JP2013034142A - Peripheral image display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a peripheral image display device capable of accurately acquiring information concerning a positional relation between captured images and a positional relation between an object whose image to be captured and a construction machine in a direction of an upper turning body or in a forward direction of a lower traveling body.SOLUTION: After capturing image of surroundings of a construction machine, display means 3 simultaneously displays an annular image 31 with a construction machine as a reference, a panoramic image 32, and a segmented image 33 obtained by cutting out a part of the panoramic image 32, displays frame-like images A1 and A2 for determining a segment position of the segmented image 33 while being overlapped on the annular image 31 and the panoramic image 32, and displays upper turning body indication images 311, 321, and 331 which indicate a direction of the upper turning body of the construction machine, and forward direction indication images 313, 323, and 333 which show a forward direction of the lower traveling body on at least any one of the annular image 31, the panoramic image 32, and the segmented image 33.

Description

  The present invention relates to a peripheral image display device that is mounted on a construction machine such as an excavator, captures an image around the construction machine, and displays a peripheral image.

  A construction machine on which the peripheral image display device of the present invention is mounted has a lower traveling body that can travel on an endless track (hereinafter referred to as a crawler) or the like, and the upper swing body turns on the lower traveling body. It is installed as possible. The upper-part turning body includes a driver's cab in which the operator is boarded and a front work machine that performs excavation work and the like. The driver's cab is provided with a large window so that the pilot can check the surroundings, but there is a range that is a blind spot from the pilot. Therefore, in order to check the range of blind spots, an imaging camera is installed on the upper revolving body, and images captured by this imaging camera are displayed on the display in the cab so that objects that obstruct work can be monitored. An image display apparatus that has been disclosed is disclosed in Patent Document 1.

  However, since the forward / reverse movement of the lower traveling body is operated regardless of the turning angle of the upper revolving body, when the operator is working in the construction machine, the relative relationship between the upper revolving body and the lower traveling body is large. For example, when the upper turning body is turning 180 degrees with respect to the advancing direction of the lower traveling body, the intention is to move the lower traveling body forward, but the construction machine may actually move backward. there were.

  In view of such a problem, the applicant of the present application discloses a monitoring device of Patent Document 2. The monitoring device detects an angle of the lower traveling body with respect to the upper swing body, and outputs angle data, an imaging means for imaging the periphery of the construction machine, a display means for displaying an image captured by the imaging means, Angle detection means, and control means for displaying an image simulating the lower traveling body on the display based on the angle data, and the control means is a mark indicating the forward direction of the lower traveling body Is displayed on the display.

  In addition, the applicant of the present application converts a captured image formed of an annular image output from the image sensor of the omnidirectional imaging means into a panoramic image indicating the omnidirectional or a cutout image obtained by cutting out a part of the omnidirectional by an image processing circuit. And the omnidirectional imaging device displayed on a display is proposed (patent document 3).

JP 2005-163370 A JP 2009-197456 A JP 2007-81925 A

  However, when a ring image or panorama image that is an image of the entire circumference of the construction machine is displayed and a part of the image is displayed as a cutout image, it is possible to recognize which part of the ring image or panorama image is in which direction. Furthermore, it is difficult to recognize the relative relationship between the direction of the cut-out image and the direction in which the upper swing body is facing or the forward direction of the lower traveling body, and the information that the operator wants to obtain cannot be obtained intuitively.

  Therefore, the present invention pays attention to the above-mentioned problems, and the positional relationship between the captured images and the positional relationship between the imaged object and the direction of the upper turning body of the construction machine or the forward direction of the lower traveling body. An object of the present invention is to provide a peripheral image display device capable of accurately obtaining information related to the above.

The present invention employs the following means in order to solve the above problems.
That is, the present invention images the surroundings of the construction machine, and simultaneously displays on the display means an annular image based on the construction machine, a panoramic image, and a cutout image obtained by cutting out a part of the panoramic image. A frame-like image that defines a cut-out position of the cut-out image is displayed on the annular image and the panoramic image so as to indicate the direction of the upper turning body of the construction machine, and the lower traveling body The gist is to display a forward direction indicating image indicating the forward direction of the image on either the annular image, the panoramic image, or the cutout image.

  In order to solve the above-described problems, the present invention provides a first invention in which an imaging unit is mounted on a construction machine having a lower traveling body and an upper turning body, and images the surroundings of the construction machine, and the imaging unit Control means for converting the imaging data captured by the above-described image into a circular image and a panoramic image based on the construction machine and a cut-out image obtained by cutting out a part of the panoramic image, the circular image, the panoramic image, and the cut-out image Display means for simultaneously displaying an operation signal, and an operation means for outputting an operation signal to the control means, wherein the control means displays a frame-like image defining a cut-out position of the cut-out image on the annular image and the panoramic image. And displaying the frame-like image within the range of the annular image and the panoramic image based on the operation of the operation means, The cut-out image is switched in conjunction with the movement of the frame-like image. With such a configuration, it is possible to recognize where the cut-out image is located between the annular image and the panoramic image, and the object to be imaged with the construction machine It is possible to accurately obtain information on the positional relationship between

  In the second invention, the control means inputs turning angle information of the upper turning body, and displays a first forward direction instruction image indicating a forward direction of the lower traveling body on the annular image, or When a second forward direction instruction image indicating the forward direction of the lower traveling body is displayed on the panoramic image, or when the frame-like image is in the forward direction of the lower traveling body, the forward movement of the lower traveling body is displayed on the cut-out image. The third forward direction indicating image indicating the direction is displayed. With such a configuration, information regarding the positional relationship between the forward direction of the lower traveling body of the construction machine and the cut-out image can be accurately obtained.

  In the third aspect of the invention, the control means displays a first upper swing body instruction image indicating the direction of the upper swing body in the annular image. The direction of the body and the direction of the upper-part turning body can be recognized by the annular image, and information related to the orientation relationship between the construction machine and the object displayed in the annular image can be obtained accurately.

  In the fourth aspect of the invention, the control means displays a second upper swing body instruction image indicating the direction of the upper swing body on the panorama image. The direction of the body and the direction of the upper-part turning body can be recognized by the panoramic image, and information regarding the azimuth relationship and the distance relationship between the construction machine and the object displayed on the panoramic image can be obtained accurately.

  In the fifth invention, when the frame-like image is in the direction of the upper swing body, the control means displays a third upper swing body instruction image indicating the direction of the upper swing body in the cut image. With such a configuration, the direction of the lower traveling body and the direction of the upper turning body of the construction machine can be recognized in detail in the cutout image, and the object displayed on the construction machine and the cutout image It is possible to accurately obtain information on the azimuth relationship.

  In the sixth invention, the second forward direction instruction image is a depth image based on the width of the lower traveling body, and is displayed on the construction machine and the panoramic image by such a configuration. In addition to the azimuth relationship with the object to be displayed, information on the distance to the displayed object can be obtained accurately, and by correlating with the width of the lower traveling body, the size of the object and the distance between the objects can be recognized. can do.

  In the seventh invention, the first upper turning body instruction image is displayed as a vehicle image showing the construction machine at the center of the annular image. With such a configuration, the construction machine The direction of the upper-part turning body can be recognized from the annular image, and information related to the orientation relationship between the construction machine and the object displayed in the annular image can be obtained accurately.

  In the eighth invention, the imaging means is an omnidirectional camera, and the control means generates the annular image based on imaging data from the omnidirectional camera.

  In the ninth invention, the imaging means is a plurality of cameras, and the control means generates the annular image based on imaging data from the plurality of cameras. With the configuration of the invention, an image around the construction machine can be easily taken.

  In the tenth aspect of the invention, the control means displays an up / down / left / right cursor display in the frame image or in the vicinity of the frame image, and the operation means moves the frame image. The color of the cursor display in the direction operated by the operating means is changed. With such a configuration, the operation is performed or the direction in which the operation is performed can be easily recognized, and the frame The operability of moving the image can be improved.

  In the eleventh aspect of the invention, the operation means comprises a touch panel type input means. With such a configuration, a frame-like image can be easily obtained by touching an annular image or a panoramic image simultaneously displayed on the display means. Can move.

  Peripheral images that can accurately obtain information about the positional relationship between the captured images and the positional relationship between the imaged object and the direction of the upper turning body or the forward traveling direction of the lower traveling body of the construction machine A display device is provided.

It is a block diagram of a peripheral image display device in the present invention. It is a block diagram of the omnidirectional camera in the said invention. It is a figure which shows the example of a display of the display means in the periphery image display apparatus of the said invention. It is a figure showing the modification of the display in the peripheral image display apparatus of the said invention, (a), (b) is a figure showing the modification of a frame-shaped image, (c), (d) is upper part It is a figure showing the modification of the turning body instruction | indication image. It is a figure which shows the modification of the 2nd forward direction instruction image in the peripheral image display apparatus of the said invention. It is a figure which shows the modification of the center image in the periphery image display apparatus of the said invention. It is explanatory drawing of the cut-out image in the peripheral image display apparatus of the said invention, (a) is a figure showing a 3rd forward direction image, (b) is a display example of an upper turning body direction information image and a forward direction information image FIG. It is the figure explaining the movement of the frame-shaped image at the time of (a1) (a2) touch operation on the ring image of the said invention in time series, (b1) (b2) is the movement of the frame-shaped image at the time of flick operation FIG. It is the figure explaining the movement of the frame-shaped image at the time of (a1) (a2) touch operation on the panoramic image of the said invention in time series, (b1) (b2) is the frame-shaped image at the time of pinch-out operation. It is a figure explaining movement in time series. It is the figure explaining the movement of the frame-shaped image at the time of flicking on the cut-out image of the said invention in time series. It is the figure explaining expansion of the cutout image at the time of pinch out operation on the cutout image of the said invention in time series. (A) It is an image showing the display example of the cursor display of each image peripheral part in the display means of the said invention, (b) It is the figure explaining the change of the color of a cursor display at the time of operating a cursor display. It is an image display example of the display means when the image pickup means of the invention is performed by a plurality of cameras.

  Hereinafter, embodiments of the peripheral image display device 100 of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram of a peripheral image display device 100 in the present embodiment. The peripheral image display device 100 according to the present invention includes an imaging unit 1, a control unit 2, a display unit 3, and an operation unit 4, and information about the turning angles of the upper swing body and the lower traveling body of the construction machine. Is input from the angle sensor 5 provided in the construction machine.

  The imaging means 1 is an omnidirectional camera as shown in FIG. Such an omnidirectional camera (imaging means) 1 includes a reflection mirror 11, a lens 12, an image sensor 13, and a case body 14 having a direction indication mark that indicates the direction in which the omnidirectional camera 1 is disposed. The omnidirectional image centered on the reflecting mirror 11 is imaged, and is arranged at the lower part of the upper revolving structure of the construction machine so that the direction indicating mark coincides with the direction of the upper revolving structure. Is disposed at a position where the image appears.

The reflection mirror 11 is an optical member having a hyperboloid shape, and is arranged with the apex of the hyperboloid shape facing down. The omnidirectional ambient light L around the apex of the reflection mirror 11 is directed to the lower lens 13 side. It is to be reflected.
The lens 12 condenses the ambient light L reflected by the reflecting mirror 11 and emits the collected ambient light L to the image sensor 13 side.
The image sensor 13 is composed of a CCD or a CMOS, receives the ambient light L collected by the lens 12, and outputs an omnidirectional captured image as imaging data D to the control means 2.
The case body 14 has a circular opening through which the ambient light L passes on the upper surface, and houses the reflection mirror 11, the lens 12, and the image sensor 13.

The control unit 2 generates display image data such as an annular image 31, a panoramic image 32, and a cutout image 33, which will be described later, based on the imaging data D output from the imaging unit 1, and causes the display unit 3 to display each image. It is.
Further, the control unit 2 inputs an operation signal from the operation unit 4 and performs an operation process on the peripheral image display device 100.
Further, as described above, since the direction indication mark of the imaging means 1 is arranged so as to coincide with the direction of the upper turning body, the angle information of the lower traveling body with respect to the upper turning body from the angle sensor 5 of the construction machine. , The control means 2 associates the display image data, the direction of the upper turning body, and the forward direction of the lower traveling body.
As described above, when the peripheral image display device 100 is installed, the direction indication mark of the peripheral image display device 100 is aligned with the upper swing body, so that the display image data and the direction of the upper swing body are associated with each other. After the display device 100 is installed, the direction of the upper swing body may be associated with the display image data while viewing the displayed image.

  The display means 3 is a liquid crystal display, an organic EL display, or the like, and based on the image data generated by the control means 2, an annular image 31, a panoramic image 32, and a cutout image 33 are displayed on the display screen as shown in FIG. Is displayed.

  The operation unit 4 is composed of, for example, a touch panel arranged on the display screen of the display unit 3, detects a touch operation on the display image displayed on the display unit 3, and outputs an operation signal to the control unit 3. .

  The above is the configuration of the peripheral image display device 100 in the present invention. Next, a method for generating each image (annular image 31, panoramic image 32, and cutout image 33) displayed on the display means 3 will be described.

(Image generation method)
The imaging data D is composed of an outer circle image obtained by imaging all directions and an inner circle image obtained by imaging the imaging element 13 itself projected on the reflection mirror 11.
As shown in FIG. 3A, the annular image 31 includes an outer circle region S1a that displays an outer circle image obtained by imaging all directions, and the inner circle image is covered or hidden by another image or the like. And an inner circle area S1b, and images in all directions are displayed in a ring shape in the outer circle area S1a.
The outer circle area S1a includes a first frame-shaped image A1 showing a cut-out area of a cut-out image 33, which will be described later, and a first upper-turn body showing the direction of the upper-turn body of the construction machine. An instruction image 311, a first upper turning body auxiliary image 312 showing the left and right and back directions of the upper turning body of the construction machine, a first forward direction instruction image 313 showing the forward direction of the lower traveling body of the construction machine, Is a region displayed by superimposing.

The first frame-shaped image A1 is displayed as a fan-shaped frame surrounding the area corresponding to the cut-out image 33. With such a configuration, it is possible to easily recognize which part of the annular image 31 the cutout image 33 is cut out.
Further, the first frame-like image A1 only needs to know which direction the cut-out position of the cut-out image 33 is with respect to the center point of the picked-up image. Therefore, a fan-like frame is used as an area that exactly corresponds to the cut-out image 33. Instead of displaying, as shown in FIGS. 4A and 4B, it may be displayed as a rectangular frame (A1a) or a fan-shaped frame (A1b) extending from the center.

As shown in FIG. 3A, the first upper swing body instruction image 311 is displayed with an arrow indicating the direction in which the upper swing body faces. Since the control means 2 recognizes that the direction of the direction designation mark of the imaging means 1 is the direction of the upper swing body, the first upper swing body instruction image 311 is based on the direction of the direction instruction mark. Are displayed in the outer circle area S1a.
With such a configuration, the direction of the upper turning body of the construction machine can be recognized by the annular image, and information regarding the azimuth relationship between the construction machine and the object displayed in the annular image can be obtained accurately.

Further, as shown in FIG. 4C, the first upper-part turning body instruction image 311 is a first upper-part turning body instruction machine image 311a simulating a construction machine in the inner circle area S1b, not in the outer circle area S1a. By displaying, the direction instructed by the upper swing body may be recognized.
Further, as shown in FIG. 4D, the first upper-part turning body instruction peripheral image 311b may be displayed on the peripheral portion of the annular image 31 other than the outer circle image S1a and the inner circle image S1b.
In addition, the first upper swing body auxiliary image 312 is displayed that represents not only the direction of the upper swing body but also the left and right directions and the rear direction of the upper swing body based on the direction of the upper swing body. With such a configuration, it is easier to recognize the positional relationship between the upper turning body of the construction machine and the peripheral image in the annular image 31.
The first upper swing body instruction image 311, the first upper swing body instruction machine image 311 a, the first upper swing body peripheral image 311 b, and the first upper swing body auxiliary image 312 are displayed on the display unit 3. It may be printed on the surface glass of the display means 3 in advance.

The first advancing direction instruction image 313 is an image showing the advancing direction of the lower traveling body, and as shown in FIG. 3, is displayed more in the outer circle area S1a and the inner circle area S1b as a direction instruction image such as an arrow. It is.
With such a configuration, the forward direction of the lower traveling body of the construction machine can be recognized by the annular image, and information related to the orientation relationship between the construction machine and the object displayed on the annular image can be accurately obtained. .

  The inner circle area S1b is an area in which an inner circle image obtained by imaging the image sensor 13 itself is displayed as it is, or an inner circle image is removed, or an inner circle image is obscured by another image or the like. For example, FIG. ), A crawler simulation diagram (314a) may be displayed. As shown in FIG. 5 (b), vehicle information such as turning angle information of the lower traveling body is displayed as a character display (314b). May be.

  The panoramic image 32 is an image indicating all directions, is a rectangular image obtained by cutting out the outer circle image of the imaging data D with a predetermined cutting line and correcting the distortion, and includes the second frame-shaped image A2 and the second upper revolving body. The instruction image 321, the second upper swing body auxiliary image 322, and the second forward direction instruction image 323 are displayed by being superimposed on a rectangular image indicating all directions.

  The second frame-like image A2 is displayed as a rectangular frame surrounding the area corresponding to the cut-out image 33. With such a configuration, it is possible to easily recognize which part of the panoramic image 32 the cut-out image 33 is cut out.

As shown in FIG. 3A, the second upper swing body instruction image 321 is displayed with an arrow indicating the direction in which the upper swing body is directed.
With such a configuration, the direction of the upper turning body of the construction machine can be recognized by the panoramic image, and information related to the orientation relationship between the construction machine and the object displayed on the panoramic image can be obtained accurately. Further, the positional relationship between the cut-out image 33 and the second upper swing body instruction image 321 can be accurately obtained from the second frame-shaped image A2 and the second upper swing body instruction image 321.
Further, the second upper-part turning body instruction image 321 may be an image or a mark that is not an arrow as long as the direction is known.
The second upper swing body instruction image 321 may be printed in advance on the surface glass of the display unit 3 or the like.

  In addition, the panoramic image 32 displays a second upper swing body auxiliary image 322 representing the left and right direction and the rear direction of the upper swing body. With such a configuration, it is easier to recognize the positional relationship between the upper turning body of the construction machine and the peripheral image in the panoramic image 32.

The second forward direction instruction image 323 is an image indicating the forward direction of the lower traveling body, and is displayed as a direction instruction image such as an arrow as shown in FIG.
With such a configuration, the forward direction of the lower traveling body of the construction machine can be recognized by the panoramic image, and information regarding the orientation relationship between the construction machine and the object displayed on the panoramic image can be obtained accurately. .

Further, as shown in FIG. 6A, the second forward direction instruction image 323 may be a second forward direction instruction depth arrow image 323a that is an arrow having a depth.
Further, as shown in FIG. 6B, a second forward direction indicating traveling body image 323b may be used in consideration of the width of the lower traveling body. With such a configuration, in addition to the azimuth relationship between the construction machine and the object displayed in the panoramic image, it is possible to accurately obtain information regarding the distance between the displayed object and by associating with the width of the lower traveling body, It is possible to recognize the size of the object and the distance between the objects.

The cut-out image 33 is an image in which positions corresponding to the first frame-shaped image A1 superimposed and displayed on the annular image 31 and the second frame-shaped image A2 superimposed and displayed on the panoramic image 32 are cut out, and distortion is corrected. It is an enlarged image, and it is possible to grasp in detail a part of the omnidirectional portion that is desired to be watched.
In addition, the cut-out image 33 is a third upper swing body instruction image 331 that indicates an instruction direction of the upper swing body or a third direction that represents the left-right direction and the rear direction of the upper swing body with reference to the instruction direction of the upper swing body. As shown in FIG. 7A, the upper turning body auxiliary image 332 or the third forward direction instruction image 333 indicating the traveling direction of the lower traveling body is extracted from the cut position (the first frame-like image A1 and the first frame-like image A1). Display in accordance with the position of the two-frame image A2.
With such a configuration, the direction of the lower traveling body and the direction of the upper turning body of the construction machine can be recognized in the cutout image, and information on the orientation relationship between the construction machine and the object displayed in the cutout image can be obtained. It can be obtained accurately.

Further, as shown in FIG. 7 (b), the cutout image 33 is an upper turning body orientation that displays an angle indicating the position of the indicated direction of the upper preceding body with respect to the direction currently displayed in the cutout image 33. An information image B is displayed.
Further, the cut-out image 33 displays a forward direction information image C that displays an angle indicating which position the forward direction of the lower traveling body is with respect to the direction currently displayed in the cut-out image 33.
With such a configuration, it is possible to easily recognize the positional relationship between the cut-out image 33 and the indicated direction of the upper swing body or the forward direction of the lower traveling body simply by visually recognizing the cut-out image 33.
The upper turning body orientation information image B and the forward direction information image C described above may be displayed in the image of the cutout image 33, but may be displayed outside the periphery of the cutout image 33.

  The above is the description of the annular image 31, the panoramic image 32, and the cutout image 33 displayed on the display unit 3, but the peripheral image display device 100 of the present invention has the above-described annular image 31 and the captured image. The positional relationship between the panoramic image 32 and the cut-out image 33 is clarified, and information on the positional relationship between the object to be imaged and the construction machine (the forward traveling direction of the lower traveling body or the indicated direction of the upper turning body) is further accurately determined. Can get to.

  Next, an operation method of the peripheral image display device 100 of the present invention will be described with reference to FIGS. 8 to 12 as an example where the operation means 4 is a touch panel.

FIG. 8A is a diagram showing the movement of the first frame-shaped image A1 in time series when the operator X touches the annular image 31. FIG. When the operator X touches a desired location, the position of the first frame-like image A1 moves, and the cut-out image 33 synchronized with the first frame-like image A1 can be quickly switched.
FIG. 8B is a diagram showing the movement of the first frame-shaped image A1 in time series when the operator X performs a flick operation on the annular image 31. FIG. When the operator X performs a flick operation on the annular image 31, the first frame-like image A1 moves smoothly in response to the movement of the operator X, thereby synchronizing with the first frame-like image A1. The display area of the cut image 33 to be switched can be switched smoothly.

FIG. 9A is a diagram showing the movement of the second frame-shaped image A2 in time series when the operator X touches the panoramic image 32. FIG. When the operator X touches a desired location, the position of the second frame-shaped image A2 moves, and the cut-out image 33 synchronized with the second frame-shaped image A2 can be quickly switched.
FIG. 9B is a diagram showing the change in size of the second frame-like image A2 in time series when the operator X performs a pinch-out operation on two or more operation points on the panoramic image 32. When the operator X performs a pinch-out operation so as to widen the two contact points in the vicinity of the second frame-shaped image A2, the second frame-shaped image A2 expands, thereby increasing the cut-out area of the cut-out image 33. The cutout image 33 is reduced and displayed. Further, when the operator X performs a pinch-in operation so as to narrow the two contact points in the vicinity of the second frame-shaped image A2, the second frame-shaped image A2 is narrowed, and thus the cut-out area of the cut-out image 33 is reduced. The cutout image 33 is enlarged and displayed.

  FIG. 10 is a diagram showing the movement of the cutout position in time series when the operator X performs a flick operation on the cutout image 33. When the operator X performs a flick operation from left to right as shown in the figure, the cut image 33 is also slid from left to right, and the cut position is changed. Accordingly, the first frame-like image A1 and the second frame-like image A2 also move in synchronization with the cut-out image 33.

  FIG. 11 is a diagram showing the enlargement of the cutout image 33 in time series when the operator X pinches out two or more operation points on the cutout image 33. When the operator X performs a pinch-out operation in the vicinity of the cut-out image 33 so as to widen two contact points, the cut-out image 33 is enlarged and displayed in synchronization with the display area of the cut-out image 33 and the first frame-like image A1. The second frame image A2 is changed. In addition, when the operator X performs a pinch-in operation in the vicinity of the cutout image 33 so as to narrow the contact point between the two points, the cutout image 33 is reduced and displayed in synchronization with the display area of the cutout image 33 and the first frame-like image A1 and the first frame image A1. The two-frame image A2 is changed.

Also, as shown in FIG. 12A, a cursor display E such as up / down / left / right is displayed on the periphery of the first frame-shaped image A1, the second frame-shaped image A2 or the cut-out image 33, and the cursor display E is displayed on the cursor display E. You may operate.
Further, as shown in FIG. 12B, the operator X may be notified that the operation in the direction has been performed by temporarily changing the color of the cursor display E in the operated direction.

  The operation means 4 may be a mouse, joystick, touch pad, pen tablet, or trackball that can be operated intuitively.

  As described above, the annular image 31, the panoramic image 32, and the cutout image 33 are displayed at the same time, and the operation on the annular image 31 is operated with the touch panel. The frame-like image A1 can be moved. In the operation on the panorama image 32, the second frame-like image A2 can be moved in consideration of the vertical (depth) direction. The detailed cutout position of the image 33 can be finely adjusted, and an intuitive operation utilizing each image can be performed.

Next, an embodiment in which the imaging unit 1 is configured by a plurality of cameras instead of an omnidirectional camera will be described with reference to FIG.
Specifically, for example, the imaging means 1 is a first and second imaging camera 1a, 1b having an imaging element made of CCD or CMOS, and the viewing angles do not overlap each other, and the viewing angles cannot be separated from each other. Installed in position. Assuming that the first and second imaging cameras 1a and 1b have a viewing angle of 120 °, the two cameras can capture a viewing angle of 240 °, and the captured images are respectively an annular image 31, a panoramic image 32, and a cutout image 33. To display.
The annular image 31 is a first imaging camera image U1a captured by the first imaging camera 1a, a second imaging camera image U1b captured by the second imaging camera 1b, and a blind spot that is not captured by a plurality of imaging cameras. One dead space U1c is used. The first dead space U1c is an area for displaying black paint or vehicle information in characters or the like.
The panoramic image 32 is also provided with a second dead space U2c at a position corresponding to the first dead space U1c of the annular image 31.
With such a configuration, even when the imaging unit 1 is not an omnidirectional camera but a plurality of cameras, information on the positional relationship between the captured images and the positional relationship between the captured object and the construction machine. Can be obtained accurately.

DESCRIPTION OF SYMBOLS 100 Peripheral image display apparatus 1 Imaging means 2 Control means 3 Display means 4 Operation means 5 Angle sensor 1a 1st imaging camera 1b 2nd imaging camera 11 Reflection mirror 12 Lens 13 Imaging element 14 Case body 31 Ring image 311 1st upper revolving body Instruction image 312 First upper turning body auxiliary image 313 First forward direction instruction image 32 Panoramic image 321 Second upper turning body instruction image 322 Second upper turning body auxiliary image 323 Second forward direction instruction image 33 Cutout image 331 Third upper portion Revolving body instruction image 332 Third upper revolving body auxiliary image 333 Third forward direction instruction image A1 First frame image A2 Second frame image B Upper revolving body direction information image C Forward direction information image E Cursor display L Ambient light S1a Outer circle area S1b Inner circle area U1a First camera image U1b Second camera image U1c First Dead space U2c the second dead space

Claims (11)

It is mounted on a construction machine having a lower traveling body and an upper turning body,
Imaging means for imaging the surroundings of the construction machine;
Control means for converting the imaging data captured by the imaging means into a ring image and a panoramic image based on the construction machine and a cut-out image obtained by cutting out a part of the panoramic image;
Display means for simultaneously displaying the annular image, the panoramic image, and the cut-out image;
Operating means for outputting an operation signal to the control means,
The control unit displays a frame-like image that defines a cut-out position of the cut-out image so as to overlap the annular image and the panoramic image, and
Based on the operation of the operation means, the frame-like image can be moved within the range of the annular image and the panoramic image, and the cut-out image is switched in conjunction with the movement of the frame-like image. Peripheral image display device. The control means inputs turning angle information of the upper turning body,
Displaying a first forward direction instruction image indicating the forward direction of the lower traveling body on the annular image;
Alternatively, a second forward direction instruction image indicating the forward direction of the lower traveling body is displayed on the panoramic image.
Alternatively, when the frame-like image is in the forward direction of the lower traveling body, a third forward direction indicating image indicating the forward direction of the lower traveling body is displayed on the cut image. The peripheral image display device described.   The peripheral image display device according to claim 1, wherein the control unit displays a first upper swing body instruction image indicating a direction of the upper swing body on the annular image.   4. The peripheral image display device according to claim 1, wherein the control unit displays a second upper swing body instruction image indicating a direction of the upper swing body on the panoramic image. 5.   When the frame-shaped image is in the direction of the upper swing body, the control means displays a third upper swing body instruction image indicating the direction of the upper swing body in the cut image. The peripheral image display device according to claim 1.   The peripheral image display device according to any one of claims 2 to 5, wherein the second forward direction instruction image is a deep image based on a width of the lower traveling body.   The peripheral image display device according to any one of claims 1 to 6, wherein the first upper-part turning body instruction image is displayed as a vehicle image showing the construction machine at a central portion of the annular image. .   The said imaging means is an omnidirectional camera, and the said control means produces | generates the said cyclic | annular image based on the imaging data from the said omnidirectional camera, The one in any one of Claim 1 thru | or 7 characterized by the above-mentioned. Peripheral image display device.   The said imaging means is a some camera, The said control means produces | generates the said cyclic | annular image based on the imaging data from the said some camera, The any one of Claim 1 thru | or 7 characterized by the above-mentioned. Peripheral image display device.   The control means displays up / down / left / right cursor displays inside the frame image or around the frame image, and is operated by the operation means when the frame image is moved by the operation means. The peripheral image display device according to claim 1, wherein a color of the cursor display in a different direction is changed. The peripheral image display device according to claim 1, wherein the operation unit includes a touch panel type input unit.

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