Image system and work vehicle provided with image system
An image system is for a crane in which a boom that can be raised and lowered is provided to a vehicle with a rotating base therebetween, and said image system is provided with a plurality of vehicle body cameras provided to the vehicle, an upper camera provided to the boom, a display device, and an image processing device. The image processing device acquires vicinity images of the crane captured by the vehicle body cameras and an upper image of the crane captured by the upper camera, converts the vicinity images into images looking downward from an overhead virtual viewpoint, connects the results, generates a bird's-eye-view image, and uses the display device to display a composite image in which a supplementary image of the upper image corresponding to a missing part in the bird's-eye-view image is superimposed on the missing part.
1. An image system of a crane comprising:
an image processing device that is connected to a plurality of vehicle body cameras and an upper camera to be capable of communicating with each other, the plurality of vehicle body cameras being provided on a traveling body of the crane, the upper camera being provided on a boom of the crane, and that generates a composite image, based on a plurality of vicinity images obtained in real time by the plurality of vehicle body cameras capturing a vicinity of the traveling body without discontinuity over an entire circumference and on an upper image obtained in real time by the upper camera capturing the traveling body and the vicinity of the traveling body from above; and
a display device that displays the composite image, wherein
the image processing device
converts the plurality of vicinity images into images looking downward from an overhead virtual viewpoint and connects the converted images to generate a bird's-eye-view image,
extracts a closed region of the traveling body from the upper image, and
superimposes the closed region of the traveling body extracted from the upper image on a missing part in the bird's-eye-view image to generate the composite image in which the missing part has been supplemented, and
wherein the image processing device, when the crane is in a travel mode, causes the display device to display the bird's-eye-view image without superimposing the image of the traveling body extracted from the upper image, and when the crane is in a work mode, causes the display device to display the composite image with superimposing the image of the traveling body extracted from the upper image.
2. The image system of the crane according to claim 1 , wherein
the image processing device superimposes a part of the upper image, which corresponds to a missing part in the bird's-eye-view image, on the missing part.
3. The image system of the crane according to claim 1 , wherein
the image processing device superimposes a part of the bird's-eye-view image, which corresponds to a missing part in the upper image, on the missing part.
4. The image system of the crane according to claim 1 , wherein
the traveling body is provided with the boom with a rotating base interposed between the traveling body and the boom, and
when the rotating base has turned in one direction, the image processing device rotates the composite image being displayed on the display device in another direction by an angle at which the rotating base has turned.
5. The image system of the crane according to claim 1 , wherein
the boom is raisable and lowerable, and
the image processing device determines whether the crane is in the travel mode or in the work mode, based on the raising angle of the boom.
6. The image system of the crane according to claim 4 , wherein
the image processing device is provided in a cabin mounted on the rotating base.
7. The image system of the crane according to claim 4 , wherein
the display device is disposed inside a cabin mounted on the rotating base.
8. The image system of the crane according to claim 4 , wherein
the display device is provided in a remote operation terminal that remotely operates the crane outside a cabin mounted on the rotating base.
9. A work vehicle comprising the image system of the crane according to claim 1 .