Method for controlling work machine, control program for work machine, control system for work machine, and work machine

Abstract

The invention provides a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine, wherein visibility of a display screen is not liable to decrease. A method for controlling a work machine includes: detecting an object to be detected (Ob1) in a monitoring area around the work machine; causing the display screen (Dp1) to be displayed on a display device; and displaying, on the display screen (Dp1), a detection target (X10), the display form of which changes in accordance with the detection result of the detection object (Ob1). The detection target (X10) is disposed along the outer peripheral edge (E10) of the display screen (Dp1).

Description

Technical Field

[0001] The present invention relates to a control method for a working machine, a control program for a working machine, a control system for a working machine, and a working machine, which are used in a working machine having a function of detecting an object to be detected in a monitoring area around the working machine. Background Art

[0002] As related art, there is known a working machine (working vehicle) capable of detecting an object existing around the working machine (for example, refer to Patent Document 1). The working machine according to the related art displays an image around the working machine on a display unit. When a detection device (detection means) detects an object existing around the working machine, an edge image obtained by performing edge processing on the surrounding image is displayed on the display unit.

[0003] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2022-175822

[0004] In the above related art, since the edge image is displayed, the area on the display screen where information can be substantially displayed becomes smaller by one circle. For example, the visibility of state information related to the state of the working machine decreases. Summary of the Invention

[0005] An object of the present invention is to provide a control method for a working machine, a control program for a working machine, a control system for a working machine, and a working machine in which the visibility of a display screen is less likely to decrease.

[0006] A control method for a working machine according to one aspect of the present invention includes: detecting an object to be detected in a monitoring area around the working machine; causing a display screen to be displayed on a display device; and causing a detection target whose display form changes according to a detection result of the object to be detected to be displayed on the display screen. The detection target is arranged along an outer peripheral edge of the display screen.

[0007] A control program for a working machine according to one aspect of the present invention is a program for causing one or more processors to execute the control method for the working machine.

[0008] A control system for a working machine according to one aspect of the present invention includes a detection processing unit and a display processing unit. The detection processing unit detects an object to be detected in a monitoring area around the working machine. The display processing unit causes a display screen to be displayed on a display device. The display processing unit causes a detection target whose display form changes according to a detection result of the object to be detected to be displayed on the display screen. The detection target is arranged along an outer peripheral edge of the display screen.

[0009] A working machine according to one aspect of the present invention includes: the control system for the working machine, and a machine body on which the display device is mounted.

[0010] According to the present invention, it is possible to provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine, in which the visibility of a display screen is less likely to decrease. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic perspective view showing the overall structure of the work machine according to Embodiment 1.

[0012] Figure 2 It is a schematic diagram showing a hydraulic circuit or the like of the work machine according to Embodiment 1.

[0013] Figure 3 It is a schematic top view schematically showing a monitoring area or the like set around the work machine when observing the work machine according to Embodiment 1 from above.

[0014] Figure 4 It is a schematic external view of a display device that displays a display screen through the control system for a work machine according to Embodiment 1.

[0015] Figure 5 It is a diagram showing an example of a display screen displayed through the control system for a work machine according to Embodiment 1.

[0016] Figure 6 It is a diagram showing an example of a display screen displayed through the control system for a work machine according to Embodiment 1.

[0017] Figure 7 It is a diagram showing an example of a display screen displayed through the control system for a work machine according to Embodiment 1.

[0018] Figure 8 It is a diagram showing an example of a display screen displayed through the control system for a work machine according to Embodiment 1.

[0019] Figure 9 It is a flowchart showing an operation example of the control system for a work machine according to Embodiment 1.

[0020] Figure 10 It is a diagram showing an example of a display screen displayed through the control system for a work machine according to Embodiment 2.

[0021] Figure 11 It is a diagram showing an example of a display screen displayed through the control system for a work machine according to Embodiment 2.

[0022] REFERENCE MARK DESCRIPTION

[0023] 1... Control system for construction machinery; 2... Display device; 3... Construction machinery; 11... Display processing unit; 15... Detection processing unit; 30... Machine body; A1... Monitoring area; Dp1... Display screen; E10... Peripheral edge; E1... First longitudinal side; E2... Second longitudinal side; G1... Margin information (second state information); Im1... Image (first state information); Im11, Im12, Im13, Im100... Captured images; Ob1... Detection object; R5... Fifth area (information prompt area); R7... Seventh area (information prompt area); R8... Eighth area (information prompt area); R10... Tenth area (information prompt area); X10... Detection target; X11... First target; X12... Second target. Detailed implementation mode

[0024] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The following embodiments are an example in which the present invention is embodied, and are not intended to limit the technical scope of the present invention.

[0025] (Embodiment 1)

[0026] [1] Overall structure

[0027] As Figure 1 shown, the construction machinery 3 according to this embodiment includes a traveling unit 31, a slewing unit 32, and a working unit 33 on the machine body 30. In addition, as Figure 2 shown, the construction machinery 3 also includes a control system 1 for construction machinery (hereinafter also simply referred to as "control system 1"). In addition, the machine body 30 also includes a display device 2 and an operation device, etc.

[0028] The so-called "construction machinery" in the present disclosure refers to various working machines. As an example, it is an excavator (including a hydraulic excavator, a mini excavator, etc.), a wheel loader, and a working vehicle such as a carrier. The construction machinery 3 includes a working unit 33, and the working unit 33 is configured to be able to perform one or more operations including at least a lifting operation. The construction machinery 3 is not limited to a "vehicle". For example, it may also be a working ship, a drone, or a multi-rotor helicopter, etc. And the construction machinery 3 is not limited to construction machinery (construction equipment). For example, it may also be an agricultural machine (agricultural equipment) such as a rice transplanter, a tractor, or a combine harvester. In this embodiment, unless otherwise specified, the following situation is taken as an example for description: The construction machinery 3 is an excavator with a lifting function (with a crane function), and in addition to the lifting operation, it can also perform operations such as excavation, land leveling, trenching, or loading as operations.

[0029] In addition, in the present embodiment, for convenience of explanation, the vertical direction when the work machine 3 is in an operable state is defined as the up-down direction D1. And, in a state where the slewing unit 32 is not slewing, the front-rear direction D2 and the left-right direction D3 are defined based on the direction observed by the user (operator) boarding the work machine 3 (the driver's cab 321). In other words, each direction used in the present embodiment is a direction defined based on the body 30 of the work machine 3. The direction in which the body 30 moves when the work machine 3 moves forward is "front", and the direction in which the body 30 moves when the work machine 3 moves backward is "rear". Similarly, the direction in which the front end of the body 30 moves when the work machine 3 slews to the right is "right", and the direction in which the front end of the body 30 moves when the work machine 3 slews to the left is "left". However, these directions are not intended to limit the usage direction (direction during use) of the work machine 3.

[0030] The work machine 3 includes an engine that serves as a power source. In the work machine 3, for example, a hydraulic pump 41 (refer to Figure 2 ) is driven by the engine, and working oil is supplied from the hydraulic pump 41 to the hydraulic actuators (including the hydraulic motor 43 and the hydraulic cylinder 44, etc.) of each part of the body 30, thereby driving the body 30. In addition, the work machine 3 is controlled, for example, by the user (operator) boarding the driver's cab 321 of the body 30 operating the operation lever of the operation device or the like.

[0031] In the present embodiment, as described above, it is assumed that the work machine 3 is a ride-on backhoe excavator. Therefore, the working unit 33 is driven according to the operation of the user (operator) boarding the driver's cab 321 and performs operations such as excavation work. The driver's cab 321 for the user to board is provided on the slewing unit 32.

[0032] The traveling unit 31 has a traveling function and is configured to be able to travel (including slewing) on the ground. The traveling unit 31 has, for example, a pair of left and right crawlers 311 and a bulldozer blade 312, etc. The traveling unit 31 also has a traveling hydraulic motor 43 (hydraulic actuator) for driving the crawlers 311, etc.

[0033] The slewing unit 32 is located above the traveling unit 31 and is configured to be able to slew around a rotation axis along the vertical direction with respect to the traveling unit 31. The slewing unit 32 has a slewing hydraulic motor (hydraulic actuator), etc. In addition to the driver's cab 321, an engine and a hydraulic pump 41, etc. are also mounted on the slewing unit 32. And, a boom bracket 322 for mounting the working unit 33 is provided at the front end of the slewing unit 32.

[0034] The working unit 33 is configured to be able to perform operations including hoisting operations. The working unit 33 is supported by the boom bracket 322 of the slewing unit 32 and performs operations. The working unit 33 includes a bucket 331, a boom 332, an arm 333, etc. The working unit 33 also has hydraulic actuators (including hydraulic cylinders 44 and hydraulic motors, etc.) for driving each part.

[0035] The bucket 331 is a type of fitting (working tool) installed on the body 30 of the construction machine 3 and is composed of any tool selected from a variety of fittings according to the operation content. As an example, the bucket 331 is detachably installed on the body 30 and replaced according to the operation content. As fittings for the construction machine 3, in addition to the bucket 331, there are various tools such as crushers, augers, grinders, fork teeth, fork claws, steel frame cutters, asphalt cutters, lawn mowers, rippers, mulchers, tilt rotators (Japanese: チルトローテータ), and rammers. The working unit 33 drives the bucket 331 using the power from the drive device to perform operations.

[0036] The boom 332 is supported by the boom bracket 322 of the slewing unit 32 so as to be rotatable. Specifically, the boom 332 is supported by the boom bracket 322 so as to be rotatable about a rotation axis along the horizontal direction. The boom 332 has a shape extending upward from the base end portion supported by the boom bracket 322. The arm 333 is connected to the front end of the boom 332. The arm 333 is supported so as to be rotatable about a rotation axis along the horizontal direction with respect to the boom 332. The bucket 331 is installed at the front end of the arm 333.

[0037] The working unit 33 receives power from the engine as a power source and operates. Specifically, the engine drives the hydraulic pump 41, and hydraulic oil is supplied from the hydraulic pump 41 to the hydraulic actuators (such as the hydraulic cylinder 44) of the working unit 33, so that each part (the bucket 331, the boom 332, and the arm 333) of the working unit 33 operates.

[0038] Particularly in this embodiment, the working unit 33 has a multi-joint structure in which the boom 332 and the arm 333 are configured to be rotatable independently of each other. That is, by the boom 332 and the arm 333 each rotating about a rotation axis along the horizontal direction, the multi-joint working unit 33 including the boom 332 and the arm 333 as a whole can perform stretching and folding operations.

[0039] Regarding the traveling unit 31 and the slewing unit 32, they also operate by receiving power from the engine as a power source in the same way as the working unit 33. That is, hydraulic oil is supplied from the hydraulic pump 41 to the hydraulic motor 43 of the traveling unit 31 and the hydraulic motor of the slewing unit 32, etc., so that the slewing unit 32 and the traveling unit 31 operate.

[0040] The engine functions as a power source for supplying power to various parts as described above. Here, the engine is mounted on the rotating part 32 together with the hydraulic pump 41 and the like. In the present embodiment, as an example, the engine is a diesel engine. The engine is driven by being supplied with fuel (here, light oil) from the fuel tank.

[0041] Here, various sensors (including cameras) for detecting the detection object Ob1 (refer to Figure 3 ) in the monitoring area A1 (refer to Figure 3 ) around the work machine 3, such as cameras for photographing the periphery of the machine body 30, are equipped on the machine body 30. In the present embodiment, as an example, as Figure 3 shown, a plurality (here, three) of cameras (imaging devices), including the left camera 341, the right camera 342, and the rear camera 343, are mounted on the rotating part 32 of the machine body 30. And, as Figure 3 shown, the detection device 5 for detecting the detection object Ob1 in the monitoring area A1 is mounted on the rotating part 32 of the machine body 30.

[0042] The left camera 341, the right camera 342, and the rear camera 343 are connected to the control system 1 and output the images captured by each of them to the control system 1. Figure 3 is a top view obtained by observing the work machine 3 from above, schematically showing the monitoring area A1, the detection object Ob1, and the machine body 30 (including the left camera 341, the right camera 342, and the rear camera 343) of the work machine 3 set around.

[0043] The left camera 341, the right camera 342, and the rear camera 343 are respectively arranged to face the left, right, and rear with the driver's cab 321 as a reference in such a way that they can photograph the monitoring areas A1 that are to the left, right, and rear as seen by the operator riding in the driver's cab 321 on the rotating part 32. That is, as Figure 3 shown, the monitoring area A1 includes a plurality (here, three) of small areas A11, A12, and A13. The left camera 341 photographs the small area A11 (left area) that is to the left as seen by the operator riding in the driver's cab 321. Similarly, the right camera 342 photographs the small area A12 (right area) that is to the right as seen by the operator riding in the driver's cab 321, and the rear camera 343 photographs the small area A13 (rear area) that is to the rear as seen by the operator riding in the driver's cab 321. Thus, the left camera 341, the right camera 342, and the rear camera 343 can cover the sides (left and right) and the rear that are likely to be blind spots for the operator.

[0044] The detection device 5 is connected to the control system 1 and outputs the detection result of the detection object Ob1 in the monitoring area A1 to the control system 1. Here, as an example, the detection device 5 is arranged facing the rear in such a way that it can detect the detection object Ob1 in the monitoring area A1 that can be photographed by the left camera 341, the right camera 342, and the rear camera 343. That is, the detection range of the detection device 5 for the detection object Ob1 is the same as the photographable range (monitoring area A1) of the left camera 341, the right camera 342, and the rear camera 343.

[0045] In the present embodiment, the detection device 5 has a sensor 51 (refer to Figure 2 ) and a photographing unit 52 (refer to Figure 2 ). The sensor 51 is a three-dimensional sensor, and this three-dimensional sensor measures the distance to the ranging point by the TOF (Time Of Flight) method based on the round-trip time until the radio wave, light, sound, etc. reach the ranging point and return, and measures the distance to the detection object Ob1. The sensor 51 is, for example, a ranging sensor that uses radio waves as a medium like a millimeter-wave radar to determine the distance to the detection object Ob1, the azimuth where the detection object Ob1 is located, etc. The photographing unit 52 is a camera (including an image sensor and optical elements) that photographs the image of the detection area (monitoring area A1) of the sensor 51. Thus, according to the detection device 5 formed by combining the sensor 51 and the photographing unit 52, when there is a detection object Ob1 in the monitoring area A1, the three-dimensional position and attributes (shape, size, color, movement, etc.) of the detection object Ob1 can be determined.

[0046] That is, the detection result of the detection device 5 can include the presence or absence of the detection object Ob1 in the monitoring area A1, the position of the detection object Ob1 in the monitoring area A1 when there is a detection object Ob1 in the monitoring area A1, the attributes of the detection object Ob1, etc.

[0047] In short, the detection device 5 detects the detection object Ob1 in the monitoring area A1 around the working machine 3. The detection device 5 determines the presence or absence (existence or non-existence) of the detection object Ob1 in the monitoring area A1 and outputs the detection result indicating whether there is a detection object Ob1 in the monitoring area A1. In the present embodiment, as an example, the detection object Ob1 is a "person". That is, when the working machine 3 moves or the "person" around the working machine 3 moves and the "person" invades the monitoring area A1 around the working machine 3, the detection device 5 detects this "person" as the detection object Ob1. When there are multiple detection objects Ob1 in the monitoring area A1, the detection device 5 can also detect including the number (number of people) of the detection objects Ob1.

[0048] In Figure 2 , the hydraulic circuit and electrical circuit (electrical connection relationship) of the work machine 3 involved in the present embodiment are schematically shown. In Figure 2 , solid lines represent high-pressure (for working oil) oil paths, dashed lines represent low-pressure (for pilot oil) oil paths, and arrowheads of dash-dotted lines represent paths of electrical signals.

[0049] As Figure 2 shown, in addition to a hydraulic pump 41, a hydraulic motor 43 ( Figure 2 the illustration thereof is omitted in

[0050] ) and a hydraulic cylinder 44, the work machine 3 further includes a pilot pump 42, a remote control valve 45, a control valve 46, a direction switching valve (adjusting valve) 47, and the like.

[0051] The working oil from the hydraulic pump 41 driven by the engine is supplied to the hydraulic motor 43 of the traveling unit 31, the hydraulic motor of the slewing unit 32, the hydraulic cylinder 44 of the working unit 33, and the like. Thereby, hydraulic actuators such as the hydraulic motor 43 and the hydraulic cylinder 44 are driven.

[0052] Here, for example, a remote control valve 45 is provided in the supply path of the pilot oil of the direction switching valve 47 corresponding to the hydraulic cylinder 44 of the working unit 33. The remote control valve 45 outputs a work operation instruction for the working unit 33 according to the operation of the operation lever. The work operation instruction indicates an unfolding operation, a shrinking operation, etc. of the working unit 33. In addition, an electromagnetic control valve 46 (solenoid valve) is inserted between the remote control valve 45 and the pilot pump 42. The control valve 46 is connected to the power supply 351 via a cut-off relay 352 and a cut-off switch 353, and operates according to the supply current from the power supply 351.

[0053] Similarly, a remote control valve is also provided in the supply path of the pilot oil of the direction switching valve corresponding to the hydraulic motor 43 of the traveling unit 31. This remote control valve outputs a traveling operation command for the traveling unit 31 according to the operation of the operation lever. The traveling operation command indicates the traveling action (such as forward or backward) of the traveling unit 31. Also, a remote control valve is provided in the supply path of the pilot oil of the direction switching valve corresponding to the hydraulic motor of the slewing unit 32. This remote control valve outputs a slewing operation command for the slewing unit 32 according to the operation of the operation lever. The slewing operation command indicates the slewing action (such as left slewing or right slewing) of the slewing unit 32. Moreover, an electromagnetic control valve 46 (solenoid valve) is inserted between these remote control valves and the pilot pump 42. The control valve 46 is connected to the power supply 351 via the cutoff relay 352 and the cutoff switch 353 and operates according to the supply current from the power supply 351.

[0054] When the control valve 46 is in the energized state, that is, the state where the supply current is supplied, it opens the flow path of the pilot oil from the pilot pump 42 to the remote control valve 45. When it is in the non-energized state, that is, the state where the supply current is cut off, it cuts off the flow path of the pilot oil. Therefore, by cutting off the supply current to the control valve 46, the hydraulic actuator corresponding to the remote control valve 45 cannot be driven, and the output of the hydraulic actuator is forcibly stopped regardless of the operation of the operation lever.

[0055] Here, the cutoff relay 352 is connected to the control system 1 and switches between on and off according to the control signal (electrical signal) from the control system 1. The cutoff switch 353 switches between on and off according to the operation of the cutoff lever 354. For example, it is on when the cutoff lever 354 is operated to the lower position. Therefore, when both the cutoff relay 352 and the cutoff switch 353 are on, the control valve 46 is in the energized state, and the flow path of the pilot oil from the pilot pump 42 to the remote control valve 45 is opened, so the hydraulic actuator is driven according to the operation of the operation lever. In contrast, when at least one of the cutoff relay 352 and the cutoff switch 353 is off, the control valve 46 is in the non-energized state, the flow path of the pilot oil is cut off, and the hydraulic actuator cannot be driven.

[0056] For example, when at least one of the cutoff relay 352 and the cutoff switch 353 connected to the control valve 46 inserted between the remote control valve corresponding to the hydraulic motor of the slewing unit 32 and the pilot pump 42 is off, the hydraulic motor of the slewing unit 32 cannot be driven. In this state, the output of the hydraulic actuator (the hydraulic motor of the slewing unit 32) is forcibly stopped regardless of the operation of the operation lever, so the slewing action of the slewing unit 32 is prohibited.

[0057] The cutoff lever 354 is disposed in the driver's cab 321 of the machine body 30 and receives operation inputs from the user (operator). In the present embodiment, as an example, the cutoff lever 354 can be operated in the vertical direction D1. When the cutoff lever 354 is at the upper end position of the movable range, that is, the "raised position", the cutoff switch 353 is "off", and when the cutoff lever 354 is at the lower end position of the movable range, that is, the "lowered position", the cutoff switch 353 is on.

[0058] Therefore, when the cutoff lever 354 is in the "lowered position", the hydraulic actuator (hydraulic motor of the rotating part 32) is driven by the operation of the operating lever. In contrast, when the cutoff lever 354 is in the "raised position", the output of the hydraulic actuator is forcibly stopped regardless of the operation of the operating lever. Therefore, in order to drive the hydraulic actuator, the user (operator) needs to operate the cutoff lever 354 to the "lowered position".

[0059] In the present embodiment, the state of the cutoff lever 354 when the cutoff lever 354 is in the "raised position", that is, when the work machine 3 is in an inoperable state, is defined as the "locked state". On the other hand, the state of the cutoff lever 354 when the cutoff lever 354 is in the "lowered position", that is, when the work machine 3 is in an operable state, is defined as the "unlocked state".

[0060] In short, the cutoff switch 353 is in the "locked state" in which the operation of the work machine 3 is restricted (including prohibited) when it is off, and in the "unlocked state" in which the operation of the work machine 3 is not restricted when it is on. Moreover, when the cutoff lever 354 is in the "raised position" and the cutoff switch 353 is in the locked state (off), the operation of the work machine 3 is forcibly restricted regardless of the operation of the operating device 35. The cutoff lever 354 is a lever that is operated when locking the operation of the work machine 3 and is synonymous with the gate locking lever.

[0061] The control system 1 is mainly composed of a computer system having one or more processors such as a CPU (Central Processing Unit), and one or more memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and executes various processes (information processing). In the present embodiment, the control system 1 is a comprehensive controller that controls the entire work machine 3 and is constituted by, for example, an electronic control unit (ECU: Electronic Control Unit). However, the control system 1 may also be provided separately from the comprehensive controller. Details of the control system 1 are described in the section "[2] Structure of the control system".

[0062] The display device 2 is disposed in the driver's cab 321 of the machine body 30, and is a user interface for receiving operation inputs by a user (operator) and outputting various information to the user. For example, the display device 2 receives various operations by the user by outputting an electric signal corresponding to the operation of the user. Thereby, the user (operator) can visually confirm the display screen Dp1 (refer to Figure 4 ) displayed on the display device 2, and can operate the display device 2 as needed.

[0063] As Figure 2 shown, the display device 2 includes a control unit 21, an operation unit 22, and a display unit 23. The display device 2 is configured to be able to communicate with the control system 1 and can transmit and receive data between itself and the control system 1. In the present embodiment, as an example, the display device 2 is a dedicated device for the construction machine 3.

[0064] The control unit 21 controls the display device 2 according to the data from the control system 1. Specifically, the control unit 21 outputs an electric signal corresponding to the operation of the user received by the operation unit 22, and displays the display screen Dp1 generated by the control system 1 on the display unit 23.

[0065] The operation unit 22 is a user interface for receiving operation inputs by a user (operator) on the display screen Dp1 displayed on the display unit 23. For example, the operation unit 22 receives various operations by the user U1 (refer to Figure 4 ) by outputting an electric signal corresponding to the operation of the user U1. In the present embodiment, as an example, as Figure 4 shown, the operation unit 22 includes a plurality of (here, six) mechanical push-button switches 221 to 226. The plurality of push-button switches 221 to 226 are arranged close to the display area (below in the example of Figure 4 ) along the periphery of the display area of the display unit 23. The plurality of push-button switches 221 to 226 are associated with items displayed on the display screen Dp1 described later, and any one of the plurality of push-button switches 221 to 226 is operated to operate (select) any one item on the display screen Dp1.

[0066] In addition, the operation unit 22 may include a touch panel, an operation dial, and the like. In this case, any one item on the display screen Dp1 is also operated (selected) by operating the operation unit 22.

[0067] The display unit 23 is a user interface such as a liquid crystal display or an organic EL display for displaying various information to prompt information to the user U1 (operator). The display unit 23 prompts various information to the user by displaying. In the present embodiment, as an example, the display unit 23 is a full-color liquid crystal display with backlight, asFigure 4 A display area having a horizontally long "horizontal length" as shown.

[0068] The display device 2 presents various information to the user U1 (operator) of the operating work machine 3 through the display screen Dp1. That is, the user U1 of the operating work machine 3 can visually obtain various information related to the work machine 3 by observing the display screen Dp1 displayed on the display device 2. As an example, the display device 2 displays information related to the operating state of the work machine 3 such as the coolant water temperature and the working oil temperature, so that the user U1 can confirm the information related to the operating state of the work machine 3 required for operating the work machine 3 through the display device 2. In addition, for the surrounding images (images of the monitoring area A1) of the work machine 3 captured by the left camera 341, the right camera 342, and the rear camera 343, the display device 2 can also display them on the display screen Dp1. Thus, the user U1 (operator) can, for example, confirm the conditions of the sides and rear of the work machine 3 that are likely to be blind spots when viewed from the driver's cab 321 through the display screen Dp1 displayed on the display device 2 when operating the work machine 3.

[0069] Moreover, the work machine 3 is provided with a sound output unit 36 that outputs sound (including voice) to the user U1 (operator) (refer to Figure 2 ). The sound output unit 36 includes a buzzer or a speaker, etc., and receives an electrical signal to output sound. The sound output unit 36 is connected to the control system 1 and outputs sounds such as a buzzer sound or voice according to the sound control signal from the control system 1. In the present embodiment, the sound output unit 36 is provided in the driver's cab 321 of the machine body 30 in the same manner as the display device 2. The sound output unit 36 may also be provided integrally with the display device 2.

[0070] In addition, in addition to the above-described structure, the machine body 30 is further provided with an operating lever, a communication terminal, a fuel tank, a battery, etc. And, sensors for monitoring the operating state of the machine body 30 such as a coolant water temperature sensor, a working oil temperature sensor, a tachometer for measuring the engine speed, and a timer for measuring the operating time are equipped on the machine body 30. In addition, sensors for detecting the states of the stop lever 354 and the start key switch, etc. are also equipped on the machine body 30.

[0071] [2] Structure of the control system

[0072] Next, refer to Figure 2The structure of the control system 1 according to this embodiment will be described. The control system 1 controls the display device 2 so that the display screen Dp1 is displayed on the display device 2. In this embodiment, the display device 2 is mounted on the body 30 of the work machine 3 as described above. The control system 1 is a structural element of the work machine 3 and constitutes the work machine 3 together with the body 30 and the like. In other words, the work machine 3 according to this embodiment includes at least: the control system 1; and the body 30 (including the traveling unit 31, the slewing unit 32, and the working unit 33) on which the display device 2 is mounted.

[0073] In the present disclosure, the "screen" such as the display screen Dp1 refers to the image (picture) displayed by the display device 2, including images, graphics, photos, text expressions, and moving images, etc. That is, the control system 1 can, for example, cause the display screen Dp1 including an image or the like representing information related to the operating state of the work machine 3 such as the coolant water temperature and the working oil temperature to be displayed on the display device 2. Here, when the display screen Dp1 includes a moving image or the like, the display screen Dp1 is not a constant image but includes an image that changes all the time.

[0074] As Figure 2 shown, the control system 1 includes a display processing unit 11, a restraint processing unit 12, a switching processing unit 13, an image acquisition unit 14, and a detection processing unit 15. In this embodiment, as an example, the control system 1 has a computer system having one or more processors as the main structure, so that the above-mentioned multiple functional units (display processing unit 11, etc.) are implemented by executing a control program for a work machine by one or more processors. The above-mentioned multiple functional units included in the control system 1 can be dispersedly arranged in multiple housings or can be arranged in one housing.

[0075] The control system 1 is configured to be able to communicate with devices provided in various parts of the body 30. That is, the control system 1 is connected to at least the display device 2, the detection device 5, the sound output unit 36, the cutoff relay 352, the left camera 341, the right camera 342, and the rear camera 343, etc. Thereby, the control system 1 can control the display device 2, the sound output unit 36, etc., control the cutoff relay 352 to control the control valve 46, and obtain the detection results of the detection device 5 and the captured images of the left camera 341, the right camera 342, and the rear camera 343, etc. Here, the control system 1 can directly send and receive various information (data) with each device, or can indirectly do so via a repeater or the like.

[0076] The image acquisition unit 14 performs image acquisition processing for acquiring a captured image of the monitoring area A1 around the working machine 3. In the present embodiment, the image acquisition unit 14 periodically or irregularly acquires the outputs of the left camera 341, the right camera 342, and the rear camera 343 from the left camera 341, the right camera 342, and the rear camera 343. That is, the image acquisition unit 14 acquires image data (captured images) of the monitoring area A1 (each small area A11, A12, A13) around the working machine 3. The data acquired by the image acquisition unit 14 is stored in, for example, a memory or the like.

[0077] The detection processing unit 15 performs detection processing for detecting the detection target object Ob1 in the monitoring area A1. In the present embodiment, since the detection device 5 detects the detection target object Ob1 in the monitoring area A1, the detection processing unit 15 detects the detection target object Ob1 in the monitoring area A1 by acquiring the detection result of the detection device 5 from the detection device 5.

[0078] Based on the detection result of the detection device 5, the restraint processing unit 12 performs restraint processing for restraining the operation of the working machine 3. In the present embodiment, when the detection result of the detection device 5 indicates that there is a detection target object Ob1 (here, a person) in the monitoring area A1, the restraint processing unit 12 performs restraint processing. The so-called "restraint processing" in the present disclosure refers to processing that acts in a direction of suppressing the operation of the working machine 3 to some extent. As an example, the restraint processing includes the following processing: warning the user U1 (operator) who operates the working machine 3 by sound or light (including display) to indirectly restrain the operation of the working machine 3. And the restraint processing includes the following processing: directly restraining the operation of the working machine 3 by controlling the traveling unit 31, the slewing unit 32, the working unit 33, etc. of the working machine 3.

[0079] In the present embodiment, the restraint processing unit 12 includes a sound output processing unit 121 and a restriction processing unit 122.

[0080] When there is a detected object Ob1 in the monitoring area A1, the sound output processing unit 121 controls the sound output unit 36 to output a reporting sound from the sound output unit 36. That is, in this embodiment, the restraint processing includes the sound output processing of outputting a reporting sound. The reporting sound can be a simple beeping sound or a voice such as "Please pay attention". Also, the reporting sound can vary according to the detection result of the detection device 5 (the distance from the body 30 to the detected object Ob1, etc.). Thus, by means of the reporting sound, the user U1 (operator) of the operating work machine 3 is warned, so that the movement of the work machine 3 can be indirectly restrained, and therefore the operating freedom of the work machine 3 is relatively high. That is, the user U1 operates the work machine 3 while paying attention to the detected object Ob1, so that the movement of the work machine 3 can be continued while avoiding contact with the detected object Ob1.

[0081] When there is a detected object Ob1 in the monitoring area A1, the restriction processing unit 122 controls the cutoff relay 352 to make the cutoff relay 352 open. As a result, the control valve 46 connected to the power supply 351 via the cutoff relay 352 becomes de-energized, and the output of the hydraulic actuator corresponding to the control valve 46 is forcibly stopped. That is, in this embodiment, the restraint processing includes the restriction processing of restricting the movement of the work machine 3. The so-called "restriction processing" in the present disclosure refers to a processing that acts in a direction of imposing certain restrictions on the movement of the work machine 3. As an example, the restriction processing includes processing for prohibiting the traveling action of the traveling unit 31 (inability to perform the traveling action), processing for prohibiting the turning action of the turning unit 32 (inability to perform the turning action), and processing for prohibiting the action of the working unit 33 (inability to perform the work), etc. Thus, regardless of the operation of the user U1 (operator), the movement of the work machine 3 can be forcibly restricted. That is, contact between the body 30 and the detected object Ob1 caused by the movement of the work machine 3 can be avoided.

[0082] Here, the restriction process executed by the restriction processing unit 122 includes at least a process of restricting the rotation action of the rotation unit 32. Specifically, the restriction processing unit 122 is configured to be able to control the cutoff relay 352 connected to the control valve 46 corresponding to the hydraulic motor of the rotation unit 32, and when a detection object Ob1 exists in the monitoring area A1, the cutoff relay 352 is turned off. Thereby, when a detection object Ob1 exists in the monitoring area A1, the hydraulic motor of the rotation unit 32 cannot be driven. If the rotation unit 32 is in a rotation action, the rotation unit 32 stops urgently. If the rotation unit 32 is not in a rotation action, the rotation action of the rotation unit 32 is prohibited. That is, in the present embodiment, the working machine 3 includes: a traveling unit 31; and a rotation unit 32 that can rotate relative to the traveling unit 31. The restriction process restricts at least the rotation action of the rotation unit 32. Thereby, when a detection object Ob1 exists in the monitoring area A1 that is a blind spot of the user U1 (operator), contact between the machine body 30 and the detection object Ob1 caused by the rotation of the rotation unit 32 can be avoided.

[0083] The switching processing unit 13 switches the validity and invalidity of the detection processing unit 15. That is, the switching processing unit 13 switches the validity and invalidity of the functions related to the detection processing of the detection object Ob1 in the monitoring area A1 by the detection processing unit 15. In short, the detection processing unit 15 is not always valid and can be switched between valid and invalid. If the detection processing unit 15 is valid, when a detection object Ob1 exists in the monitoring area A1, the detection object Ob1 is detected by the detection processing unit 15, and thus the restraint process by the restraint processing unit 12 is executed. On the other hand, if the detection processing unit 15 is invalid, even when a detection object Ob1 exists in the monitoring area A1, the detection object Ob1 is not detected by the detection processing unit 15, and thus the restraint process by the restraint processing unit 12 is not executed.

[0084] In the present embodiment, the switching processing unit 13 switches the validity and invalidity of the detection processing unit 15 according to whether the detection device 5 is operated. That is, the switching processing unit 13 operates the detection device 5 when the detection processing unit 15 is made valid, and does not operate the detection device 5 when the detection processing unit 15 is made invalid. Thereby, when the detection processing unit 15 is invalid, power consumption caused by the detection device 5 can be suppressed.

[0085] However, it is not limited to this structure. For example, the switching processing unit 13 can also invalidate the detection processing of the detection processing unit 15 (acquisition of the detection result from the detection device 5), or invalidate the acquired detection result, etc., to invalidate the detection processing unit 15. In this case, when the detection processing unit 15 is invalidated, although the detection device 5 itself operates, even if there is a detection object Ob1 in the monitoring area A1, the restraint processing by the restraint processing unit 12 is not executed. In short, the switching processing unit 13 can also invalidate the detection processing unit 15 by invalidating the processing that uses the detection result of the detection device 5.

[0086] In the present embodiment, as an example, the switching between the validity and invalidity of the detection processing unit 15 is performed by the user U1 (operator) operating the display device 2. That is, if the user U1 operates the operation unit 22 of the display device 2 in a manner that makes the detection processing unit 15 valid, the switching processing unit 13 receives this operation and makes the detection processing unit 15 valid. On the other hand, if the user U1 operates the operation unit 22 of the display device 2 in a manner that makes the detection processing unit 15 invalid, the switching processing unit 13 receives this operation and makes the detection processing unit 15 invalid.

[0087] In addition, in the present embodiment, the restraint processing performed by the restraint processing unit 12 includes the sound output processing performed by the sound output processing unit 121 and the restraint processing performed by the restraint processing unit 122. In this way, the restraint processing includes a plurality of specific processes (such as sound output processing and restraint processing) for restraining the operation of the work machine 3. Here, the restraint processing can also be independently switched between valid and invalid for each specific process. That is, the switching processing unit 13 can also independently switch between valid and invalid for the sound output processing unit 121 and the restraint processing unit 122 in the restraint processing unit 12. As an example, it is possible to make the sound output processing unit 121 valid and the restraint processing unit 122 invalid, or make the sound output processing unit 121 invalid and the restraint processing unit 122 valid. Thereby, according to the situation, only the necessary specific processes can be made valid, and the degree of freedom of the restraint processing is improved.

[0088] The display processing unit 11 at least executes the display processing for displaying the display screen Dp1 on the display device 2. Specifically, the display processing unit 11 generates the display screen Dp1 based on the data acquired by the image acquisition unit 14, etc., and controls the display device 2 so that the display screen Dp1 is displayed on the display unit 23 of the display device 2. And the display processing unit 11 operates according to the operation received by the operation unit 22 of the display device 2. The display processing unit 11, for example, makes the captured images Im100 taken by the left camera 341, the right camera 342, and the rear camera 343 (refer to Figure 5)It is displayed on the display screen Dp1. That is, the display processing unit 11 causes an image of the monitoring area A1 around the work machine 3 to be displayed on the display device 2.

[0089] Here, the display processing unit 11 causes the detection target X10 (refer to Figure 5 ) to be displayed on the display screen Dp1, and the display form of the detection target X10 changes according to the detection result of the detection target object Ob1 by the detection processing unit 15. In the present disclosure, so-called "targets" such as the detection target X10 include marks, images, graphics, photos, text expressions, moving images, etc. displayed on the display screen Dp1 or combinations thereof.

[0090] Thus, for the user U1 (operator), through the detection target X10 displayed on the display screen Dp1, the detection result (presence or absence, etc.) of the detection target object Ob1 in the monitoring area A1 can be grasped. That is, the user U1 can visually confirm the detection result of the detection target object Ob1 and can operate the work machine 3 on the basis of knowing the presence or absence, etc. of the detection target object Ob1 in the monitoring area A1.

[0091] In addition, in the present embodiment, the detection processing unit 15 obtains the detection result of the detection device 5 outside the control system 1 and performs the detection processing of the detection target object Ob1 based on this detection result, but is not limited to this structure. For example, the detection processing unit 15 can also perform the detection processing of the detection target object Ob1 in the monitoring area A1 based on the output of the sensor 51 and / or the photographing unit 52 outside the control system 1.

[0092] [3] Control method of work machine

[0093] Hereinafter, with reference to Figures 5 to 9 , an example of the control method (hereinafter simply referred to as "control method") of the work machine 3 executed by the control system 1 will be mainly described.

[0094] The control method according to the present embodiment is executed by the control system 1 mainly composed of a computer system. Therefore, in other words, it is specifically embodied by a control program for work machines (hereinafter simply referred to as "control program"). That is, the control program according to the present embodiment is a computer program for causing one or more processors to execute each process related to the control method. Such a control program can also be executed in cooperation with the control system 1 and the display device 2, for example.

[0095] Here, in the case where a preset specific start operation for executing the control program is performed, the control system 1 performs the following various processes involved in the control method. The start operation is, for example, a start operation of the engine of the work machine 3 or the like. On the other hand, in the case where a preset specific end operation is performed, the control system 1 ends the following various processes involved in the control method. The end operation is, for example, a stop operation of the engine of the work machine 3 or the like.

[0096] [3.1] Display screen

[0097] Here, first, the structure of the display screen Dp1 displayed on the display unit 23 of the display device 2 by the control method according to the present embodiment will be described. In Figure 5 In the drawings showing the display screen Dp1 displayed on the display unit 23 of the display device 2, the dotted lines, leader lines, and reference numerals indicating the regions are only marked for the purpose of explanation and are not actually displayed on the display device 2.

[0098] Figure 5 The displayed display screen Dp1 is the main screen initially displayed by the control method. The main screen is the basic display screen Dp1 first displayed on the display device 2 during the operation of the work machine 3. The display screen Dp1 can migrate from the main screen to various display screens Dp1 including a menu screen, a crane screen, a mode screen, a PTO screen, etc. according to the operation of the operation unit 22.

[0099] As Figure 5 shown, the display screen Dp1 includes a first region R1, a second region R2, a third region R3, a fourth region R4, a fifth region R5, a sixth region R6, a seventh region R7, an eighth region R8, a ninth region R9, and a tenth region R10. In the control method according to the present embodiment, as an example, a captured image Im100 of the monitoring region A1 or the like is displayed in the second region R2 that occupies most of the display screen Dp1.

[0100] Specifically, the display screen Dp1 is divided into four regions in the vertical direction (up and down direction). Moreover, the upper three regions are further divided into three regions in the horizontal direction (left and right direction). Thus, the display screen Dp1 is divided into a total of 10 regions. Moreover, the regions of the second layer from the top are, in order from the left, the first region R1, the second region R2, and the third region R3. The lowermost region is the fourth region R4. And the regions of the third layer from the top are, in order from the left, the fifth region R5, the sixth region R6, and the seventh region R7, and the regions of the uppermost layer are, in order from the left, the eighth region R8, the ninth region R9, and the tenth region R10. Regarding the vertical dimension, among the four regions divided vertically, the region of the second layer from the top (the first region R1, the second region R2, and the third region R3) is the widest. Regarding the horizontal dimension, among the three regions divided horizontally, the central region (the second region R2, the sixth region R6, and the ninth region R9) is the widest.

[0101] However, the configuration and dimensions of the above-mentioned respective regions are merely examples and can be appropriately changed. In addition, the respective regions do not necessarily have to be clearly divided by dividing lines. For example, in Figure 5 the example of, with respect to the second region R2 and the third region R3 being clearly divided by a dividing line, there is no dividing line between the first region R1 and the second region R2. Of course, the first region R1 and the second region R2 can also be clearly divided by a dividing line.

[0102] The first region R1 is a rectangular region that is longer in the vertical direction. In the first region R1, for example, the remaining amount information G1 related to the remaining amount of fuel (e.g., light oil) of the engine is displayed. The display processing unit 11 generates the remaining amount information G1 in the display screen Dp1 based on the output (sensor signal) of the remaining amount sensor, etc.

[0103] The second region R2 is a rectangular region that is longer in the horizontal direction. The captured image Im100 of the monitoring region A1 is displayed in the second region R2. The captured image Im10 of the aircraft target and the captured image Im200 of the rear camera 343 are also displayed in the second region R2, etc.

[0104] The captured image Im100 is an aerial view image generated by performing coordinate transformation and synthesis on the captured images of the left camera 341, the right camera 342, and the rear camera 343. That is, the captured image Im100 is an image obtained by synthesizing the image of the small area A11 on the left side of the driver's cab 321 captured by the left camera 341, the image of the small area A12 on the right side of the driver's cab 321 captured by the right camera 342, and the image of the small area A13 at the rear of the driver's cab 321 captured by the rear camera 343, and is displayed in the form of overlooking the monitoring area A1 from above the vehicle body 30. The display processing unit 11 synthesizes the captured images obtained by the image acquisition unit 14 and displays them in real time.

[0105] The vehicle body target Im10 is displayed within the eleventh area R11 set at the center of the second area R2. In the present embodiment, as an example, the vehicle body target Im10 is an image (icon) simulating the vehicle body 30 observed from above. The captured image Im200 is an image of the small area A13 at the rear of the driver's cab 321 captured by the rear camera 343.

[0106] The third area R3 is a rectangular area that is long in the vertical direction. Images (icons) Im1 corresponding to the operating states of the respective parts of the work machine 3 are displayed in the third area R3. A plurality of images Im1 can be displayed in the third area R3, and the state of any one of, for example, the battery, seat belt, coolant water temperature, working oil temperature, etc. is represented by the design (pattern) of each image Im1. Here, each image Im1 represents the operating state by a display form such as display color or size. The display processing unit 11 uses the outputs of various sensors (including a coolant water temperature sensor and a working oil temperature sensor) that detect the operating states of the respective parts of the work machine 3 to determine the states of the respective parts of the work machine 3. Moreover, when an abnormal value is detected at any part, the display processing unit 11 performs warning display by changing the display form such as the display color of the image Im1 of that part.

[0107] The fourth area R4 is a strip-shaped area that extends across the entire width of the display screen Dp1. Items for operating the display screen Dp1 are displayed in the fourth area R4. In Figure 5 this, as an example, the six items of "Menu", "Crane", "Mode", "Camera", "PTO", and "Switch" are arranged in sequence from left to right in the fourth area R4. These six items respectively correspond to the six button switches 221 to 226 of the operation unit 22 located directly below them. For example, the "Menu" item corresponds to the button switch 221, and the "Crane" item corresponds to the button switch 222. Therefore, for example, if the button switch 224 corresponding to the "Camera" item is operated by the user U1 (refer to Figure 4) If an operation is performed, the "Camera" item is operated (selected).

[0108] Also, in the present embodiment, in a manner corresponding to the operation of the operation dial (or cursor keys) of the operation unit 22, any one item is highlighted in the fourth region R4. In Figure 5 this example, the "Menu" item is highlighted, and the highlighted item is switched by the operation of the operation dial (or cursor keys). For the user U1, by operating the determination button in a state where the desired item is highlighted, the desired item can be selected. Therefore, for example, if the determination button is operated in a state where the highlight is moved to the "Camera" item, the "Camera" item is operated (selected). In addition, when the operation unit 22 includes a touch panel, the user U1 can select the desired item by touching the operation of the desired item on the display screen Dp1.

[0109] In the fifth region R5, a warning display image (icon) indicating an abnormal value detected by various sensors (including the coolant water temperature sensor and the working oil temperature sensor) is displayed. In the sixth region R6, information related to the working unit 33 during the operation of the work machine 3 is displayed, for example. In the seventh region R7, information related to the operating state of the work machine 3 such as the engine speed is displayed, for example. In the eighth region R8, the current time is displayed, for example. In the ninth region R9, information indicating the item to which the currently displayed display screen Dp1 belongs is displayed, for example. In the tenth region R10, information related to the operation time (timer) of the work machine 3 is displayed, for example.

[0110] Also, a detection target X10 whose display form changes according to the detection result of the detection object Ob1 by the detection processing unit 15 is displayed on the display screen Dp1. Here, the detection target X10 is arranged along the outer peripheral edge E10 of the display screen Dp1. Details of the detection target X10 are described in the column of "[3.2 Details]".

[0111] [3.2] Details

[0112] Next, the details of the control method according to the present embodiment will be described.

[0113] The control method according to the present embodiment includes: detecting a detection object Ob1 in a monitoring area A1 around the work machine 3 (detection processing); causing the display screen Dp1 to be displayed on the display device 2 (display processing); and causing a detection target X10 whose display form changes according to the detection result of the detection object Ob1 to be displayed on the display screen Dp1. The detection target X10 is arranged along the outer peripheral edge E10 of the display screen Dp1.

[0114] As used in this disclosure, the so-called "arranged along the outer periphery E10" means that at least one of the position and shape of the detection target X10 is arranged along the outer periphery E10. Specifically, regarding the position of the detection target X10, the detection target X10 is arranged along the outer periphery E10 such that the detection target X10 faces the outer periphery E10 or there is no other target between the detection target X10 and the outer periphery E10. In addition, regarding the shape of the detection target X10, the detection target X10 is arranged along the outer periphery E10 such that the detection target X10 has a length in the long side direction of the outer periphery E10.

[0115] In short, the display screen Dp1 including the detection target X10 is displayed on the display device 2, so that for the user U1, the presence or absence of the detection object Ob1 in the monitoring area A1 can be confirmed through the detection target X10 in the display screen Dp1. Here, the detection target X10 is arranged along the outer periphery E10 of the display screen Dp1. Therefore, the detection target X10 is displayed in a state that does not easily interfere with other information included in the display screen Dp1, and for the user U1, the detection result of the detection object Ob1 can be grasped through the detection target X10 displayed at a position that naturally enters the field of view when observing the display screen Dp1. Therefore, according to the control method according to this embodiment, the visibility of the display screen Dp1 is not easily decreased.

[0116] Hereinafter, with reference to Figures 5 to 8 The display content around the detection target X10 in the display screen Dp1 will be described in more detail.

[0117] As Figure 5 shown, the detection target X10 includes a first target X11 and a second target X12. The first target X11 and the second target X12 are arranged symmetrically at least in one direction. In this embodiment, as an example, the first target X11 and the second target X12 are arranged symmetrically in the left-right direction (the horizontal direction of the display screen Dp1) with respect to the center of the display screen Dp1. Here, both the first target X11 and the second target X12 are substantially linear targets having a length in the up-down direction (the vertical direction of the display screen Dp1), and are arranged in the central portion in the vertical direction of the display screen Dp1.

[0118] More specifically, the first target X11 and the second target X12 are formed into a substantially trapezoid with the inner side edge in the horizontal direction of the display screen Dp1 as the short side and the outer side edge as the long side. That is, either the position or the shape of the first target X11 and the second target X12 is symmetrically formed in the left-right direction (the horizontal direction of the display screen Dp1). In this way, according to the first target X11 and the second target X12 that are symmetric in one direction (the left-right direction), it is easy to improve the visibility of the detection target X10.

[0119] Here, the outer peripheral edge E10 of the display screen Dp1 includes a first longitudinal edge E1 and a second longitudinal edge E2 that are opposed to each other in the left-right direction (horizontal direction) of the display screen Dp1. The first target X11 is arranged along the first longitudinal edge E1, and the second target X12 is arranged along the second longitudinal edge E2.

[0120] That is, for the display screen Dp1 that is rectangular as a whole, the outer peripheral edge E10 includes: the first longitudinal edge E1 and the second longitudinal edge E2 that are opposed to each other in the left-right direction (horizontal direction); and the first horizontal edge E3 and the second horizontal edge E4 that are opposed to each other in the up-down direction (vertical direction). In other words, the first longitudinal edge E1 constitutes the right side of the display screen Dp1, the second longitudinal edge E2 constitutes the left side of the display screen Dp1, the first horizontal edge E3 constitutes the upper side of the display screen Dp1, and the second horizontal edge E4 constitutes the lower side of the display screen Dp1. The first target X11 is arranged at the right end of the display screen Dp1 along the right side of the display screen Dp1, that is, the first longitudinal edge E1, and the second target X12 is arranged at the left end of the display screen Dp1 along the left side of the display screen Dp1, that is, the second longitudinal edge E2.

[0121] Thereby, the visibility of the first target X11 and the second target X12 is improved, and the detection target X10 does not easily interfere with other information included in the display screen Dp1.

[0122] In addition, the display screen Dp1 has an information prompt area on at least one side in the up-down direction (vertical direction) of the detection target X10. In the present embodiment, the first target X11 is arranged on the right side of the third area R3 in the display screen Dp1, and the second target X12 is arranged on the left side of the first area R1 in the display screen Dp1. Therefore, the tenth area R10 and the eighth area R8 are located above the first target X11 and the second target X12, and the seventh area R7 and the fifth area R5 are located below the first target X11 and the second target X12. Thereby, the fifth area R5, the seventh area R7, the eighth area R8, and the tenth area R10 are an example of information prompt areas located on both sides in the up-down direction (vertical direction) of the detection target X10.

[0123] According to this structure, for the user U1, when observing various information displayed in the information prompt areas (the fifth area R5, the seventh area R7, the eighth area R8, and the tenth area R10), the detection target X10 naturally comes into view, and it is easy to improve the visibility of the detection target X10.

[0124] In addition, the control method according to the present embodiment further has: displaying a captured image Im100 of the monitoring area A1 at a position between the first target X11 and the second target X12 in the display screen Dp1. That is, in the present embodiment, the captured image Im100 of the monitoring area A1 is displayed in the second area R2 located at the center of the display screen Dp1. Thus, for the user U1, the situation of the monitoring area A1 can be visually confirmed on the display screen Dp1.

[0125] As Figure 5 shown, the captured image Im100 is a fan-shaped image with the outer shape on the side farther from the body 30 being arc-shaped. The so-called "arc-shaped" in the present disclosure is not limited to an arc that is a part of a perfect circle, but includes all curved lines that bulge outward. Therefore, even if the captured image Im100 is composed of curved lines that bulge outward as a whole, it can be called a fan-shaped image with an arc-shaped outer shape. Here, the captured image Im100 is a fan shape obtained by cutting off the upper side of the display screen Dp1 in the arc, and the left, right, and lower sides of the captured image Im100 respectively become images of the monitoring area A1 (each small area A11, A12, A13) corresponding to the left, right, and rear of the body 30. That is, in the display screen Dp1, the captured image Im100 is displayed in a state where the outer shapes of the monitoring areas A1 at least on the left, right, and rear of the working machine 3 are arc-shaped.

[0126] More specifically, when a hypothetical circle centered on a reference point near the center of the second area R2 is set, the captured image Im100 is a fan shape lacking a part of the circumferential direction of the hypothetical circle, that is, the removal range from the first end E101 to the second end E102. In Figure 5 the example, the captured image Im100 has a linear first end E101 extending from the reference point to the upper left and a linear second end E102 extending from the reference point to the upper right in the display screen Dp1.

[0127] In addition, as Figure 5 shown, the body target Im10 is arranged at the apex of the captured image Im100. That is, the body target Im10 is arranged at the position of the reference point corresponding to the apex of the fan-shaped captured image Im100. In other words, the control method according to the present embodiment further has: displaying the body target Im10 at the reference point in the display screen Dp1.

[0128] In the present embodiment, above the body target Im10 corresponds to the front of the body 30 in the actual space, below the body target Im10 corresponds to the rear of the body 30 in the actual space, the right side of the body target Im10 corresponds to the right side of the body 30 in the actual space, and the left side of the body target Im10 corresponds to the left side of the body 30 in the actual space. Specifically, the lower part of the body target Im10 is configured as an arc shape simulating the rear part (counterweight) of the slewing section 32, and the upper part of the body target Im10 is configured as a shape simulating the front part (working section 33) of the slewing section 32. In the present embodiment, the working section 33 is arranged at a position offset to the right of the center of the slewing section 32 in the left-right direction D3, and the cab 321 is arranged at a position offset to the left of the center of the slewing section 32 in the left-right direction D3. Therefore, in the body target Im10, the graphic simulating the working section 33 is located in the upper right part, and the graphic simulating the cab 321 is located in the left part.

[0129] In addition, in the present embodiment, the body target Im10 is displayed based on the orientation of the slewing section 32 carrying the cab 321 rather than the orientation of the traveling section 31. That is, the slewing section 32 rotates relative to the traveling section 31, so that the orientation in the actual space corresponding to the upper part of the body target Im10 changes. Thereby, the upper part of the body target Im10 always corresponds to the front of the slewing section 32 that becomes the front when viewed from the operator riding in the cab 321.

[0130] Here, the orientation of the body 30 represented by the body target Im10 is made consistent with the orientation of the captured image Im100 observed from the body 30. That is, the front of the body 30 simulated by the body target Im10 and the front in the captured image Im100 both face the upper part of the display screen Dp1. Thereby, for the operator, it is easy to intuitively grasp the position of the detection object Ob1 by observing the captured image Im100. However, not limited to this example, the body target Im10 may also be arranged at a position other than the vertex angle of the captured image Im100, such as below the captured image Im100.

[0131] In addition, the captured image Im200 of the rear camera 343 is arranged in the removal range between the first end E101 and the second end E102 in the circumferential direction of the imaginary circle. That is, the captured image Im200 is arranged above the captured image Im100 in the display screen Dp1. In the present embodiment, as an example, the captured image Im200 has a pentagonal outer shape including both sides along the first end E101 and the second end E102. Thereby, the dead zone in the second region R2 can be utilized to display the captured image Im200 of the small area A13 that is the rear of the cab 321 captured by the rear camera 343.

[0132] Also, in the present embodiment, the detection object Ob1 in the monitoring area A1 is the detection object of the detection device 5. Therefore, when the detection object Ob1 exists in the monitoring area A1, the detection object Ob1 is of course reflected in the captured image Im100 of the monitoring area A1. Thus, when the detection result indicates the existence of the detection object Ob1 in the monitoring area A1, at least a part of the detection object is reflected in the captured image Im100 on the display screen Dp1. Thereby, for the user U1, the detection object Ob1 can be confirmed on the captured image Im100. That is, the operator (user U1) can confirm the conditions of the sides and rear of the work machine 3 that are likely to be blind spots when viewed from the driver's cab 321 through the display screen Dp1 displayed by the display device 2. Therefore, when the detection object Ob1 exists within the monitoring area A1, it is easy to grasp the conditions of the detection object Ob1 in detail through the display screen Dp1.

[0133] In addition, the control method according to the present embodiment further has: displaying first state information related to the state of the work machine 3 at a position between the first target X11 and the captured image Im100 in the display screen Dp1. In the present embodiment, the third region R3 is located between the first target X11 and the captured image Im100. Therefore, the image Im1 corresponding to the operating states of the respective parts of the work machine 3 displayed in the third region R3 is an example of the first state information.

[0134] According to this structure, for the user U1, when observing the first state information (image Im1), the first target X11 naturally comes into view, and it is easy to improve the visibility of the detection target X10.

[0135] In addition, the control method according to the present embodiment further has: displaying second state information related to the state of the work machine 3 at a position between the second target X12 and the captured image Im100 in the display screen Dp1. The second state information is various information related to the state of the work machine 3 and is different from the first state information (image Im1). In the present embodiment, the first region R1 is located between the second target X12 and the captured image Im100. Therefore, the remaining amount information G1 related to, for example, the fuel remaining amount of the engine displayed in the first region R1 is an example of the second state information.

[0136] According to this structure, for the user U1, when observing the second state information (remaining amount information G1), the second target X12 naturally comes into view, and it is easy to improve the visibility of the detection target X10.

[0137] In addition, the detection target X10 is a target whose display form changes according to the detection result of the detection object Ob1. In the present embodiment, the display form of the detection target X10 includes at least one of the display color, size (magnitude), and shape of the detection target X10. That is, at least one of the display color, (display) size, and shape of the detection target X10 changes according to the detection result of the detection object Ob1.

[0138] Here, there are at least two cases of the display form of the detection target X10: "not detected" when the detection object Ob1 does not exist in the monitoring area A1, and "detected" when the detection object Ob1 exists in the monitoring area A1. And the display form of the detection target X10 is preferably changed also according to the distance from the work machine 3 to the detection object Ob1 and / or the azimuth of the detection object Ob1, etc. (that is, the position of the detection object Ob1). Therefore, even when "detected" with the detection object Ob1 existing in the monitoring area A1, the display form of the detection target X10 is further different for the case where the distance from the work machine 3 to the detection object Ob1 is far and the case where the distance from the work machine 3 to the detection object Ob1 is near.

[0139] In the present embodiment, as an example, the display form of the detection target X10 that changes according to the detection result of the detection device 5 includes, for example, the display color of the detection target X10. In this case, the display color of the detection target X10 in the display screen Dp1 changes according to the detection result of the detection device 5. For example, as Figure 5 shown, when the detection object Ob1 exists in the monitoring area A1, the display color of the detection target X10 becomes "yellow" or "red". On the other hand, as Figure 6 shown, when the detection object Ob1 does not exist in the monitoring area A1, the display color of the detection target X10 becomes "green".

[0140] In addition, the closer the detection object Ob1 is to the machine body 30, the more prominent the display color of the detection target X10 changes. As an example, if the detection object Ob1 approaches the machine body 30, the display color of the detection target X10 changes from yellow to red.

[0141] And the display form of the detection target X10 that changes according to the detection result of the detection device 5 may also include at least one of the size (magnitude) and shape in addition to or instead of the display color of the detection target X10. For example, the display form of the detection target X10 may change in such a way that the closer the detection object Ob1 is to the machine body 30, the larger the size of the detection target X10 becomes.

[0142] In this way, at least one of the display color, size (dimensions), shape, and position of the detection target X10 changes according to the detection result of the detection device 5. Thus, for the user U1, it is easy to intuitively grasp the presence of the detection object Ob1 (such as a person) in the monitoring area A1 based on the display form of the detection target X10.

[0143] Here, there are sometimes multiple detection objects Ob1 present in the monitoring area A1 at the same time. In this case, it is preferable to determine the display form of the detection target X10 based on the position of the detection object Ob1 closest to the body 30 of the work machine 3 among the multiple detection objects Ob1. For example, when detecting a detection object Ob1 at a position within the threshold distance from the work machine 3 and a detection object Ob1 at a position farther than the threshold distance from the work machine 3 at the same time, the display form of the detection target X10 is determined based on the detection object Ob1 at the position within the threshold distance from the work machine 3. Thus, since the display form of the detection target X10 is determined based on the detection result of the detection object Ob1 with the highest urgency, it is easy for the operator to intuitively grasp the detection result.

[0144] However, in the present embodiment, regardless of the detection result of the detection object Ob1, the display position of the detection target X10 on the display screen Dp1 is fixed. That is, the display position of the detection target X10 on the display screen Dp1 does not change, and the detection target X10 is always arranged along the outer peripheral edge E10 of the display screen Dp1. Therefore, for the user U1, the visibility of the detection target X10 is improved.

[0145] In addition, in the present embodiment, when in a state where the detection object Ob1 can be detected, the detection target X10 is displayed on the display screen Dp1. For example, when the detection processing unit 15 is made effective by the switching processing unit 13, as Figure 5 and Figure 6 shown, the detection target X10 is displayed on the display screen Dp1. On the other hand, when the detection processing unit 15 is made ineffective by the switching processing unit 13, as Figure 7 shown, the detection target X10 is not displayed on the display screen Dp1. Thus, for the user U1, it is possible to intuitively grasp whether the detection processing unit 15 is effective on the display screen Dp1.

[0146] Moreover, in the present embodiment, when the work machine 3 is in a state where it cannot be operated due to the cut-off lever 354, the detection target is not displayed. That is, not only when the detection processing unit 15 is made ineffective, but also when the cut-off lever 354 is in the "raised position" and the output of the hydraulic actuator is compulsorily stopped regardless of the operation of the operation lever, as Figure 7As shown, the detection target X10 is not displayed on the display screen Dp1. Thus, for the user U1, the operation state of the stop lever 354 can be visually grasped on the display screen Dp1.

[0147] In addition, in the present embodiment, in a state where the display screen Dp1 as shown Figure 5 is displayed, if the "Camera" item is operated (selected) by operating the button switch 224 corresponding to the "Camera" item or the like, the display mode of the display screen Dp1 migrates to the full-screen mode as shown Figure 8 . And, in the full-screen mode, if any item is operated (selected), the display mode of the display screen Dp1 migrates from the full-screen mode to the normal mode as shown Figure 5 . However, the operations and migration order for the migration of the display screen Dp1 are not limited to the above examples and can be appropriately changed.

[0148] In the full-screen mode, the display screen Dp1 is a screen in which the second region R2 for displaying the captured image Im100 is enlarged compared to the display screen Dp1 as shown Figure 5 . In the example of Figure 8 , the display screen Dp1 only includes the second region R2. That is, in the full-screen mode, the first region R1, the third region R3, etc. are not displayed, and the captured image Im100 is enlarged and displayed throughout the entire area of the display screen Dp1. Thus, the display screen Dp1 has multiple display modes.

[0149] Here, even if the display mode of the display screen Dp1 changes, the display form of the detection target X10 does not change. That is, even if the display mode of the display screen Dp1 migrates between the normal mode (refer to Figure 5 ) and the full-screen mode (refer to Figure 8 ) as described above, the display form (including the display position) of the detection target X10 does not change. Therefore, for the user U1, the visibility of the detection target X10 is improved.

[0150] [3.3] Overall Processing

[0151] Next, with reference to Figure 9 , the overall flow of the processing related to the control method will be described. Figure 9 is a flowchart showing an example of the processing related to the control method.

[0152] As shown Figure 9 , the image acquisition unit 14 of the control system 1 acquires captured images from the left camera 341, the right camera 342, and the rear camera 343 (S1). Then, the display processing unit 11 of the control system 1 causes the display screen Dp1 including the captured image Im100 to be displayed on the display device 2 (S2).

[0153] Here, the display processing unit 11 of the control system 1 determines whether the detection processing unit 15 is valid or invalid through the switching processing unit 13 (S3). When the detection processing unit 15 is valid (S3: Yes), the display processing unit 11 causes the detection target X10 to be displayed along the outer peripheral edge E10 of the display screen Dp1 (S4). On the other hand, when the detection processing unit 15 is invalid (S3: No), the display processing unit 11 does not display the detection target X10 (S5).

[0154] The control system 1 repeatedly executes the processes of the above steps S1 to S5. Thus, the display screen Dp1 is always displayed on the display device 2. However, Figure 9 The flowchart shown is only an example, and processes can be appropriately added or omitted, and the order of processes can also be appropriately changed.

[0155] [4] Modification Example

[0156] Hereinafter, modification examples of Embodiment 1 will be listed. The modification examples described below can be applied in appropriate combinations.

[0157] The control system 1 in the present disclosure includes a computer system. The computer system has as its main structure one or more processors and one or more memories as hardware. By the processor executing the program recorded in the memory of the computer system, the functions as the control system 1 in the present disclosure are realized. The program can be pre-recorded in the memory of the computer system, can also be provided through an electrical communication line, or can be recorded in a non-temporary recording medium such as a memory card, an optical disc, or a hard disk drive that can be read by the computer system for providing. In addition, part or all of the functional units included in the control system 1 can also be constituted by electronic circuits.

[0158] In addition, it is not necessary for at least a part of the functions of the control system 1 to be integrated in one housing, and the components of the control system 1 can also be dispersedly arranged in a plurality of housings. Conversely, in Embodiment 1, the functions dispersed in a plurality of devices (for example, the control system 1 and the display device 2) can also be integrated in one housing. And at least a part of the functions of the control system 1 can also be realized by a cloud (cloud computing) or the like.

[0159] In addition, the power source of the work machine 3 is not limited to a diesel engine. For example, it can also be an engine other than a diesel engine, or can be a motor (electric motor) or a hybrid power source including an engine and a motor (electric motor).

[0160] In addition, the display device 2 is not limited to a dedicated device. For example, it can also be a general-purpose terminal such as a laptop computer, a tablet terminal, or a smartphone. Moreover, the display unit 23 is not limited to a form that directly displays a display screen, such as a liquid crystal display or an organic EL display. For example, it can also be a structure that displays a display screen by projection, such as a projector.

[0161] In addition, as a form of information input to the operation unit 22, forms other than button switches, touch panels, and operation dials can also be adopted. For example, the operation unit 22 can also adopt forms such as a keyboard, a pointing device such as a mouse, voice input, gesture input, or input of an operation signal from another terminal.

[0162] In addition, the restriction process executed by the restriction processing unit 122 only needs to be a process that restricts the actions of the work machine 3, and is not limited to a process that prohibits the actions (such as rotation actions) of the work machine 3 (unable to perform actions). The restriction process can also be, for example, a process of decelerating the speed of the actions (such as rotation actions) of the work machine 3, a process of reducing the action range (such as rotation angle) of the work machine 3, or a process of restricting the allowable area of the actions of the work machine 3.

[0163] In addition, the restraint process does not necessarily include a plurality of specific processes (such as sound output processing and restriction processing) for restraining the actions of the work machine 3. And even when the restraint process includes a plurality of specific processes, it is not necessary to be able to switch the validity and invalidity independently for each specific process. It is also possible to be able to switch the validity and invalidity of the plurality of specific processes together.

[0164] In addition, the function related to the restraint process by the restraint processing unit 12 is not necessary, and the restraint processing unit 12 can be appropriately omitted.

[0165] In addition, the detection device 5 for detecting the detection object Ob1 in the monitoring area A1 around the work machine 3 can also include, in addition to or instead of the sensor 51 and the imaging unit 52, sensors such as a human body sensor, a sonar sensor, a radar, or a LiDAR (Light Detection and Ranging).

[0166] In addition, the detection processing unit 15 may also detect the detection target object Ob1 in the monitoring area A1 based on the outputs (image data) of the left camera 341, the right camera 342, and the rear camera 343, for example. Specifically, the detection processing unit 15 performs image processing on the image data acquired by the image acquisition unit 14 to extract the feature amounts in the image, and based on these feature amounts, determines whether the detection target object Ob1 (a "person" in this embodiment) is reflected in the image. Here, when the detection target object Ob1 is reflected in the image, the detection processing unit 15 determines which of the images captured by the left camera 341, the right camera 342, and the rear camera 343 reflects the detection target object Ob1. That is, the detection processing unit 15 detects the detection target object Ob1 by distinguishing in which of the small area A11 captured by the left camera 341, the small area A12 captured by the right camera 342, and the small area A13 captured by the rear camera 343 the detection target object Ob1 exists.

[0167] In addition, the cameras that capture the captured image Im100 are not limited to the left camera 341, the right camera 342, and the rear camera 343, and may also include one, two, or four or more cameras (image sensors). Also, for example, the captured image may be captured by a camera such as a panoramic camera (360-degree camera) that can capture all directions as viewed from the work machine 3.

[0168] In addition, the detection target object Ob1 may include, in addition to or instead of a "person", moving objects such as vehicles (including other work machines), structures such as walls and columns, plants, animals, steps, ditches, or other obstacles.

[0169] In addition, it is not necessary to make the positional relationship between the captured image Im100 in the display screen Dp1 and the body target Im10 reflect the positional relationship between the monitoring area A1 in the actual space and the work machine 3. Also, it is not necessary to make the positional relationship between the captured image Im100 in the display screen Dp1 and the body target Im10 reflect the positional relationship between the monitoring area A1 in the actual space and the slewing unit 32.

[0170] In addition, the display form of the detection target X10 does not necessarily change according to the position of the detection target object Ob1.

[0171] (Embodiment 2)

[0172] As Figure 10 and Figure 11As shown, the display content of the second region R2 of the display screen Dp1 of the work machine 3 according to this embodiment is different from that of the work machine 3 according to the first embodiment. Hereinafter, the same reference numerals are given to the same structures as those in the first embodiment, and the description is appropriately omitted.

[0173] In this embodiment, the captured image displayed in the second region R2 is, for example, an original image (i.e., an uncomposited image) captured by at least one of the left camera 341, the right camera 342, and the rear camera 343.

[0174] In Figure 10 the example of, the captured image Im11 of the small region A11 captured by the left camera 341, the captured image Im12 of the small region A12 captured by the right camera 342, and the captured image Im13 of the small region A13 captured by the rear camera 343 are displayed in the second region R2. In this example, the captured image Im11 and the captured image Im12 are arranged and configured in the left-right direction in the second region R2, and the captured image Im13 is arranged below the captured image Im11 and the captured image Im12 in the second region R2.

[0175] In Figure 11 the example of, the captured image Im13 of the small region A13 captured by the rear camera 343 is displayed in the second region R2. In this example, the body target Im10 is not displayed.

[0176] The structure according to the second embodiment can be adopted in appropriate combination with various structures (including modified examples) described in the first embodiment.

[0177] 〔Note of the Invention〕

[0178] Hereinafter, a summary of the invention extracted from the above embodiments is noted. In addition, each structure and each processing function described in the following notes can be selectively combined arbitrarily.

[0179] <Note 1>

[0180] A control method for a work machine, comprising:

[0181] Detecting a detection object in a monitoring area around the work machine;

[0182] Causing a display screen to be displayed on a display device; and

[0183] Causing a detection target whose display form changes according to the detection result of the detection object to be displayed on the display screen,

[0184] The detection target is arranged along the outer peripheral edge of the display screen.

[0185] <Note 2>

[0186] A method for controlling a working machine according to Note 1, wherein:

[0187] When the detection object is detectable, the detection target is displayed on the display screen.

[0188] <Note 3>

[0189] A method for controlling a working machine according to Note 2, wherein:

[0190] When the working machine is in an inoperable state due to a cutoff lever, the detection target is not displayed.

[0191] <Note 4>

[0192] A method for controlling a working machine according to any one of Notes 1 to 3, wherein:

[0193] Regardless of the detection result of the detection object, the display position of the detection target in the display screen is fixed.

[0194] <Note 5>

[0195] A method for controlling a working machine according to any one of Notes 1 to 4, wherein:

[0196] The detection target includes a first target and a second target that are symmetrically arranged in at least one direction.

[0197] <Note 6>

[0198] A method for controlling a working machine according to Note 5, wherein:

[0199] The outer periphery includes a first longitudinal side and a second longitudinal side that are opposite to each other in the left-right direction of the display screen.

[0200] The first target is arranged along the first longitudinal side,

[0201] The second target is arranged along the second longitudinal side.

[0202] <Note 7>

[0203] A method for controlling a working machine according to Note 6, wherein:

[0204] The display screen has an information prompting area on at least one side in the up-down direction of the detection target.

[0205] <Note 8>

[0206] The control method of a working machine according to any one of Notes 5 to 7, wherein,

[0207] It also has: displaying a captured image of the monitoring area at a position between the first target and the second target on the display screen.

[0208] <Note 9>

[0209] The control method of a working machine according to Note 8, wherein,

[0210] It also has: displaying first status information related to the status of the working machine at a position between the first target and the captured image on the display screen.

[0211] <Note 10>

[0212] The control method of a working machine according to Note 8 or 9, wherein,

[0213] It also has: displaying second status information related to the status of the working machine at a position between the second target and the captured image on the display screen.

[0214] <Note 11>

[0215] The control method of a working machine according to any one of Notes 1 to 10, wherein,

[0216] The display form of the detection target includes at least one of the display color, size, and shape of the detection target.

[0217] <Note 12>

[0218] The control method of a working machine according to any one of Notes 1 to 11, wherein,

[0219] Even if the display mode of the display screen changes, the display form of the detection target does not change.

[0220] <Note 13>

[0221] A control program for a working machine, which is used to make one or more processors execute the control method of the working machine according to any one of Notes 1 to 12.

Claims

1. A method for controlling a working machine, characterized in that: have: Detecting detection objects in the monitoring area around the working machine; Displaying a display image on a display device; as well as causing a detection target whose display form changes according to a detection result of the detection object to be detected to be displayed on the display screen, The detection targets are arranged along the outer periphery of the display screen.

2. The control method of the working machine according to claim 1, characterized in that: When the detection target object is in a state where the detection target object can be detected, the detection target is displayed on the display screen.

3. The control method of the working machine according to claim 2, characterized in that: When the working machine is in an inoperable state due to a cutoff lever, the detection target is not displayed.

4. The control method for a working machine according to any one of claims 1 to 3, characterized in that: Regardless of the detection result of the detection object, the display position of the detection target in the display screen is fixed.

5. The control method for a working machine according to any one of claims 1 to 3, characterized in that: The detection targets include a first target and a second target that are symmetrically arranged in at least one direction.

6. The control method of the working machine according to claim 5, characterized in that: The outer periphery includes a first longitudinal side and a second longitudinal side that are opposite to each other in the left-right direction of the display screen. The first target is arranged along the first longitudinal edge, The second target is arranged along the second longitudinal edge.

7. The control method of the working machine according to claim 6, characterized in that: The display screen has an information prompting area on at least one side in the up-down direction of the detection target.

8. The control method of the working machine according to claim 5, characterized in that: The method further includes displaying a captured image of the monitoring area at a position between the first object and the second object on the display screen.

9. The control method of the working machine according to claim 8, characterized in that: The device further includes: displaying first status information related to the status of the working machine at a position between the first object and the captured image on the display screen.

10. The control method of the working machine according to claim 8, characterized in that: The device further includes: displaying second status information related to the status of the working machine at a position between the second object and the captured image on the display screen.

11. The control method for a working machine according to any one of claims 1 to 3, characterized in that: The display form of the detection target includes at least one of a display color, a size, and a shape of the detection target.

12. The control method for a working machine according to any one of claims 1 to 3, characterized in that: Even if the display mode of the display screen is changed, the display form of the detection target does not change.

13. A control program for a working machine, characterized in that: A method for causing one or more processors to execute the control method for a working machine according to any one of claims 1 to 3.

14. A control system for a working machine, characterized in that: have: a detection processing unit that detects a detection target object in a monitoring area around the working machine; and A display processing unit displays a display image on a display device. The display processing unit displays a detection target whose display form changes according to the detection result of the detection object on the display screen, The detection targets are arranged along the outer periphery of the display screen.

15. A working machine, characterized in that: have: The control system for a working machine according to claim 14; and A body is provided for carrying the display device.

Images