JP7227486B2 - Working Machine Surrounding Monitoring System, Working Machine Surrounding Monitoring Program - Google Patents

Description

The present invention relates to a system for monitoring the surroundings of a working machine such as a construction machine, and a working machine surroundings monitoring program.

For example, in a working machine (construction machine) having a structure specialized for various types of work, such as a hydraulic excavator having a lower traveling body and an upper revolving body rotatably mounted on the lower traveling body, the control room is equipped with a working machine. A person (operator) gets into the vehicle and operates a driving operation unit such as an operation lever to move the vehicle forward, backward, or turn. When carrying out such operations, the operator can grasp the situation around the vehicle by looking at it visually or by watching the images captured by the cameras installed in appropriate places on the vehicle on the monitor installed in the driver's cab, and the direction in which the vehicle moves. It is normal to confirm that there are no people or obstacles.

In this case, when confirming the surrounding conditions that are invisible or difficult to see with the monitor display using the camera image, is the object in the image displayed on the monitor (person, object, etc. synonymous with subject or object) stationary? , in order to accurately grasp whether the robot is moving, it is necessary to keep looking at the monitor for a while, which hinders prompt maneuvering. In addition, if a moving object displayed on the monitor is erroneously recognized as a stationary object, or if a moving object is overlooked, it may lead to a serious accident.

Therefore, for example, by using a monitoring device capable of grasping changes in surrounding conditions (movements of objects) for a certain period of time in the past, it is expected that such accidents as described above can be avoided. Japanese Unexamined Patent Application Publication No. 2002-200000 discloses a monitoring device that saves a camera image at regular time intervals, and displays a difference image from a background image by changing the luminance and superimposing it on the background.

Patent Document 1 describes a specific configuration of a monitoring device, in which images from a video camera are captured, stored as captured images in an image memory unit at regular intervals, and whether or not the images change at regular intervals. If there is a change, it is stored in the difference information storage memory unit, and if there is no change, it is not stored. This image is synthesized with the current image and written in the frame memory section so that the moved object is displayed so as to leave an afterimage. With such a configuration, by modulating the brightness of the changed portion of the past video data and superimposing it on the current data, the past video data on the time axis is displayed more lightly, so that the past video data is displayed more lightly. It is possible to recognize the history of changes in the image, and to grasp changes in the surrounding situation (movement of objects) during a certain period of time in the past.

Japanese Patent Application Laid-Open No. 2002-374520

However, with the monitoring device described in Patent Document 1, since the brightness of the changed portion of the past image data is modulated and synthesized with the current data, the background image of the synthesized portion is missing, and the image from the past is lost. There is a problem that it is difficult to recognize a change in the image.

Further, with the monitoring device described in Patent Document 1, it is necessary to cut out and store the difference from the background image, and then synthesize the difference with the background image. requires high-speed computing performance. In addition, a memory for storing time-series images and their differential images is also required, and a large-capacity memory unit that can be accessed at high speed is required.

The present invention has been made with a focus on such problems, and its main object is to provide a perimeter monitoring system that can be applied to working machines, in which it is possible to instantaneously recognize changes over time and monitor video. To provide a perimeter monitoring system capable of recording a video for a longer time with a small memory capacity without missing an object in the video.

That is, the working machine surroundings monitoring system according to the present invention includes a controller capable of capturing an image of an imaging device attached to the working machine and outputting it to an output destination, and storing the current image and the past image of the imaging device in a memory as the controller. A synthesized video output from the synthesized video output unit is applied, which includes a video synthesizing unit that synthesizes past video with a predetermined transmittance, and a synthesized video output unit that outputs the video synthesized by the video synthesizing unit. is displayed on a display unit visible to the operator.

In such a working machine surroundings monitoring system according to the present invention, the current image (current image) of the imaging device and the past image (past image) stored in the past image memory are superimposed at a predetermined transmittance. Since the combined image is output and displayed on the display unit that can be visually recognized by the operator, the portion where the image has changed between the current image and the past image can be displayed semi-transparently on the display unit. Therefore, by displaying such a composite image on the display unit, the operator can intuitively recognize that the portion shown as a semi-transparent afterimage is a portion that has changed from the past image, and the image is displayed on the display unit. It is not necessary to keep watching the object in the projected image, and the maneuver can be started immediately.

Furthermore, in the working machine surroundings monitoring system according to the present invention, since the portion where the image has changed between the current image and the past image is displayed semi-transparently, the background image of the portion where the image has changed is not missing. can be displayed on the display. Therefore, it becomes easier to recognize a portion that has changed from the past image.

In addition, in the working machine surroundings monitoring system according to the present invention, by superimposing images with different passages of time as semi-transparent images, the changing portions of the images become semi-transparent images. A memory for storing a time-series image and a difference image in which the computational load is greatly reduced compared to a configuration in which the difference from the background image is cut out and stored, and the difference is synthesized with the background image. It is also excellent in that it does not require a large-capacity memory that can be accessed at high speed.

By the way, while the work machine is moving, the current image and the past image are totally different from each other. In this case, there is little advantage in displaying on the display unit a composite image in which the past image appears as a translucent afterimage over the entire image.

Therefore, in the work machine surroundings monitoring system according to the present invention, the controller further adjusts the transmittance according to the determination result as to whether the work machine is moving or stopped (whether or not the work machine is moving). It is preferable to have a parameter setting unit for setting. With such a configuration, the transmittance is set so that only the current image is displayed and the past image is not displayed as a translucent afterimage when the determination result indicates that the working machine is moving. becomes possible. As a result, it is possible to display a composite image with different transmittance on the display unit when the work machine is moving and when the work machine is stopped. Therefore, it is possible to avoid the inconvenience that the appropriate display is not displayed and the operation is hindered.

Further, in the working machine surroundings monitoring system according to the present invention, the controller further comprises a composite video storage unit for storing the video composited by the video composite unit in a composite video memory, and a composite video stored in the composite video memory. If it is provided with a past video storage unit that stores the past video in the past video memory at a time period of , the composite video can be used as the past video, and the various effects as described above can be achieved with low memory consumption. It is possible to realize a monitoring system that performs well.

In the work machine surroundings monitoring system according to the present invention, the controller further determines the time period for storing the composite image in the past image memory according to the determination result as to whether the work machine is moving or stopped. A device having a parameter setting unit for setting can be applied.

In the present invention, it is possible to apply a controller further comprising a supervisory synthesized video storage section for storing the synthesized video output from the synthesized video output section in a supervisory video memory at predetermined time intervals. In this case, the controller further comprises a parameter setting section for setting the time period for storing the composite image in the monitoring image memory according to the determination result as to whether the work machine is moving or stopped. Then, by taking advantage of the unique advantage of the present invention that a portion that has changed from the past image remains as a semi-transparent afterimage, while the working machine is stopped, the combined image is combined with the recording of the semi-transparent afterimage to create a surveillance image. The predetermined period of time stored in memory can be set longer. On the other hand, while the work machine is moving, the predetermined time period for storing the composite image in the surveillance image memory is set to the shortest period, and the image for surveillance is requested, that is, the image is stored individually for each passage of time. can meet the demand.

A working machine surroundings monitoring program according to the present invention is a software program that causes a computer to execute a working machine surroundings monitoring system that monitors the surroundings of a working machine, and stores a current image and a past image in a memory of an imaging device. and a composite video output step of outputting the video composited in the video composite step.

According to such a working machine surroundings monitoring program, it is possible to easily identify a portion of the current image that has changed from the past image, and furthermore, it is possible to reduce the load during arithmetic processing.

According to the present invention, the function of superimposing and synthesizing the current image and the past image of the imaging device with a predetermined transmittance is exhibited, and the change in the image is visualized as a translucent afterimage. It is possible to provide a work machine surroundings monitoring system capable of recognizing the moving state of an object being photographed and instantaneously recognizing changes over time.

FIG. 1 is a diagram schematically showing an application example of a work machine surroundings monitoring system according to an embodiment of the present invention; FIG. 2 is an overall configuration diagram of a work machine surroundings monitoring system according to the embodiment; 4 is a flowchart of a working machine periphery monitoring program according to the embodiment; FIG. 4 is a diagram showing a specific example of video composition processing in the same embodiment;

An embodiment of the present invention will be described below with reference to the drawings.

A working machine surroundings monitoring system X according to the present embodiment, as shown in FIG. 1, can be used for monitoring the surroundings of a working machine H such as a hydraulic excavator (also called a backhoe). The work machine surroundings monitoring system X includes a controller C capable of capturing an image of an imaging device I attached to the work machine H and outputting it to an output destination. The imaging device I used in this embodiment is a general vehicle-mounted camera. The position at which the imaging device I is attached to the work machine H is not particularly limited as long as it is a position where it is possible to image a range (blind spot) that is not visible to the operator entering the cockpit H1 or a range that is difficult to be seen. An imaging device I is attached at a position where a predetermined range behind the shovel H can be imaged. In FIG. 1 , the devices (the imaging device I and the display unit D, which will be described later) used for implementing the work machine surroundings monitoring system X are shown exaggeratedly and schematically.

The controller C, as shown in FIGS. It is provided with a storage section 6 , a past image storage section 7 , and a monitoring synthesized image storage section 8 .

The current video storage unit 1 stores the current video (hereinafter referred to as the current video) of the imaging device I captured by appropriate means in the current video memory M1. Currently, a volatile memory is used for the video memory M1.

The image synthesizing unit 2 synthesizes the current image of the imaging device I and the past image stored in the past image memory M2 at a predetermined transmittance.

The synthesized video output unit 3 outputs the video synthesized by the video synthesizing unit 2 (hereinafter referred to as a synthesized video). In this embodiment, the composite image is output and displayed on a monitor D, which is a display unit provided in the cockpit H1 (see FIG. 1). Therefore, the operator can see the composite image displayed on the monitor D in the cockpit H1.

The work machine state determination unit 4 receives, as an external input, information that can specify whether the work machine H is moving or stopped (hereinafter referred to as work machine movement information), and determines that the work machine H is moving. or is stopped. Here, the movement of the working machine H in the present embodiment, in which a hydraulic excavator is applied as the working machine H, involves forward movement, retreating, and turning of the hydraulic excavator H (the cockpit H1 is positioned relative to the lower frame H3 including the crawler H2). movement of the upper frame H4 including pivoting), raising and lowering of the boom H5, bending and extending of the arm H6, and movement of the bucket H7 between the excavation and release positions. Further, the work machine movement information uses, for example, a signal obtained by detecting the operation state of the operator in the cockpit H1.

The parameter setting unit 5 sets the transmittance in the image synthesizing unit 2 according to the determination result (hereinafter referred to as work machine movement presence/absence information) by the work machine state determination unit 4 . The parameter setting unit 5 of the present embodiment also sets a past video storage time period T1 and a monitoring video storage time period T2, which will be described later, according to the work machine movement presence/absence information.

The composite video storage unit 6 stores the composite video in the composite video memory M3. The composite image memory M3 is a volatile memory like the current image memory M1.

The past video storage unit 7 stores the synthesized video stored in the synthesized video memory M3 in the past video memory M2 at predetermined time intervals. In this embodiment, the composite image is stored in the past image memory M2 at the past image storage time period T1 set by the parameter setting unit 5. FIG. The past video memory M2 is a volatile memory like the current video memory M1. Therefore, in the monitoring system X of the present embodiment, it is possible to use the synthesized image stored at the predetermined time period T1 as the past image of the image synthesizing section 2. FIG.

The monitor synthesized image storage unit 8 stores the synthesized image output from the synthesized image output unit 3 in the monitor image memory M4 at a predetermined time period T2. In this embodiment, the synthesized video is stored in the monitoring video memory M4 at the monitoring video storage time period T2 set by the parameter setting unit 5. FIG. The surveillance image memory M4 is a non-volatile memory.

Next, the image processing flow and effects of the work machine perimeter monitoring system X according to the present embodiment controlled by the controller C that exhibits such functions will be described with reference to FIGS. 3 and 4. FIG. FIG. 3 is a flow chart of a working machine surroundings monitoring program, which is a software program that causes a computer mounted on the working machine H to execute the working machine surroundings monitoring system X. As shown in FIG. FIG. 4 shows an example of changes in the composite image displayed on the monitor D when image processing is performed by the work machine surroundings monitoring system X according to the present embodiment, together with changes in the current image and the past image. .

First, regardless of whether the work machine H is moving or stopped, the monitoring system X of the present embodiment stores an image captured by the imaging device I as a current image in the current image memory M1 by the current image storage unit 1 ( Current image storage step S1), and the work machine state determination unit 4 determines whether the work machine H is moving or stopped (work machine movement determination step S2). The current image, which is the image captured by the imaging device I, is captured by the controller C by appropriate means and stored in the current image memory M1.

If it is determined in the work machine movement presence/absence determination step S2 that the work machine H is stopped, the work machine surroundings monitoring system X according to the present embodiment causes the parameter setting unit 5 to set the transmittance in the image synthesizing unit 2 to the working state. The transmittance corresponding to when the machine H is stopped (hereinafter referred to as the transmittance during stop) is set (parameter setting step S3). On the other hand, when it is determined that the work machine H is moving in the work machine movement presence/absence determination step S2, the parameter setting unit 5 sets the transmittance in the image synthesizing unit 2 to the transmittance corresponding to the movement of the work machine H ( Hereafter, the transmittance during movement is set (parameter setting step S3). In this embodiment, when it is determined that the work machine H is stopped, the transmittance of the current image is set to be relatively lower than the transmittance of the past image. As a result, the current image portion appears darker in the composite image, and the past image portion, for which the transmittance is set higher than that of the current image, appears gradually lighter as a translucent afterimage. In the working machine surroundings monitoring system X according to the present embodiment, the transmittance during stoppage is set to 30%. On the other hand, when it is determined that the work machine H is moving, the transmittance is set so that the past image portion does not become a translucent afterimage in the synthesized image. In the work machine surroundings monitoring system X according to this embodiment, the transmittance during movement is set to 0%.

Further, when it is determined that the work machine H is stopped in the work machine movement presence/absence determination step S2, the parameter setting unit 5 sets the past image storage time period T1 in the past image storage unit 7 to the time when the work machine H is stopped. A corresponding time cycle (hereinafter referred to as a stopped past image storage time cycle) is set (parameter setting step S3). On the other hand, when it is determined that the work machine H is moving in the work machine moving presence/absence determination step S2, the parameter setting unit 5 sets the past image storage time period T1 in the past image storage unit 7 to the time when the work machine H is moving. A corresponding time cycle (hereinafter referred to as a past image storage time cycle during movement) is set (parameter setting step S3). In this embodiment, the time period stored in the composite image memory M3 by the composite image storage unit 6 is set to the shortest so that the past image portion in the composite image becomes a semi-transparent afterimage. The time from when the image is captured until it leaves the imaging range of the imaging device I is set as the longest, and the past video storage time cycle T1 is set within that range. In addition, the past image storage time period during stop and the past image storage time period during movement are set to the same time period.

Further, when it is determined that the work machine H is stopped in the work machine movement presence/absence determination step S2, the parameter setting unit 5 sets the monitoring video storage time period T2 in the monitoring composite video storage unit 8 to A time period corresponding to the stopped state (hereinafter referred to as a stopped monitoring time period) is set (parameter setting step S3). On the other hand, when it is determined that the work machine H is moving in the work machine moving presence/absence determination step S2, the parameter setting unit 5 sets the monitoring video storage time period T2 in the monitoring composite video storage unit 8 to A time period corresponding to the movement (hereinafter referred to as a monitoring time period during movement) is set (parameter setting step S3). In this embodiment, when it is determined that the work machine H is moving in the work machine movement presence/absence determination step S2, the composite image storage unit is configured so that the past image portion in the composite image becomes a translucent afterimage. 6 is stored in the composite video memory M3 as the shortest time period, and the longest time is the time from when the object (such as a person) appears in the current video until it leaves the imaging range of the imaging device I, and the monitoring video is stored within that range. A time period T2 is set. On the other hand, when it is determined that the work machine H is stopped in the work machine movement presence/absence determination step S2, the time period stored in the composite image memory M3 by the composite image storage unit 6 is set to the shortest, and the object (person, etc.) The maximum time from when the image appears on the image until it leaves the imaging range of the imaging device I and disappears from the composite image in the composite image memory M3 is set within this range as the monitoring image storage time period T2.

The past image storage unit 7 of the working machine surroundings monitoring system X according to the present embodiment stores the synthesized image stored in the synthesized image memory M3 at the past image storage time period T1 set by the parameter setting unit 5. Store in M2 (past image storage step S4). When storing the composite image in the past image memory M2, it is not necessary to synchronize it with the current image storage step S1, but it may be synchronized as necessary.

Then, in the work machine surroundings monitoring system X according to the present embodiment, the image synthesizing unit 2 combines the current image stored in the current image memory M1 and the past image stored in the past image memory M2 in the parameter setting step S3. Synthesis is performed with the set transmittance (image synthesizing step S5).

Subsequently, in the work machine surroundings monitoring system X according to the present embodiment, the image (composite image) synthesized in the image composition step S5 is stored in the composite image memory M3 by the composite image storage unit 6 (composite image storage step S6). Also, the video (composite video) synthesized in the video synthesis step S5 is output by the composite video output unit 3 (composite video output step S7). In this embodiment, the monitor D provided in the cockpit H1 is set to output and display the synthesized image, so the operator can check the synthesized image on the monitor D. FIG.

In addition, the work machine surroundings monitoring system X according to the present embodiment stores the synthetic image stored in the synthetic image memory M3 at the monitoring image storage time cycle T2 set by the parameter setting unit 5, and the synthetic image storage unit for monitoring. 8 is stored in the monitoring image memory M4 (monitoring composite image storage step S8).

Next, the relationship between the current image, the past image, and the composite image when the person W appears around the work machine H will be described with reference to FIG.
First, the image of the elapsed time TL1 in FIG. 4 is the image when the work machine H is stopped and the person W does not appear around the work machine H (within the imaging range of the imaging device I). If image processing is performed by the work machine surroundings monitoring system X of the present embodiment at this point, the image captured by the imaging device I does not change, and the synthesized image becomes the same image as the current image. In this embodiment, the transmittance during stop is set to 30%. Therefore, the monitor D displays a composite image in which the current image is 70% and the past image is 30%. Since there is no video change between the current video and the past video, the synthesized image is the same video as the current video.

The image of the elapsed time TL2 in FIG. 4 is an image when the person W appears in the vicinity of the work machine H (within the imaging range of the imaging device I), and the person W is currently shown around the right end of the image. In this case, the part where the image has changed between the current image and the past image is the person W appearing in the current image. In this embodiment, since the transmittance during stop is set to 30%, a composite image is displayed on the monitor D in which the ratio of the current image is 70% and the past image is 30%. That is, the person W included in the current image is displayed with 70% deep translucency in the synthesized image, and the road cone R included in the past image is displayed with 30% light translucency in the synthesized image.

The image of the elapsed time TL3 in FIG. 4 is the image when the person W has moved, and the person W is shown around the center of the current image. In this case, the part where the image has changed between the current image and the past image is the person W appearing in the current image and the person W appearing in the past image. In this embodiment, since the transmittance during stop is set to 30%, a composite image is displayed on the monitor D in which the ratio of the current image is 70% and the past image is 30%. In other words, the central person W included in the current image is displayed in the synthetic image with a 70% dark translucency. In addition, the person W on the right end included in the past video is displayed as a 21% thin semi-transparent afterimage in the composite video by combining the 70% dark translucent image with a further 30%. be. The road cone R included in the current image and the past image is displayed with a dark translucency of 79%, which is the sum of 70% of the current image and 9% synthesized with an additional 30% of the 30% of the past image. be done.

The image of the elapsed time TL4 in FIG. 4 is the image at the time when the person W has moved further, and the person W is shown around the left end of the current image. In this case, the part where the image has changed between the current image and the past image is the person W appearing in the current image and the person W appearing in the past image. In this embodiment, since the transmittance during stop is set to 30%, a composite image is displayed on the monitor D in which the ratio of the current image is 70% and the past image is 30%. That is, the leftmost person W included in the current image is displayed with a 70% deep semi-transparency. In addition, the person W in the center included in the past video is displayed as a 21% thin semi-transparent afterimage in the synthesized video by combining the 70% dark translucent image with another 30%. be. The person W on the right end included in the past image is displayed as a 6.3% thin semi-transparent afterimage by synthesizing the 21% thin semi-transparent image with another 30%. The road cone R included in the current image and the past image is 93.7%, which is the sum of 70% of the current image and 23.7% synthesized with 79% of the past image and an additional 30%. Displayed semi-transparently.

The image of the elapsed time TL5 in FIG. 4 is the image when the person W has stopped after moving, and the person W is shown around the left end of the current image. In this case, the part where the image has changed between the current image and the past image is the person W appearing in the past image. In this embodiment, since the transmittance during stop is set to 30%, a composite image is displayed on the monitor D in which the ratio of the current image is 70% and the past image is 30%. That is, the leftmost person W included in the current image and the past image is a dark half of 91%, which is the sum of 70% of the current image and 21% synthesized by adding 30% to the 70% of the past image. Displayed as transparent. In addition, the central person W included in the past image is displayed as a 6.3% thin semi-transparent afterimage by synthesizing the 21% thin translucent image with an additional 30%. . The rightmost person W included in the past image is displayed as a 1.89% thin translucent afterimage by synthesizing the 6.3% thin translucent image with a further 30%, Almost invisible. The road cone R included in the current image and the past image is 98.11%, which is the sum of 70% of the current image and 28.11% synthesized with 93.7% of the past image and an additional 30%. is displayed in a dark semi-transparency.

The image of the elapsed time TL6 in FIG. 4 is the image when the person W has not moved after stopping, and the person W is shown around the left end of the current image. In this case, the part where the image has changed between the current image and the past image is the person W appearing in the past image. In this embodiment, since the transmittance during stop is set to 30%, a composite image is displayed on the monitor D in which the ratio of the current image is 70% and the past image is 30%. That is, the leftmost person W included in the current image and the past image is 93.7%, which is the sum of 70% of the current image and 23.7%, which is 91% of the past image and 30% of the past image. It is displayed as a semi-transparent afterimage with a high percentage, and it is almost impossible to visually determine that it is semi-transparent. In addition, the central person W included in the past image is displayed as a 1.89% thin translucent afterimage by synthesizing the 6.3% thin translucent image with an additional 30%. and become almost invisible.

As described above, according to the working machine surroundings monitoring system X and the working machine surroundings monitoring program according to the present embodiment, by outputting a composite image obtained by combining the current image and the past image with a predetermined transmittance, the image shown in FIG. 4 can be obtained. In this way, the portion where the image has changed between the current image and the past image can be displayed translucently on the monitor D in chronological order. Therefore, by displaying such a synthesized image on the monitor D, the operator can intuitively recognize that the portion shown as a translucent afterimage is a portion that has changed from the past image (portion in a moving state).

Furthermore, according to the working machine surroundings monitoring system X according to the present embodiment, since the synthetic image output by the synthetic image output unit 3 is a semi-transparent image of the changed image part, there is a change in the image. It is possible to output an image to the monitor D in which the partial background image is not missing. Therefore, it becomes easier to recognize a portion that has changed from the past image.

In the work machine surroundings monitoring system X according to the present embodiment, compared to general image processing (for example, image processing for cutting out and storing the difference from the background image and synthesizing the difference with the background image), the background image Since there is no need for processing to extract the difference between the two, or memory for storing time-series images and difference images, etc., the computational load is significantly reduced, and a large-capacity memory that can be accessed at high speed is not required. It is also advantageous in terms of

In addition, since the composite image stored in the past image memory M2 by the past image storage unit 7 is used as the past image, there is no need to store individual images each time the time elapses, thereby effectively reducing memory consumption. can be done.

In addition, in the work machine surroundings monitoring system X according to the present embodiment, when the work machine H is moving, the parameter setting unit 5 determines the transmittance in the image synthesizing unit 2 to be the transmittance during movement (parameter setting step S3). In this embodiment, when the work machine H is moving, the transmittance during movement is set to 0%, and a composite image with a ratio of 100% for the current image and 0% for the past image is displayed on the monitor D. to be displayed. As a result, in the composite image of the current image and the past image, only the current image appears, and the past image does not appear as a translucent afterimage. This is because the entire image of the current image and the past image constantly changes while the work machine H is moving. Therefore, if the same image synthesis processing is performed as when the work machine H is stopped, the entire image becomes a translucent afterimage. It is considered that the appropriate monitor display will not be displayed and it will interfere with the operation.

In addition, in the working machine surroundings monitoring system X according to the present embodiment, the monitor composite image storage unit 8 stores the composite image synthesized by the image synthesizer 2 in the monitor image memory M4 at the monitor image storage time period T2. As a result, since the missing part between the composite images stored in the monitoring image storage time period T2 can be interpolated with a semi-transparent afterimage, not only changes between the past images at the present time but also changes from the past to the present can be time-lapsed. serially recognizable.

As described in detail above, the working machine surroundings monitoring system X according to the present embodiment visualizes changed parts by superimposing translucent images with different passages of time. The load during arithmetic processing can be reduced. In addition, since the past image is a composite image that has been superimposed with semi-transparent images for each passage of time, there is no need to store individual images for each passage of time, and memory consumption can be reduced. can.

Although the embodiments of the present invention have been described above, the present invention is not limited to the configurations of the above embodiments. For example, in the above-described embodiments, a hydraulic excavator was exemplified as a working machine. The surroundings monitoring system of the present invention can also be applied to various types of vehicles.

Further, in the above-described embodiment, it is possible to use the image captured by the imaging device I as the work machine movement information. In this case, a monitoring system that does not rely on external systems can be constructed. Further, as work machine movement information, position information by GPS, vibration by an acceleration sensor, mechanism position by a potentiometer, and the like may be used.

A plurality of imaging devices may be attached to one (one) working machine, and composite image processing may be performed individually for each image of each imaging device. may be put together and the composite image processing may be performed. A plurality of monitors that can be viewed by the operator may be set.

The transmittance during movement and the transmittance during stop in the above-described embodiments are examples, and the transmittance values can be changed as appropriate.

As the display unit, a head-up display (HUD) or a head-mounted display (HMD) may be applied in addition to the monitor.

In addition, the specific configuration of each part is not limited to the above embodiment, and various modifications are possible without departing from the scope of the present invention.

2 Video synthesizing section 3 Synthetic video output section 5 Parameter setting section 6 Synthetic video storage section 7 Past video storage section 8 Surveillance synthetic video storage section C Controller D Display section (monitor)
H... Working machine I... Imaging device M2... Past video memory M3... Composite video memory M4... Surveillance video memory X... Working machine peripheral monitoring system

Claims (7)

Equipped with a controller that can capture the image of the imaging device attached to the work machine and output it to the output destination,
the controller
an image synthesizing unit that synthesizes the current image of the imaging device and the past image stored in the past image memory with a predetermined transmittance;
and a composite video output unit for outputting the video synthesized by the video synthesis unit,
The composite video output from the composite video output unit is configured to be displayed on a display unit visible to an operator ,
The controller further
a composite video storage unit that stores the video composited by the video composite unit in a composite video memory;
A work machine surroundings monitoring system, comprising: a past image storage unit for storing the synthesized image stored in the synthesized image memory in the past image memory at predetermined time intervals. The controller further
A parameter setting unit for setting a time period for storing the composite image in the past image memory according to a determination result as to whether the work machine is moving or stopped. 2. The work machine surroundings monitoring system according to 1. Equipped with a controller that can capture the image of the imaging device attached to the work machine and output it to the output destination,
the controller
an image synthesizing unit that synthesizes the current image of the imaging device and the past image stored in the past image memory with a predetermined transmittance;
and a composite video output unit for outputting the video synthesized by the video synthesis unit,
The composite video output from the composite video output unit is configured to be displayed on a display unit visible to an operator,
The work machine surroundings monitoring system, wherein the controller further comprises a supervisory composite image storage unit for storing the composite image output from the composite image output unit in a monitor image memory at predetermined time intervals. . The controller further comprises a parameter setting unit that sets a time period for storing the composite image in the surveillance image memory according to the determination result as to whether the work machine is moving or stopped. 4. The working machine surroundings monitoring system according to claim 3, wherein the work machine surroundings monitoring system comprises: The controller further
5. The working machine according to any one of claims 1 to 4, further comprising a parameter setting section for setting the transmittance according to a determination result as to whether the working machine is moving or stopped. Perimeter monitoring system. A software program that causes a computer to run as a work machine surroundings monitoring system that monitors surroundings of a work machine,
an image synthesizing step of synthesizing the current image of the imaging device and the past image stored in the past image memory at a predetermined transmittance;
a synthesized video output step of outputting the video synthesized in the video synthesizing step;
a synthesized image storage step of storing a synthesized image, which is an image synthesized in the image synthesis step, in a synthesized image memory;
a past image storage step of storing the synthesized image stored in the synthesized image memory in a past image memory at a predetermined time period;
A work machine surroundings monitoring program comprising : A software program that causes a computer to run as a work machine surroundings monitoring system that monitors surroundings of a work machine,
an image synthesizing step of synthesizing the current image of the imaging device and the past image stored in the past image memory at a predetermined transmittance;
a synthesized video output step of outputting the video synthesized in the video synthesizing step;
a supervisory composite image storage step of storing the composite image stored in the composite image memory in a monitor image memory at a predetermined time period;
A work machine surroundings monitoring program comprising:

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