System and method of controlling construction machinery
A control system for construction machinery includes an upper camera installed in a cabin of a rear vehicle body to photograph the front of the cabin, a lower camera installed in a front vehicle body rotatably connected to the rear vehicle body to photograph the front of the front vehicle body, a tire monitoring portion configured to detect pressure information on a tire provided in the front vehicle body or the rear vehicle body, an image processing device configured to synthesize first and second images captured from the upper camera and the lower camera into one image, and configured to determine a position of a transparency processing area in the synthesized image according to the tire pressure information and transparency-process at least one of the first and second images in the transparency processing area, and a display device configured to display the synthesized image transparency-processed by the image processing device.
1 . A control system for construction machinery, the control system comprising:
an upper camera installed in a driver cabin of a rear vehicle body and configured to photograph a front of the driver cabin;
a lower camera installed in a front vehicle body rotatably connected to the rear vehicle body and configured to photograph a front of the front vehicle body;
a tire monitoring portion configured to detect pressure information on a tire provided in the front vehicle body or the rear vehicle body;
an image processing device configured to synthesize first and second images captured from the upper camera and the lower camera into one image, and configured to determine a position of a transparency processing area in the synthesized image according to the tire pressure information and transparency-process at least one of the first and second images in the transparency processing area; and
a display device configured to display the synthesized image transparency-processed by the image processing device,
wherein the image processing device includes:
a correction value calculator configured to calculate a correction value for height adjustment of the upper camera and the lower camera from the tire pressure information detected by the tire monitoring portion; and
a transparency processor configured to determine the position of the transparency process area in the synthesized image according to the calculated correction value.
2 . The control system of claim 1 , wherein the correction value calculator compares the detected tire pressure value with a preset standard pressure value to calculate height correction values for the upper camera and the lower camera.
3 . The control system of claim 1 , further comprising:
a work apparatus posture detection portion configured to detect a posture of a front work apparatus, and
wherein the image processing device is configured to transparency-process the at least one of the first and second images in the synthesized image according to the posture of the front work apparatus detected by the work apparatus posture detection portion.
4 . The control system of claim 3 , wherein the image processing device is configured to transparency-process the first image in the synthesized image when at least a portion of the front work apparatus invades a predetermined position, and the image processing device is configured to transparency-process the second image in the synthesized image when the work apparatus does not invade the predetermined position.
5 . The control system of claim 1 , further comprising:
an input portion configured to set an image processing condition in the image processing device.
6 . The control system of claim 5 , wherein the image processing condition includes a transparency processing switching timing of the first and second images or a ratio of the transparency processing area of the entire display area of the display device.
7 . The control system of claim 1 , wherein the image processing device is configured to process that, in the transparency processing area, an outline of an exterior of a boom or a bucket of the transparency-processed first and second images is displayed with a line or a dotted line.
8 . The control system of claim 7 , wherein the outline of the transparency-processed boom or bucket is displayed by transparency-processing an image of the boom or bucket that is taken from the first image or the second image.
9 . The control system of claim 1 , wherein the image processing device is selectively configured to transparency-process an image of a boom or a bucket coupled to the front vehicle body in the first and second images in the transparent processing area.
10 . The control system of claim 1 , wherein the synthesized image includes an object recognized by the image processing device in the first image and the second image.
11 . The control system of claim 10 , wherein the image processing device is configured to recognize a person, animal, building or equipment as the object through a predetermined algorithm.
12 . A method of controlling construction machinery, the method comprising:
obtaining a first image of a front of a driver cabin from an upper camera installed in the drive cabin of a rear vehicle body;
obtaining a second image of a front of a front vehicle body from a lower camera installed in the front vehicle body rotatably connected to the rear vehicle body;
obtaining pressure information on a tire provided in the front vehicle body or the rear vehicle body;
synthesizing the first and second images into one image;
determining a position of a transparency processing area in the synthesized image according to the obtained pressure information of the tire;
transparency-processing at least one of the first and second images in the transparency processing area; and
displaying the transparency-processed image through a display device,
wherein determining the position of the transparency processing area according to the obtained pressure information of the tire includes:
calculating a correction value for height adjustment of the upper camera and the lower camera from the pressure information of the tire; and
determining the position of the transparency process area in the synthesized image according to the calculated correction value.
13 . The method of claim 12 , wherein calculating the correction value for height adjustment of the upper camera and the lower camera from the pressure information of the tire includes comparing the detected tire pressure value with a preset standard pressure value to calculate height correction values for the upper camera and the lower camera.
14 . The method of claim 12 , further comprising:
detecting a posture of a front work apparatus, and
wherein transparency-processing the at least one of the first and second images in the transparency processing area includes transparency-processing the at least one of the first and second images in the synthesized image according to the detected posture of the front work apparatus.
15 . The method of claim 12 , further comprising:
setting an image processing condition under which the at least one of the first and second images is transparency processed.
16 . The method of claim 15 , wherein the image processing condition includes a transparency processing switching timing of the first and second images or a ratio of the transparency processing area of the entire display area of the display device.