Image pick-up apparatus, earth-moving machine and image pick-up system
A stereo camera provided in an earth-moving machine includes a first image pick-up portion and a second image pick-up portion. An optical axis of the first image pick-up portion and an optical axis of the second image pick-up portion are inclined away from a work implement at angles different from each other with respect to a central axis of the work implement in a plan view as a distance from a main body is greater.
1. An earth-moving machine comprising:
a main body;
a work implement attached to the main body, the work implement having a central axis in a plan view; and
an image pick-up apparatus including a first image pick-up portion and a second image pick-up portion, the first image pick-up portion and the second image pick-up portion implement a stereo camera, the first image pick-up portion is arranged at a position more distant from the work implement than the second image pick-up portion in a lateral direction of the main body, the first image pick-up portion and the second image pick-up portion are arranged on a same side of the work implement in the lateral direction, the first image pick-up portion and the second image pick-up portion capture an image in front of the earth-moving machine, an optical axis of the first image pick-up portion and an optical axis of the second image pick-up portion are inclined in a plan view away from the work implement with respect to the central axis in the lateral direction as a distance from the main body is greater toward a front of the earth-moving machine, the first image pick-up portion and the second image pick-up portion are arranged such that the optical axis of the first image pick-up portion and the optical axis of the second image pick-up portion intersect with each other in front of the main body, a range of image pick-up by the first image pick-up portion overlaps with a range of image pick-up by the second image pick-up portion, and the work implement is out of an angle of view of the image pick-up apparatus regardless of an attitude of the work implement.
2. The earth moving machine according to claim 1 , wherein
an angle of inclination of the optical axis of the first image pick-up portion with respect to the central axis is smaller than an angle of inclination of the optical axis of the second image pick-up portion with respect to the central axis.
3. A system for an earth-moving machine, the system comprising:
a main body;
a work implement attached to the main body, the work implement having a central axis in a plan view; and
an image pick-up apparatus including a first image pick-up portion and a second image pick-up portion, the first image pick-up portion and the second image pick-up portion implement a stereo camera, the first image pick-up portion is arranged at a position more distant from the work implement than the second image pick-up portion in a lateral direction of the main body, the first image pick-up portion and the second image pick-up portion are arranged on a same side of the work implement in the lateral direction, the first image pick-up portion and the second image pick-up portion capture an image in front of the earth-moving machine, an optical axis of the first image pick-up portion and an optical axis of the second image pick-up portion are inclined in a plan view away from the work implement with respect to the central axis in the lateral direction as a distance from the main body is greater toward a front of the earth-moving machine, the first image pick-up portion and the second image pick-up portion are arranged such that the optical axis of the first image pick-up portion and the optical axis of the second image pick-up portion intersect with each other in front of the main body, a range of image pick-up by the first image pick-up portion overlaps with a range of image pick-up by the second image pick-up portion, and the work implement is out of an angle of view of the image pick-up apparatus regardless of an attitude of the work implement.
4. The system for the earth moving machine according to claim 3 , wherein
an angle of inclination of the optical axis of the first image pick-up portion with respect to the central axis is smaller than an angle of inclination of the optical axis of the second image pick-up portion with respect to the central axis.