To provide a periphery monitoring device for a work vehicle having a boom that detects a person based on a plurality of images photographed by a plurality of cameras provided on a traveling body while suppressing costs.SOLUTION: A periphery monitoring device 10 of a crane 1 having a boom 7 includes four cameras 11a to 11d provided to photograph the periphery of the crane and a person detection unit 17 for detecting a person H based on images Pa to Pd photographed by the cameras 11a to 11d. The person detection unit 17 includes a revolving position detection unit 17a for detecting a revolving position of the boom 7, an image selection unit 17b for selecting one of the images Pa to Pd having a predetermined positional relationship relative to the revolving position of the boom 7 in accordance with the revolving position of the boom 7, and a parameter adjustment unit 17c for changing a parameter of processing such that detection accuracy of the person H of the processing with respect to the image selected by the image selection unit 17b is increased more than the detection accuracy of the processing with respect to another images that are not selected by the image selection unit 17b.SELECTED DRAWING: Figure 4
【課題】ブームを有する作業車両の周囲監視装置において、コストを抑えて、走行体に設けられた複数のカメラで撮影された複数の画像に基づいて人検知を行う。【解決手段】ブーム7を有するクレーン1の周囲監視装置10は、周囲を撮影するために設けられた4つのカメラ11a〜11dと、カメラ11a〜11dで撮影された画像Pa〜Pdに基づいて、人Hを検出する人検出部17を備え、人検出部17は、ブーム7の旋回位置を検出する旋回位置検出部17aと、ブーム7の旋回位置に応じて、ブーム7の旋回位置と所定の位置関係の1つの画像Pa〜Pdを選択する画像選択部17bと、画像選択部17bにより選択された画像に対する処理を、画像選択部17bにより選択されなかった他の画像に対する処理よりも、人Hの検出精度を高めるように処理のパラメータを変化させるパラメータ調整部17cと、を備える。【選択図】図4
PERIPHERY MONITORING DEVICE FOR WORK VEHICLE HAVING BOOM
ブームを有する作業車両の周囲監視装置
2021-05-20
Patent
Electronic Resource
Japanese
IPC: | B66C Krane , CRANES |
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