# US 10,321,097 B2 · Perimeter monitoring device for work vehicle

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- Number: US 10,321,097 B2
- Document ID: US10321097B2
- Status: Granted
- Kind: B2
- Application number: 15/283,557
- Filed: 2016-10-03
- Published: 2017-01-26
- Granted: 2019-06-11
- Earliest claimed: 2011-06-07
- Assignees: Komatsu Ltd.
- Applicants: Komatsu Ltd.
- Inventors: Shinji Mitsuta; Shigeru Harada; Tomikazu Tanuki; Eishin Masutani; Yukihiro Nakanishi; Takeshi Kurihara; Dai Tsubone; Masaomi Machida
- Web page: https://patentgrep.com/patent/US10321097B2

## CPC

- H04N 7/181: {for receiving images from a plurality of remote sources}
- B60K 35/10: Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
- B60K 35/22: Display screens
- B60K 35/26: using acoustic output
- B60K 35/28: characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
- B60K 35/29: Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions
- B60P 1/283: {Elements of tipping devices}
- B60R 1/27: providing all-round vision, e.g. using omnidirectional cameras
- B60R 1/28: with an adjustable field of view
- E02F 9/261: {Surveying the work-site to be treated}
- G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- H04N 7/18: Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N 23/63: by using electronic viewfinders
- H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
- B60K 2360/186: Displaying information according to relevancy
- B60P 1/04: with a tipping movement of load-transporting element (dredgers or soil-shifting machines E02F3/00)
- B60Q 9/008: {for anti-collision purposes}
- B60R 2300/105: using multiple cameras
- B60R 2300/301: combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
- B60R 2300/303: using joined images, e.g. multiple camera images
- B60R 2300/607: from a bird's eye viewpoint
- B60R 2300/802: for monitoring and displaying vehicle exterior blind spot views
- B60R 2300/8093: for obstacle warning
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION
- B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60P: VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS (vehicles with special provisions for transporting patients or disabled persons, or their personal conveyances A61G3/00)
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00)
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL

## Abstract

A perimeter monitoring device is configured to monitor a surrounding of a work vehicle and to display a monitored result on a display device. The perimeter monitoring device comprises a vehicle information detecting part, a plurality of cameras, a bird's-eye image display unit, a plurality of obstacle detecting sensors, an obstacle processing part, and a camera image displaying unit. The vehicle information detecting part detects a speed of the work vehicle. The cameras capture image data regarding the surrounding of the work vehicle. The bird's-eye image display unit displays a bird's-eye image based on the image data. The obstacle detecting sensors detect obstacles in the surrounding. The obstacle processing part issues a warning when an obstacle is detected. The camera image displaying unit displays a camera image adjacent the bird's-eye image. The images are not displayed and the warning is not issued when the vehicle speed exceeds a threshold value.

## Claims

### Claim 1

A perimeter monitoring device for a work vehicle configured to monitor a surrounding of the work vehicle and to display a monitored result on a display device, the perimeter monitoring device comprising:
a display controller;
an obstacle processing part;
a vehicle information detecting part configured and arranged to detect a vehicle speed of the work vehicle and transmit the vehicle speed to the display controller;
a plurality of cameras attached to the work vehicle, the cameras being configured and arranged obtain image data regarding the surrounding of the work vehicle and transmit the image data to the display controller; and
a plurality of obstacle detecting sensors attached to the work vehicle, the obstacle detecting sensors being configured and arranged to detect obstacles in the surrounding of the work vehicle and transmit detection data to the obstacle processing part;
the obstacle processing part being configured to compute a positional coordinate of an obstacle or a plurality of obstacles when the obstacle detecting sensors have detected the obstacle or the plurality of obstacles, the obstacle processing part being further configured to determine whether or not the positional coordinate is within a warning range and transmit a warning output to the display controller when the positional coordinate is within the warning range, and
the display controller being configured such that
when the vehicle speed is smaller than or equal to the predetermined threshold value, the display controller displays a bird's-eye image of the surrounding of the work vehicle on the display device based on the image data obtained by the cameras and displays a camera image based the image data obtained by one of the cameras adjacent to the bird's eye image on the display device,
when the vehicle speed is smaller than or equal to the predetermined threshold value and the warning output indicates that the positional coordinate is within the warning range, the display controller issues a warning, and
when the vehicle speed is larger than the predetermined threshold value, the display controller does not display the bird's-eye image, does not display the camera image, and does not issue the warning regardless of the warning output.

### Claim 2 (depends on 1)

The perimeter monitoring device for a work vehicle recited in claim 1, wherein
the display controller is configured to specify one or a plurality of camera images that capture at least one obstacle among the obstacle or plurality of obstacles when the obstacle detecting sensors have detected an obstacle or a plurality of obstacles, and
the display controller is configured to assign a priority ranking to each of the cameras based on a traveling state of the work vehicle and to select a camera image having a highest priority ranking among the camera images specified by the camera image specifying unit as the camera image displayed adjacent to the bird's-eye image.

### Claim 3 (depends on 1)

The perimeter monitoring device for a work vehicle recited in claim 1, wherein
the warning is issued as an alert sound.

### Claim 4 (depends on 3)

The perimeter monitoring device for a work vehicle recited in claim 3, wherein
the display controller is configured to specify one or a plurality of camera images that capture at least one obstacle among the obstacle or plurality of obstacles when the obstacle detecting sensors have detected an obstacle or a plurality of obstacles, and
the display controller is configured to assign a priority ranking to each of the cameras based on a traveling state of the work vehicle and to select a camera image having a highest priority ranking among the camera images specified by the camera image specifying unit as the camera image displayed adjacent to the bird's-eye image.

### Claim 5

A perimeter monitoring device for a work vehicle configured to monitor a surrounding of the work vehicle and to display a monitored result on a display device, the perimeter monitoring device comprising:
a vehicle information detecting part configured and arranged to detect a vehicle speed of the work vehicle;
a plurality of cameras attached to the work vehicle, the cameras being configured and arranged obtain image data regarding the surrounding of the work vehicle;
a bird's-eye image display unit configured and arranged to display a bird's-eye image of the surrounding of the work vehicle on the display device based on the image data obtained by the cameras, the bird's-eye image display unit being configured not to display the bird's-eye image when the vehicle speed detected by the vehicle information detecting part is larger than a predetermined threshold value;
a plurality of obstacle detecting sensors attached to the work vehicle, the obstacle detecting sensors being configured and arranged to detect obstacles in the surrounding of the work vehicle;
an obstacle processing part configured to issue an alert sound as a warning when the obstacle detecting sensors have detected an obstacle or a plurality of obstacles, the obstacle processing part being configured not to issue the alert sound when the vehicle speed detected by the vehicle information detecting part is larger than the predetermined threshold value;
a camera image displaying unit configured to display a camera image based the image data obtained by one of the cameras adjacent to the bird's-eye image on the display device, the camera image displaying unit being configured not to display the camera image when the vehicle speed detected by the vehicle information detecting part is larger than the predetermined threshold value;
a camera image specifying unit configured to specify one or a plurality of camera images that capture at least one obstacle among the obstacle or plurality of obstacles when the obstacle detecting sensors have detected an obstacle or a plurality of obstacles,
the camera image displaying unit being configured to assign a priority ranking to each of the cameras based on a traveling state of the work vehicle and to select a camera image having a highest priority ranking among the camera images specified by the camera image specifying unit as the camera image displayed adjacent to the bird's-eye image,
a degree of the alert sound being stronger when the camera image displayed adjacent to the bird's-eye image has a higher priority ranking, and
the degree of the alert sound being weaker when the camera image displayed adjacent to the bird's eye image has lower priority ranking.

### Claim 6 (depends on 5)

The perimeter monitoring device for a work vehicle recited in claim 5, wherein
the priority ranking assigned to each the cameras is one of at least a high level and a low level.

### Claim 7 (depends on 5)

The perimeter monitoring device for a work vehicle recited in claim 5, wherein
the priority ranking assigned to each the cameras is one of a high level, a middle level, and a low level.