 reference planes, 17 booms, 22 arms, 31 camera systems, 34 vertical planes, 32 imaging units, 37 signal processing units, VP vertical planes.

Claims (1)

At least one of a boom moving around a first connection axis with respect to a vehicle body of heavy equipment placed on a reference plane, and an arm moving around a second connection axis parallel to the boom relative to the boom attached to the image pickup unit tilted forward the optical axis with respect vertical plane parallel said in response to movement of the arm and the boom to change the posture perpendicular to the reference plane to the second connecting shaft,
When the angle of anteversion of 45 degrees or less with respect to the vertical plane, and outputs the image signal specifying a display image without reversing the top and bottom of the imaging unit the captured image, the anteversion angle is the vertical What is claimed is: 1. A camera system comprising: a signal processing device that outputs an image signal that specifies a display image obtained by inverting the upper and lower sides of a captured image when the angle exceeds 45 degrees with respect to a plane .