Movable body and image pickup apparatus

Abstract

To provide a movable body in which the image-pickup of a work area and the high resolution image-pickup of a blind spot area are made possible.SOLUTION: A movable body comprises: a running body 1; a rotating body 2 rotatably provided on the running body and including a cab seat; a pivoting part 4 pivotably provided on the side of the cab seat in the rotating body; and an image-pickup apparatus 150 arranged at the pivoting part. The image-pickup apparatus has a configuration to image-pickup a first area including a center in an image-pickup range at a first resolution and to image-pickup a second area on the peripheral side of the first area at a second resolution higher than the first resolution. The image-pickup apparatus is arranged so that at least a part of a blind spot area to be the blind spot of the rolling part viewed from the cab seat can be image-picked up in at least a part of the second area.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a moving body, such as a work machine, such as a shovel, that is equipped with an imaging device. [Background technology]

[0002] By capturing images of blind spots and excavation work areas that are difficult for an operator sitting in the driver's seat of a work machine with an imaging device and displaying the captured images to the operator, the operator can find people in the blind spots and monitor the state of the work area. Patent Document 1 discloses an excavator that can monitor the excavation state and the surroundings of the excavator by attaching an imaging device capable of capturing images in all directions near a connection between a boom and an arm provided on the excavator. Patent Document 2 discloses an excavator in which a display device is disposed on the boom side of the driver's seat of a rotating body that can rotate with respect to the excavator body, and an image of the blind spot on the boom side is displayed by an imaging device disposed on the excavator body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-165235 A [Patent Document 2] JP 2016-211149 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the excavator disclosed in Patent Document 1 uses an imaging device with a wide-angle lens that enables omnidirectional imaging. This imaging device has a lower resolution at the periphery of the viewing angle than at the center, making it unsuitable for finding people who are often captured in the periphery. In addition, in the excavator disclosed in Patent Document 2, when the rotating body rotates with a person displayed on the display device, the display position of the person moves, but the tip of the arm and the bucket attached thereto are not displayed, making it difficult for the operator to sense the distance between them and the person.

[0005] The present invention provides a mobile body that enables imaging of a working area and high-resolution imaging of blind spots. [Means for solving the problem]

[0006] A moving body according to one aspect of the present invention includes a running body, a rotating body rotatably provided on the running body and equipped with a driver's seat, a rotating part rotatably provided on the side of the driver's seat on the rotating body, and an imaging device arranged on the rotating part. The imaging device is configured to image a first area including the center of an imaging range at a first resolution, and to image a second area on the peripheral side of the first area at a second resolution higher than the first resolution. The imaging device is arranged so that at least a part of the second area can image at least a part of a blind spot area that is a blind spot of the rotating part as viewed from the driver's seat. The imaging device arranged on the rotating part also constitutes another aspect of the present invention. Effect of the Invention

[0007] According to the present invention, imaging of the work area and high-resolution imaging of the blind spot area can be performed. [Brief description of the drawings]

[0008] [Figure 1] 1A and 1B are top and side views of a shovel according to an embodiment of the present invention. [Diagram 2] FIG. 4 is a diagram showing the projection characteristics of a camera according to an embodiment. [Diagram 3] 1A and 1B are a side view and a front view of a shovel according to an embodiment of the present invention. [Figure 4] FIG. 2 is a diagram showing the configuration of a monitor system in a shovel according to an embodiment. [Diagram 5] FIG. 2 is a top view of an example shovel and its surrounding area. [Figure 6] FIG. 4 is a diagram showing an example of an image display according to an embodiment. [Figure 7] 4 is a flowchart showing a process according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0010] 1(a) and (b) show a shovel 100 as a moving body (working machine) in which an imaging device 150 according to an embodiment is disposed. FIG. 1(a) shows the shovel 100 as viewed from the side, and FIG. 1(b) shows the shovel 100 as viewed from above. Here, the front-to-rear direction of the shovel 100 is taken as the X-axis direction, with the forward direction being positive. The left-to-right direction (width direction) of the shovel 100 is taken as the Y-axis direction, with the rightward direction being positive. Furthermore, the height direction of the shovel 100 is taken as the Z-axis direction, with the upward direction being positive.

[0011] The excavator 100 is mainly composed of a lower traveling body 1, an upper rotating body 2, a boom 4 as a first rotating part, an arm 5 as a second rotating part, and a bucket 6 as a work attachment. The boom 4 and the arm 5 form a rotating part.

[0012] The lower traveling body 1 is a device for moving the shovel 100, and has a pair of crawlers 1a as driving parts that contact the ground on both sides in the width direction. The pair of crawlers 1a rotate in the same direction or in opposite directions to each other, thereby moving the shovel 100 (traveling forward / backward and left / right and rotating on the ground).

[0013] The upper rotating body 2 is disposed on the upper part of the lower traveling body 1 (i.e., on the traveling body) so as to be rotatable in the left-right direction about an axis A extending in the Z-axis direction. An engine, a hydraulic pump, and the like (not shown) are stored inside the upper rotating body 2. The engine drives the hydraulic pump to generate pressure oil, which is sent to a hydraulic motor and a hydraulic cylinder (not shown) to drive the crawler 1a, the boom 4, the arm 5, and the bucket 6. In addition, a driver's seat 3 for a user (operator) is provided on the left side of the upper rotating body 2. An operating device such as an operating lever (not shown) for operating each operation of the excavator 100 is installed inside the driver's seat 3. Furthermore, a base end of the boom 4 is connected to the right side of the driver's seat 3 on the upper rotating body 2 so as to be rotatable (swingable) in the up-down direction about an axis extending in the Y-axis direction.

[0014] The boom 4 and the arm 5 each have a longitudinal shape. The boom 4, the arm 5, and the bucket 6 constitute a working device for excavating and leveling soil, gravel, and the like. The base end of the arm 5 is connected to the tip of the boom 4 opposite to the base end connected to the upper rotating body 2 so as to be rotatable in the front-rear and up-down directions about an axis extending in the Y-axis direction. Furthermore, the base end of the bucket 6 is connected to the tip of the arm 5 opposite to the base end so as to be rotatable in the front-rear and up-down directions about an axis extending in the Y-axis direction. FIG. 1(a) shows a state in which the boom 4, the arm 5, and the bucket 6 are rotated so as to be folded (for example, a state in which the ground is excavated with the bucket 6 and soil is scooped up).

[0015] The arrangement of the imaging device 150 on the excavator 100 configured as described above will be described with reference to Figs. 1(a) to (c). Fig. 1(c) shows the boom 4 and bucket 6 in Fig. 1(a) viewed from above. Fig. 1(c) shows the tip side portion of the boom 4, the base end portion of the arm 5, and the bucket 6 protruding on the left and right sides of the boom 4.

[0016] 1(b) and (c), the imaging device 150 is disposed near the connection between the boom 4 and the arm 5, near the right side surface of the boom 4 on the widthwise opposite side from the driver's seat. In FIG. 1(a), the imaging device 150, which is not actually visible, is indicated by a dashed line.

[0017] In FIG. 1(a), the angle of view (imaging range) 200 of the imaging device 150 is the entire range that the imaging device 150 can capture. 200a indicates the outer edge (end) of the angle of view 200. As shown in FIG. 1(c), the imaging device 150 is fixed to the right side of the boom 4 at a position away from the right side via a support member 155. The imaging device 150 is also arranged so as to fit within a range 160 between the right side of the boom 4 and the right end of the bucket 6 in the width direction (the outermost part on the opposite side to the driver's seat). By arranging the imaging device 150 in this way, it is possible to capture an image of the entire bucket 6 without being in a blind spot of the boom 4, compared to a case in which the imaging device 150 is arranged so as to contact the right side of the boom 4. In addition, since a part of the back side of the arm 5 is also included in the angle of view 200, it is possible to capture an image of the working area where the excavation work is being performed with the bucket 6 from a bird's-eye view. Furthermore, by arranging the imaging device 150 so as to fit within the range 160, it is possible to avoid the imaging device 150 interfering with the inner wall of a hole formed by excavation in the ground.

[0018] If it is acceptable for the rear side of the arm 5 to be in the blind spot of the boom 4, the imaging device 150 may be disposed below the boom 4 instead of to the side thereof.

[0019] As shown in FIG. 4, the imaging device 150 has an optical system 151 and an imaging element 152. The optical system 151 forms an object image as an optical image on an imaging surface (light receiving surface) of the imaging element 152. The optical system 151 has optical characteristics in which the imaging magnification is different between a first angle of view region (first region) 210 including the center of an angle of view 200 shown in FIG. 1(a) and a second angle of view region (second region) 220 on the peripheral side of the first angle of view region 210. The imaging surface of the imaging element 152 includes a first imaging region that captures an object included in the first angle of view region 210 and a second imaging region that captures an object included in the second angle of view region 220. Since the optical system 151 has the above optical characteristics, the number of pixels per unit angle of view in the second imaging region becomes larger than the number of pixels per unit angle of view in the first imaging region. In this manner, the imaging device 150 has a configuration in which the resolution of imaging in the second angle of view region 220 is higher than the resolution of imaging in the first angle of view region 210.

[0020] FIG. 2(A) shows the image height on the image plane (imaging plane) for each angle of view of the optical system 151 by contour lines. FIG. 2(B) shows the relationship (projection characteristic) between the half angle of view θ and the image height y in the first quadrant of the optical system 151 in FIG. 2(A). In FIG. 2(B), the horizontal axis is the half angle of view (angle between the optical axis of the optical system and the incident light) θ (deg), and the vertical axis is the image height y (mm) on the imaging plane. The dashed line in FIG. 2(B) shows the projection characteristic of a general equidistant projection (y=fθ), and the two-dot chain line shows the projection characteristic of a stereographic projection (y=2ftan(θ / 2)). The solid line shows the projection characteristic y(θ) of the optical system 151 of this embodiment.

[0021] As shown in FIG. 2B, the optical system 151 has a projection characteristic in which the increase rate of y with respect to θ changes from the optical axis center (θ=0) to the maximum half angle of view θmax, unlike the equidistant projection in which the image height y increases in proportion to the half angle of view θ. Specifically, the projection characteristic is such that y is lower than y=fθ between the optical axis center (θ=0) and the maximum half angle of view θmax, and the increase rate of y with respect to θ increases as θ increases. In other words, the increase rate of y with respect to θ in the peripheral region away from the optical axis is larger than the increase rate of y with respect to θ in the central region near the optical axis. Such a projection characteristic is similar to the stereoscopic projection. However, the optical system 151 of this embodiment has a projection characteristic in which the increase rate of y with respect to θ in the central region is smaller and the increase rate of y with respect to θ in the peripheral region is larger than the stereoscopic projection.

[0022] Furthermore, when the amount of change in image height y per unit angle of view (i.e., the number of pixels of the image sensor per unit angle of view) is referred to as resolution, the optical system 151 has a projection characteristic whose resolution changes according to the half angle of view θ. The local resolution is expressed as the differential value dy(θ) / dθ of the projection characteristic y(θ) at the half angle of view θ. That is, the greater the slope of the projection characteristic y(θ) in FIG. 2(B), the higher the resolution. Also, the greater the interval between the contour lines in FIG. 2(A), the higher the resolution. That is, the optical system 151 of this embodiment has a higher resolution in the peripheral region than in the central region.

[0023] FIG. 2C shows the relationship between the half angle of view θ and the resolution (resolution characteristic) of the optical system 151. In FIG. 2C, the horizontal axis is the half angle of view θ, and the vertical axis is the resolution (pix / deg). The dashed line in FIG. 2C shows the resolution characteristic of equidistant projection, and the two-dot chain line shows the resolution characteristic of stereoscopic projection. The solid line shows the resolution characteristic of the optical system 151 of this embodiment. In equidistant projection, the resolution is the same regardless of the angle of view. In contrast, the optical system of this embodiment has a resolution characteristic in which the resolution in the central region is lower than y=fθ, the resolution in the peripheral region is higher than y=fθ, and the larger θ is, the higher the resolution becomes. Such a resolution characteristic is similar to that of stereoscopic projection. However, the optical system 151 of this embodiment has a resolution characteristic in which the resolution in the central region is lower and the resolution in the peripheral region is higher than that of stereoscopic projection.

[0024] In the following description, the range corresponding to the half angle of the angle of view 200 from θ=0 to θmax shown in Figures 2(A) to (C) is referred to as the full angle of view range 20a, and the central region (first angle of view region 210) in the full angle of view range 20a where the half angle of view θ is less than the predetermined half angle of view θa is referred to as the low resolution region 20c. Also, the peripheral region (second angle of view region 220) in the full angle of view range 20a where the half angle of view θ is equal to or greater than the predetermined half angle of view θa is referred to as the high resolution region 20b. The predetermined half angle of view θa is θ when dy(θ) / dθ matches dy(θ) / dθ of y=fθ. With regard to distortion, the low resolution region 20c is a high distortion region with large distortion, and the high resolution region 20b is a low distortion region with smaller distortion than the high distortion region.

[0025] 2(A)-(C) are merely examples, and other optical characteristics may be used as long as a low-resolution region is formed on the central side and a high-resolution region is formed on the peripheral side. In this embodiment, the low-resolution region 20c and the high-resolution region 20b of the optical system 151 are formed concentrically, but they do not necessarily have to be concentric. For example, the low-resolution region and the high-resolution region may have a distorted shape. The centers of gravity of the low-resolution region and the high-resolution region do not have to coincide with each other, and may be offset from the center of the imaging surface.

[0026] The optical system 151 of this embodiment has optical characteristics that satisfy the following formula (1), where the focal length of the optical system 151 is f, the half angle of view is θ, the image height on the image plane is y, the projection characteristic is y(θ), and the maximum half angle of view is θmax.

[0027] 0.20≦2ftan(θmax / 2) / y(θmax)≦0.95 (1) By satisfying the condition of formula (1), the resolution in the high resolution region 20b can be made higher than that of an optical system using a stereoscopic projection method. If the value of formula (1) exceeds the upper limit, the resolution in the high resolution region 20b becomes low, and the difference in resolution with the low resolution region 20c becomes too small, which is not preferable. Also, if the value of formula (1) falls below the lower limit, it becomes difficult to satisfactorily correct various aberrations such as field curvature, which is not preferable.

[0028] It is more preferable that the numerical range of formula (1) is as follows:

[0029] 0.25≦2ftan(θmax / 2) / y(θmax)≦0.94 (1a) Moreover, it is more preferable that the numerical range of the formula (1) is as follows:

[0030] 0.30≦2ftan(θmax / 2) / y(θmax)≦0.80 (1b) In the optical system 151 having such optical characteristics, the magnification in the radial direction with respect to the optical axis can be adjusted by adjusting the projection characteristic y(θ). This allows the aspect ratio in the radial direction and the circumferential direction from the optical axis to be controlled. As a result, unlike conventional fisheye lenses, a high-resolution optical image with small distortion on the peripheral side can be obtained even with a wide angle of view. In addition, while high resolution is obtained in the high-resolution region 20b, the increase in image height y per unit half angle of view θ is reduced in the low-resolution region 20c, making it possible to capture a wider angle of view. Therefore, while the imaging range has a wide angle of view equivalent to that of a fisheye lens, higher resolution can be obtained in the high-resolution region.

[0031] Furthermore, the optical system 151 has projection characteristics similar to those of the central projection method (y=f×tanθ) or the equidistant projection method in the high-resolution region (low-distortion region) 20b. Therefore, in the high-resolution region 20b, it is possible to perform imaging that generates a fine image with little distortion.

[0032] In this embodiment, a case is described in which the resolution is varied according to the angle of view by setting the optical characteristics of the optical system 151. In contrast, the resolution may be varied according to the angle of view by changing the pixel density in the imaging plane of the image sensor 152. Specifically, the pixel density may be increased toward the periphery to enable imaging with a higher resolution in the peripheral region than in the central region. In addition, both the optical characteristics of the optical system and the imaging density of the image sensor may be set so that imaging with a higher resolution in the peripheral region of the imaging range is possible than in the central region.

[0033] Next, the imaging range of the imaging device 150 with respect to the shovel 100 will be described with reference to Figures 3(a) and (b). Figures 3(a) and (b) respectively show the shovel 100 viewed from the side and from the front in a state in which the boom 4, the arm 5, and the bucket 6 have been rotated to their maximum open positions.

[0034] In Fig. 3(a), 200a indicates the outer edge of the angle of view 200 (full angle of view range 20a) when viewed from the side, and 201 indicates the boundary between the first angle of view region 210 (low resolution region 20c) and the second angle of view region 220 (low resolution region 20c). The region between the boundary 201 and the outer edge 200a is the second angle of view region 220. In Fig. 3(b), 200a indicates the outer edge of the angle of view 200 when viewed from the front.

[0035] 3(a) and 3(b), the imaging device 150 is disposed so that a person 301 as an object existing in an area that is a blind spot of the boom 4 when viewed from the driver's seat 3 (an operator seated in the driver's seat) (hereinafter referred to as a boom blind spot area) fits within the second angle-of-view area 220. In other words, the imaging device 150 is disposed so that at least a part of the boom blind spot area when viewed from the driver's seat 3 can be imaged in at least a part of the second angle-of-view area 220.

[0036] 1(a), the imaging device 150 is disposed so that a person 301 in the boom blind spot area fits within the second angle-of-view area 220. In this manner, the imaging device 150 is disposed on the boom 4 so that an object such as a person 301 present in the boom blind spot area can be imaged with high resolution in at least a part of the second angle-of-view area 220, regardless of the state of the working implements (4 to 6). Note that the object is not limited to a person 301, but includes various objects such as animals, signaling cones, and various types of work equipment.

[0037] Fig. 4 shows the configuration of a monitor system including an imaging device 150. Note that Fig. 4 also shows a lower traveling structure 1, an upper rotating structure 2, and a working device (4 to 6).

[0038] A control unit 31, a display device 32, a speaker 33, and an operation device 34 are arranged in the driver's seat 3. An operator 300 seated in the driver's seat 3 can control the driving of the lower traveling body 1, the upper rotating body 2, and the working devices (4 to 6) by operating the operation device 34 such as an operating lever.

[0039] The control unit 31 as a processing means can perform image processing to detect objects such as a person present within an object detection range from an image captured by the imaging device 150. When an object is detected by the image processing, the control unit 31 as a control means transmits an instruction signal to the speaker 33 to cause the speaker 33 to generate an alarm sound (i.e., perform a warning operation). The control unit 31 is not limited to generating an alarm sound, and may perform various warning operations such as vibrating an operating lever or blinking a warning lamp in the driver's seat 3 or the display screen of the display device 32.

[0040] The control unit 31 also cuts out a range from the captured image corresponding to the type of operation of the shovel 100 based on the operation of the operator 300, performs distortion correction on the image of the cut-out range, and displays the image after distortion correction on the display device 32.

[0041] Fig. 5 shows the relationship between the boom blind spot area 320 and the object detection range as viewed from above. Fig. 5 shows the state in which the working implements (4 to 6) are folded up, as in Figs. 1(a) and (b), and shows the case in which the upper rotating body 2 is rotated to the right from this state. A person 301 standing on the ground is located within the boom blind spot area 320 and within the rotation range (movement range) 60 of the bucket 6 when rotating to the right. Reference numeral 65 indicates the rotation trajectory of the base end of the bucket 6 rotating to the right, and 66 indicates the rotation trajectory of the tip end (claw portion) of the bucket 6, and the area between the rotation trajectories 65 and 66 is the rotation range 60.

[0042] 5 indicates the leading edge (end) on the right side of the boom blind spot area 320. The area behind the leading edge 350 of the field of vision of the operator 300 in the cab 3 is blocked by the base end side part of the boom 4 and the upper rotating body 2, forming the boom blind spot area 320. The operator 300 cannot directly see the person 301 present in the boom blind spot area 320.

[0043] When bucket 6 rotates to the right together with upper rotating body 2 from this state, leading edge 350 of boom blind spot area 320 moves rearward, and when leading edge 350 reaches the position of person 301, person 301 comes within the field of view of operator 300. However, if operator 300 is late in visually checking person 301, there is a risk that the operation to stop the right rotation of upper rotating body 2 will not be completed in time, and bucket 6 or arm 5 will collide with person 301.

[0044] In contrast, in this embodiment, the object detection range is set as follows. In Fig. 5, a line extending from the base end of the bucket 6 in the Y-axis direction (a direction perpendicular to the longitudinal direction of the boom 4) when viewed from above is shown as boundary line 500. Also, a line extending from the tip of the bucket 6 in the X-axis direction (the longitudinal direction of the boom 4) is shown as boundary line 501. The object detection range is a range 600 rearward (toward the upper rotating body) from the boundary line 500 and a range 601 to the right of the boundary line 501, which is included in the second angle of view region 220 of the imaging device 150.

[0045] Narrowing the object detection range in the captured image to a limited range in this manner enables faster object detection than when the object detection range is the entire image range corresponding to the entire angle of view 200 of image capture device 150. In particular, since the object detection range is set to a range corresponding to second angle of view region 220 where high-resolution imaging is possible, object detection with higher accuracy is possible than with image capture devices that employ a conventional wide-angle lens.

[0046] In this embodiment, when a person 301 is detected within the object detection range or when the distance between the bucket 6 and the detected person 301 becomes equal to or less than a predetermined distance, an alarm is sounded from the speaker 33 in the driver's seat 3. This makes it possible to clearly inform the operator 300 that the person 301 is in the boom blind spot area 320 or that the bucket 6 is approaching the person 301.

[0047] In addition, the control unit 31 may forcibly stop the rotation of the upper rotating body 2 as a warning action when a person 301 is detected within the object detection range or when the distance between the bucket 6 and the detected person 301 becomes equal to or less than a predetermined distance.

[0048] 6(a) and (b) show examples of images displayed on the display device 32. Fig. 6(a) shows an example of an image of the periphery of the working area (area in front of the upper rotating body 2) where the bucket 6 is performing excavation work, displayed on the display device 32. Fig. 6(b) shows an example of an image showing the area in front of (just ahead of) the lower traveling body 1, displayed on the display device 32. Reference numeral 400 denotes a display frame that surrounds the outside of the displayed image on the display device 32. These displayed images are images in which the display of the first angle of view area 210 and the second angle of view area 220 of the captured image generated by the imaging device 150 has been corrected for distortion.

[0049] The display image shown in FIG. 6(a) is displayed on the display device 32 during excavation work, for example, after the lower traveling body 1 has traveled and stopped for a certain time, or after the upper rotating body 2 has rotated and stopped. This display image (hereinafter, referred to as the bucket surroundings image) displays the right side of the tip of the arm 5 and the surroundings of the bucket 6, and the connection between the arm 5 and the bucket 6 is displayed to be located at the upper part of the display image (display frame 400). Here, as described in FIG. 1(c), by disposing the imaging device 150 at a position away from the right side of the boom 4, a bucket surroundings image showing the underside of the arm 5, the bucket 6, and the surrounding work area is displayed. Therefore, even if the operator 300 cannot directly see the work area, he or she can check the situation of the work area by looking at the bucket surroundings image displayed on the display device 32.

[0050] The display image shown in FIG. 6(b) is displayed on the display device 32 immediately after the shovel 100 is started or while the lower traveling body 1 is traveling. A part of the front end side of the crawler 1a and the area immediately before it are displayed at the bottom of this display image (hereinafter also referred to as the crawler immediately preceding image), and the operator 300 who sees this can check the condition of the ground on which the shovel 100 will travel. The shovel 100 often travels forward immediately after its start. For this reason, by displaying on the display device 32 the crawler immediately preceding image showing the ground immediately before the crawler 1a before the shovel 100 starts traveling, the operator 300 can determine whether the shovel 100 can travel safely.

[0051] FIG. 7 shows the process executed by the control unit 31 as a computer according to a program.

[0052] First, the control unit 31 starts this process by starting the engine of the shovel 100, and in step S600 starts up the imaging device 150. This causes the imaging device 150 to start transmitting captured image data to the control unit 31.

[0053] In step S601, the control unit 31 that has received the captured image data performs image cropping and distortion correction from the captured image so that a crawler immediately preceding image as shown in Fig. 6(b) is displayed on the display device 32, and outputs the distortion-corrected image to the display device 32. This process continues until the image displayed on the display device 32 is changed from the crawler immediately preceding image.

[0054] Next, in step S602, the control unit 31 waits for an operation (input) by the operator 300 to the operation device 34. When an operation is performed, the process proceeds to step S603.

[0055] In step S603, the control unit 31 determines whether the operation on the operating device 34 is an operation for causing the lower traveling body 1 to travel, or an operation for causing the upper rotating body 2 to rotate or an operation for causing the attachment to perform excavation work. If so, the process proceeds to step S604; if not, the process proceeds to step S613.

[0056] In step S613, the control unit 31 judges whether or not the operator 300 has performed engine stop processing. If the engine stop processing has been performed, the engine is stopped and this processing ends. If the engine stop processing has not been performed, the process returns to step S602.

[0057] On the other hand, in step S604, the control unit 31 determines whether the operation on the operating device 34 is an operation to cause the lower traveling body 1 to travel. If so, the control unit 31 proceeds to S605, and causes the display device 32 to display a crawler immediately before image, as in step S601. Thereafter, the control unit 31 returns to the operation waiting state of step S602. If the operation on the operating device 34 is not an operation to cause the lower traveling body 1 to travel, that is, an operation to cause turning or excavation work to be performed, the control unit 31 proceeds to step S606.

[0058] In step S606, the control unit 31 cuts out an image from the captured image and corrects distortion so that a bucket surroundings image such as that shown in Fig. 6(a) is displayed on the display device 32, and outputs the distortion-corrected image to the display device 32. This process continues until the image displayed on the display device 32 is changed from the bucket surroundings image.

[0059] In step S607, the control unit 31, which has caused the display device 32 to display the bucket surroundings image, determines whether the operation on the operation device 34 is an operation to rotate the upper rotating body 2 in the opposite direction (right side) from the driver's seat 3. If so, the process proceeds to step S608, and if not, the process proceeds to step S611.

[0060] In step S608, the control unit 31 performs image processing to detect an object (person 301) within the object detection range described with reference to FIG.

[0061] In step S609, the control unit 31 determines whether or not an object has been detected by the image processing in step S608, and if an object has been detected, the process proceeds to step S610, and if not, the process proceeds to step S612. Note that the process may proceed to step S610 when an object is detected and the distance between the bucket 6 and the object is equal to or less than a predetermined distance.

[0062] In step S610, the control unit 31 transmits an instruction signal to the speaker 33 to cause the speaker 33 to generate an alarm sound. This notifies the operator 300 that an object exists in the turning direction (the boom blind spot area 320 or an area visible to the operator 300). After that, the control unit 31 returns to step S602.

[0063] In step S612, the control unit 31 controls the speaker 33 not to emit an alarm sound or to stop the emission of the alarm sound. Then, the process returns to step S602.

[0064] On the other hand, if the control unit 31 determines in step S607 that the operation on the operation device 34 is an operation to rotate the upper rotating body 2 toward the driver's seat 3 (left side), the control unit 31 does not execute image processing for object detection or stops the execution of image processing in step S611. Then, the process returns to step S602.

[0065] According to this embodiment, by disposing the imaging device 150 capable of capturing images at a higher resolution in the peripheral area than in the central area at an appropriate position on the shovel 10, it is possible to detect objects in the boom blind spot area 320 and confirm the situation of the work area through one imaging device. As a result, even if the operator 300 is gazing at the periphery of the bucket 6 while the shovel 10 is turning, it is possible to make the operator 300 aware of the presence of objects not only in the boom blind spot area 320 but also in areas within the field of view of the operator 300 that the operator 300 is not gazing at.

[0066] In the above embodiment, a shovel equipped with a working device including a boom, an arm, and an excavation bucket is shown as an example of a moving body, but the moving body may be equipped with other working devices that form a boom blind spot area. Also, the working device may be composed of a boom and an attachment, and may not include an arm. For example, it may be a crane equipped with a boom and a hook attached to the tip of the boom.

[0067] Furthermore, in the above embodiment, the imaging device is mounted on a moving object that runs on the ground, but the moving object may be one that moves on a track (rail) or on the surface of water.

[0068] The above embodiment includes the following configurations.

[0069] (Configuration 1) A running body, A rotating body provided on the traveling body in a rotatable manner and equipped with a driver's seat; A rotating part rotatably provided on the side of the driver's seat in the rotating body; An imaging device disposed on the rotation unit, the imaging device has a configuration capable of imaging a first region including a center of an imaging range at a first resolution and imaging a second region on a peripheral side of the first region at a second resolution higher than the first resolution; A moving body characterized in that the imaging device is positioned so as to be able to image at least a portion of a blind spot area that is a blind spot of the first rotating part when viewed from the driver's seat in at least a portion of the second area.

[0070] (Configuration 2) 2. The moving body according to configuration 1, wherein the imaging device is capable of imaging an area in front of the traveling body or the rotating body in the first area. (Configuration 3) The running body has a drive unit that contacts the ground, 3. The moving body according to configuration 2, wherein the imaging device is disposed so as to be able to image a part of a front end side of the drive unit in the first region.

[0071] (Configuration 4) The rotating part includes a first rotating part having a base end portion rotatably connected to the rotating body, and a second rotating part rotatably connected to a tip end portion of the first rotating part, 4. The movable body according to any one of configurations 1 to 3, wherein the imaging device is disposed at a position of the first rotating part closer to the tip end portion than to the base end portion.

[0072] (Configuration 5) A work attachment is connected to the tip of the rotating part, The movable body according to any one of configurations 1 to 4, characterized in that the imaging device is arranged in the second area so as to be able to image objects within a range of movement of the attachment due to rotation of the rotating body. (Configuration 6) The moving body according to configuration 5, wherein the imaging device is disposed so as to be able to image a working area by the attachment in the first area.

[0073] (Configuration 7) The moving body described in configuration 5 or 6, wherein the imaging device is disposed between the side of the rotating part opposite the driver's seat and the outermost part of the attachment on the opposite side, at a position away from the side. (Configuration 8) 7. The moving body according to configuration 5 or 6, wherein the imaging device is disposed below the first rotating part. (Configuration 9) 9. The moving body according to any one of configurations 1 to 8, further comprising a processing means for performing image processing to detect an object from a detection range corresponding to the second region in an image captured by the imaging device. (Configuration 10) 10. The moving body according to claim 9, wherein the processing means performs the image processing using a range of the captured image in a rotation direction of the rotating body as the detection range. (Configuration 11) 11. The moving body according to configuration 9 or 10, further comprising a control means for performing a warning operation when the object is detected during rotation of the rotating body. (Configuration 12) A work attachment is connected to the tip of the rotating part, 12. The moving body according to configuration 11, wherein the warning action is performed when the object is detected and the distance between the attachment and the object becomes equal to or less than a predetermined distance. (Configuration 13) A work attachment is connected to the tip of the rotating part, A display device is provided at the driver's seat, The moving body according to any one of configurations 1 to 12, further comprising a control means for displaying on the display device an image of the surroundings of the attachment within a range corresponding to the first area among the captured images generated by the imaging device. (Configuration 14) The running body has a drive unit that contacts the ground, A display device is provided at the driver's seat, 13. The moving body according to any one of configurations 1 to 12, further comprising a control means for causing the display device to display a part of the front end side of the drive unit within a range corresponding to the first region and an image in front of the front end of the drive unit, among the captured images generated by the imaging device. (Configuration 15) The imaging device includes: An imaging element; an optical system for forming an optical image on an imaging surface of the imaging element; Let f be the focal length of the optical system, y(θ) be the projection characteristic expressing the relationship between the half angle of view θ of the optical system and the image height y on the image plane, and θmax be the maximum half angle of view of the optical system. The optical system includes: 0.20≦2ftan(θmax / 2) / y(θmax) ≦0.95 15. The moving body according to any one of configurations 1 to 14, having optical characteristics that satisfy the following conditions: (Configuration 16) The imaging device includes: An imaging element; an optical system for forming an optical image on an imaging surface of the imaging element; The moving body according to any one of configurations 1 to 15, characterized in that the imaging element has a higher pixel density in a peripheral region on the peripheral side of the central region than in a central region including the center of the imaging surface. (Configuration 17) An imaging device to be installed on a moving body having a running body, a rotating body provided rotatably on the running body and having a driver's seat, and a rotating part provided rotatably on a side of the driver's seat on the rotating body, The imaging device has a configuration capable of imaging a first region including a center of an imaging range of the imaging device at a first resolution and imaging a second region on a peripheral side of the first region at a second resolution higher than the first resolution, An imaging device characterized in that the imaging device is disposed on the rotating portion so as to be able to image at least a portion of a blind spot area that is a blind spot caused by the rotating portion when viewed from the driver's seat, in at least a portion of the second area. (Other Examples) The present invention can also be realized by a process in which a program for implementing one or more of the functions of the above-described embodiments is supplied to a system or device via a network or a storage medium, and one or more processors in a computer of the system or device read and execute the program. The present invention can also be realized by a circuit (e.g., ASIC) that implements one or more of the functions.

[0074] The embodiments described above are merely representative examples, and various modifications and alterations are possible for each embodiment when implementing the present invention. [Explanation of symbols]

[0075] 1 Undercarriage 2 Upper rotating body 3 Driver's seat 4. Boom 5 Arm 6 Bucket 20b High-resolution area (second area) 20c Low-resolution area (first area) 100 Shovel 150 Imaging device 200 Angle of View 210 First angle of view region (first region) 220 Second angle of view area (second area) 301 people 320 Boom blind spot area

Claims

1. A running body, A rotating body provided on the traveling body in a rotatable manner and equipped with a driver's seat; A rotating part rotatably provided on the side of the driver's seat in the rotating body; an imaging device disposed on the rotating part, the imaging device is configured to be capable of imaging a first region including a center of an imaging range at a first resolution and to be capable of imaging a second region on a peripheral side of the first region at a second resolution higher than the first resolution; A vehicle characterized in that the imaging device is positioned so as to be able to image at least a portion of a blind spot area that is a blind spot of the rotating part when viewed from the driver's seat in at least a portion of the second area.

2. The moving body according to claim 1 , wherein the imaging device is capable of imaging an area in front of the running body or the rotating body in the first area.

3. The running body has a drive unit that contacts the ground, 3. The moving body according to claim 2, wherein the imaging device is disposed so as to be able to image a part of a front end side of the drive unit in the first region.

4. The rotating part includes a first rotating part having a base end portion rotatably connected to the rotating body, and a second rotating part rotatably connected to a tip end portion of the first rotating part, 2. The moving body according to claim 1, wherein the imaging device is disposed at a position on the first rotating part closer to the tip end portion than to the base end portion.

5. A work attachment is connected to the tip of the rotating part, 2. The moving body according to claim 1, wherein the imaging device is disposed in the second area so as to be capable of imaging an object within a range of movement of the attachment caused by rotation of the rotating body.

6. 6. The moving body according to claim 5, wherein the imaging device is disposed so as to be able to image a working area by the attachment in the first area.

7. The vehicle according to claim 5, characterized in that the imaging device is arranged between the side of the rotating part opposite the driver's seat and the outermost part of the attachment on the opposite side, at a position away from the side.

8. 6. The moving body according to claim 5, wherein the imaging device is disposed below the first rotating portion.

9. 2. The moving body according to claim 1, further comprising a processing unit for performing image processing to detect an object within a detection range corresponding to the second region in the captured image generated by the imaging device.

10. 10. The moving body according to claim 9, wherein the processing means performs the image processing using a range of the captured image in a rotation direction of the rotating body as the detection range.

11. 10. The moving body according to claim 9, further comprising a control means for performing a warning operation when the object is detected during rotation of the rotating body.

12. A work attachment is connected to the tip of the rotating part, 12. The moving body according to claim 11, wherein the warning action is performed when the object is detected and the distance between the attachment and the object becomes equal to or less than a predetermined distance.

13. A work attachment is connected to the tip of the rotating part, A display device is provided at the driver's seat, 2. The moving body according to claim 1, further comprising a control means for displaying, on the display device, an image of the periphery of the attachment within a range corresponding to the first area, among the captured images generated by the imaging device.

14. The running body has a drive unit that contacts the ground, A display device is provided at the driver's seat, The moving body according to claim 1, further comprising a control means for causing the display device to display a portion of the front end side of the drive unit within a range corresponding to the first area and an image in front of the front end of the drive unit, among the captured images generated by the imaging device.

15. The imaging device includes: An imaging element; an optical system for forming an optical image on an imaging surface of the imaging element; Let f be the focal length of the optical system, y(θ) be a projection characteristic expressing the relationship between the half angle of view θ of the optical system and the image height y on the image plane, and θmax be the maximum half angle of view of the optical system. The optical system includes: 0.20≦2ftan(θmax / 2) / y(θmax)≦0.95 2. The moving body according to claim 1, characterized in that it has optical characteristics that satisfy the following conditions:

16. The imaging device includes: An imaging element; an optical system for forming an optical image on an imaging surface of the imaging element; 2. The moving body according to claim 1, wherein the image sensor has a higher pixel density in a peripheral region on a peripheral side of the central region than in a central region including the center of the image pickup surface.

17. An imaging device to be installed on a moving body having a running body, a rotating body provided rotatably on the running body and having a driver's seat, and a rotating part provided rotatably on a side of the driver's seat on the rotating body, The imaging device has a configuration capable of imaging a first region including a center of an imaging range of the imaging device at a first resolution and imaging a second region on a peripheral side of the first region at a second resolution higher than the first resolution, An imaging device characterized in that the imaging device is disposed on the rotating portion so as to be able to image at least a part of a blind spot area that is a blind spot caused by the rotating portion when viewed from the driver's seat, in at least a part of the second area.

Images