Snow removal vehicle support system

Abstract

To provide a snow removal vehicle support system capable of notifying a crewman of an obstacle with a simple method in snow accumulation.SOLUTION: A support system 1a for a snow removal vehicle 2 supports a snow removal work of the snow removal vehicle 2. The support system 1a for the snow removal vehicle 2 includes: a server storage section 23 for storing image data ID obtained by photographing an image in a state without snow accumulation, a photographing position IP obtained by photographing the image data ID, and a photographing direction DI in which the image data ID is photographed, in association with each other; a display section 16 mounted on the snow removal vehicle 2 so as to display the image data ID; a position detection section 12 mounted on the snow removal vehicle 2 so as to detect a snow removal vehicle position SP related to a position of the snow removal vehicle 2; and a server control section 21 for allowing the display section 16 to display the image data ID photographed from a direction in which a crewman of the snow removal vehicle 2 can visually recognize, among the image data ID, according to a travel direction AD of the snow removal vehicle 2 being the advance direction AD of the snow removal vehicle 2 based on the snow removal vehicle position SP, the photographing position IP, and the photographing direction DI.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an assistance system for a snowplow. [Background technology]

[0002] Patent Document 1 discloses a technology that uses an imaging device to capture images of the surroundings of an autonomously driven work vehicle, and when an obstacle is detected, allows the vehicle to adequately avoid contact with the obstacle with ample time to spare.

[0003] Patent Document 2 describes a safety support system for snow removal work using a snowplow. In this safety support system, video is taken before snow accumulates, the positions of obstacles are registered in advance, and an alert image is set in advance. During snow removal work, a video synchronized with the snowplow's traveling position is displayed, and an alert screen is displayed when the snowplow approaches an obstacle whose position has been set in advance. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2023-63476 [Patent Document 2] Utility Model Registration No. 3240207 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in Patent Document 1, after snow has accumulated, the obstacles are covered with snow, making it impossible to capture images of the obstacles, and therefore, it is not possible to ensure work safety.

[0006] Furthermore, Patent Document 2 has the problem that the size of the video file becomes large because it takes video footage. Furthermore, it is time-consuming to register the positions of obstacles in advance. Furthermore, it is even more time-consuming to set up an alert screen in advance.

[0007] The present invention has been made in view of the above-mentioned problems, and aims to provide an assistance system for a snowplow that can notify the driver of an obstacle in a simple manner when snow is present. [Means for solving the problem]

[0008] One aspect of the present invention is A support system for a snowplow that supports snow removal work of the snowplow, a storage unit that stores image data captured in a state where no snow has accumulated, an imaging position at which the image data was captured, and an imaging direction at which the image data was captured, in association with each other; a display unit mounted on the snowplow to display the image data; a position detection unit mounted on the snowplow to detect a position of the snowplow relative to a position of the snowplow; The support system for a snowplow includes a control unit that displays, on the display unit, display image data from the image data captured from a direction visible to the occupant of the snowplow, based on the snowplow position, the imaging position, and the imaging direction, and in accordance with the direction of travel of the snowplow. [Effects of the Invention]

[0009] According to one aspect of the present invention, image data is displayed on the display unit, so that the required capacity can be reduced compared to when a moving image is displayed.

[0010] According to one aspect of the present invention, the position detection unit can detect the image capture position, eliminating the need to register the obstacle's position information after capturing the image. This allows for a simple method to display an image of the obstacle before snow accumulation. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a block diagram of an assistance system for a snowplow according to a first embodiment. [Figure 2] 4 is a flowchart showing image data generation processing according to the first embodiment. [Figure 3] 3 is a schematic diagram showing a state in which an image of an obstacle is captured in the snowplow support system according to the first embodiment. FIG. [Figure 4] 2 shows image data captured in the snowplow support system according to the first embodiment. [Figure 5] 4 is a flowchart showing a snow removal support process according to the first embodiment. [Figure 6] FIG. 1A is a diagram showing the scenery after snow has fallen as viewed from the windshield of a snowplow in the first embodiment, and FIG. 1B is a diagram showing a standby screen in the first embodiment. [Figure 7] 4 is a flowchart of position and velocity processing according to the first embodiment. [Figure 8] 4 is a flowchart of an image display process according to the first embodiment. [Figure 9] 10 is a schematic diagram showing a state in which the traveling direction of the snowplow differs from the imaging direction in the first embodiment. FIG. [Figure 10] 10 is a schematic diagram showing a state in which the predicted position of the snowplow is not within the imaging area in the first embodiment. FIG. [Figure 11] 10 is a schematic diagram showing a state in which a predicted position of a snowplow enters an imaging area in the first embodiment. FIG. [Figure 12] FIG. 10 is a schematic diagram showing a state in which the predicted position of the snowplow has left the imaging area in the first embodiment. [Figure 13] FIG. 10 is a block diagram of an assistance system for a snowplow according to a second embodiment. [Figure 14] 10 is a flowchart of an image data generation process according to the second embodiment. [Figure 15] 10 is a flowchart of position and velocity processing according to the second embodiment. [Figure 16] 10 is a flowchart of an image display process according to the second embodiment. [Figure 17] FIG. 11 is a schematic diagram showing a state in which the imaging position is not within a predicted snowplow area in the second embodiment. [Figure 18]FIG. 11 is a schematic diagram showing a state in which the imaging position is within a predicted snowplow area in the second embodiment. [Figure 19] FIG. 11 is a schematic diagram showing a state in which the imaging position has moved out of the predicted snowplow area in the second embodiment. [Figure 20] FIG. 10 is a block diagram of an assistance system for a snowplow according to a third embodiment. [Figure 21] 10 is a flowchart of an image display process according to the third embodiment. [Figure 22] FIG. 11 is a schematic diagram showing a state in which a snowplow predicted area and an image capture area do not overlap in the third embodiment. [Figure 23] FIG. 11 is a schematic diagram showing a state in which a snowplow predicted area and an image capture area overlap in the third embodiment. [Figure 24] FIG. 11 is a schematic diagram showing a state in which a snowplow predicted area and an image capture area are separated in the third embodiment. [Figure 25] FIG. 10 is a block diagram of an assistance system for a snowplow according to a fourth embodiment. [Figure 26] 10(a) is a schematic diagram illustrating a step of capturing an image in the fifth embodiment, and FIG. 10(b) is a schematic diagram illustrating a step of displaying an image in the fifth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] (Embodiment 1) 1. Overview of assistance systems for snowplows The present invention provides a support system for assisting snow removal operations by snowplows. When snow accumulates, obstacles such as manholes, snow poles, and gratings located on roads, parking lots, etc. that are subject to snow removal are hidden by snow and cannot be directly seen by the driver. This raises the risk of a collision between the snow removal equipment of the snowplow and the obstacle. According to the present invention, by displaying an image of the obstacle captured before snow accumulation to the driver during snow removal operations, collisions between the snow removal equipment and the obstacle can be easily avoided.

[0013] A first embodiment in which a support system 1a according to the present invention is applied to a snowplow 2 will be described with reference to Figs. 1 and 9. As shown in Fig. 9, the snowplow 2 includes a snow removal device 2a and a windshield 2b. As shown in Fig. 1, the snowplow 2 is equipped with a terminal device 10. The terminal device 10 is connected to a server 20 via a network N such as the Internet.

[0014] As shown in FIG. 1, the terminal device 10 includes an imaging unit 11, a position detection unit 12, an input unit 13, a terminal communication unit 14, a terminal control unit 15, a display unit 16, and a terminal storage unit 17.

[0015] The imaging unit 11 is an imaging device such as a CCD (Charge Coupled Devices) camera. The position detection unit 12 is a device capable of detecting the position of the terminal device 10, such as a GPS (Global Positioning System) device. The input unit 13 is a device such as a keyboard, touch panel, or voice input device that allows the worker to input information to the terminal device 10. The worker uses the input device to input the imaging direction (described later) to the terminal device 10. The terminal communication unit 14 is a communication device capable of communicating with the server 20 via the network N. The terminal control unit 15 (an example of a control unit) controls the operation of each unit of the terminal device 10, such as a CPU (Central Processing Unit). The display unit 16 is a device capable of displaying images, such as a liquid crystal display or an organic EL (Electro Luminescence) display. The terminal storage unit 17 is a storage device such as a RAM (Random Access Memory) or a ROM (Read Only Memory), and is arranged in the terminal device 10 to store data. However, the terminal device 10 may be configured to include a notification unit such as a speaker or a vibrator that notifies the occupant with sound, vibration, or the like.

[0016] The server 20 includes a server control unit 21 (an example of a control unit), a server communication unit 22, and a server storage unit 23. The server control unit 21 controls the operation of each unit of the server 20, such as a CPU (Central Processing Unit). The server communication unit 22 is a communication device capable of communicating with the terminal device 10 via the network N. The server storage unit 23 is a device, such as a RAM (Random Access Memory) or a ROM (Read Only Memory), that is arranged in the terminal device 10 and stores data.

[0017] The server storage unit 23 stores the image data ID, the imaging position IP, the imaging direction DI, the imaging area IA, the snowplow position SP, and the predicted snowplow position PP.

[0018] The image data ID is data of an image of an obstacle captured before snowfall. The image data ID may be captured by the imaging unit 11 of the terminal device 10, or may be captured by a camera separate from the terminal device 10. The imaging position IP is data relating to the position where the image data ID was captured, for example, data relating to a position specified by latitude and longitude. The imaging direction DI is data relating to the direction from which the image data ID was captured. For example, the image may be captured facing east, facing northeast, or facing 90° clockwise from north.

[0019] The imaging area IA refers to an area within a predetermined distance from the imaging position IP. The shape of the imaging area IA is arbitrary, and may be a circle with a radius equal to the predetermined distance, or if the imaging area IA includes a road, it may be an oval shape that follows the road, or may be a rectangle. Any numerical value can be selected as the predetermined distance. The predetermined distance is preferably 50 m to 5 m, and more preferably 20 m to 5 m.

[0020] The snowplow position SP is data relating to the position of the snowplow 2 detected by the position detection unit 12 of the terminal device 10 mounted on the snowplow 2. The snowplow position SP is transmitted to the server 20 via the network N and stored in the server storage unit 23. The snowplow position SP is defined by, for example, latitude and longitude.

[0021] The predicted snowplow position PP is a prediction of the position of the snowplow 2 after the snowplow 2 has traveled for a predetermined time. There are no particular limitations on the method for calculating the predicted snowplow position PP, and it may be calculated from the snowplow position SP, the speed of the snowplow 2, and the traveling direction AD of the snowplow 2. The predicted snowplow position PP may also be calculated from the legal speed limit of the road along which the snowplow 2 is planned to travel, or may be a constant based on the operating speed of the snowplow 2.

[0022] 2. Description of the operation of the assistance system 1a for the snowplow 2 The support system 1a for a snowplow 2 in this embodiment executes an image data generation process (S10) for capturing an image of an obstacle 3 before snow accumulation, and a snow removal support process (S20) for supporting the snowplow 2 during snow removal work after snow accumulation.

[0023] 2.1. Image data generation process The image data generation process (S10) will be described with reference to FIGS. 2 to 4. FIG. 2 shows a flowchart of the image data generation process (S10). When the image data generation process (S10) is executed, the worker captures an image of an obstacle 3 (manhole, snow pole, grating, etc.) using the imaging unit 11 of the terminal device 10 or a camera separate from the terminal device 10 (S11). The location where the image is captured is not particularly limited, and may be a road, a parking lot, or a path within a facility such as a golf course. FIG. 3 schematically shows the state in which an image of an obstacle 3 is captured by the terminal device 10.

[0024] An example of image data ID is shown in Fig. 4. In the image data ID, an image of a road 4 and an obstacle 3 positioned near the left edge of the road 4 is captured.

[0025] Next, returning to FIG. 2, the position detection unit 12 detects the position where the image data ID was captured (S12).

[0026] Next, the worker inputs the imaging direction DI in which the image data ID was captured to the terminal device 10 via the input unit 13 (S13). The imaging direction DI is generally the direction from the terminal device 10 equipped with the imaging unit 11 toward the obstacle 3. The information to be input can be input in any format, for example, "north," "northeast," "90° clockwise from north," etc. However, the imaging direction DI may also be configured to be automatically input to the terminal device 10 using a compass function provided in the terminal device 10.

[0027] Next, the terminal communication unit 14 transmits the image data ID, the imaging position IP, and the imaging direction DI to the server 20 via the network N (S14). However, the terminal control unit 15 may transmit the image data ID, the imaging position IP, and the imaging direction DI to the server 20 every time an image data ID is captured, or may transmit all the image data IDs, all the imaging positions IP, and all the imaging directions DI collectively to the server 20 after capturing all the image data IDs. The server communication unit 22 receives the image data ID, the imaging position IP, and the imaging direction DI from the terminal device 10 via the network N.

[0028] Next, the server control unit 21 compares the past imaging position IPP and past imaging direction DIP of the past image data IDP already stored in the server storage unit 23 with the new imaging position IPN and new imaging direction DIN of the newly captured new image data IDN, based on the image data ID, imaging position IP, and imaging direction DI received by the server communication unit 22, and determines whether the new imaging position IPN and the past imaging position IPP are the same and whether the new imaging direction DIN and the past imaging direction DIP are the same. In other words, it determines whether the server storage unit 23 contains past image data IDP having the same imaging position IP and imaging direction DI as the new image data IDN (S15).

[0029] If there is previous image data IDP having the same imaging position IP and the same imaging direction DI as the new image data IDN (S15: Y), the server control unit 21 deletes the previous image data IDP (S16).

[0030] The server control unit 21 calculates the imaging area IA for the newly captured image data IDN (S17).

[0031] Next, the server control unit 21 associates the image data ID, imaging position IP, imaging direction DI, and imaging area IA received by the server communication unit 22 with each other and stores them in the server storage unit 23 (S18). This completes the image data generation process (S10).

[0032] On the other hand, if there is no previous image data IDP having the same imaging position IP and the same imaging direction DI as the new image data IDN (S15: N), the server control unit 21 executes S17 to S18 in FIG. 2, and the image data generation process (S10) ends.

[0033] 2.2.Snow removal support processing (1) Main flow The snow removal support process (S20) will be described with reference to Figs. 5 and 6. Fig. 5 shows a main flow of the snow removal support process (S20). When the snow removal support process (S20) starts, initial setting is started (S21). In detail, the server communication unit 22 transmits the image data ID stored in the server storage unit 23 to the terminal device 10 via the network N. Next, the terminal control unit 15 causes the display unit 16 to display a standby screen SS (S22).

[0034] FIG. 6(a) shows an example of the view seen by the occupant through the windshield 2b of the snowplow 2 when snow has accumulated. Because snow has accumulated on the road 4, the occupant cannot see the obstacles 3 placed on the road 4. FIG. 6(b) shows an example of a standby screen SS. In this embodiment, a black screen is displayed as the standby screen SS on the display unit 16 of the terminal device 10. However, the color of the standby screen SS is not limited to black, and any color such as blue or green can be selected. The standby screen SS may also display a logo mark, product name, or any other characters, numbers, symbols, etc.

[0035] Next, returning to FIG. 5, position and speed processing is executed (S23). Next, image display processing is executed (S24). Next, it is determined whether or not to end the snow removal support processing (S25). If it is determined that the snow removal support processing should be ended (S25: Y), the snow removal support processing ends. If it is determined that the snow removal support processing should not be ended (S25: N), the processing of S23 to S25 is repeated.

[0036] (2) Position and velocity processing 7 shows a flowchart of the position and speed processing (S23). When the position and speed processing is executed (S23), the terminal control unit 15 acquires the position of the snowplow 2 detected by the position detection unit 12. Because the terminal device 10 is mounted on the snowplow 2, the position detection unit 12 detects the snowplow position SP, which is the position of the snowplow 2. The terminal control unit 15 transmits the snowplow position SP to the server 20 via the network N. As a result, the server control unit 21 acquires the snowplow position SP (S231).

[0037] Next, the server control unit 21 calculates the traveling direction AD of the snowplow 2, for example, that the snowplow 2 is moving eastward, based on the change in the snowplow position SP within a predetermined time (S232).

[0038] Next, the server control unit 21 calculates the speed of the snowplow 2, for example, 30 km / h, based on the change in the snowplow position SP within a predetermined time (S233).

[0039] Next, the server control unit 21 calculates the predicted snowplow position PP based on the snowplow position SP, the traveling direction AD of the snowplow 2, and the speed of the snowplow 2 (S234). For example, if the snowplow 2 is moving east from a position at 36° north latitude and 136° east longitude at 30 km / h, the predicted snowplow position PP is calculated as the position to which the snowplow 2 is predicted to move a predetermined time later (e.g., one second later) from the current snowplow position SP. This completes the position and speed processing.

[0040] (3) Image display processing The image display process (S24) will be described with reference to Figures 4, 6, and 8 to 12. Figure 8 shows a flowchart of the image display process.

[0041] 8, when the image display process is executed (S24), the server control unit 21 determines whether the predicted snowplow position PP has entered the image capture area IA for all image data IDs stored in the server storage unit 23 (S241). As the snowplow 2 moves, the predicted snowplow position PP also moves. As a result, the predicted snowplow position PP, which was located outside the image capture area IA, enters the image capture area IA.

[0042] If it is determined that the predicted snowplow position PP is not within the image capture area IA (S241: N), the process returns to S23 in Fig. 5. Fig. 10 schematically shows a state in which the predicted snowplow position PP is not within the image capture area IA.

[0043] Returning to Figure 8, if it is determined that the predicted snowplow position PP has entered the imaging area IA (S243: Y), the server control unit 21 selects, from the image data IDs, the image data ID in which the predicted snowplow position PP has entered the imaging area IA as the selected image data CI (S242).

[0044] Next, the server control unit 21 determines whether the angle between the snowplow traveling direction and the imaging direction for the selected image data CI is 90° or less (S243). However, the predetermined angle is not limited to 90° and any angle can be selected as appropriate. The predetermined angle is preferably 90° to 45°, and more preferably 90° to 60°.

[0045] If the angle between the snowplow traveling direction and the image capturing direction is not 90° or less (S243: N), the process returns to S23 in FIG. 5. This prevents the image data ID from being displayed on the display device when the snowplow 2 travels from a direction different from when the image data ID was captured. FIG. 9 schematically shows a state in which the snowplow 2 travels from a direction different from when the image data ID was captured. In this case, the image data of the obstacle 3 is not displayed on the display unit 16 of the snowplow 2.

[0046] 8, if the angle between the snowplow traveling direction and the imaging direction is 90° or less (S243: Y), the server control unit 21 selects a display image SI to be displayed on the display unit 16 from the selected image data CI (S244). However, if the server control unit 21 determines that multiple image data IDs can be displayed on the display unit 16, it may also cause the display unit 16 to display the latest image data ID from among the multiple image data IDs determined to be displayable on the display unit 16.

[0047] The server communication unit 22 transmits information on the image data ID (an example of display image data) selected as the display image SI to the terminal device 10 via the network N (S245).

[0048] The terminal control unit 15 causes the display unit 16 to display the display image SI based on the information of the image data ID received from the server 20 (S246). However, when the terminal control unit 15 causes the display unit 16 to display the display image SI, the terminal control unit 15 may also notify the occupant of the presence of the obstacle 3 by using sound, vibration, or the like, via a notification unit such as a speaker or vibrator.

[0049] As shown in FIG. 4, the display unit 16 displays image data ID captured before snow accumulation. The image data ID captures an image of the road 4 before snow accumulation. As shown in FIG. 6(a), the snow-covered road 4 is visible on the windshield 2b of the snowplow 2, but the display unit 16 displays an obstacle 3 positioned on the road 4 as shown in FIG. 4. This makes it possible to prevent the snow removal device 2a of the snowplow 2 from colliding with the obstacle 3. As described above, the standby screen SS according to this embodiment is a black screen, and the display of the image data ID allows the occupant to easily recognize the presence of the obstacle 3.

[0050] 11 shows a schematic diagram of the snowplow 2's predicted position PP entering the image capture area IA. The image data ID can be displayed on the display unit 16 before the snowplow 2 reaches the position where the image of the obstacle 3 was captured. This allows the driver to take action to avoid a collision between the obstacle 3 and the snow removal device 2a.

[0051] 8, the server control unit 21 determines whether the predicted snowplow position PP has left the image capture area IA (S247). If it is determined that the predicted snowplow position PP has left the image capture area IA (S247: Y), the server control unit 21 transmits an instruction to display a standby screen SS on the display unit 16 via the network N. The terminal control unit 15 receives the instruction from the server control unit 21 and displays the standby screen SS on the display unit 16 (S248).

[0052] FIG. 12 schematically shows the state in which the predicted snowplow position PP has left the imaging area IA. In the state shown in FIG. 12, the occupant has already operated the snowplow 2a to prevent the obstacle 3 from colliding with the snowplow 2a. Therefore, in the state shown in FIG. 12, there is no need to display the image data ID on the display device. Therefore, the terminal control unit 15 receives an instruction to display the standby screen SS on the display unit 16, and causes the standby screen SS to be displayed on the display unit 16 (S248). This completes the image display process.

[0053] On the other hand, if it is determined in S247 that the predicted snowplow position PP has not left the image capture area IA (S247: N), the processes of S246 to S247 are repeated.

[0054] 3. Effects of this form Next, the effects of this embodiment will be described. This embodiment is a support system 1a for a snowplow 2 that supports the snow removal work of the snowplow 2. The support system 1a for the snowplow 2 includes a server storage unit 23, a display unit 16, a position detection unit 12, and a server control unit 21. The server storage unit 23 stores image data ID captured when no snow has accumulated, the image capture position IP at which the image data ID was captured, and the image capture direction DI at which the image data ID was captured, in association with each other. The display unit 16 is mounted on the snowplow 2 and displays the image data ID. The position detection unit 12 is mounted on the snowplow 2 and detects the snowplow position SP related to the position of the snowplow 2. The server control unit 21 causes the display unit 16 to display, among the image data ID, the image data ID captured from a direction visible to the occupant of the snowplow 2, in accordance with the traveling direction AD of the snowplow 2, which is the traveling direction AD of the snowplow 2, based on the snowplow position SP, the image capture position IP, and the image capture direction DI.

[0055] According to this embodiment, the image data ID is displayed on the display unit 16, so the required capacity can be reduced compared to when a moving image is displayed.

[0056] Furthermore, according to this embodiment, the image capturing position IP can be detected by the position detection unit 12, which eliminates the need to register the position information of the obstacle 3 after capturing the image. This allows a simple method to display an image of the obstacle 3 before snow accumulation.

[0057] The server control unit 21 according to this embodiment selects, as a display image SI, selected image data CI from the image data ID, which is an imaging direction DI whose angle with the traveling direction AD of the snowplow 2 is equal to or smaller than a predetermined angle, and selects a display image SI from the selected selected image data CI. This makes it possible to prevent the image data ID captured from a direction different from the traveling direction AD of the snowplow 2 from being displayed on the display unit 16.

[0058] Furthermore, the server control unit 21 according to this embodiment calculates the traveling speed and traveling direction AD of the snowplow 2 for the snowplow 2 based on the snowplow position SP, calculates a predicted snowplow position PP where the snowplow 2 is predicted to be located after a predetermined time has elapsed based on the snowplow position SP, the traveling speed of the snowplow 2, and the traveling direction AD of the snowplow 2, and displays the display image SI captured at the imaging position IP on the display unit 16 based on the imaging position IP, the predicted snowplow position PP, the imaging direction DI, and the traveling direction AD of the snowplow 2. This allows the display image SI to be displayed on the display unit 16 before the snowplow 2 arrives at the imaging position IP. Furthermore, because the predicted snowplow position PP is calculated based on the traveling speed and traveling direction AD of the snowplow 2, the positional accuracy of the image data ID to be displayed can be improved.

[0059] Furthermore, the server control unit 21 according to this embodiment calculates an imaging area IA, which is an area within a predetermined distance from the imaging position IP, based on the imaging position IP, and, on the condition that the predicted snowplow position PP has entered the imaging area IA, causes the display unit 16 to display the display image SI captured at the imaging position IP. Since the display image SI is displayed on the display unit 16 on the condition that the predicted imaging position has entered the imaging area IA, the display image SI can be displayed on the display unit 16 before the snowplow 2 arrives at the imaging position IP.

[0060] Furthermore, when acquiring new image data IDN, the server control unit 21 according to this embodiment acquires a new imaging position IPN and a new imaging direction DIN related to the new image data IDN, compares the new imaging position IPN and the new imaging direction DIN of the new image data IDN with the previous imaging position IPP and the previous imaging direction DIP of the previous image data IDP already stored in the storage unit, and if the new imaging position IPN and the previous imaging position IPP are the same and the new imaging direction DIN and the previous imaging direction DIP are the same, deletes the previous image data IDP and stores the new image data IDN in the server storage unit 23. In this way, the server storage unit 23 stores the latest image data ID, allowing for safer snow removal work.

[0061] Furthermore, when the server control unit 21 according to this embodiment determines that multiple image data IDs can be displayed on the display unit 16, it causes the display unit 16 to display the latest image data ID among the multiple image data IDs determined to be displayable on the display unit 16. This allows the latest image data ID to be displayed on the display unit 16, making snow removal work safer.

[0062] The support system 1a for the snowplow 2 according to this embodiment includes an imaging unit 11 that captures the image data ID. This eliminates the need to provide a separate camera separate from the terminal device 10.

[0063] (Embodiment 2) Next, a schematic configuration of the second embodiment will be described with reference to FIG. 13. FIG. 13 shows a block diagram of a support system 1b for a snowplow 2 according to this embodiment. This embodiment differs from the first embodiment in that the server storage unit 23 does not store an image capture area IA and stores a snowplow predicted area PA. The snowplow predicted area PA refers to an area within a predetermined distance from the predicted snowplow position PP. The shape of the snowplow predicted area PA is arbitrary, and may be a circle with a radius equal to the predetermined distance, or, if the snowplow predicted area PA includes a road 4, an oval shape that follows the road 4, or a rectangle. The predetermined distance can be any suitable value. The predetermined distance is preferably 50 m to 5 m, and more preferably 20 m to 5 m. Other than the above, the system is the same as FIG. 1 of the first embodiment, and therefore a repeated description will be omitted.

[0064] Fig. 14 shows a flowchart of the image data generation process (S10) according to this embodiment. The image data generation process (S10) according to this embodiment differs from that of the first embodiment in that it does not include a step of generating an imaging area IA. Other than the above, it is the same as Fig. 2 of the first embodiment, so a duplicated explanation will be omitted.

[0065] Next, the position and speed processing (S23) according to this embodiment will be described with reference to Fig. 15. Fig. 15 shows a flowchart of the position and speed processing (S23) according to this embodiment. The position and speed processing (S23) according to this embodiment differs from the first embodiment in that a snowplow predicted area PA is calculated.

[0066] The server control unit 21 calculates a predicted snowplow area PA based on the predicted snowplow position PP (S235). In this embodiment, a circular area with a radius of 50 m to 5 m, more preferably 20 m to 5 m, from the predicted snowplow position PP is calculated as the predicted snowplow area PA. Points other than those mentioned above are the same as those in Fig. 7 of the first embodiment, so redundant explanations will be omitted.

[0067] Next, the image display process (S24) according to this embodiment will be described with reference to Fig. 16 to Fig. 19. Fig. 16 shows a flowchart of the image display process (S24) according to this embodiment. The image display process (S24) according to this embodiment differs from that according to the first embodiment in that it includes a step (S2411) of determining whether the image capture position IP has entered the snowplow predicted area PA instead of the step (S241) of determining whether the snowplow predicted position PP has entered the image capture area IA, and in that it includes a step (S2471) of determining whether the image capture position IP has left the snowplow predicted area PA instead of the step (S247) of determining whether the snowplow predicted position PP has left the image capture area IA.

[0068] When the server control unit 21 determines that the imaging position IP is not within the snowplow predicted area PA (S2411: N), the process returns to S23 in Fig. 5. Fig. 17 schematically shows a state in which the imaging position IP is not within the snowplow predicted area PA.

[0069] Returning to Figure 16, if the server control unit 21 determines that the imaging position IP has entered the snowplow predicted area PA (S2411: Y), it selects the image data ID for which the imaging position IP has entered the snowplow predicted area PA from the image data IDs stored in the server memory unit 23 as the selected image data CI (S242).

[0070] 18 shows a schematic diagram of the state in which the image capture position IP has entered the snowplow predicted area PA. According to this embodiment, the image data ID can be displayed on the display unit 16 at a position before the snowplow 2 reaches the position where the image of the obstacle 3 was captured. This allows the driver to take action to avoid a collision between the obstacle 3 and the snow removal device 2a.

[0071] 16, the server control unit 21 determines whether the imaging position IP has left the snowplow predicted area PA (S2471). If it is determined that the imaging position IP has left the snowplow predicted area PA (S2471: Y), the server control unit 21 transmits an instruction to display the standby screen SS on the display unit 16 via the network N. The terminal control unit 15 receives the instruction from the server control unit 21 and displays the standby screen SS on the display unit 16 (S248).

[0072] 19 shows a schematic diagram of the state in which the image capturing position IP has left the predicted snowplow area PA. This completes the image display process.

[0073] On the other hand, if it is determined in S2471 that the predicted snow removal position has not left the image capture area IA (S2471: N), the processes of S246 to S2471 are repeated.

[0074] Note that, among the symbols used in the second and subsequent embodiments, the same symbols as those used in the previous embodiments represent the same components, etc. as those in the previous embodiments, unless otherwise specified.

[0075] The server control unit 21 according to this embodiment generates a predicted snowplow area PA, which is an area within a predetermined distance from the predicted snowplow position PP, based on the predicted snowplow position PP and the traveling direction AD of the snowplow 2, and, on the condition that the imaging position IP is within the predicted snowplow area PA, causes the display unit 16 to display the display image SI captured at the imaging position IP. This allows the display image SI to be displayed on the display unit 16 before the snowplow 2 arrives at the imaging position IP.

[0076] (Embodiment 3) Next, the schematic configuration of the third embodiment will be described with reference to Fig. 20. Fig. 20 shows a block diagram of a support system 1c for a snowplow 2 according to this embodiment. This embodiment differs from the first embodiment in that the server storage unit 23 stores a snowplow predicted area PA. The snowplow predicted area PA is the same as that described in the second embodiment. Other than the above, the system is the same as Fig. 1 of the first embodiment, and therefore a duplicated description will be omitted.

[0077] The image data generation process (S10) according to this embodiment is the same as the image data generation process (S10) according to the first embodiment shown in Fig. 2, and therefore a duplicated description will be omitted. The position and velocity process (S23) according to this embodiment is the same as the position and velocity process (S23) according to the second embodiment shown in Fig. 15, and therefore a duplicated description will be omitted.

[0078] Next, the image display process (S24) according to this embodiment will be described with reference to Fig. 21 to Fig. 24. Fig. 21 shows a flowchart of the image display process according to this embodiment. The image display process (S24) according to this embodiment differs from that of the first embodiment in that it includes a step (S2412) of determining whether the snowplow predicted area PA and the image capture area IA overlap instead of the step (S241) of determining whether the snowplow predicted position PP has entered the image capture area IA, and a step (S2472) of determining whether the snowplow predicted area PA has separated from the image capture area IA instead of the step (S247) of determining whether the snowplow predicted position PP has left the image capture area IA.

[0079] If the server control unit 21 determines that the snowplow predicted area PA and the image capture area IA do not overlap (S2412: N), the process returns to S23 in Fig. 5. Fig. 22 schematically shows a state in which the snowplow predicted area PA and the image capture area IA do not overlap.

[0080] The range of the imaging area IA according to this embodiment can be set arbitrarily and may be the same as or different from the range of the imaging area IA according to embodiment 1. Furthermore, the range of the snowplow predicted area PA according to this embodiment can be set arbitrarily and may be the same as or different from the range of the snowplow predicted area PA according to embodiment 2. As shown in Fig. 22 , in this embodiment, the range of the imaging area IA is set narrower than the range of the imaging area IA according to embodiment 1, and the range of the snowplow predicted area PA according to this embodiment is set narrower than the range of the snowplow predicted area PA according to embodiment 2.

[0081] Returning to Figure 21, if the server control unit 21 determines that the snowplow predicted area PA and the imaging area IA overlap (S2412:Y), it selects the image data ID in which the snowplow predicted area PA and the imaging area IA overlap as the selected image data CI from the image data IDs stored in the server memory unit 23 (S242).

[0082] 23 shows a schematic diagram of the snowplow predicted area PA and the image capture area IA overlapping. According to this embodiment, the image data ID can be displayed on the display unit 16 before the snowplow 2 reaches the position where the image of the obstacle 3 was captured. This allows the driver to take action to avoid a collision between the obstacle 3 and the snow removal device 2a.

[0083] 21, the server control unit 21 determines whether the snowplow predicted area PA and the image capture area IA have separated (S2472). If it is determined that the snowplow predicted area PA and the image capture area IA have separated (S2472: Y), the server control unit 21 transmits an instruction to display a standby screen SS on the display unit 16 via the network N. The terminal control unit 15 receives the instruction to display the standby screen SS on the display unit 16 and causes the display unit 16 to display the standby screen SS (S248).

[0084] FIG. 24 shows a schematic diagram of a state in which the snowplow predicted area PA and the image capture area IA are separated from each other.

[0085] On the other hand, if it is determined in S2472 that the snowplow predicted area PA and the image capture area IA are not far apart (S2472: N), the processes of S246 to S2472 are repeated.

[0086] Server control unit 21 according to this embodiment calculates imaging area IA, which is an area within a predetermined distance from imaging position IP, based on imaging position IP, generates predicted snowplow area PA, which is an area within a predetermined distance from predicted snowplow position PP, based on predicted snowplow position PP and traveling direction AD of snowplow 2, and displays display image SI, which is imaged at imaging position IP, on display unit 16, provided that imaging area IA and predicted snowplow area PA overlap. In this way, display image SI can be displayed on display unit 16 before snowplow 2 arrives at imaging position IP.

[0087] (Embodiment 4) Next, a fourth embodiment will be described with reference to FIG. 25. FIG. 25 shows a block diagram of a support system 1d for a snowplow 2 according to this embodiment. A terminal device 10 according to this embodiment includes an imaging unit 11, a position detection unit 12, an input unit 13, a terminal control unit 15, a display unit 16, and a terminal storage unit 17. The terminal storage unit 17 includes an image data ID, an imaging position IP, an imaging direction DI, a snowplow position SP, a predicted snowplow position PP, and an imaging area IA. The support system 1d for a snowplow 2 according to this embodiment is not connected to a server 20 via a network N. Furthermore, the terminal device 10 does not include a terminal communication unit 14. Other than the above, the system is the same as FIG. 1 of the first embodiment, and therefore, redundant description will be omitted.

[0088] Furthermore, in the support system 1d for a snowplow 2 according to this embodiment, the server control unit 21 in embodiment 1 is replaced with the terminal control unit 15, and the server memory unit 23 is replaced with the terminal memory unit 17, but other than that, the system is the same as embodiment 1, and therefore redundant explanations will be omitted.

[0089] In this embodiment, since communication with the server 20 is not performed via the network N, the operation speed of the support system 1d for the snowplow 2 can be improved.

[0090] (Embodiment 5) Next, a fifth embodiment will be described with reference to Fig. 26. Fig. 26(a) is a schematic diagram illustrating the process of capturing an image of an obstacle 3 before snow accumulation. Before snow accumulation, a passenger car 5 travels on a road 4. At this time, images are automatically captured on the road 4 at predetermined intervals. In this embodiment, images are captured at positions P1 to P5. However, the positions at which images are captured are not limited to those described above. The predetermined interval is not particularly limited, and is preferably 30 m to 5 m, and more preferably 20 m to 5 m.

[0091] 26(b) is a schematic diagram illustrating the process of using the snowplow 2 to remove snow from the road 4 after snow has accumulated. In this embodiment, when the snowplow 2 removes snow from the road 4 after snow has accumulated, the image data ID is automatically displayed on the display unit 16 according to the interval at which images were captured before the snow accumulated. In this embodiment, the image data ID is displayed on the display unit 16 at positions P1 to P5.

[0092] According to this embodiment, the image display process can be simplified, and the processing speed can be improved.

[0093] The present invention is not limited to the above-described embodiments, and can be applied to various embodiments within the scope of the present invention. [Explanation of symbols]

[0094] 1a, 1b, 1c, 1d: assistance system, 2: snowplow, 3: obstacle, 4: road, 10: terminal device, 11: imaging unit, 12: position detection unit, 13: input unit, 14: terminal communication unit, 15: terminal control unit, 16: display unit, 17: terminal memory unit, 20: server, 21: server control unit, 22: server communication unit, 23: server memory unit, AD: direction of travel, CI: selected image data, DI: imaging direction, DIN: new imaging direction, DIP: previous imaging direction, ID: image data, IDN: new image data, IDP: previous image data, SI: displayed image, IP: imaging position, IPN: new imaging position, IPP: previous imaging position, N: network, PA: snowplow predicted area, PP: snowplow predicted position, SP: snowplow position, SS: standby screen

Claims

1. A support system for a snowplow that supports snow removal work of the snowplow, a storage unit that stores image data captured in a state where no snow has accumulated, an imaging position at which the image data was captured, and an imaging direction at which the image data was captured, in association with each other; a display unit mounted on the snowplow to display the image data; a position detection unit mounted on the snowplow to detect a position of the snowplow relative to a position of the snowplow; and a control unit that displays, on the display unit, display image data from the image data captured from a direction visible to an occupant of the snowplow, in accordance with the direction of travel of the snowplow based on the snowplow position, the imaging position, and the imaging direction.

2. The control unit As the display image data, selected image data in which the imaging direction forms an angle with the traveling direction of the snowplow that is equal to or smaller than a predetermined angle is selected from the image data, The assistance system for a snowplow according to claim 1 , wherein the display image data is selected from the selected image data.

3. The control unit calculating a snowplow travel speed and a snowplow travel direction for the snowplow based on the snowplow position; calculating a predicted position of the snowplow where the snowplow will be located after a predetermined time has elapsed based on the snowplow position, the traveling speed of the snowplow, and the traveling direction of the snowplow; 3. The snowplow assistance system according to claim 1, wherein the display unit displays the display image data captured at the imaging position based on the imaging position, the predicted position of the snowplow, the imaging direction, and the traveling direction of the snowplow.

4. The control unit calculating an imaging area, which is an area within a predetermined distance from the imaging position, based on the imaging position; 4. The snowplow support system according to claim 3, wherein the display image data captured at the imaging position is displayed on the display unit on the condition that the predicted snowplow position is within the imaging area.

5. The control unit generating a predicted snowplow area, which is an area within a predetermined distance from the predicted snowplow position, based on the predicted snowplow position and the traveling direction of the snowplow; 4. The snowplow support system according to claim 3, wherein the display unit displays the display image data captured at the imaging position on the condition that the imaging position is within the snowplow predicted area.

6. The control unit calculating an imaging area, which is an area within a predetermined distance from the imaging position, based on the imaging position; generating a predicted snowplow area, which is an area within a predetermined distance from the predicted snowplow position, based on the predicted snowplow position and the traveling direction of the snowplow; 4. The snowplow support system according to claim 3, wherein the display image data captured at the imaging position is displayed on the display unit on the condition that the imaging area and the snowplow predicted area overlap.

7. The control unit When acquiring new image data that has been newly captured, a new image capturing position and a new image capturing direction related to the new image data are acquired; comparing the previous image capturing position and the previous image capturing direction of the previous image data already stored in the storage unit with the new image capturing position and the new image capturing direction of the new image data; 2. The snowplow assistance system of claim 1, wherein when the new imaging position and the previous imaging position are the same and the new imaging direction and the previous imaging direction are the same, the previous image data is erased and the new image data is stored in the memory unit.

8. The control unit 2. The assistance system for a snowplow according to claim 1, wherein, when it is determined that a plurality of the image data can be displayed on the display unit, the most recent image data among the plurality of the image data determined to be displayable on the display unit is displayed on the display unit.

9. moreover, The snowplow assistance system according to claim 1 , further comprising an imaging unit that captures the image data.

Images