Display system and display method for work machines

Abstract

The surrounding conditions of the work machine should be clearly displayed so that they can be easily checked. [Solution] The work machine display system 1 includes a plurality of cameras 11 that acquire the surrounding conditions of the hydraulic excavator 100, an image processing unit 21 that generates an overhead view image 200 based on the images captured by the plurality of cameras 11, a surrounding monitoring monitor 15 that displays the overhead view image 200, and a display control unit that, when an obstacle is detected around the hydraulic excavator 100, displays guide lines 211 that indicate the range for controlling at least one of travel and rotation, and rotation guidelines 217 that indicate the position of the rear end of the hydraulic excavator 100 when it is rotated, on the overhead view image 200.

Description

Technical Field

[0001] The present disclosure relates to a display system for a work machine and a display method for a work machine.

Background Art

[0002] In the technical field related to work machines, a technique is known that includes a plurality of cameras for acquiring the surrounding situation of a work machine and displays an overhead image and a single-camera image captured by the plurality of cameras, as disclosed in Patent Document 1. In the technique described in Patent Document 1, direction reference information that linearly extends from the turning center of the upper slewing body toward the periphery of the upper slewing body is displayed on the overhead image and the single-camera image.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When an obstacle is located around a work machine, the operator performs work while estimating the positional relationship between the obstacle and the work machine in a state where the work machine is turning.

[0005] Therefore, an object is to display the surrounding situation of the work machine so that it can be easily confirmed.

Means for Solving the Problems

[0006] A display system for a work machine is provided, comprising: a plurality of cameras for acquiring the surrounding conditions of the work machine; an image processing unit for generating an overhead view image based on images captured by the plurality of cameras; a display unit for displaying the overhead view image; and a display control unit for displaying on the overhead view image a guideline indicating a range for controlling at least one of travel and turning when an obstacle is detected around the work machine, and a turning guideline indicating the position of the rear end of the work machine when it is turned.

[0007] The present disclosure provides a method for displaying a work machine for a work machine display system, comprising: a plurality of cameras for acquiring the surrounding conditions of the work machine; an image processing unit for generating an overhead view image based on images captured by the plurality of cameras; and a display unit for displaying the overhead view image, wherein when an obstacle is detected around the work machine, the work machine display system displays on the overhead view a guideline indicating a range for controlling at least one of travel and turning, and a turning guideline indicating the position of the rear end of the work machine when it is turned. [Effects of the Invention]

[0008] According to this disclosure, the surrounding conditions of the work machine can be easily confirmed and displayed. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a schematic diagram showing an example of a work machine. [Figure 2] Figure 2 is a block diagram showing a display system for a work machine according to an embodiment. [Figure 3] Figure 3 is a schematic diagram showing an example of an overhead view. [Figure 4] Figure 4 is a schematic diagram showing an example of guide lines and turning guidelines. [Figure 5] Figure 5 is a block diagram showing a computer system according to an embodiment. [Figure 6] Figure 6 is a flowchart showing a display method for a work machine according to an embodiment. [Modes for carrying out the invention]

[0010] The embodiments described below will be explained with reference to the drawings, but the disclosure is not limited thereto. The components of the embodiments described below can be combined as appropriate. In addition, some components may not be used.

[0011] [Embodiment] Figure 1 is a schematic diagram showing an example of a work machine. In this embodiment, the work machine 100 is a hydraulic excavator. In the following description, the work machine 100 will be referred to as hydraulic excavator 100 as appropriate.

[0012] <Working machinery> The hydraulic excavator 100 comprises a hydraulically operated work implement 101, a slewing body 102 that supports the work implement 101, and a traveling body 103 that supports the slewing body 102. The slewing body 102 is capable of rotatable around the slewing axis RX while being supported by the traveling body 103.

[0013] The vehicle 103 has a pair of tracks 103C. The hydraulic excavator 100 moves as the tracks 103C rotate.

[0014] The work machine 101 has a boom 106 connected to a slewing body 102, an arm 107 connected to the tip of the boom 106, and a bucket 108 connected to the tip of the arm 107. The bucket 108 has a cutting edge 109.

[0015] The boom 106 is rotatable with respect to the revolving body 102 about the boom axis AX1. The arm 107 is rotatable with respect to the boom 106 about the arm axis AX2. The bucket 108 is rotatable with respect to the arm 107 about each of the bucket axis AX3, the tilt axis AX4, and the rotate axis AX5. The boom axis AX1, the arm axis AX2, and the bucket axis AX3 are parallel to the Y-axis. The tilt axis AX4 is orthogonal to the bucket axis AX3. The rotate axis AX5 is orthogonal to each of the bucket axis AX3 and the tilt axis AX4. The swing axis RX is parallel to the Z-axis.

[0016] The X-axis direction is the front-rear direction of the revolving body 102. The Y-axis direction is the vehicle width direction of the revolving body 102. The Z-axis direction is the up-down direction of the revolving body 102. The direction in which the working machine 101 exists with respect to the revolving body 102 is the front.

[0017] The working machine 101 operates by the power generated by the hydraulic cylinder 110. The hydraulic cylinder 110 is driven based on the hydraulic oil supplied from a hydraulic pump (not shown). The hydraulic cylinder 110 includes a boom cylinder 111, an arm cylinder 112, and a bucket cylinder 113. The boom cylinder 111 operates the boom 106. The boom cylinder 111 generates the power to rotate the boom 106 about the boom axis AX1. The arm cylinder 112 operates the arm 107. The arm cylinder 112 generates the power to rotate the arm 107 about the arm axis AX2. The bucket cylinder 113 operates the bucket 108. The bucket cylinder 113 generates the power to rotate the bucket 108 about the bucket axis AX3.

[0018] <Display System of Working Machine> FIG. 2 is a block diagram showing a display system of a working machine according to an embodiment. The display system 10 includes a camera 11 as a first detection unit, a radar 13 as a second detection unit, a peripheral monitoring monitor 15 as a display unit, a buzzer 17, and a peripheral monitoring controller 20.

[0019] The camera 11 is a plurality of camera groups that photograph the surrounding situation of the hydraulic excavator 100. The camera 11 detects a person located around the hydraulic excavator 100. The number of cameras 11 is not particularly limited. In the embodiment, the camera 11 includes a camera 11A, a camera 11B, a camera 11C, and a camera 11D.

[0020] The camera 11A photographs the front of the hydraulic excavator 100. The camera 11A is disposed facing forward on the upper part of the revolving body 102 of the hydraulic excavator 100. The camera 11A outputs the photographed image to the image processing unit 21 of the peripheral monitoring controller 20.

[0021] The camera 11B photographs the right side of the hydraulic excavator 100. The camera 11B is disposed facing the right side on the upper part of the revolving body 102 of the hydraulic excavator 100. The camera 11B outputs the photographed image to the image processing unit 21 of the peripheral monitoring controller 20.

[0022] The camera 11C photographs the left side of the hydraulic excavator 100. The camera 11C is disposed facing the left side on the upper part of the revolving body 102 of the hydraulic excavator 100. The camera 11C outputs the photographed image to the image processing unit 21 of the peripheral monitoring controller 20.

[0023] The camera 11D photographs the rear of the hydraulic excavator 100. The camera 11D is disposed facing the rear on the upper part of the revolving body 102 of the hydraulic excavator 100. The camera 11D outputs the photographed image to the image processing unit 21 of the peripheral monitoring controller 20.

[0024] The radar 13 is a radar group that detects the surrounding situation of the hydraulic excavator 100. The radar 13 detects a person or an object that is an obstacle located around the hydraulic excavator 100. The radar 13 takes less time to detect than the camera 11. The number of radars 13 is not particularly limited. In the embodiment, the radar 13 includes a radar 13A, a radar 13B, a radar 13C, and a radar 13D.

[0025] Radar 13A detects an obstacle to the right front of the hydraulic excavator 100. Radar 13A is positioned on the upper part of the slewing body 102 of the hydraulic excavator 100, facing to the right front. Radar 13A outputs detection data of the detected obstacle to the obstacle processing unit 27 of the surrounding monitoring controller 20.

[0026] Radar 13B detects an obstacle to the right rear of the hydraulic excavator 100. Radar 13B is positioned on the upper part of the slewing body 102 of the hydraulic excavator 100, facing to the right rear. Radar 13B outputs detection data of the detected obstacle to the obstacle processing unit 27 of the surrounding monitoring controller 20.

[0027] Radar 13C detects obstacles behind the hydraulic excavator 100. Radar 13C is positioned facing rearward on the upper part of the slewing body 102 of the hydraulic excavator 100. Radar 13C outputs detection data of detected obstacles to the obstacle processing unit 27 of the surrounding monitoring controller 20.

[0028] Radar 13D detects an obstacle to the left rear of the hydraulic excavator 100. Radar 13D is positioned on top of the rotating body 102 of the hydraulic excavator 100, facing the left rear. Radar 13D outputs detection data of the detected obstacle to the obstacle processing unit 27 of the surrounding monitoring controller 20.

[0029] The surrounding area monitor 15 is a monitor for monitoring the area around the hydraulic excavator 100. The surrounding area monitor 15 displays an overhead view image 200 (see Figure 3). The surrounding area monitor 15 is located, for example, inside the operator's cab of the hydraulic excavator 100.

[0030] <Peripheral monitoring controller> The peripheral monitoring controller 20 includes a numerical processing unit (processor) such as a CPU. The peripheral monitoring controller 20 is located on the hydraulic excavator 100. The peripheral monitoring controller 20 comprises an image processing unit 21, an obstacle processing unit 27, and a display control unit 29.

[0031] Figure 5 is a block diagram showing a computer system according to an embodiment. The peripheral monitoring controller 20 includes a computer system 1000. The computer system 1000 has a processor 1001 such as a CPU, a main memory 1002 including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), a storage 1003, and an interface 1004 including input / output circuits. The functions of the peripheral monitoring controller 20 are stored as a program in the storage 1003. The processor 1001 reads the program from the storage 1003, loads it into the main memory 1002, and executes the above-described processing according to the program. The program may be distributed to the computer system 1000 via a network.

[0032] The image processing unit 21 acquires images from the camera 11 and performs image processing. In this embodiment, the overhead image generation unit 22 acquires four images from cameras 11A, 11B, 11C, and 11D and generates an overhead image 200. The image processing unit 21 comprises the overhead image generation unit 22, the image synthesis unit 23, the first recognition unit 24, and the determination unit 25.

[0033] Figure 3 is a schematic diagram showing an example of an overhead view image and a single-camera image. The overhead view image generation unit 22 generates an overhead view image 200 based on multiple images acquired from camera 11. In this embodiment, the overhead view image generation unit 22 converts four images acquired from cameras 11A, 11B, 11C, and 11D into an image viewed from above. The overhead view image generation unit 22 converts the image into an image viewed from a predetermined virtual viewpoint located above the hydraulic excavator 100. More specifically, the overhead view image generation unit 22 performs an image conversion that projects from the virtual viewpoint above the hydraulic excavator 100 onto a predetermined virtual projection plane corresponding to the ground surface level. Subsequently, the overhead view image generation unit 22 extracts the converted images corresponding to each area of ​​the frame displaying the overhead view image 200 and synthesizes each converted image within the frame. The overhead view image 200 generated by the overhead view image generation unit 22 includes an icon image 210 corresponding to the plan view of the hydraulic excavator 100. The method for generating the overhead image 200 is not limited to this, and known methods can be used.

[0034] The display control unit 29 acquires multiple images from the camera 11 and generates a single-camera image. The multiple images may also be acquired from the image processing unit 21. For example, the display control unit 29 generates a display signal to display the single-camera image 220 of the rear of the hydraulic excavator 100, captured by the camera 11D, on the surrounding monitoring monitor 15. The rear single-camera image 220 displays guide lines 221 indicating a predetermined distance from the rear of the hydraulic excavator. Although the rear single-camera image 220 displays three guide lines 221A, 221B, and 221C, the number of guide lines 221 displayed is not limited to three; there may be two or fewer, or four or more.

[0035] The guideline 221 of the rear single-camera image 220 may be displayed at positions corresponding to the first guideline 213 and the second guideline 215 in the overhead view image 200. In this case, the operator can visually confirm, not only in the overhead view image 200 but also in the rear single-camera image 220, where the range for controlling at least one of the travel and rotation of the hydraulic excavator 100 is located.

[0036] The image synthesis unit 23 synthesizes an image onto the overhead view image 200. When obstacle information is input from the obstacle processing unit 27 (described later), the image synthesis unit 23 generates an image in which the obstacle information is synthesized onto the overhead view image 200.

[0037] Figure 4 is a schematic diagram showing an example of guide lines and a rotation guideline. The image synthesis unit 23 generates an image by combining the guide lines 211 and the rotation guideline 217 on the overhead view image 200. The image synthesis unit 23 combines the guide lines 211, which indicate the range for controlling at least one of travel and rotation, and the rotation guideline 217, which indicates the position of the rear end of the hydraulic excavator 100 when it is rotated, on the overhead view image 200.

[0038] The guideline 211 indicates the range within which at least one of the travel and rotation of the hydraulic excavator 100 is controlled when an obstacle is detected around the hydraulic excavator 100. The guideline 211 is an image surrounding the hydraulic excavator 100. In this embodiment, the guideline 211 consists of a first guideline 213 and a second guideline 215.

[0039] The first guideline 213 is the range (stopping area) within which the movement and rotation of the hydraulic excavator 100 are controlled to stop when an obstacle is detected around the hydraulic excavator 100. On the side of the hydraulic excavator 100's body, the first guideline 213 indicates the stopping distance from the center of rotation of the body. In the example shown in Figure 4, the first guideline 213 is a straight line on the side of the hydraulic excavator 100's body. On the rear of the hydraulic excavator 100's body, the first guideline 213 indicates the stopping distance from the rear end of the body. In the example shown in Figure 4, the first guideline 213 is an arc on the rear of the hydraulic excavator 100's body.

[0040] The second guideline 215 is a range (deceleration area) that controls the deceleration of the hydraulic excavator 100 when an obstacle is detected around the hydraulic excavator 100. On the side of the hydraulic excavator 100's body, the second guideline 215 is a straight line indicating a predetermined distance outward from the first guideline 213 on the side of the body. On the rear of the hydraulic excavator 100's body, it is a straight line passing through a predetermined distance outward from the position of the first guideline 213 at the rear of the body that is furthest from the center of rotation.

[0041] The slewing guideline 217 is a line indicating the position of the first guideline 213 at the rear of the vehicle body when the hydraulic excavator 100 is slewing. In this embodiment, the slewing guideline 217 includes a front guideline 217A, a right guideline 217B, and a left guideline 217C. The front guideline 217A indicates the position of the first guideline 213 at the rear of the vehicle body, assuming a 180° slewing from the position shown in Figure 4. The right guideline 217B indicates the position of the first guideline 213 at the rear of the vehicle body, assuming a 90° slewing to the left from the position shown in Figure 4. The left guideline 217C indicates the position of the first guideline 213 at the rear of the vehicle body, assuming a 90° slewing to the right from the position shown in Figure 4. The slewing guideline 217 is not limited to the shape shown in Figure 4. For example, the turning guideline 217 shown in Figure 4 may be modified in thickness and length, or the turning guideline 217 may be curved instead of straight. Even when it is curved, the thickness and length may be modified.

[0042] The turning guidelines 217 may be configured so that the displayed guidelines are selected based on the direction of the turn. For example, when turning to the right, only the left guideline 217C is displayed. For example, when turning to the left, only the right guideline 217B is displayed.

[0043] The slewing guideline 217 may display a front guideline 217A in front of the hydraulic excavator 100, a right guideline 217B to the right, and a left guideline 217C to the left.

[0044] The slewing guideline 217 may be displayed at least to the right of the hydraulic excavator 100. The slewing guideline 217 may also display only the right guideline 217B.

[0045] The slewing guideline 217 may be displayed at least to the left of the hydraulic excavator 100. The slewing guideline 217 may display only the left guideline 217C.

[0046] The slewing guideline 217 may be displayed at least in front of the hydraulic excavator 100. The slewing guideline 217 may display only the front guideline 217A. If the first guideline 213 is in the shape of a circular arc from the slewing center to the stopping distance, with the left, right, and rear of the vehicle body being continuous, the left and right slewing guidelines 217 will be in a position that overlaps with the guideline 211. In such a case, by displaying the slewing guideline 217 at least in front of the hydraulic excavator 100, the position where it overlaps with the guideline 211 can be visually confirmed.

[0047] The turning guideline 217 may be made in a manner that is distinguishable from the reference line 211. For example, the turning guideline 217 may be made in a manner that differs from the reference line 211 in color, thickness, and length. For example, the reference line 211 may be a dashed line, and the turning guideline 217 may be a line that is longer than one of the dashed lines of the reference line 211, or a line that is a different color from the reference line 211.

[0048] The image synthesis unit 23 may overlay the location where a person or object has been detected onto the overhead image 200 based on obstacle information acquired from the determination unit 25, which will be described later. More specifically, if the determination unit 25, which will be described later, determines that a person or object has been detected, the image synthesis unit 23 may synthesize a marker image indicating the detection of a person or object onto the overhead image 200 based on the obstacle information.

[0049] The first recognition unit 24 recognizes a person from an image captured by the camera 11. In this embodiment, the first recognition unit 24 recognizes a person from images captured by cameras 11A, 11B, 11C, and 11D using a person recognition dictionary. The person recognition dictionary is, for example, a dictionary of feature quantities extracted from each of several known images containing a person. Examples of feature quantities include HOG (Histograms of Oriented Gradients) and CoHOG (Co-occurrence HOG). Known methods can be used to recognize a person from an image.

[0050] In this embodiment, the first recognition unit 24 uses a human recognition dictionary to calculate a value (score) indicating human-likeness from the image captured by the camera 11 and recognizes a person. A higher value indicating human-likeness indicates a higher probability that the person is human. The first recognition unit 24 recognizes a person as "human" if the value indicating human-likeness is greater than a first threshold. The first recognition unit 24 recognizes a person as "human-like" if the value indicating human-likeness is less than the first threshold and greater than a second threshold that is smaller than the first threshold. The first recognition unit 24 outputs the recognition result to the determination unit 25.

[0051] The recognition result of the first recognition unit 24 includes coordinates indicating the location where the person was recognized.

[0052] The determination unit 25 will be explained after the obstacle processing unit 27 has been described.

[0053] The obstacle processing unit 27 detects people and objects as obstacles from the detection data of the radar 13. The obstacle processing unit 27 includes a second recognition unit 28.

[0054] The second recognition unit 28 recognizes people and objects as obstacles from the detection data of the radar 13. In this embodiment, the second recognition unit 28 recognizes people and objects from the detection data of radars 13A, 13B, 13C, and 13D. A known method can be used to recognize people and objects from the detection data. The second recognition unit 28 outputs the recognition result to the determination unit 25 of the image processing unit 21.

[0055] The recognition result of the second recognition unit 28 includes coordinates indicating the location where a person or obstacle was recognized.

[0056] The determination unit 25 determines whether or not to detect a person based on the recognition result of the first recognition unit 24 and the recognition result of the second recognition unit 28. In this embodiment, the determination unit 25 determines whether or not to detect a person or an object based on the recognition result of the first recognition unit 24 and the recognition result of the second recognition unit 28.

[0057] The determination unit 25 determines that a person has been detected based on the recognition result from the image captured by the camera 11 if the value indicating human-likeness is greater than the first threshold, or if the value indicating human-likeness is less than the first threshold and greater than the second threshold which is less than the first threshold, and if the radar 13 has recognized an obstacle based on the recognition result from the detection data it has detected. More specifically, the determination unit 25 determines that a person has been detected if the recognition result from the first recognition unit 24 indicates that the value indicating human-likeness is greater than the first threshold, or the value indicating human-likeness is less than the first threshold and greater than the second threshold which is less than the first threshold, and if the second recognition unit 28 has recognized an obstacle.

[0058] If the determination unit 25 determines that a person or object has been detected, it sounds the buzzer 17 to notify the system. If the determination unit 25 determines that a person or object has been detected, it may also output obstacle information indicating the size and position of the detected person or object to the image synthesis unit 23.

[0059] The determination unit 25 may determine that a person has been detected if, based on the recognition result from the image captured by the camera 11, the value indicating human-likeness is less than the first threshold and greater than the second threshold, and the radar 13 has recognized an obstacle from the recognition result from the detection data, and the coordinates where the person was recognized from the image from the camera 11 and the coordinates where the obstacle was recognized from the detection data from the radar 13 are within a predetermined range. More specifically, the determination unit 25 may determine that a person has been detected if, based on the recognition result from the first recognition unit 24, the value indicating human-likeness is less than the first threshold and greater than the second threshold, and the second recognition unit 28 has recognized an obstacle, and the coordinates where the person was recognized from the image captured by the camera 11 and the coordinates where the obstacle was recognized from the detection data from the radar 13 are within a predetermined range. The predetermined range is, for example, a radius of about 2m.

[0060] If the determination unit 25 determines that a person has been detected, and then detects an obstacle from the recognition results of the radar 13 within a predetermined distance range, it may determine that a person has been detected. More specifically, if the determination unit 25 determines that a person has been detected, and then the second recognition unit 28 detects an obstacle from the recognition results of the radar 13 within a predetermined distance range, it may determine that a person has been detected.

[0061] Within a predetermined distance, for example, is a radius of about 2 meters. Within a predetermined distance, for example, is the distance a person can travel in a very short time, such as about 1 second.

[0062] After the determination unit 25 determines that a person has been detected, it may maintain the determination result that a person has been detected for a predetermined period of time.

[0063] The display control unit 29 controls the display of various images on the peripheral monitoring monitor 15. The display control unit 29 generates a display signal to display the overhead image 200 input from the image synthesis unit 23 on the peripheral monitoring monitor 15.

[0064] When a person or object is detected around the hydraulic excavator 100, the display control unit 29 generates a display signal that displays on the overhead image 200 a guideline 211 indicating the range for controlling at least one of travel and rotation, and a rotation guideline 217 indicating the position of the rear end of the hydraulic excavator 100 when it is rotated.

[0065] The display control unit 29 may display the turning guideline 217 and the reference line 211 in a way that allows them to be distinguished.

[0066] If the determination unit 25 determines that a person or object has been detected, the display control unit 29 may display a marker image on the overhead image 200 indicating that a person or object has been detected.

[0067] If the determination unit 25 determines that a person or object has been detected, the display control unit 29 may, for example, display an indicator or pop-up indicating that a person or object has been detected.

[0068] <Display method> Figure 6 is a flowchart showing the display method for a work machine according to the embodiment. When the hydraulic excavator 100 is turned on, the display system 10 of the hydraulic excavator 100 is activated. When the display system 10 of the hydraulic excavator 100 is activated, the processing shown in the flowchart in Figure 6 begins.

[0069] The peripheral monitoring controller 20 generates an overhead image 200 using the overhead image generation unit 22 (step ST11). The peripheral monitoring controller 20 then proceeds to step ST12.

[0070] The surrounding monitoring controller 20 generates an image by combining the overhead view image 200 with the guideline 211 and the rotation guideline 217 using the image synthesis unit 23 (step ST12).

[0071] <Effects> As described above, in this embodiment, when an obstacle is detected around the hydraulic excavator 100, a guideline 211 indicating the range for controlling at least one of travel and rotation, and a rotation guideline 217 indicating the position of the rear end of the hydraulic excavator 100 when it is rotated can be displayed on the overhead image 200. According to this embodiment, the rotation guideline 217 allows the operator to check how much of the stopping area will be affected when rotating before rotating.

[0072] In this embodiment, the turning guideline 217 can be displayed based on the direction in which the vehicle is to turn. According to this embodiment, the operator can confirm before turning how much of the vehicle will be affected by the stopping area during the turn in the direction in which the vehicle is to turn.

[0073] In this embodiment, the slewing guideline 217 can be displayed to the left, right, and front of the hydraulic excavator 100. According to this embodiment, the operator can check how much of the stopping area will be affected during slewing in each direction of the hydraulic excavator 100 before slewing.

[0074] In this embodiment, the slewing guideline 217 can be displayed at least to the right of the hydraulic excavator 100. According to this embodiment, the operator can check how far the stopping area extends during slewing, even though the right side is a blind spot from the operator of the hydraulic excavator 100, before slewing.

[0075] In one embodiment, the slewing guideline 217 can be displayed at least in front of the hydraulic excavator 100 in a small hydraulic excavator 100.

[0076] In this embodiment, the turning guideline 217 and the reference line 211 can be displayed in a way that makes them distinguishable. According to this embodiment, the turning guideline 217 and the reference line 211 can be displayed in a manner that is easy for the operator to see.

[0077] In the embodiments described above, the work machine is not limited to a hydraulic excavator. The work machine can be a dump truck, a wheel loader, or a display system for other work machines.

[0078] In the embodiments described above, the surrounding monitoring monitor 15 was described as being located in the operator's cab of the hydraulic excavator 100, but it is not limited to this. If the hydraulic excavator 100 is remotely operated, the surrounding monitoring monitor 15 may be located in the remote control room.

[0079] In the embodiments described above, the first detection unit was described as a camera, but it is not limited to this. The first detection unit may be, for example, LiDAR (Laser Imaging Detection and Ranging). [Explanation of Symbols]

[0080] 10...Display system, 11...Camera (first detection unit), 13...Radar (second detection unit), 15...Surroundings monitoring (display unit), 17...Buzzer, 20...Surroundings monitoring controller, 21...Image processing unit, 22...Overhead image generation unit, 23...Image synthesis unit, 24...First recognition unit, 25...Determination unit, 27...Obstacle processing unit, 28...Second recognition unit, 29...Display control unit, 100...Hydraulic excavator (working machine), 101...Working machine, 102...Slewing body, 103...Traveling body, 10 3C...Track, 106...Boom, 107...Arm, 108...Bucket, 109...Blade tip, 110...Hydraulic cylinder, 111...Boom cylinder, 112...Arm cylinder, 113...Bucket cylinder, 200...Overhead view, 211...Guideline, 213...First guideline, 215...Second guideline, 217...Slewing guideline, AX1...Boom axis, AX2...Arm axis, AX3...Bucket axis, AX4...Tilt axis, AX5...Rotate axis, RX...Slewing axis.

Claims

1. Multiple cameras to capture the surrounding environment of the work machine, An image processing unit that generates an overhead view image based on images captured by the aforementioned multiple cameras, A display unit that displays the aforementioned overhead image, When an obstacle is detected around the work machine, a display control unit displays on the overhead image a guideline indicating the range for controlling at least one of travel and turning, and a turning guideline indicating the position of the rear end of the work machine when it is turned. A display system for work machines equipped with the following features.

2. The turning guideline is displayed based on the direction in which the turn is to be made. A display system for a work machine according to claim 1.

3. The aforementioned turning guidelines are displayed to the left, right, and front of the work machine. A display system for a work machine according to claim 1.

4. The aforementioned turning guideline is displayed at least to the right of the work machine. A display system for a work machine according to claim 1.

5. The aforementioned turning guideline is displayed at least in front of the work machine. A display system for a work machine according to claim 1.

6. The display control unit displays the turning guideline and the reference line in a way that allows them to be distinguished. A display system for a work machine according to claim 1.

7. The aforementioned guideline is shown as a dashed line. The aforementioned turning guideline is longer than one of the dashed lines of the aforementioned guideline, or is a different color from the aforementioned guideline. A display system for a work machine according to claim 6.

8. Multiple cameras to capture the surrounding environment of the work machine, An image processing unit that generates an overhead view image based on images captured by the aforementioned multiple cameras, A display unit that displays the aforementioned overhead image, A method for displaying a work machine in a display system for a work machine, When an obstacle is detected around the aforementioned work machine, a guideline indicating the range for controlling at least one of travel and turning, and a turning guideline indicating the position of the rear end of the work machine when it is turned are displayed on the overhead view image. A method for displaying a work machine, in which the display system of the work machine performs the above-mentioned work machine display.

9. The turning guideline is displayed based on the direction in which the turn is to be made. A method for displaying a work machine according to claim 8.

10. The aforementioned turning guidelines are displayed to the left, right, and front of the work machine. A method for displaying a work machine according to claim 8.

11. The aforementioned turning guideline is displayed at least to the right of the work machine. A method for displaying a work machine according to claim 8.

12. The aforementioned turning guideline is displayed at least in front of the work machine. A method for displaying a work machine according to claim 8.

13. The turning guideline and the reference line are displayed in a way that allows them to be distinguished. A method for displaying a work machine according to claim 8.

14. The aforementioned guideline is shown as a dashed line. The aforementioned turning guideline is longer than one of the dashed lines of the aforementioned guideline, or is a different color from the aforementioned guideline. A method for displaying a work machine according to claim 13.

Images