Work machine

Abstract

In a hydraulic excavator provided with a vehicle body, a display device, a controller that displays a reference line indicating a reference of a distance between a subject and the vehicle body on the display device so as to overlap with a surrounding image of the vehicle body, and an input device that inputs an instruction to the controller, the reference line overlapped with the surrounding image by the controller includes a fixed reference line whose depicted position on the surrounding image is fixed and a position-variable reference line whose depicted position on the surrounding image is changed based on an input from the input device. Thus, by the reference line depicted on the surrounding image, the operator can be assisted in properly recognizing a distance between the working machine and an object existing in the surrounding thereof, and the operator can easily grasp the position of the reference line.

Description

Technical Field

[0001] This invention relates to hydraulic excavators and other operating machinery. Background Technology

[0002] In the field of construction machinery, the following technology has been proposed: In order to assist the operator in the cab in understanding the surroundings, the surrounding images captured by the camera installed on the construction machinery are displayed on the monitor in the cab, and reference lines are drawn on the surrounding images to serve as a reference for the distance from the construction machinery (Patent Document 1).

[0003] Patent Document 1 discloses a perimeter monitoring system for a work machine. The system includes a display control unit that displays an image representing the perimeter of the work machine and a reference line arranged in the image around the work machine. The display control unit switches the display state of the reference line between an effective state that outputs an alarm based on the presence of an object around the work machine and an ineffective state that does not output the alarm. Switching the display state includes switching the distance between the work machine and the reference line on the display screen of the display unit (claims 1 and 4). Existing technical documents Patent documents

[0004] Patent Document 1: Japanese Patent Application Publication No. 2021-68948 Summary of the Invention

[0005] According to the technology described in Patent Document 1, the position of the reference line (the distance between the working machine and the reference line) is changed depending on whether an alarm is output by a peripheral monitoring device, thereby making it easier for the operator to recognize.

[0006] On the other hand, the idea that if the operator could freely change the position of the reference line (the distance between the machine and the reference line) on the surrounding image would help the operator to properly perceive the distance between the machine and objects in its vicinity.

[0007] However, if the operator can freely change the position of the reference line, the operator needs to remember the distance between the machine and the reference line beforehand each time they change the position, thus increasing the operator's workload. Furthermore, if the operator misjudges the distance between the machine and the reference line, they cannot accurately assess the surrounding environment. Moreover, in work configurations where multiple operators are on the machine, if one operator changes the reference line, the other operators must constantly check the distance between the machine and the reference line.

[0008] The present invention was made in view of the above-mentioned problems, and its object is to provide a working machine that can assist the operator in properly recognizing the distance between the working machine and objects existing in its surroundings by using a reference line drawn on the surrounding image, and can make it easy for the operator to grasp the position of the reference line.

[0009] To achieve the above objectives, the present invention provides a working machine comprising: a vehicle body; a display device; a control device that displays a reference line indicating a distance from the vehicle body overlaid on a surrounding image of the vehicle body; and an input device that inputs instructions to the control device. In this working machine, the reference line overlaid on the surrounding image by the control device includes a first reference line and a second reference line. The drawing position of the first reference line on the surrounding image is fixed, and the drawing position of the first reference line on the surrounding image is changed based on input from the input device. Invention Effects

[0010] According to the present invention, a reference line drawn on the surrounding image can help the operator properly perceive the distance between the working machine and objects existing in its surroundings, and can make it easy for the operator to grasp the position of the reference line. Attached Figure Description

[0011] Figure 1 This is a side view schematically illustrating the structure of a hydraulic excavator according to the first embodiment of the present invention. Figure 2 This is a top view schematically illustrating the structure of a hydraulic excavator according to the first embodiment of the present invention. Figure 3 This is a schematic diagram showing the interior of the driver's cab according to the first embodiment of the present invention. Figure 4 This is a diagram schematically illustrating the structure of the surrounding image display system according to the first embodiment of the present invention. Figure 5 This is a diagram illustrating an example of a surrounding image displayed on a display device according to the first embodiment of the present invention. Figure 6 This is a functional block diagram of a hydraulic excavator according to the first embodiment of the present invention. Figure 7 This is a diagram illustrating an example of a first embodiment of the present invention in which a fixed reference line and a reference line with variable position are depicted on a top-view image. Figure 8 This diagram illustrates an example of the first embodiment of the present invention in which a fixed reference line and a variable-position reference line are drawn on a camera image. Figure 9This is a diagram illustrating an example of a screen showing the setting of the position of a position-variable reference line according to the first embodiment of the present invention. Figure 10 This is a diagram illustrating an example of changing the position setting of the position variable reference line according to the first embodiment of the present invention. Figure 11 This is a flowchart illustrating the processing of the controller according to the first embodiment of the present invention. Figure 12 This is a functional block diagram of a hydraulic excavator according to the second embodiment of the present invention. Figure 13 This is a top view of a hydraulic excavator showing the detection range of the obstacle detection function according to the second embodiment of the present invention. Figure 14 This is a diagram illustrating an example of a case where a fixed reference line and a variable-position reference line are depicted in a top-view image according to the second embodiment of the present invention. Figure 15 This is a flowchart illustrating the processing of the controller according to the second embodiment of the present invention. Detailed Implementation

[0012] Hereinafter, the working machine according to an embodiment of the present invention will be described with reference to the accompanying drawings. It should be noted that in each drawing, the same reference numerals are used for equivalent parts, and repeated descriptions are omitted where appropriate. In addition, in this embodiment, a hydraulic excavator whose body is composed of a tracked lower traveling body and an upper rotating body is described as an example of the working machine, but the application of the present invention is not limited to this, and wheeled hydraulic excavators and cranes may also be used. Example 1

[0013] Figure 1 This is a side view schematically illustrating the structure of a hydraulic excavator according to the first embodiment of the present invention. Figure 2 It is a top view.

[0014] exist Figure 1 In this hydraulic excavator 1, there is a self-propelled tracked lower traveling body 2, an upper rotating body 3 rotatably supported on the lower traveling body 2, and a multi-joint type front working machine 4 supported on the front side of the upper rotating body 3, which can move in pitch. The upper rotating body 3 and the lower traveling body 2 constitute the body of the hydraulic excavator 1.

[0015] The upper rotating body 3 has a rotating frame 5 forming a support structure. The base end of the front working machine 4 is rotatably supported on the front side of the rotating frame 5. In addition, a counterweight 10 is installed on the rear side of the rotating frame 5 to achieve weight balance with the front working machine 4. On the left front of the rotating frame 5, a cab 6 is provided for the operator of the hydraulic excavator 1 to enter.

[0016] Inside the cab 6, in addition to the seat for the operator and the operating devices for driving the front work machine 4, rotating the upper rotating body 3, and driving the lower traveling body 2, a display device 12 is installed in a position easily visible to the operator while seated, and in a position that does not obstruct the operator's external view. Figure 3 ).

[0017] Additionally, a compartment cover 7 is provided on the front side of the counterweight 10. The compartment cover 7 houses mounted equipment such as an engine, hydraulic pump, and heat exchanger (not shown). The compartment cover 7 is generally composed of left and right side panels 7A located on the left and right sides of the rotating frame 5 and extending in the front-rear direction, and a top panel 7B extending in the horizontal direction connecting the upper ends of each side panel 7A. The rear side of the compartment cover 7 is blocked by the counterweight 10. On the top panel 7B of the compartment cover 7, an engine cover 8 is provided to cover the mounted equipment housed inside the compartment cover 7 from above.

[0018] Cameras 11a to 11d are respectively installed on the upper front side of the cab 6 on the front side of the upper rotating body 3, on the upper left and right sides of the upper rotating body 3 (that is, on the left and right ends of the upper panel 7B of the cabin cover 7) and near the center in the front-rear direction, and at the center of the left and right sides of the counterweight 10, so that the area around the vehicle body, including the area near the vehicle body, becomes the shooting range.

[0019] Figure 3 This is a schematic diagram showing the interior of the cab 6 of the hydraulic excavator 1 according to the first embodiment.

[0020] The cab 6 is equipped with: a display device 12 such as a monitor that displays various information to the operator; an input device 15 that allows the operator to input various settings and information; a shutdown lever 13 that can switch whether the hydraulic excavator 1 can be operated; and operating levers 14A to 14D that can operate the hydraulic excavator 1.

[0021] The display device 12 and the input device 15 can be configured as a single device, such as a touch panel monitor, and the input device 15 can also be configured as multiple parts.

[0022] Figure 4 This is a schematic diagram illustrating the structure of the surrounding image display system mounted on the hydraulic excavator 1 according to the first embodiment. Figure 4 As shown, the surrounding image display system includes multiple (e.g., four in the first embodiment) cameras 11a-11d, a display device 12 for displaying images captured by the multiple cameras 11a-11d, a controller 16 as a control device for controlling the overall operation of the surrounding image display system, and an input device 15 for allowing the operator to input operations on the controller 16.

[0023] The controller 16 is composed of a computer equipped with processing devices such as a CPU (Central Processing Unit), MPU (Microprocessor), and DSP (Digital Signal Processor), non-volatile memory such as ROM (Read Only Memory), flash memory, and hard disk drive, volatile memory called RAM (Random Access Memory), input / output interfaces, and other peripheral circuits. Furthermore, the controller 16 can be composed of a single computer or multiple computers.

[0024] The non-volatile memory stores programs capable of performing various operations. That is, the non-volatile memory is a storage medium capable of reading programs that implement the functions of this embodiment. The processing device is a processing device that expands the program stored in the non-volatile memory into the volatile memory and performs operations, and performs prescribed operations on signals introduced from the input / output interface, the non-volatile memory, and the volatile memory in accordance with the program.

[0025] The controller 16 is connected to the cameras 11a~11d, the display device 12, and the input device 15, respectively.

[0026] The input section of the input / output interface converts signals input from various devices (such as cameras) into signals that can be processed by the processing device. Additionally, the output section of the input / output interface generates an output signal corresponding to the processing result in the processing device and outputs this signal to various devices (such as display device 12).

[0027] The display device 12 is provided with an area for displaying images 17 of the surroundings, such as images captured by each of the cameras 11a to 11d and / or overhead images. The overhead images are images of the vehicle body and its surroundings taken from above the vehicle body by converting the perspective of the images captured by each of the cameras 11a to 11d from a vertical position (that is, from an upward perspective) and synthesizing the images obtained from the perspective conversion.

[0028] The input device 15 is provided for the operator to input operations on the controller 16.

[0029] Figure 5 This is a diagram illustrating an example of a surrounding image displayed on the display device 12 of the first embodiment.

[0030] Figure 5Example (a) illustrates a case where a top-down view 18 is displayed as an surrounding view 17. The top-down view 18 is formed, for example, by converting the images captured by cameras 11a-11d into images 18a-18d from an upward perspective with the vehicle as the center, and arranging them in the top, bottom, left, and right of the vehicle in the top-down view 18. A vehicle body icon 19 is arranged in the center of the top-down view 18 to represent the vehicle.

[0031] Figure 5 Example (b) illustrates the case where camera images captured by cameras 11b-11d are displayed as surrounding image 17. Rear camera image 20 is an image of the rear of the vehicle captured by camera 11c, right camera image 21 is an image of the right side of the vehicle captured by camera 11b, and left camera image 22 is an image of the left side of the vehicle captured by camera 11d. Vehicles 23a-23c in the camera images are portions of the vehicle body reflected in each camera image.

[0032] Figure 5 Example (c) illustrates a case where the surrounding image 17 displays both the overhead view 18 and the camera image captured by camera 11c. The surrounding image 17 combines the overhead view 18 in the upper half and the rear camera image 20 captured by camera 11c in the lower half. In this way, the surrounding image 17 can be freely combined with the overhead view 18 and the images captured by cameras 11a-11d.

[0033] Figure 6 This is a functional block diagram of the hydraulic excavator 1 in the first embodiment.

[0034] exist Figure 6 In this process, the controller 16 executes the program stored in the non-volatile memory, and functions as the overhead image compositing unit 101, the surrounding image compositing unit 102, the reference line position adjustment unit 103, the reference line drawing unit 104, and the reference line settable position storage unit 105.

[0035] The overhead image compositing unit 101 synthesizes multiple camera images input from cameras 11a to 11d based on parameters used for compositing the overhead image, thereby generating an overhead image 18, which is then output to the surrounding image compositing unit 102.

[0036] The surrounding image compositing unit 102 selects the desired image from multiple images input from cameras 11a to 11d and the overhead image 18 input from the overhead image compositing unit 101 to compose the surrounding image 17.

[0037] The reference line settable position storage unit 105 stores a list (reference line drawing position list) of selectable positionable reference lines. This reference line drawing position list is output to the reference line position adjustment unit 103 during setting. Multiple positions are set for the selectable positionable reference lines, including a reference position and a position separated from that position by a predetermined distance.

[0038] The reference line position adjustment unit 103 generates a list of drawing position options based on the reference line drawing position list read from the reference line settable position storage unit 105, and prompts the operator. The operator selects a drawing position from the prompted option list. Based on the selected drawing position, the reference line position adjustment unit 103 outputs the information required to draw fixed reference lines and variable reference lines on the surrounding image as reference line position information to the reference line drawing unit 104. The reference line position information includes information such as the position, thickness, length, and shape of the fixed reference lines and variable reference lines on the surrounding image.

[0039] The reference line drawing unit 104 draws fixed reference lines and variable reference lines on the surrounding image 17 generated by the surrounding image compositing unit 102 based on the reference line position information obtained from the reference line position adjustment unit 103, and outputs the result to the display device 12, thereby prompting the operator that the surrounding image 17 contains fixed and variable reference lines. The reference line drawing unit 104 internally retains the reference line position information obtained from the reference line position adjustment unit 103, enabling it to draw reference lines even if the reference line position information is not received every time. If the reference line position changes, the reference line position information is received again, and the reference line drawing position is adjusted accordingly.

[0040] Figure 7 This diagram illustrates an example where fixed reference lines and variable reference lines are depicted on the overhead view of the first embodiment. An overhead view 18 is shown as the surrounding image 17, with a vehicle body icon 19 depicted in the center of the overhead view 18. On the overhead view 18, a fixed reference line 30a whose position cannot be changed and a variable reference line 31a whose position can be changed are depicted.

[0041] The fixed reference line 30a and the variable reference line 31a on the overhead view 18 are depicted as a rectangle surrounding the vehicle body icon 19. The edges constituting each reference line serve as references for the distances from the front, rear, and left and right sides of the hydraulic excavator 1. Figure 8 Each reference line is depicted as a rectangle, but it can also be composed of straight lines of appropriate length, as long as it can display a reference for the distance from the hydraulic excavator 1.

[0042] The fixed reference line 30a on the overhead view 18 represents a position closer to the vehicle body than the variable reference line 31a, and is depicted near the vehicle body icon 19. Even if the position of the variable reference line 31a on the overhead view 18 is changed, it will not be positioned closer to the vehicle body icon 19 than the fixed reference line 30a on the overhead view. Therefore, since the reference line closer to the vehicle body icon 19 is always the fixed reference line 30a, it is easy for the operator to recognize which reference line is the fixed reference line 30a.

[0043] The fixed reference line 30a on the overhead view 18 is depicted as a solid line, while the position-variable reference line 31a on the overhead view 18 is depicted as a dashed line. The reference lines can be depicted differently depending on whether their position can be changed, and can also be represented by different colors, thicknesses, and line shapes. Furthermore, it is desirable that the fixed reference line 30a be depicted as more prominent than the position-variable reference line 31a. This allows the operator to prioritize the recognition of the fixed reference line 30a.

[0044] The fixed reference line 30a and the variable reference line 31a on the overhead view are drawn in a rectangle, but the reference line drawn in front of the hydraulic excavator can also be omitted and drawn in the shape of "コ".

[0045] Figure 8 This diagram illustrates an example where a fixed reference line and a variable-position reference line are depicted on the camera image of the first embodiment.

[0046] exist Figure 8 In (a), each reference line is depicted as a straight line. The rear camera image 20, the right camera image 21, and the left camera image 22 are shown as the surrounding image 17. The rear camera image 20 is depicted with a fixed reference line 32a and a variable reference line 33a, the right camera image 21 is depicted with a fixed reference line 32b and a variable reference line 33b, and the left camera image 22 is depicted with a fixed reference line 32c and a variable reference line 33c.

[0047] The fixed reference lines 32a-32c on the camera images represent positions on camera images 20-22 that are closer to the vehicle body 23a-23c than the variable reference lines 33a-33c, and are depicted on each camera image 20-22 at positions closer to the vehicle body 23a-23c. Even if the positions of the variable reference lines 33a-33c on camera images 20-22 are changed, they will not be positioned on camera images 20-22 at positions closer to the vehicle body 23a-23c than the fixed reference lines 32a-32c.

[0048] Fixed reference lines 32a-32c on camera images 20-22 are depicted with solid lines, while variable reference lines 33a-33c on camera images 20-22 are depicted with dashed lines. Each reference line can be depicted differently depending on whether its position can be changed, and can also be represented by different colors, thicknesses, or line shapes. Furthermore, it is desirable that the fixed reference lines 32a-32c be depicted in a more prominent manner than the variable reference lines 33a-33c. This allows the operator to prioritize the recognition of the fixed reference line 30a.

[0049] exist Figure 8 In (b), each reference line is depicted as a curve. Regarding the camera used for monitoring the area around the hydraulic excavator 1, a wide-angle lens or fisheye lens with a wide field of view is used to capture a wide range with a single camera. If a wide-angle lens is used, a skew will occur in the image. Taking this skew into account when depicting each reference line on camera images 20-22, as... Figure 8 The reference lines are depicted as curves as shown in (b).

[0050] Figure 9 This diagram illustrates an example of a screen for setting the position of a variable reference line according to the first embodiment. The reference line position setting screen 40 is displayed on the display device 12, and the operator of the hydraulic excavator 1 uses the input device 15 to input operations. The reference line position setting screen 40 consists of a surrounding image 17, a display image switching button 41, and a reference line position selection GUI 42.

[0051] As surrounding image 17, in Figure 9 The image displayed is an overhead view 18, but by pressing the image display switch button 41, it can be switched to camera images 20-22.

[0052] The reference line position selection GUI includes a reference line position selection unit 43 and an OK button 44. The reference line position selection unit 43 displays options for positions that can be set and the currently selected option as radio buttons. The options for positions that can be set include displacement amounts (-1, -2) in the direction closer to the vehicle body from the reference position and displacement amounts (+1, +2, +3, +4) in the direction farther from the vehicle body from the reference position. When the OK button 44 is pressed, the operator's change to the reference line position is confirmed and reflected in the reference line position display on the surrounding image 17. Furthermore, for the option to set a position for the variable reference line 45, displacement amounts closer to the vehicle body than the fixed reference line 46 are not displayed.

[0053] Figure 9The reference line position setting screen 40 indicates the case where the variable reference line 45 is the reference position. Since it is the reference position, the reference position is selected in the reference line position selection unit 43, and the variable reference line 45 of the reference position is drawn on the surrounding image 17.

[0054] On the surrounding image 17, as additional information, the upper and lower limits of the position of the position-variable reference line 45 can also be displayed, allowing for setting its position. Furthermore, regarding the position-variable reference line 45, in... Figure 9 The entire rectangle can be set with a variable reference line, but the position can also be adjusted on each side.

[0055] Figure 10 This is a diagram illustrating an example of changing the position setting of the position variable reference line in the first embodiment.

[0056] Figure 10 (a) shows the case where -1 was chosen as the position of the variable reference line. Figure 9 The difference is that -1 is selected in the reference line position selection unit 43, and a position-variable reference line 45a after position selection is drawn on the surrounding image 17.

[0057] Since -1 was selected as the reference line position, the position variable reference line 45a after position selection is drawn closer to the vehicle body than the reference position variable reference line 45. The reference position variable reference line 45 is drawn differently from the position variable reference line 45a after position change. By pressing the confirm button 44 after selecting the reference line position, it is possible to change the position variable reference line to be drawn at the -1 position.

[0058] Figure 10 (b) shows the case where +2 was chosen as the reference line position. Figure 9 The difference is that +2 is selected in the reference line position selection unit 43, and a position-variable reference line 45b after position selection is drawn on the surrounding image 17.

[0059] Since +2 was selected as the reference line position, the variable reference line 45b after position selection is drawn at a position further away from the vehicle body than the variable reference line 45 at the reference position. The variable reference line 45 at the reference position is drawn differently from the variable reference line 45b after position change. By pressing the OK button after selecting the reference line position, it is possible to change the position so that the variable reference line is drawn at +2.

[0060] Figure 11 This is a flowchart illustrating the processing of the controller 16 in the first embodiment. The steps will be described in detail below.

[0061] The controller 16 first captures images using cameras 11a-11d (step S100). The images captured by cameras 11a-11d are input into the overhead image synthesis unit 101 of the controller 16, and an overhead image is synthesized based on the parameters pre-recorded in the controller 16 (step S101).

[0062] Next, the surrounding image synthesis unit 102 synthesizes the surrounding image based on the layout information of the surrounding image, by selecting the required image from the images of cameras 11a to 11d obtained in step S100 and the overhead image synthesized in step S101 (step S102).

[0063] Finally, the reference line drawing unit 104 uses the internally retained reference line position information to draw fixed reference lines and variable-position reference lines on the surrounding image (step S107). When the surrounding image is a top-down view, each reference line is as follows... Figure 8 That depiction, in the case of surrounding images being camera images, shows each reference line as... Figure 9 That's how it was described.

[0064] In parallel with the processing of steps S100 to S102, processing regarding the setting of the reference line position is performed. First, in the reference line position adjustment unit 103, it is determined whether the operator has performed a reference line drawing position setting operation (step S103). If the determination in step S103 is negative, the determination is repeated until a setting operation is performed.

[0065] If the determination in step S103 is yes, the reference line position adjustment unit 103 reads the reference line drawing position list from the reference line settable position storage unit 105 (step S104). Then, the reference line position adjustment unit 103 uses the reference line drawing position list to generate a reference line position setting screen 40 (shown in...). Figure 9 The operator operates the input device 15 to select the position of the variable reference line from the options for the reference line drawing position (step S105). The input device 15 outputs the information to the display device 12.

[0066] The reference line position adjustment unit 103 generates reference line position information based on the drawing positions of the selected variable reference lines and fixed reference lines, and outputs it to the reference line drawing unit 104 (step S106). The reference line drawing unit 104 updates the internally stored reference line position information based on the acquired reference line position information, and draws fixed reference lines and variable reference lines on the surrounding image based on the reference line position information, and outputs the surrounding image to the display device 12.

[0067] In addition, Figure 7 and Figure 8The example shown illustrates one variable-position reference line and one fixed reference line, but the number of variable-position and fixed reference lines does not have to be the same; multiple reference lines can also be displayed. Additionally, in... Figure 9 and Figure 10 On the reference line position setting screen shown, the reference line can also be changed to a different style than usual to make it easier to identify the position of the target object.

[0068] (Summarize) In the first embodiment, the hydraulic excavator 1 (operating machinery) includes: a body 2, 3; a display device 12; a controller 16 (control device) that displays reference lines 30a, 31a representing the distance from the body 2, 3 overlaid with a surrounding image 17 of the body 2, 3 on the display device 12; and an input device 15 that inputs instructions to the controller 16. In the hydraulic excavator 1 (operating machinery), the reference lines 30a, 31a overlaid with the surrounding image 17 by the controller 16 include a fixed reference line 30a (first reference line) whose depicted position on the surrounding image 17 is fixed, and a position variable reference line 31a (second reference line) that changes the depicted position on the surrounding image 17 based on the input from the input device 15.

[0069] According to the first embodiment constructed in the manner described above, the operator of the hydraulic excavator 1 can properly perceive the distance between himself and objects existing around the hydraulic excavator 1 by changing the position of the variable reference line 31a (second reference line) depicted on the surrounding image 17, and can easily grasp the position of the variable reference line 31a by using the position of the fixed reference line 30a (first reference line) whose position is not changed as a reference.

[0070] Furthermore, in the first embodiment, the vehicle bodies 2 and 3 include: a lower traveling body 2; an upper rotating body 3 rotatably mounted on the lower traveling body 2; and a plurality of cameras 11a-11d mounted on the upper rotating body 3. The surrounding image 17 includes a top-view image 18 showing the perimeter of the vehicle bodies 2 and 3, created by combining images from the plurality of cameras 11a-11d. Thus, the operator can determine the distance between the operator and objects surrounding the hydraulic excavator 1 on the top-view image 18.

[0071] Furthermore, in the first embodiment, the vehicle bodies 2 and 3 include: a lower traveling body 2; an upper rotating body 3 rotatably mounted on the lower traveling body 2; and a plurality of cameras 11a-11d mounted on the upper rotating body 3. The surrounding image 17 includes at least one camera image from the plurality of camera images from the plurality of cameras 11a-11d. Thus, the distance to objects existing around the hydraulic excavator 1 can be determined from the camera images 20-22 that project the periphery of the hydraulic excavator 1.

[0072] Furthermore, in the first embodiment, the variable reference line 31a (the second reference line) is depicted on the surrounding image 17 at a position further away from the vehicle body 2 and 3 than the fixed reference line 30a (the first reference line). Therefore, the reference line closer to the hydraulic excavator 1 is always the fixed reference line 30a, making it easier for the operator to identify which reference line is the fixed reference line 30a.

[0073] Furthermore, in the first embodiment, the controller 16 (control device) depicts the fixed reference line 30a (first reference line) and the position-variable reference line 31a (second reference line) in different ways. As a result, the operator can easily distinguish between the first reference line 30a and the second reference line 31a.

[0074] Furthermore, in the first embodiment, the controller 16 (control device) depicts the fixed reference line 30a (first reference line) in a manner that is more prominent (displayed) than the position-variable reference line 31a (second reference line). As a result, the operator can prioritize the recognition of the fixed reference line 30a.

[0075] Furthermore, the controller 16 (control device) in the first embodiment stores a reference position of the position-variable reference line 45 (the second reference line), and changes the drawing position of the position-variable reference line 45 according to the displacement from the reference position indicated via the input device 15. Thus, the operator can easily set the drawing position of the position-variable reference line 45.

[0076] In addition, in the first embodiment, the controller 16 (control device) receives an instruction from the input device 15, generates a setting screen 40 for setting the drawing position of the variable reference line 31a (second reference line), and displays it on the display device 12. The setting screen 40 includes a surrounding image 17 depicting the fixed reference line 30a (first reference line) and the variable reference line 31a (second reference line). Thus, the operator can set the drawing position of the variable reference line 31a while confirming the positions of the fixed reference line 30a and the variable reference line 31a on the surrounding image 17.

[0077] Furthermore, in the first embodiment, the vehicle bodies 2 and 3 include: a lower traveling body 2; an upper rotating body 3 rotatably mounted on the lower traveling body 2; and multiple cameras 11a-11d mounted on the upper rotating body 3. The multiple cameras 11b-11d are mounted on the upper rotating body 3 in a manner capable of capturing images of the left, right, and rear sides of the upper rotating body 3. In each of the multiple camera images 20-22, the drawing position of the position-variable reference lines 33a-33c (second reference lines) can be set individually. As a result, the operator can more flexibly grasp the surrounding environment of the hydraulic excavator 1.

[0078] Example 2 Regarding the hydraulic excavator 1 of the second embodiment of the present invention, refer to... Figures 12-15 This section mainly explains the differences from the first embodiment.

[0079] Figure 12 This is a functional block diagram of the hydraulic excavator 1 according to the second embodiment. Compared with the first embodiment (shown in... Figure 6 The difference is that the reference line position adjustment unit 103 and the reference line settable position storage unit 105 (shown in) are replaced by the reference line position adjustment unit 103. Figure 6 It includes a detection range setting unit 106, an obstacle detection unit 107, a detection range settable position storage unit 108, and a reference line position information generation unit 109.

[0080] The detection range settable location storage unit 108 stores a list of detection ranges that can be set in the obstacle detection function. The list of settable detection ranges is output to the detection range setting unit 106 when the detection range is set.

[0081] The detection range setting unit 106 generates a detection range setting GUI based on a list of settable detection ranges read from the detection range settable position storage unit 108, and outputs it to the display device 12, thereby prompting the operator. The operator operates the prompted detection range setting GUI to select a detection range. Based on the selected detection range, the detection range setting unit 106 outputs the information required to set the detection range as detection range information to the obstacle detection unit 107 and the reference line position information generation unit 109. The detection range information is used to specify the coordinates around the vehicle body as the detection range.

[0082] The obstacle detection unit 107 detects obstacles such as people from multiple images input from cameras 11a-11d. During detection processing, the position of the obstacle and a detection bounding box (a polygon enclosing the obstacle in the image) are calculated. Examples of detection processing methods include pattern matching using HOG (Histogram of Oriented Gradients) features and deep learning using convolutional neural networks. The detected obstacle information is output as a detection result to the display device 12 and displayed to the operator of the hydraulic excavator 1. The area for obstacle detection is input from the detection range setting unit 106 as detection range information and stored internally in the obstacle detection unit 107. When new detection range information is acquired from the detection range setting unit 106, the internally stored detection range information is updated and used in the detection processing.

[0083] The reference line position information generation unit 109 generates reference line position information required for drawing fixed reference lines and variable position reference lines based on the detection range information input from the detection range setting unit 106, and outputs it to the reference line drawing unit 104. The reference line position information is used to draw a detection range 50 (shown in the surrounding image 17) close to the vehicle body. Figure 13 The information required for the corresponding fixed reference line, and the detection range 51 (shown in the surrounding image 17) at a distance from the vehicle body. Figure 13 The information required for the corresponding variable reference line is the position, thickness, length, shape, and other information of each reference line on the surrounding image 17.

[0084] Figure 13 This is a top view of the hydraulic excavator 1, which shows the detection range of the obstacle detection function in the second embodiment. The detection range 50 near the vehicle body and the detection range 51 far from the vehicle body are schematically shown around the hydraulic excavator 1 as viewed from above.

[0085] The detection range 50 near the vehicle body cannot be changed, while the detection range 51 far from the vehicle body can be changed by the operator. However, the detection range 51 far from the vehicle body must be set to surround the detection range 50 near the vehicle body. If an obstacle is detected in the detection range 51 far from the vehicle body, the obstacle detection unit 107 outputs an alarm; if an obstacle is detected in the detection range 50 near the vehicle body, the obstacle detection unit 107 outputs a strong alarm. The alarm output targets the display device 12 and / or the speaker (not shown), etc. Furthermore, if an obstacle is detected in the detection range 50 near the vehicle body, control to restrict vehicle body movement can also be performed.

[0086] Figure 14This diagram illustrates an example where fixed reference lines and variable reference lines are depicted on the overhead view of the second embodiment. The overhead view 18 is shown as the surrounding view 17, with a vehicle body icon 19 depicted in the center. Around the vehicle body icon 19 are drawn fixed reference lines 55 corresponding to the detection range 50 near the vehicle body and variable reference lines 56 corresponding to the detection range 51 far from the vehicle body.

[0087] The fixed reference line 55 corresponding to the detection range 50 near the vehicle body and the variable reference line 56 corresponding to the detection range 51 far from the vehicle body are drawn in different ways at the boundary positions of the detection ranges 50 and 51. When the detection range changes due to a change in the setting of the detection range 51 far from the vehicle body, the variable reference line 56 corresponding to the detection range 51 far from the vehicle body changes its drawing position accordingly.

[0088] Figure 15 This is a flowchart illustrating the processing of the controller 16 in the second embodiment. Hereinafter, a detailed description will be provided regarding the first embodiment (shown in...). Figure 11 Different steps.

[0089] In parallel with the processing in steps S100 to S102, the controller 16 performs processing regarding the detection ranges 50 and 51. First, in the detection range setting unit 106, it is determined whether the operator has performed a setting operation for the detection range 51 (step S108). If the determination in step S108 is negative, the determination is repeated until a setting operation is performed.

[0090] If the determination in step S108 is yes, the detection range setting unit 106 reads a list of selectable detection ranges 51 (detection range list) from the detection range settable position storage unit 108 (step S109). Then, the detection range setting unit 106 uses the detection range list to generate a setting screen for the detection range 51 and outputs it to the display device 12. The operator selects the detection range 51 from the options for the detection range 51 displayed on the display device 12 by operating the input device 15 (step S110).

[0091] The detection range setting unit 106 generates detection range information based on the detection range 50 and the selected detection range 51, and outputs it to the obstacle detection unit 107 (step S111). The obstacle detection unit 107 updates the internally stored detection range information based on the acquired detection range information, and performs detection processing based on the detection range information.

[0092] The detection range setting unit 106 also outputs detection range information to the reference line position information generation unit 109. Based on the detection range information input from the detection range setting unit 106, the reference line position information generation unit 109 generates reference line position information required for drawing fixed reference lines and variable position reference lines, and outputs it to the reference line drawing unit 104 (step S112).

[0093] Furthermore, in the second embodiment, such as Figure 13 As shown, the detection ranges 50 and 51 are represented by rectangles, but they can also be shapes other than rectangles, such as circles or polygons. Furthermore, the obstacle detection unit 107 is implemented as a detection function using image processing within the controller 16, but methods other than image processing can also be used. It can also be equipped with object detection sensors such as LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) and ultrasonic sensors, and used as an obstacle detection mechanism. Additionally, the detection range 51 can be changed through operator settings, or it can be changed based on the activation or deactivation of a specific function, and the position of the variable reference line will be changed accordingly with the change in the detection range 51.

[0094] (Summarize) In the second embodiment, the vehicle bodies 2 and 3 include: a lower driving body 2; an upper rotating body 3 rotatably mounted on the lower driving body 2; and a plurality of cameras 11a to 11d mounted on the upper rotating body 3. The controller 16 (control device) has an obstacle detection function, which determines whether there is an obstacle within a detection range 51 set around the vehicle bodies 2 and 3 based on the images 20 to 22 from the plurality of cameras. The detection range 51 in the obstacle detection function can be changed by the input device 15, and the position variable reference line 31a (second reference line) changes its drawing position based on the detection range 51 changed by the input device 15.

[0095] In the second embodiment constructed as described above, the operator of the hydraulic excavator 1 can appropriately perceive the distance between themselves and objects existing around the hydraulic excavator 1 by changing the position of the variable reference line 31a (second reference line) depicted on the surrounding image 17. Furthermore, by using the position of the fixed reference line 30a (first reference line) whose position remains unchanged as a reference, the operator can easily grasp the position of the variable reference line 31a. Moreover, the operator can also change the depicted position of the variable reference line 31a accordingly by changing the detection range 51 of the obstacle detection function.

[0096] The embodiments of the present invention have been described in detail above, but the present invention is not limited to the above embodiments and can include various modifications. For example, the above embodiments are described in detail for ease of understanding of the present invention and are not limited to having all the structures described. In addition, a part of the structure of another embodiment can be added to the structure of a certain embodiment, or a part of the structure of a certain embodiment can be deleted or replaced with a part of another embodiment. Explanation of reference numerals in the attached figures

[0097] 1 Hydraulic excavator (operating machinery), 2 Lower traveling body (body), 3 Upper rotating body (body), 4 Front working machine, 5 Rotating frame, 6 Cab, 7 Cabin cover, 7A Side panel, 7B Top panel, 8 Engine hood, 10 Counterweight, 11a~11d Cameras, 12 Display device, 13 Locking lever, 14A~14D Operating lever, 15 Input device, 16 Controller, 17 Surround view, 18 Overhead view, 18a~18d View, 19 Body icon, 20 Rear camera view, 21 Right camera view, 22 Left camera view, 23a~23c Body, 30a Fixed reference line (first reference line), 31a Variable position reference line (second reference line), 32a~32c Fixed reference line (first reference line), 33a~33c Variable position reference line (second reference line), 40 Reference line position setting screen, 41 button, 42 Reference line position selection GUI, 43 Reference line position selection unit, 44 OK button, 45, 45a, 45b Variable position reference line, 46 Fixed reference line, 50, 51 Detection range, 55 Fixed reference line, 56 Variable position reference line, 101 Overhead image compositing unit, 102 Surrounding image compositing unit, 103 Reference line position adjustment unit, 104 Reference line drawing unit, 105 Reference line settable position storage unit, 106 Detection range setting unit, 107 Obstacle detection unit, 108 Detection range settable position storage unit, 109 Reference line position information generation unit. Claims (as amended under Article 19 of the Treaty) 1. (Modified) A type of work machinery, characterized in that it comprises: Body; Display device; A control device that displays a reference line, representing the distance to the vehicle body, superimposed on an image of the vehicle body's surroundings on the display device; and An input device that receives instructions for the control device. In the aforementioned operating machinery, The reference lines superimposed on the surrounding image by the control device include a first reference line and a second reference line. The drawing position of the first reference line on the surrounding image is fixed, while the drawing position of the second reference line on the surrounding image changes based on input from the input device. The control device receives instructions from the input device, generates a setting screen for setting the drawing position of the second reference line, and displays it on the display device. The setting screen includes the surrounding image depicting the first reference line and the second reference line. 2. The operating machinery according to claim 1, characterized in that, The vehicle body has: Lower driving body; The upper rotating body is rotatably mounted on the lower traveling body; and Multiple cameras mounted on the upper rotating body, The surrounding imagery includes an overhead view of the vehicle's perimeter created by combining images from the multiple cameras. 3. The operating machinery according to claim 1, characterized in that, The vehicle body has: Lower driving body; The upper rotating body is rotatably mounted on the lower traveling body; and Multiple cameras mounted on the upper rotating body, The surrounding imagery includes at least one camera image from a plurality of camera images from the plurality of cameras. 4. The operating machinery according to claim 1, characterized in that, The second reference line is drawn on the surrounding image at a position further away from the vehicle body than the first reference line. 5. The operating machinery according to claim 1, characterized in that, The control device draws the first reference line and the second reference line in different ways. 6. The operating machinery according to claim 5, characterized in that, The control device depicts the first reference line in a manner that is more prominent than the second reference line. 7. The operating machinery according to claim 1, characterized in that, The control device stores the reference position of the second reference line. The control device changes the drawing position of the second reference line according to the displacement from the reference position indicated by the input device. 8. (Delete). 9. The operating machinery according to claim 1, characterized in that, The vehicle body has: Lower driving body; The upper rotating body is rotatably mounted on the lower traveling body; and Multiple cameras mounted on the upper rotating body, The control device has an obstacle detection function, which determines whether there are obstacles within a detection range set around the vehicle body based on the camera images from the multiple cameras. The detection range in the obstacle detection function can be changed via the input device. The position of the second reference line is changed based on the detection range of the input device. 10. The operating machinery according to claim 1, characterized in that, The vehicle body has: Lower driving body; The upper rotating body is rotatably mounted on the lower traveling body; and Multiple cameras mounted on the upper rotating body, The multiple cameras are mounted on the upper rotating body in a manner that enables them to capture images of the left, right, and rear sides of the upper rotating body. In each of the multiple camera images from the multiple cameras, the position of the second reference line can be set individually.

Claims

1. A type of operating machinery, characterized in that, have: Body; Display device; A control device that displays a reference line representing the distance between itself and the vehicle body on a display device, superimposed with an image of the vehicle body's surroundings; and An input device that receives instructions for the control device. In the aforementioned operating machinery, The reference lines superimposed on the surrounding image by the control device include a first reference line and a second reference line, wherein the drawing position of the first reference line on the surrounding image is fixed, and the drawing position of the second reference line on the surrounding image is changed based on input from the input device.

2. The operating machinery according to claim 1, characterized in that, The vehicle body has: Lower driving body; The upper rotating body is rotatably mounted on the lower traveling body; and Multiple cameras mounted on the upper rotating body, The surrounding imagery includes an overhead view of the vehicle's perimeter created by combining images from the multiple cameras.

3. The operating machinery according to claim 1, characterized in that, The vehicle body has: Lower driving body; The upper rotating body is rotatably mounted on the lower traveling body; and Multiple cameras mounted on the upper rotating body, The surrounding imagery includes at least one camera image from a plurality of camera images from the plurality of cameras.

4. The operating machinery according to claim 1, characterized in that, The second reference line is drawn on the surrounding image at a position further away from the vehicle body than the first reference line.

5. The operating machinery according to claim 1, characterized in that, The control device draws the first reference line and the second reference line in different ways.

6. The operating machinery according to claim 5, characterized in that, The control device depicts the first reference line in a manner that is more prominent than the second reference line.

7. The operating machinery according to claim 1, characterized in that, The control device stores the reference position of the second reference line. The control device changes the drawing position of the second reference line according to the displacement from the reference position indicated by the input device.

8. The operating machinery according to claim 1, characterized in that, The control device receives instructions from the input device, generates a setting screen for setting the drawing position of the second reference line, and displays it on the display device. The setting screen includes the surrounding image depicting the first reference line and the second reference line.

9. The operating machinery according to claim 1, characterized in that, The vehicle body has: Lower driving body; The upper rotating body is rotatably mounted on the lower traveling body; and Multiple cameras mounted on the upper rotating body, The control device has an obstacle detection function, which determines whether there are obstacles within a detection range set around the vehicle body based on the camera images from the multiple cameras. The detection range in the obstacle detection function can be changed via the input device. The position of the second reference line is changed based on the detection range of the input device.

10. The operating machinery according to claim 1, characterized in that, The vehicle body has: Lower driving body; The upper rotating body is rotatably mounted on the lower traveling body; and Multiple cameras mounted on the upper rotating body, The multiple cameras are mounted on the upper rotating body in a manner that enables them to capture images of the left, right, and rear sides of the upper rotating body. In each of the multiple camera images from the multiple cameras, the position of the second reference line can be set individually.

Images