US 12,221,775 B2
Periphery monitoring device for working machine
Masaki Nagai, Hiroshima (JP); and Yoichiro Yamazaki, Hiroshima (JP)
Assigned to KOBELCO CONSTRUCTION MACHINERY CO., LTD., Hiroshima (JP)
Appl. No. 17/770,904
Filed by KOBELCO CONSTRUCTION MACHINERY CO., LTD., Hiroshima (JP)
PCT Filed Oct. 20, 2020, PCT No. PCT/JP2020/039447
§ 371(c)(1), (2) Date Apr. 21, 2022,
PCT Pub. No. WO2021/090678, PCT Pub. Date May 14, 2021.
Claims priority of application No. 2019-202421 (JP), filed on Nov. 7, 2019.
Prior Publication US 2022/0372732 A1, Nov. 24, 2022
Int. Cl. E02F 9/26 (2006.01); B60R 1/23 (2022.01); B60R 1/27 (2022.01); G06T 7/70 (2017.01); H04N 5/262 (2006.01); H04N 5/272 (2006.01); H04N 7/18 (2006.01)
CPC E02F 9/261 (2013.01) [B60R 1/23 (2022.01); B60R 1/27 (2022.01); E02F 9/264 (2013.01); G06T 7/70 (2017.01); H04N 5/2624 (2013.01); H04N 5/272 (2013.01); H04N 7/18 (2013.01); B60R 2300/105 (2013.01); B60R 2300/302 (2013.01); B60R 2300/303 (2013.01); B60R 2300/8093 (2013.01); G06T 2207/30261 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A periphery monitoring device for a working machine, the periphery monitoring device configured to monitor a periphery of the working machine having a machine body including a lower travelling body and an upper slewing body disposed in a slewable manner on an upper portion of the lower travelling body, the upper slewing body including a working device rotatable in a vertical direction with respect to a main body of the upper slewing body, and a cab, the periphery monitoring device comprising:
a slewing angle detection device configured to detect a slewing angle of the upper slewing body with respect to the lower travelling body;
an attitude detection device configured to detect an attitude of the working device;
an imaging device configured to image a periphery of the upper slewing body, the imaging device being disposed at the upper slewing body;
a display device disposed in the cab;
a display controller comprising a computer including circuitry, the circuitry configured to cause the display device to display an image captured by the imaging device; and
an expected passage range calculator comprising the computer and circuitry, and the circuitry is configured to calculate a range of a locus of the machine body as an expected passage range in a case where the lower travelling body travels in an imaging direction of the imaging device, based on the slewing angle of the upper slewing body detected by the slewing angle detection device and the attitude of the working device detected by the attitude detection device,
wherein the display controller superimposes a range image indicating the expected passage range calculated by the expected passage range calculator on the image captured by the imaging device to cause the display device to display a superimposed image,
wherein the range image includes a contour image of the machine body when viewed from the imaging direction of the imaging device, a rectangle which surrounds the contour image, and four lines extending outward from four vortices of the rectangle and indicating a depth of the locus of the machine body,
wherein the imaging direction is a travelling direction of the lower travelling body,
wherein the rectangle includes a height line indicating a height of the machine body, and
wherein the display controller lengthens the height line as the attitude becomes higher according to a change in the attitude of the working machine.