Control method for work vehicle

Abstract

To provide a control method for a work vehicle that displays an image of the surroundings of the work vehicle as a monitoring image on a display unit, which can display an enlarged image of the entire monitoring image on the display unit.SOLUTION: A control method for a work vehicle, which displays an image of the surroundings of the work vehicle as a surveillance image on the display unit, displays an enlarged image of the entire monitoring image on the display unit by switching a specific display image. Furthermore, information on the work vehicle can be displayed on the display unit together with the monitoring image, and the information on the work vehicle displayed on the display unit can be erased by the switching operation.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a control method for a work vehicle. [Background technology]

[0002] Various systems for monitoring the surroundings of a work vehicle such as an excavator have been proposed. For example, in the system of Patent Document 1, the surroundings of the excavator are photographed by a plurality of cameras, and an overhead image is generated from each of the acquired images and displayed on a display unit. The display unit is provided with a plurality of button switches. When an operator presses any of the button switches, the camera image at the position corresponding to the button switch is enlarged and displayed on the overhead image. By switching between the camera image and the overhead image, the operator can accurately obtain information necessary for monitoring the surroundings. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2012-74929 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, Patent Document 1 does not disclose the display of an enlarged image obtained by enlarging the entire surveillance image such as a camera image.

[0005] An object of the present invention is to provide a method for controlling a work vehicle that displays an enlarged image, which is an enlarged version of an entire monitored image, on a display unit. [Means for solving the problem]

[0006] A control method for a work vehicle according to one aspect of the present invention is a control method for a work vehicle in which an image of the surroundings of the work vehicle is displayed as a surveillance image on a display unit, and an enlarged image of the entire surveillance image is displayed on the display unit by switching a specific display image. Effect of the Invention

[0007] An enlarged image obtained by enlarging the entire surveillance image is displayed on the display unit. [Brief description of the drawings]

[0008] [Figure 1] 1 is a side view showing a schematic configuration of a hydraulic excavator, which is an example of a work vehicle according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram showing a configuration of a main part of the hydraulic excavator. [Diagram 3] FIG. 2 is an explanatory diagram showing an example of a display screen of a display unit of the hydraulic excavator. [Figure 4] FIG. 4 is an explanatory diagram showing a display screen of the display unit in a first display mode. [Diagram 5] 13 is an explanatory diagram showing a display screen of the display unit in a second display mode. FIG. [Figure 6] FIG. 13 is an explanatory diagram showing a display screen of the display unit in a third display mode. [Figure 7] FIG. 13 is an explanatory diagram showing a display screen of the display unit in a fourth display mode. [Figure 8] FIG. 13 is an explanatory diagram showing a display screen of the display unit in a fifth display mode. [Figure 9] FIG. 13 is an explanatory diagram showing the display screen of the display unit in a sixth display mode. [Figure 10] FIG. 11 is an explanatory diagram showing an example of transition between a plurality of display modes. [Figure 11] 11 is an explanatory diagram showing another example of the display screen of the display unit. FIG. [Figure 12] FIG. 11 is an explanatory diagram showing still another example of the display screen of the display unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] The following describes an embodiment of the present invention with reference to the drawings.

[0010] [1. Work vehicles] 1 is a side view showing a schematic configuration of a hydraulic excavator 1, which is an example of a work vehicle according to this embodiment. The hydraulic excavator 1 includes a lower traveling structure 2, a work machine 3, and an upper rotating structure 4.

[0011] Here, directions in FIG. 1 are defined as follows. First, the direction in which the lower traveling body 2 moves straight is the fore-aft direction, one side of which is the "front" and the other side is the "rear". In FIG. 1, as an example, the side of the blade 23 relative to the traveling motor 22 is shown as the "front". Also, the lateral direction perpendicular to the fore-aft direction is the left-right direction. In this case, the left side as seen from the operator (operator) sitting in the cockpit 41a is the "left" and the right side is the "right". Furthermore, the direction of gravity perpendicular to the fore-aft and left-right directions is the up-down direction, with the upstream side of the gravity direction being the "up" and the downstream side being the "down".

[0012] The lower traveling body 2 is driven by power from the engine 40 to travel the hydraulic excavator 1. The lower traveling body 2 is equipped with a pair of left and right crawlers 21 and a pair of left and right traveling motors 22. Each traveling motor 22 is a hydraulic motor. The left and right traveling motors 22 drive the left and right crawlers 21, respectively, to move the hydraulic excavator 1 forward and backward. The lower traveling body 2 is provided with a blade 23 for performing ground leveling work and a blade cylinder 23a. The blade cylinder 23a is a hydraulic cylinder that rotates the blade 23 up and down.

[0013] The work machine 3 is driven by power from an engine 40 and performs excavation work to dig up earth and sand. The work machine 3 includes a boom 31, an arm 32, and a bucket 33. The boom 31, the arm 32, and the bucket 33 can be independently driven to perform excavation work.

[0014] The boom 31 is rotated by a boom cylinder 31a. A base end of the boom cylinder 31a is supported on the front part of the upper rotating body 4 and is movable so as to be telescopic. The arm 32 is rotated by an arm cylinder 32a. A base end of the arm cylinder 32a is supported on the tip part of the boom 31 and is movable so as to be telescopic. The bucket 33 is rotated by a bucket cylinder 33a. A base end of the bucket cylinder 33a is supported on the tip part of the arm 32 and is movable so as to be telescopic. The boom cylinder 31a, the arm cylinder 32a, and the bucket cylinder 33a are constituted by hydraulic cylinders.

[0015] The bucket 33 is provided at the tip of the work machine 3 and is a container-shaped member with claws for performing excavation work. The bucket 33 is rotatably attached to the tip of the arm 32 via a pin 34. Furthermore, the bucket 33 is connected to a bucket cylinder 33a via a link mechanism 35.

[0016] A hook 36 for crane work is attached to the tip of the arm 32. The hook 36 is a hook-shaped member for performing crane work, and is rotatably provided on the link mechanism 35. Here, the crane work refers to a lifting work for suspending and raising and lowering an object to be suspended. The hook 36 is rotatably supported with the axis of the link mechanism 35 as a pivot point, and can change its position between an unfolded state (see FIG. 1) in which it protrudes from the bucket 33, and a stored state (not shown) in which it is stored on the bucket 33 side. For example, when performing excavation work using the bucket 33, the hook 36 is in the stored state. On the other hand, when performing crane work using the hook 36, the hook 36 is in the unfolded state.

[0017] The upper rotating body 4 is configured to be rotatable relative to the lower traveling body 2 via a swivel bearing (not shown). A control section 41, a swivel base 42, a swivel motor 43, an engine room 44, etc. are arranged on the upper rotating body 4. The upper rotating body 4 rotates via the swivel bearing by driving the swivel motor 43, which is a hydraulic motor. In addition to an engine 40 that provides power to each section, multiple hydraulic pumps (not shown) are arranged at the rear of the upper rotating body 4.

[0018] Each hydraulic pump supplies working oil (pressurized oil) to a hydraulic motor (e.g., the left and right travel motors 22, the swing motor 43) and a hydraulic cylinder (e.g., the blade cylinder 23a, the boom cylinder 31a, the arm cylinder 32a, the bucket cylinder 33a). The hydraulic motors and hydraulic cylinders that are driven by the supply of working oil from any hydraulic pump are collectively called hydraulic actuators.

[0019] A cockpit 41a is disposed in the cockpit section 41 in which an operator sits. Operation sections 41b are disposed around the cockpit 41a (particularly in front, on the left and right).

[0020] The operation unit 41b is composed of an operation lever, a switch, a button, etc. for driving the hydraulic actuator. The operator sits in the cockpit 41a and operates the operation unit 41b to drive the hydraulic actuator. This enables the travel of the lower traveling body 2, ground leveling work by the blade 23, excavation work by the work machine 3, crane work, rotation of the upper rotating body 4, etc.

[0021] The operation unit 41b includes a cutoff lever. The cutoff lever is provided near the cockpit 41a so as to be rotatable up and down. When the operator presses down the cutoff lever, a cutoff switch (not shown) is turned ON, and a state (enabled state) is created in which a specific hydraulic actuator can be driven by operating the operation unit 41b. On the other hand, when the operator pulls up the cutoff lever, the cutoff switch is turned OFF, and a state (disabled state) is created in which the hydraulic actuator cannot be driven even if the operator operates the operation unit 41b. When the operator wishes to get off the operation unit 41, he or she pulls up the cutoff lever to disable the hydraulic actuator, and then leaves the cockpit 41a.

[0022] The hydraulic excavator 1 has two operation modes: a normal mode and a crane mode. The normal mode is an operation mode in which operations or tasks such as traveling (driving the lower traveling body 2), rotating (driving the upper rotating body 4), and excavation (driving the work machine 3) are performed. In the normal mode, an operator can operate the operation unit 41b to cause the hydraulic excavator 1 to perform traveling, rotating, excavation, and the like. On the other hand, the crane mode is an operation mode in which an object is suspended by the hook 36 to perform crane work. The operator sets the crane mode by operating the input unit 62 (see FIG. 3), which will be described later, and can cause the hydraulic excavator 1 to perform crane work by operating the operation unit 41b.

[0023] [2. Main components of hydraulic excavator] 2 shows a schematic configuration of the main parts of the hydraulic excavator 1. The hydraulic excavator 1 further includes a monitoring unit 50, a monitor device 60, an alarm device 70, an operating condition detection unit 80, and a control unit 90.

[0024] <2-1. Monitoring section> The monitoring unit 50 monitors the surroundings by detecting the presence or absence of obstacles around the hydraulic excavator 1. The above-mentioned obstacles include objects to be monitored such as people, objects, and animals. In other words, the hydraulic excavator 1 is equipped with a monitoring unit 50 that monitors the surroundings of the hydraulic excavator 1. The monitoring unit 50 has a monitoring image acquisition unit 51, an enlarged image generation unit 52, and an image recognition unit 53.

[0025] (2-1-1. Surveillance image acquisition unit) The surveillance image acquisition unit 51 acquires an image of the surroundings of the hydraulic excavator 1 as a surveillance image NA (see FIG. 3, etc.). The surveillance image acquisition unit 51 has a left camera 54a, a right camera 54b, a rear camera 54c, and an overhead image generation unit 55.

[0026] The left camera 54a photographs the left side of the hydraulic excavator 1 and acquires a left side image NL (see FIG. 4). The right camera 54b photographs the right side of the hydraulic excavator 1 and acquires a right side image NR (see FIG. 4). The rear camera 54c photographs the rear of the hydraulic excavator 1 and acquires a rear image NB (see FIG. 5). The above-mentioned left side image NL, right side image NR, and rear image NB are included in the monitoring image NA. That is, the monitoring image acquisition unit 51 includes the left camera 54a, the right camera 54b, and the rear camera 54c, which respectively photograph the left side, right side, and rear of the hydraulic excavator 1. The monitoring image NA includes the left side image NL photographed and acquired by the left camera 54a, the right side image NR photographed and acquired by the right camera 54b, and the rear image NB photographed and acquired by the rear camera 54c. Note that the monitoring image NA is, for example, a moving image, but may also be a still image acquired by photographing at a predetermined frame period.

[0027] The overhead image generating unit 55 synthesizes the left side image NL, the right side image MR, and the rear image NB by image processing to generate an image of the hydraulic excavator 1 looking down from above, that is, an overhead image NP (see FIG. 6). The overhead image NP is included in the monitoring image NA. That is, the monitoring image acquiring unit 51 includes an overhead image generating unit 55 that synthesizes the left side image NL, the right side image NR, and the rear image NB to generate the overhead image NP. The monitoring image NA includes the overhead image NP. The overhead image generating unit 55 is configured by a central processing unit called a CPU (Central Processing Unit) or a computing device such as a GPU (Graphics Processing Unit). The overhead image NP may be an animation image.

[0028] (2-1-2. Enlarged image generation unit) The enlarged image generating unit 52 enlarges the monitoring image NA (left side image NL, right side image NR, rear image NB, overhead image NP) acquired by the monitoring image acquiring unit 51 through image processing to generate an enlarged image EA (see FIG. 7, etc.). The image enlargement ratio can be set arbitrarily. Like the overhead image generating unit 55, the enlarged image generating unit 52 is also configured by, for example, a CPU or GPU. That is, the hydraulic excavator 1 of this embodiment includes the monitoring image acquiring unit 51 that acquires an image of the surroundings of the hydraulic excavator 1 as a work vehicle as the monitoring image NA, and the enlarged image generating unit 52 that enlarges the monitoring image NA to generate an enlarged image EA.

[0029] The enlarged image generating unit 52 enlarges the left side image NL of the monitoring image NA to generate a left side enlarged image EL (see FIG. 7), enlarges the right side image NR to generate a right side enlarged image ER (see FIG. 7), and enlarges the rear image NB to generate a rear enlarged image EB (see FIG. 8). Therefore, the enlarged image EA generated by the enlarged image generating unit 52 includes a left side enlarged image EL obtained by enlarging the left side image NL, a right side enlarged image ER obtained by enlarging the right side image NR, and a rear enlarged image EB obtained by enlarging the rear image NB.

[0030] The enlarged image generating unit 52 also generates an overhead enlarged image EP (see FIG. 9). The overhead enlarged image EP is an image obtained by enlarging the overhead image NP generated by the overhead image generating unit 55 through image processing, and is included in the above-mentioned enlarged image EA. That is, the enlarged image generating unit 52 enlarges the overhead image NP generated by the overhead image generating unit 55 to generate the overhead enlarged image EP. The enlarged image EA includes the overhead enlarged image EP.

[0031] (2-1-3. Image Recognition Unit) The image recognition unit 53 performs image recognition processing on the above-mentioned monitoring image as input, thereby detecting whether or not an object included in the monitoring image is an obstacle and the type of obstacle (person / object / animal), and detecting an intrusion into the monitoring area. That is, the hydraulic excavator 1 has the image recognition unit 53 that performs image recognition processing on the monitoring image to detect whether or not there is an obstacle around the hydraulic excavator 1. The image recognition unit 53 is configured with a GPU or the like. Note that the above-mentioned enlarged image generation unit 52, image recognition unit 53, and overhead image generation unit 55 may be configured with a single GPU.

[0032] The monitoring unit 50 may be configured to detect an obstacle using an obstacle sensor. A known distance measuring device capable of acquiring distance information of an obstacle can be used as the obstacle sensor. For example, an ultrasonic radar using ultrasonic waves, a millimeter wave radar using millimeter wave radio waves, a LIDAR that measures the scattered light in response to laser irradiation to obtain the distance, a stereo camera that has multiple camera functions integrated and measures the distance to an object from a captured image, etc. can be used as the obstacle sensor.

[0033] <2-2.Monitor device> The monitor device 60 is disposed near (for example, diagonally forward of) the cockpit 41a shown in Fig. 1, and displays various information to provide necessary information to the operator seated in the cockpit 41a. The monitor device 60 has a display unit 61, an input unit 62, and a display control unit 63.

[0034] (2-2-1.Display section) 3 is a front view of the monitor device 60. The display unit 61 of the monitor device 60 is, for example, a liquid crystal display device, and displays various information. For example, the display unit 61 displays the monitoring image NA acquired by the monitoring image acquisition unit 51, or the enlarged image EA generated by the enlarged image generation unit 52. That is, the hydraulic excavator 1 of this embodiment is equipped with the display unit 61 that displays either the monitoring image NA or the enlarged image EA. Note that, in the display unit 61, an image is displayed after the cutoff switch detects that the above-mentioned cutoff lever has been lowered with the ignition key for starting the engine 40 (see FIG. 1) turned on, that is, that the prohibition on the operation of the operation unit 41b has been lifted.

[0035] Moreover, the display unit 61 further displays operating state information D1, menu information D2, and crane information D3. The operating state information D1 is information relating to the operating state of the hydraulic excavator 1. In Fig. 3, for example, information on the remaining amount of fuel in the hydraulic excavator 1 is shown as the operating state information D1. Note that the operating state information D1 is not limited to the above-mentioned information on the remaining amount of fuel, and may be information relating to the operating time of the hydraulic excavator 1, the remaining battery charge, etc.

[0036] The menu information D2 is information showing a list of items that can be set by operating the input unit 62. Fig. 3 shows that the setting of the operation mode of the hydraulic excavator 1 (crane mode / normal mode) and the selection of the camera image to be displayed on the display unit 61 (monitoring image NA, enlarged image EA) can be performed by operating the input unit 62.

[0037] The crane information D3 is information that is displayed when the crane mode is set by operating the input unit 62. Fig. 3 shows an example in which the weight of the load that can be suspended in the crane mode (rated weight) is 3.0 t, and the current suspended load is 2.8 t, which is displayed as the crane information D3.

[0038] (2-2-2. Input section) The input unit 62 is operated by an operator to perform various settings, selections, and inputs. In this embodiment, the input unit 62 is composed of a plurality of mechanical button switches 62a (six button switches 62a1 to 62a6 are shown in FIG. 3 as an example). The operator can perform various settings and the like by operating the input unit 62 (for example, by pressing any of the button switches 62a).

[0039] For example, the operator can select whether to display or hide the menu information D2 by pressing a button switch 62a1 located below the display of "Menu" in the menu information D2 displayed on the display unit 61. Also, the operator can select normal mode or crane mode as the operation mode of the hydraulic excavator 1 by pressing a button switch 62a2 located below the display of "Crane" in the menu information D2, and drive the hydraulic excavator 1 in the selected operation mode.

[0040] Furthermore, by the operator pressing the button switch 62a4 located below the display of "camera" in the menu information D2, an instruction to switch the image displayed on the display unit 61 between the monitoring image NA and the enlarged image EA can be input. As described above, in this embodiment, six button switches 62a are provided, but only one button switch 62a, the button switch 62a4, is used as the button switch 62a for inputting an instruction to switch the displayed image. Therefore, the button switch 62a4 particularly constitutes a single image switching instruction input unit 62P. In other words, the hydraulic excavator 1 in this embodiment is provided with a single image switching instruction input unit 62P that accepts an instruction to switch the displayed image on the display unit 61 between the monitoring image NA and the enlarged image EA. Moreover, the image switching instruction input unit 62P is the button switch 62a4.

[0041] In FIG. 3, the button switches 62a3, 62a5, and 62a6 are not assigned any particular function when pressed, but it is possible to assign any appropriate function to them.

[0042] The input unit 62 may be configured with a touch panel input device overlaid on the display unit 61, or may be configured with a jog dial. In the former case, a button icon is displayed on the display unit 61 at a position corresponding to the button switch 62a, and the touch panel input device detects the position pressed by the operator, allowing the operator to perform various settings, selections, and inputs. In the latter case, the operator can rotate the jog dial to select a desired item of the menu information D2, and press the center of the jog dial to input an instruction for the item.

[0043] In this embodiment, the input unit 62 (particularly the image switching instruction input unit 62P) is provided in the monitor device 60, but it may be provided independently of the monitor device 60.

[0044] (2-2-3. Display control unit) The display control unit 63 shown in FIG. 2 controls the operation of each part of the monitor device 60. This display control unit 63 is configured as an electronic control unit called an ECU (Electronic Control Unit). When the monitor device 60 has the display control unit 63 built in, as in this embodiment, the display control unit 63 can also be called a monitor ECU. Note that the display control unit 63 may be provided outside the monitor device 60 (independently from the monitor device 60). For example, a later-described overall control unit 91 of the control unit 100 may also function as the display control unit 63.

[0045] In this embodiment, the display control unit 63 performs control to display only one of the monitoring image NA and the enlarged image EA on the display unit 61 based on an input instruction from the button switch 62a4, i.e., the image switching instruction input unit 62P. In other words, the hydraulic excavator 1 is equipped with the display control unit 63 that displays the monitoring image NA or the enlarged image EA on the display unit 61 based on an instruction received from a single image switching instruction input unit 62P. Note that the details of the display image switching control by the display control unit 63 will be described later.

[0046] <2-3. Alarm device> The warning device 70 outputs a warning based on the monitoring results of the monitoring unit 50. Such a warning device 70 is composed of a rotating light (e.g., a rotating lamp), a light-emitting unit (e.g., a light-emitting diode), an alarm unit (e.g., a buzzer), and the like. For example, when the image recognition unit 53 of the monitoring unit 50 detects an obstacle by image recognition, the rotating light rotates, the light-emitting unit lights up or flashes, and the alarm unit outputs a sound. This allows the operator to recognize that the monitoring unit 50 has detected an obstacle.

[0047] <2-4. Driving condition detection unit> The operating state detection unit 80 detects the operating state of the hydraulic excavator 1. In this embodiment, for example, the remaining amount of fuel in the hydraulic excavator 1 is considered as the operating state of the hydraulic excavator 1. In this case, the operating state detection unit 80 is configured with a fuel detection sensor that detects the remaining amount of fuel in the hydraulic excavator 1. Note that, as the operating state, the operating time of the hydraulic excavator 1 may be considered, or the remaining battery charge may be considered. The operating time of the hydraulic excavator 1 may be detected by configuring the operating state detection unit 80 with a clock unit (timer). The remaining battery charge may be detected by configuring the operating state detection unit 80 with a battery charge detection sensor. In this way, the hydraulic excavator 1 of this embodiment is provided with an operating state detection unit 80 that detects the operating state of the hydraulic excavator 1.

[0048] <2-5. Control unit> The control unit 90 is composed of an ECU or a CPU. The control unit 90 has an overall control unit 91 and an abnormality determination unit 92. The overall control unit 91 controls the operation of each unit of the hydraulic excavator 1. The abnormality determination unit 92 determines whether or not there is an abnormality in the hydraulic excavator 1 based on the operating state of the hydraulic excavator 1 detected by the operating state detection unit 80. For example, when the operating state detection unit 80 detects that the remaining amount of fuel is equal to or greater than a predetermined amount, the abnormality determination unit 92 determines that there is no abnormality in the hydraulic excavator 1, whereas when the operating state detection unit 80 detects that the remaining amount of fuel is less than the predetermined amount, the abnormality determination unit 92 determines that an abnormality has occurred in the hydraulic excavator 1. In this way, the hydraulic excavator 1 includes the abnormality determination unit 92 that determines whether or not there is an abnormality in the hydraulic excavator 1 based on the operating state.

[0049] The control unit 90 may include a storage unit. The storage unit stores programs and various information for operating the control unit 90. As such a storage unit, a RAM (Random Access Memory), a ROM (Read Only Memory), a non-volatile memory, etc. may be used.

[0050] 〔3. Switching the displayed image〕 Next, the switching control of the display image on the display unit 61 by the display control unit 63 will be described in detail.

[0051] In this embodiment, six display modes, from a first display mode M1 to a sixth display mode M6, are set as display modes for images on the display unit 61. The first display mode M1, the second display mode M2, and the third display mode M3 are display modes for a monitoring image NA. The fourth display mode M4, the fifth display mode M5, and the sixth display mode M6 are display modes for an enlarged image EA.

[0052] 4 shows an example of the display screen of the display unit 61 in the first display mode M1. The first display mode M1 is a display mode in which a left side image NL and a right side image NR are displayed as the monitoring image NA. When the first display mode M1 is set by the image switching instruction input unit 62P (button switch 62a4), the display control unit 61 causes the display unit 61 to display the left side image NL and the right side image NR in addition to the operating state information D1, menu information D2, and crane information D3. Note that when the operation mode of the hydraulic excavator 1 is not set to the crane mode, the crane information D3 may be hidden (the same applies below).

[0053] 5 shows an example of the display screen of the display unit 61 in the second display mode M2. The second display mode M2 ​​is a display mode that displays a left side image NL, a right side image NR, and a rear image NB as a monitoring image NA. When the second display mode M2 ​​is set by the button switch 62a4, the display control unit 61 causes the display unit 61 to display the left side image NL, the right side image NR, and the rear image NB in ​​addition to the driving state information D1, the menu information D2, and the crane information D3.

[0054] 6 shows an example of the display screen of the display unit 61 in the third display mode M3. The third display mode M3 is a display mode in which an overhead image NP is displayed as a monitoring image NA. When the third display mode M3 is set by the button switch 62a4, the display control unit 61 causes the display unit 61 to display the overhead image NP in addition to the operation status information D1, the menu information D2, and the crane information D3.

[0055] 7 shows an example of the display screen of the display unit 61 in the fourth display mode M4. The fourth display mode M4 is a display mode that displays a left side enlarged image EL and a right side enlarged image ER as the enlarged image EA. When the fourth display mode M4 is set by the button switch 62a4, the display control unit 61 causes the display unit 61 to display the left side enlarged image EL and the right side enlarged image ER.

[0056] 8 shows an example of the display screen of the display unit 61 in the fifth display mode M5. The fifth display mode M5 is a display mode that displays a left side enlarged image EL, a right side enlarged image ER, and a rearward enlarged image EB as the enlarged image EA. When the fifth display mode M5 is set by the button switch 62a4, the display control unit 61 causes the display unit 61 to display the left side enlarged image EL, the right side enlarged image ER, and the rearward enlarged image EB.

[0057] 9 shows an example of the display screen of the display unit 61 in the sixth display mode M6. The sixth display mode M6 is a display mode in which an overhead enlarged image EP is displayed as the enlarged image EA. When the sixth display mode M6 is set by the button switch 62a4, the display control unit 61 causes the display unit 61 to display the overhead enlarged image EP.

[0058] In the fourth display mode M4 to the sixth display mode M6, the operation state information D1, the menu information D2, and the crane information D3 that were displayed in the first display mode M1 to the third display mode M3 are not displayed, the reason for which will be described later.

[0059] 10 is an explanatory diagram that shows a schematic transition of the display mode of the image displayed on the display unit 61 when an instruction to switch the display image by the button switch 62a4 is received. In this embodiment, the display control unit 63 causes the display unit 61 to display the monitoring image NA or the enlarged image EA in a display mode selected from the above-mentioned plurality of display modes (first display mode M1 to sixth display mode M6) according to the pressed state of the button switch 62a4, specifically, according to the pressed time. This point will be described in more detail below.

[0060] Here, when the operator presses the button switch 62a4 for a predetermined time or more (for example, two seconds or more), this is referred to as a "long press." When the operator presses the button switch 62a4 for less than the predetermined time (for example, less than two seconds), this is referred to as a "short press."

[0061] (3-1. Long press) When the operator presses the button switch 62a4 for a long time, the display mode of the display unit 61 is switched and transitioned among a plurality of display modes that display the monitoring image NA.

[0062] For example, when the current display mode is set to the first display mode M1, if the operator presses the button switch 62a4 for a long time, the display mode transitions from the first display mode M1 to the second display mode M2 ​​(transition T1). As a result, the display screen of the display unit 61 is switched from the screen shown in Fig. 4 to the screen shown in Fig. 5. That is, the display control unit 63 causes the display unit 61 to display the left side image NL, the right side image NR, and the rear image NB as the monitoring image NA.

[0063] Next, when the operator presses and holds the button switch 62a4, the display mode transitions from the second display mode M2 ​​to the third display mode M3 (transition T2). As a result, the display screen of the display unit 61 is switched from the screen shown in Fig. 5 to the screen shown in Fig. 6. That is, the display control unit 63 causes the display unit 61 to display the overhead image NP as the monitoring image NA.

[0064] Furthermore, when the operator presses and holds the button switch 62a4, the display mode transitions from the third display mode M3 to the first display mode M1 (transition T3). As a result, the display screen of the display unit 61 is switched from the screen shown in Fig. 6 to the screen shown in Fig. 4. That is, the display control unit 63 causes the display unit 61 to display the left side image NL and the right side image NR as the monitoring image NA.

[0065] On the other hand, for example, when the current display mode is set to the fourth display mode M4, if the operator presses and holds the button switch 62a4, the display mode transitions from the fourth display mode M4 to the fifth display mode M5 (transition T4). As a result, the display screen of the display unit 61 is switched from the screen shown in Fig. 7 to the screen shown in Fig. 8. That is, the display control unit 63 causes the display unit 61 to display, as the enlarged image EA, a left side enlarged image EL, a right side enlarged image ER, and a rear side enlarged image EB.

[0066] Next, when the operator presses and holds the button switch 62a4, the display mode transitions from the fifth display mode M5 to the sixth display mode M6 (transition T5). As a result, the display screen of the display unit 61 is switched from the screen shown in Fig. 8 to the screen shown in Fig. 9. That is, the display control unit 63 causes the display unit 61 to display the overhead enlarged image EP as the enlarged image EA.

[0067] Furthermore, when the operator presses and holds the button switch 62a4, the display mode transitions from the sixth display mode M6 to the fourth display mode M4 (transition T6). As a result, the display screen of the display unit 61 is switched from the screen shown in Fig. 9 to the screen shown in Fig. 7. That is, the display control unit 63 causes the display unit 61 to display the left side enlarged image EL and the right side enlarged image ER as the enlarged image EA.

[0068] (3-2. Short press) When the operator briefly presses the button switch 62a4, the display mode of the display unit 61 is switched and transitioned between a display mode for displaying a monitoring image NA and a display mode for displaying an enlarged image EA.

[0069] For example, when the current display mode is set to the first display mode M1, if the operator presses the button switch 62a4 for a short time, the display mode transitions from the first display mode M1 to the fourth display mode M4 (transition T7). As a result, the display screen of the display unit 61 is switched from the screen shown in Fig. 4 to the screen shown in Fig. 7. That is, the display control unit 63 causes the display unit 61 to display the left side enlarged image EL and the right side enlarged image ER as the enlarged image EA.

[0070] Next, when the operator briefly presses the button switch 62a4, the display mode transitions from the fourth display mode M4 to the first display mode M1 (transition T8). As a result, the display screen of the display unit 61 is switched from the screen shown in Fig. 7 to the screen shown in Fig. 4. That is, the display control unit 63 causes the display unit 61 to display the left side image NL and the right side image NR as the monitoring image NA.

[0071] Also, when the current display mode is set to the second display mode M2, if the operator presses the button switch 62a4 for a short time, the display mode transitions from the second display mode M2 ​​to the fifth display mode M5 (transition T9). As a result, the display screen of the display unit 61 is switched from the screen shown in Fig. 5 to the screen shown in Fig. 8. That is, the display control unit 63 causes the display unit 61 to display, as the enlarged image EA, a left side enlarged image EL, a right side enlarged image ER, and a rear side enlarged image EB.

[0072] Next, when the operator briefly presses the button switch 62a4, the display mode transitions from the fifth display mode M5 to the second display mode M2 ​​(transition T10). As a result, the display screen of the display unit 61 is switched from the screen shown in Fig. 8 to the screen shown in Fig. 5. That is, the display control unit 63 causes the display unit 61 to display the left side image NL, the right side image NR, and the rear image NB as the monitoring image NA.

[0073] Also, when the current display mode is set to the third display mode M3, if the operator presses the button switch 62a4 for a short time, the display mode transitions from the third display mode M3 to the sixth display mode M6 (transition T11). As a result, the display screen of the display unit 61 is switched from the screen shown in Fig. 6 to the screen shown in Fig. 9. That is, the display control unit 63 causes the display unit 61 to display the overhead enlarged image EP as the enlarged image EA.

[0074] Next, when the operator briefly presses the button switch 62a4, the display mode transitions from the sixth display mode M6 to the third display mode M3 (transition T12). As a result, the display screen of the display unit 61 is switched from the screen shown in Fig. 9 to the screen shown in Fig. 6. That is, the display control unit 63 causes the display unit 61 to display the overhead image NP as the monitoring image NA.

[0075] The display mode switching control when the operator presses the button switch 62a4 for a long time and the display mode switching control when the operator presses the button switch 62a4 for a short time may be reversed. That is, when the operator presses the button switch 62a4 for a short time, the display mode of the display unit 61 may be switched between the first display mode M1 to the third display mode M3, or between the fourth display mode M4 to the sixth display mode M6. When the operator presses the button switch 62a4 for a long time, the display mode of the display unit 61 may be switched between the first display mode M1 and the fourth display mode M4, the second display mode M2 ​​and the fifth display mode M5, or the third display mode M3 and the sixth display mode M6.

[0076] By the operator performing a combination of long presses and short presses on the button switch 62a4, it becomes possible to switch the display mode from an arbitrary display mode (for example, the first display mode M1) to an arbitrary display mode (for example, the sixth display mode).

[0077] [4. Effects] The hydraulic excavator 1 of this embodiment is provided with a single image switching instruction input unit 62P (button switch 62a4) as an input unit for receiving an instruction to switch the display image on the display unit 61. This allows the operator to issue an instruction to switch the display image by operating the single image switching instruction input unit 62P. Therefore, unlike the conventional system in which multiple button switches are provided for issuing an instruction to switch the display image, the operator is not likely to be confused about the operation to issue an instruction to switch the display image. Therefore, the operator can easily issue an instruction to switch the display image by performing an intuitive and easy-to-understand operation. In other words, the operability of the operator when switching the display image can be improved.

[0078] Furthermore, the display control unit 63 causes the display unit 61 to display the monitoring image NA or the enlarged image EA in accordance with the pressed state of the button switch 62a4, which is the single image switching instruction input unit 62P. Therefore, the operator can easily issue an instruction to switch the display image on the display unit 61 between the monitoring image NA and the enlarged image EA by changing the pressed state of the single button switch 62a4.

[0079] In particular, the display control unit 63 causes the display unit 61 to display the monitoring image NA or the enlarged image EA according to the pressing time of the button switch 62a4. That is, the pressing state includes the pressing time of the button switch 62a4. The operator can easily adjust the pressing time of the button switch 62a4 by pressing the single button switch 62a4 for a long time or a short time. Therefore, the operator can issue an instruction to switch the displayed image by a simple operation of pressing the button switch 62a4 for a long time or a short time.

[0080] In this embodiment, when the button switch 62a4 is pressed for a short time, that is, when the button switch 62a4 is pressed for less than two seconds, for example, the display control unit 63 switches the display image on the display unit 61 between the monitoring image NA and the enlarged image EA (transitions T7 to T12). On the other hand, when the button switch 62a4 is pressed for a long time, that is, when the button switch 62a4 is pressed for more than two seconds, the display control unit 63 displays the monitoring image NA or the enlarged image EA in one of a plurality of display modes (transitions T1 to T3, or transitions T4 to T6). As described above, the display control of the display control unit 63 may be reversed depending on whether the button switch 62a4 is pressed for a long time or a short time.

[0081] In other words, when the button switch 62a4 is pressed for either less than a predetermined time or more than a predetermined time, the display control unit 63 switches the display image on the display unit 61 between the surveillance image NA and the enlarged image EA, and when the button switch 62a4 is pressed for either less than a predetermined time or more than a predetermined time, the display control unit 63 causes the display unit 61 to display either the surveillance image NA or the enlarged image EA in one of a plurality of display modes.

[0082] In this case, the operator can distinguish between issuing an instruction to switch the display image between the monitoring image NA and the enlarged image EA and an instruction to switch the display mode of the monitoring image NA or the enlarged image EA depending on the pressing time of a single button switch 62a4.

[0083] The above-mentioned display modes include a first display mode M1 that displays a left side image NL and a right side image NR, and a second display mode M2 ​​that displays all of the left side image NL, the right side image NR, and the rear image NB. In this case, the operator can select the first display mode M1 or the second display mode M2 ​​as the display mode for the monitoring image NA by pressing a single button switch 62a4, and can instruct the display unit 61 to display the monitoring image NA in the selected display mode.

[0084] The plurality of display modes also includes a third display mode M3 that displays an overhead image NP. In this case, the operator can select the first display mode M1, the second display mode M2, or the third display mode M3 as the display mode for the monitoring image NA by pressing a single button switch 62a4, and can instruct the display unit 61 to display the monitoring image NA in the selected display mode.

[0085] The plurality of display modes also include a fourth display mode M4 that displays a left side enlarged image EL and a right side enlarged image ER, and a fifth display mode M5 that displays a left side enlarged image EL, a right side enlarged image ER, and a rearward enlarged image EB. In this case, the operator can select the fourth display mode M4 or the fifth display mode M5 as the display mode for the enlarged image EA by pressing a single button switch 62a4, and can instruct the display unit 61 to display the enlarged image EA in the selected display mode.

[0086] The plurality of display modes also includes a sixth display mode M6 that displays an overhead enlarged image EP. In this case, the operator can select the fourth display mode M4, the fifth display mode M5, or the sixth display mode M6 as the display mode for the enlarged image EA by pressing a single button switch 62a4, and can instruct the display unit 61 to display the enlarged image EA in the selected display mode.

[0087] In the present embodiment, in the first display mode M1 to the third display mode M3 in which the display unit 61 displays the monitoring image NA, the display control unit 63 causes the display unit 61 to display driving state information D1 (e.g., information on the remaining amount of fuel) together with the monitoring image NA (see Figs. 4 to 6). On the other hand, in the fourth display mode M4 to the sixth display mode M6 in which the display unit 61 displays the enlarged image EA, the display control unit 63 causes the display unit 61 to display the enlarged image EA without displaying the driving state information D1 (see Figs. 7 to 9). That is, when the display unit 61 displays the monitoring image NA, the display control unit 63 causes the display unit 61 to display information indicating the driving state together with the monitoring image NA, whereas when the display unit 61 displays the enlarged image EA, the display unit 61 displays the enlarged image EA with the information indicating the driving state erased.

[0088] When the monitoring image NA is displayed on the display unit 61, the operating state information D1 is also displayed, so that the operator can grasp the operating state (remaining amount of fuel) of the hydraulic excavator 1 while checking the monitoring image NA. On the other hand, when the enlarged image EA is displayed on the display unit 61, the operating state information D1 is erased, so that the area that displayed the operating state information D1 can be utilized as the display area for the enlarged image EA. This makes it possible to reliably display the enlarged image EA within the limited display screen of the display unit 61.

[0089] [6. Display of other information] Fig. 11 shows a display screen on which abnormality information D4 is displayed on the display unit 61. In a configuration in which the hydraulic excavator 1 is provided with the abnormality determination unit 92 (see Fig. 2) as in this embodiment, when the abnormality determination unit 92 determines that there is an abnormality in the hydraulic excavator 1, the display control unit 63 may cause the display unit 61 to display the abnormality information D4. In Fig. 11, when the operating state detection unit 80 (see Fig. 2) detects that the remaining amount of fuel is low, the abnormality determination unit 92 determines that there is an abnormality in the hydraulic excavator 1, and based on this determination, the display control unit 63 controls the display unit 61 to display abnormality information D4 reporting that the remaining amount of fuel is low.

[0090] In this way, when the abnormality determination unit 92 determines that there is an abnormality in the hydraulic excavator 1, the display control unit 63 causes information indicating the abnormality (abnormality information D4) to be displayed on the display unit 61. In this case, the operator can immediately grasp the abnormality based on the abnormality information D4 displayed on the display unit 61 and immediately take the necessary measures. For example, when an indication that the remaining amount of fuel is low is displayed on the display unit 61 as abnormality information D4 as described above, the operator can immediately take measures such as refilling fuel.

[0091] In particular, even in a display mode in which the enlarged image EA is displayed on the display unit 61, that is, in a display mode in which the driving state information D1 is not displayed on the display unit 61 (the fourth display mode M4 to the sixth display mode M6), the abnormality information D4 is displayed on the display unit 61 under the control of the display control unit 63. This allows the operator to notice an abnormality by looking at the abnormality information D4 even while the enlarged image EA is being displayed on the display unit 61, and to take appropriate measures.

[0092] 12 shows a display screen on which warning information D5 is displayed on the display unit 61. In a configuration in which the hydraulic excavator 1 is provided with the image recognition unit 53 that detects whether or not there is an obstacle in the surroundings by image recognition as in this embodiment, when the image recognition unit 53 detects the obstacle, warning information D5 indicating the presence of an obstacle may be displayed on the display unit 61.

[0093] 12, on the display unit 61, an icon A1 indicating a "person" as an obstacle, an icon A2 with an arrow indicating the direction in which the person is present, and an arc-shaped band area A3 (see thick dashed line) indicating that a person is present to the left of the hydraulic excavator 1 are displayed as warning information D5. Also, on the display unit 61, an icon B1 indicating a "person" as an obstacle, an icon B2 with an arrow indicating the direction in which the person is present, and an arc-shaped band area B3 (see thick solid line) indicating that a person is present behind the hydraulic excavator 1 are displayed as warning information D5.

[0094] In this way, when an obstacle is detected by the image recognition unit 53 (around the hydraulic excavator 1), the display control unit 63 causes the display unit 61 to display warning information D5. In this case, the operator recognizes the presence of an obstacle in the monitoring area of ​​the hydraulic excavator 1 (for example, within a radius of 2 to 3 m from the hydraulic excavator 1) based on the warning information D5 displayed on the display unit 61, checks the surroundings, and can take appropriate measures as necessary. For example, an intruder who has entered the monitoring area can be warned to leave the monitoring area. The warning can be given verbally or by issuing a warning sound, for example.

[0095] [7. Supplementary Information] In this embodiment, the pressing time is considered as the pressing state of the image switching instruction input unit 62P (button switch 62a4), and an example has been described in which the display mode is switched according to the pressing time, but the display mode may be switched according to the number of presses per unit time. For example, when the operator presses the image switching instruction input unit 62P once (one click), the display control unit 63 may perform control to switch the display mode of the display unit 61 between the first display mode M1 and the fourth display mode M4, between the second display mode M2 ​​and the fifth display mode M5, or between the third display mode M3 and the sixth display mode M6, and display the monitoring image NA or the enlarged image EA on the display unit 61. In addition, when the operator presses the image switching instruction input unit 62P twice (double-clicks), the display control unit 63 may switch the display mode of the display unit 61 between the first display mode M1, the second display mode M2, and the third display mode M3, or between the fourth display mode M4, the fifth display mode M5, and the sixth display mode M6, and control the display unit 61 to display the monitoring image NA or the enlarged image EA.

[0096] In this embodiment, the hydraulic excavator 1, which is a construction machine, has been described as an example of a work vehicle, but the work vehicle is not limited to a hydraulic excavator and may be other construction machines such as a wheel loader, or agricultural machines such as a combine harvester. In other words, the display method of the display unit 61 described in this embodiment can be applied to construction equipment and agricultural machines other than the hydraulic excavator 1.

[0097] Although the embodiment of the present invention has been described above, the scope of the present invention is not limited to this, and the invention can be expanded or modified without departing from the spirit of the invention. [Industrial Applicability]

[0098] The present invention can be used in work vehicles such as construction machines and agricultural machines. [Explanation of symbols]

[0099] 1. Hydraulic excavator (work vehicle) 51 Surveillance image acquisition unit 52 Enlarged image generation unit 53 Image Recognition Unit 54a Left camera 54b Right camera 54c Rear camera 55 Bird's-eye view image generation unit 61 Display section 62a4 Button switch (image switching command input section) 62P Image switching instruction input section 63 Display control section 80 Driving state detection unit 92 Abnormality judgment unit NA Surveillance Images NL Left side image NR Right side image NB rear image NP aerial view image EA Enlarged Image EL Left side enlarged image ER right side enlarged image EB Rear enlarged image EP bird's-eye view enlarged image M1 1st display mode M2 Second display mode M3 3rd display mode M4 4th display mode M5 5th display mode M6 6th display mode D4 Abnormal Information D5 Warning Information

Claims

1. A control method for a work vehicle that displays an image of the surroundings of the work vehicle as a monitoring image on a display unit, comprising: A control method for a work vehicle, comprising: displaying an enlarged image of the entire monitoring image on the display unit by performing a switching operation on a specific display image.

2. Displaying information about the work vehicle on the display unit together with the monitoring image; and The method for controlling a work vehicle according to claim 1 , further comprising: erasing the information displayed on the display unit by the switching operation.

3. The method for controlling a work vehicle according to claim 2 , wherein the information is displayed to the side of the monitoring image.

4. The method for controlling a work vehicle according to claim 2 , wherein the information is displayed below the monitoring image.

5. the information includes a plurality of items of information displayed along a bottom edge of the display unit; The work vehicle control method according to claim 4 , further comprising a plurality of button switches arranged below the display unit at positions corresponding to a plurality of pieces of item information and enabling operations according to the corresponding items.

6. The method for controlling a work vehicle according to claim 5 , wherein the switching operation is performed by one of the plurality of button switches.

7. The method for controlling a work vehicle according to claim 1 , wherein the enlarged image is displayed on the entire display unit.

Images