Work vehicle periphery monitoring system and work vehicle

Patent metadata

Field	Value
Publication number	US-9333915-B2
Application number	US-201213992854-A
Country	US
Kind code	B2
Filing date	Nov 30, 2012
Priority date	Sep 20, 2012
Publication date	May 10, 2016
Grant date	May 10, 2016

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.

First claim

The invention claimed is:

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 device 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 device 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 on a screen of the display device;
an alarm notifying device 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 device that receives an input for releasing the alarm; and
an alarm releasing device that releases the alarm in accordance with a releasing order which is prioritized and predetermined regarding relations between a plurality of regions around the work vehicle and a plurality of running modes of the work vehicle based on an alarm releasing signal from the alarm releasing instruction device,
wherein in a case in which: a highest priority is put on a first alarm region; alarm sound in the first alarm region is set as high level; the alarm sound in the first alarm region is notified as the second alarm; and an operator operates the alarm releasing device, the second alarm is released, the first alarm may be also released along with a release of the second alarm, and the second alarm corresponding to an existence of the mark in the first alarm region is first released.

2. The work vehicle periphery monitoring system according to claim 1 , wherein in order to release the alarm, the alarm releasing device 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 device 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 device keeps displaying the mark even after the alarm releasing device 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 device moves the mark in the bird's eye image in accordance with the movement of the object and the alarm notifying device 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 device displays a mark representing the new object in the first image and the alarm notifying device notifies at least the first alarm.

7. The work vehicle periphery monitoring system according to claim 1 , wherein before the alarm releasing instruction device receives an input for releasing the alarm, the display control device displays, as the second image on the display device, an image corresponding to a position in which the alarm releasing device 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 device receives an input for releasing the alarm and then the alarm releasing device releases the alarm, the display control device 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 device 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 device 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 device 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 device displays, as a second image with the first 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 device 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.

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 device 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 device 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 on a screen of the display device;
an alarm notifying device 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 device that releases the alarm in accordance with a releasing order which is prioritized and predetermined regarding relations between a plurality of regions around the work vehicle and a plurality of running modes of the work vehicle based on an alarm releasing signal from the alarm releasing instruction device, the running modes of the work vehicle including a forward, a neutral, a stop, and a reverse,
wherein the display control device 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

Assignees

• Komatsu Mfg Co Ltd

Inventors

• Nakanishi Yukihiro
• Kurihara Takeshi

Classifications

• G08G1/166

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title

• B60R2300/303

  using joined images, e.g. multiple camera images · CPC title

• B60R2300/607

  from a bird's eye viewpoint · CPC title

• B60R2300/301

  combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision · CPC title

• B60R1/00 Primary

  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 title