Work vehicles

Abstract

The display unit allows the operator of a work vehicle to intuitively and easily perceive the presence of obstacles around the vehicle, and to easily recognize the risk of collision between the work vehicle and the obstacle. [Solution] The work vehicle includes a monitoring unit that monitors the area around the work vehicle, and a display unit that displays images acquired by the monitoring unit. The monitoring unit detects the presence and type of obstacles by image recognition processing on images acquired by the imaging unit. The display unit has an image display area that displays the above images, and a notification information display area located outside of it. In the notification information display area, direction information indicating the direction of the obstacle and type information indicating the type of obstacle are displayed at positions corresponding to the direction of the obstacle's presence relative to the work vehicle.

Description

Technical Field

[0001] The present invention relates to a work vehicle.

Background Art

[0002] Conventionally, various monitoring systems for monitoring the surroundings of work vehicles such as excavators have been proposed. For example, in Patent Document 1, a system is disclosed that photographs the surroundings of an excavator with a camera, displays the acquired image on a display unit, and highlights the area of a person included in the image by surrounding it with a frame line.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in a configuration where the photographed image and the frame line are superimposed and displayed on the display unit as in Patent Document 1, since a plurality of pieces of information are displayed overlappingly, it is difficult to see, and in addition, when the person reflected in the image is small compared to the entire image, the frame line surrounding the person in the image becomes small compared to the entire image. For this reason, it is difficult for an operator (driver) of the work vehicle looking at the display unit to intuitively perceive that there are obstacles around the work vehicle. As a result, there is a problem that it is difficult for the operator to perceive risks such as collisions between the work vehicle and obstacles.

[0005] The present invention has been made to solve the above problems, and an object thereof is to enable an operator of a work vehicle looking at a display unit to intuitively and easily perceive that there are obstacles around the work vehicle, and thereby enable the operator to easily perceive risks such as collisions between the work vehicle and obstacles, and to provide a work vehicle.

Means for Solving the Problems

[0006] A work vehicle according to one aspect of the present invention is a work vehicle comprising a monitoring unit for monitoring the surroundings of the work vehicle and a display unit for displaying images acquired by the monitoring unit, wherein the monitoring unit detects the presence and type of obstacles by image recognition processing on images acquired by an imaging unit, and the display unit has an image display area for displaying the images and a notification information display area located outside thereof, wherein in the notification information display area, direction information indicating the direction of the obstacle and type information indicating the type of obstacle are displayed at a position corresponding to the direction of presence of the obstacle with respect to the work vehicle. [Effects of the Invention]

[0007] The display unit allows the operator of a work vehicle to intuitively and easily perceive the presence of obstacles around the vehicle, making it easy for the operator to recognize the risk of collision between the work vehicle and the obstacle. [Brief explanation of the drawing]

[0008] [Figure 1] This is a side view showing a schematic configuration of a hydraulic excavator, which is an example of a work vehicle according to one embodiment of the present invention. [Figure 2] This is an explanatory diagram showing the main components of the hydraulic excavator described above. [Figure 3] This is an explanatory diagram showing an example of each display area on the display screen of the display unit of the hydraulic excavator described above. [Figure 4] This is an explanatory diagram showing an example of the display on the above display unit. [Figure 5] This is an explanatory diagram showing other examples of each display area in the display screen of the above-mentioned display unit. [Figure 6] This is an explanatory diagram showing other display examples for the above-mentioned display unit. [Modes for carrying out the invention]

[0009] Embodiments of the present invention will be described below with reference to the drawings.

[0010] [1. Work Vehicles] Figure 1 is a side view showing the schematic configuration of a hydraulic excavator 1, which is an example of a work vehicle in this embodiment. The hydraulic excavator 1 comprises a lower traveling body 2, a work implement 3, and an upper rotating body 4.

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

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

[0013] The work machine 3 is driven by power from the engine 40 and performs excavation work to dig up soil and other materials. The work machine 3 is equipped with a boom 31, an arm 32, and a bucket 33. Excavation work can be performed by independently driving the boom 31, arm 32, and bucket 33.

[0014] The boom 31 is rotated by the boom cylinder 31a. The boom cylinder 31a is supported at the front of the upper slewing body 4 at its base and is extendable and retractable. The arm 32 is rotated by the arm cylinder 32a. The arm cylinder 32a is supported at the tip of the boom 31 at its base and is extendable and retractable. The bucket 33 is rotated by the bucket cylinder 33a. The bucket cylinder 33a is supported at the tip of the arm 32 at its base and is extendable and retractable. The boom cylinder 31a, the arm cylinder 32a, and the bucket cylinder 33a are all hydraulic cylinders.

[0015] The bucket 33 is a container-shaped member attached to the tip of the work machine 3 and equipped with claws for 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 the bucket cylinder 33a via a link mechanism 35.

[0016] A hook 36 for crane operations is attached to the tip of the arm 32. The hook 36 is a hook-shaped member used for crane operations and is rotatably mounted on the link mechanism 35. Here, crane operations refer to lifting operations in which an object to be lifted is suspended and raised or lowered. The hook 36 is rotatably supported with the axis of the link mechanism 35 as the pivot point, and its posture can be changed between an extended state where it protrudes from the bucket 33 (see Figure 1) and a retracted state where it is stored inside the bucket 33 (not shown). For example, when performing excavation work with the bucket 33, the hook 36 is set to the retracted state. On the other hand, when performing crane operations with the hook 36, the hook 36 is set to the extended state.

[0017] The upper rotating body 4 is configured to rotate relative to the lower traveling body 2 via a rotating bearing (not shown). The upper rotating body 4 houses a control unit 41, a turntable 42, a rotating motor 43, an engine room 44, etc. The upper rotating body 4 rotates via the rotating bearing, driven by the rotating motor 43, which is a hydraulic motor. At the rear of the upper rotating body 4 are an engine 40 that provides power to various parts, as well as multiple hydraulic pumps P0 (see Figure 2).

[0018] Each hydraulic pump P0 supplies working oil (pressure oil) to hydraulic motors (for example, left and right travel motors 22 and swing motor 43) and hydraulic cylinders (for example, blade cylinder 23a, boom cylinder 31a, arm cylinder 32a, bucket cylinder 33a). Hydraulic motors and hydraulic cylinders driven by the supply of working oil from an arbitrary hydraulic pump P0 are collectively referred to as a hydraulic actuator AC (see FIG. 2).

[0019] A driver's cab 41 where the operator rides is provided with a driver's seat 41a. An operation unit 41b is arranged around the driver's seat 41a (especially in the front, left, and right).

[0020] The operation unit 41b is composed of operation levers, switches, buttons, etc. for driving the hydraulic actuator AC. When the operator sits on the driver's seat 41a and operates the operation unit 41b, the hydraulic actuator AC is driven. As a result, the lower traveling body 2 can travel, the blade 23 can perform land leveling work, the work implement 3 can perform excavation work, crane work, the upper swing body 4 can swing, and so on.

[0021] [2. Configuration of Main Parts of Hydraulic Excavator] FIG. 2 schematically shows the configuration of the main parts of the hydraulic excavator 1. The hydraulic excavator 1 further includes a monitoring unit 50, a control unit 60, a monitor device 70, a rotating lamp 81, a light emitting unit 82, and a reporting unit 83.

[0022] (2-1. Monitoring Unit) 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 monitoring targets such as people, objects, and animals. That is, the hydraulic excavator 1 includes a monitoring unit 50 that monitors the surroundings of the hydraulic excavator 1. In the present embodiment, the monitoring unit 50 monitors the surroundings of the hydraulic excavator 1 by acquiring an image around the hydraulic excavator 1 and detecting whether there are obstacles around the hydraulic excavator 1. More specifically described, the monitoring unit 50 has the following configuration.​

[0023] The monitoring unit 50 includes an imaging unit 51, an image processing unit 52, and an overhead image generation unit 53. The imaging unit 51 includes a right camera 51a, a left camera 51b, and a rear camera 51c that capture images of the right, left, and rear of the hydraulic excavator 1, respectively. In other words, the monitoring unit 50 has an imaging unit 51 that acquires images. The imaging unit 51 also includes multiple cameras (right camera 51a, left camera 51b, rear camera 51c) that capture images of the area around the hydraulic excavator 1. The images acquired by the imaging unit 51 are, for example, videos, but they may also be still images acquired by shooting at a predetermined frame rate.

[0024] The image processing unit 52 takes the image acquired by the imaging unit 51 (for example, an image taken of the right side) as input and performs image recognition processing to detect whether or not an object included in the image is an obstacle, and the type of obstacle (person / object / animal), thereby detecting an intrusion into the monitoring area. In other words, the monitoring unit 50 has an image processing unit 52 that detects whether or not an obstacle exists around the hydraulic excavator 1 by performing image recognition processing on the image acquired by the imaging unit 51. Furthermore, the image processing unit 52 further detects the type of obstacle through the above image recognition processing.

[0025] The overhead image generation unit 53 generates an overhead image (bird's-eye view image) centered on the hydraulic excavator 1 from multiple images acquired by the multiple cameras (right camera 51a, left camera 51b, rear camera 51c) of the imaging unit 51 through image processing. In other words, the monitoring unit 50 has an overhead image generation unit 53 that generates an overhead image from multiple images acquired by multiple cameras through image processing.

[0026] The image processing unit 52 and the overhead image generation unit 53 described above are composed of a central processing unit called a CPU (Central Processing Unit) or a computing device such as a GPU (Graphics Processing Unit).

[0027] In the monitoring unit 50, the number of cameras, their installation locations, and installation methods are not particularly limited, as long as obstacles can be detected within the required range. Alternatively, obstacles may be detected using obstacle sensors instead of cameras. As obstacle sensors, known distance measuring devices capable of acquiring distance information of obstacles can be used. For example, ultrasonic radar using ultrasound, millimeter-wave radar using millimeter-wave radio waves, lidar (LIDER) which measures scattered light from laser irradiation to determine distance, and stereo cameras which integrate the functions of multiple cameras and measure the distance from the captured image to the target object can be used as obstacle sensors. Furthermore, when using obstacle sensors, the position information of obstacles can be acquired based on the phase difference information of the light emission / reception timing when irradiating light, and the presence or absence of obstacles can be determined based on the light intensity information at the time of reception.

[0028] Furthermore, the monitoring unit 50 monitors the area around the hydraulic excavator 1 in multiple monitoring sections, which are divided according to their distance from the hydraulic excavator 1. For example, the image processing unit 52 can detect obstacles based on the image and determine the distance of the obstacles from the hydraulic excavator 1 through image processing. If the monitoring range around the hydraulic excavator 1 is divided into monitoring section D1, which has a radius of less than 2m centered on the hydraulic excavator 1, and monitoring section D2, which has a radius of 2m or more and is within 3m, the image processing unit 52 can determine whether the detected obstacle belongs to monitoring section D1 or D2 based on its distance from the hydraulic excavator 1. In other words, the monitoring unit 50 can monitor whether or not obstacles exist in multiple monitoring sections D1 and D2. Alternatively, the monitoring unit 50 may determine the distance of obstacles from the hydraulic excavator 1 using the obstacle sensor described above and determine whether the detected obstacle belongs to monitoring section D1 or D2.

[0029] (2-2. Control) The control unit 60 controls the operation of each part of the hydraulic excavator 1. Such a control unit 60 is composed of an electronic control unit called an ECU (Electronic Control Unit). The control unit 60 may also include a memory unit. The memory unit stores programs and various information for operating the control unit 60. Such a memory unit can be RAM (Random Access Memory), ROM (Read Only Memory), non-volatile memory, etc.

[0030] (2-3. Monitoring device) The monitoring device 70 is positioned near the cockpit 41a (for example, diagonally in front of it) and displays various information to provide the operator seated in the cockpit 41a with the necessary information. This monitoring device 70 has a display unit 71 and an input unit 72. Alternatively, the monitoring device 70 itself may have an internal ECU (monitor ECU), and the monitor ECU may control each part of the monitoring device 70.

[0031] The display unit 71 is composed of, for example, a liquid crystal display device and displays various information. For example, the display unit 71 displays images acquired by the monitoring unit 50. That is, the hydraulic excavator 1 of this embodiment is equipped with a display unit 71 that displays images acquired by the monitoring unit 50. In addition, the display unit 71 also displays notification information indicating the presence of an obstacle when the monitoring unit 50 detects the presence of an obstacle around the hydraulic excavator 1. Details of the display screen of the display unit 71 will be described later.

[0032] The input unit 72 is operated by an operator to set and input various types of information. This input unit 72 is composed of, for example, a touch panel input device that is placed on top of the display unit 71. The input unit 72 may also be composed of mechanical input buttons or a jog dial. Furthermore, by operating the input unit 72 (for example, by pressing a predetermined position), the display screen of the display unit 71 can be switched (for example, between the screen shown in Figure 4 and the screen shown in Figure 6).

[0033] (2-4. Rotating light, light-emitting unit, alarm-emitting unit) The rotating beacon 81 shown in Figure 2 consists of a lamp that rotates when the monitoring unit 50 detects an obstacle. The light-emitting unit 82 is made up of, for example, a light-emitting diode (LED) and lights up or flashes when the monitoring unit 50 detects an obstacle. The alarm unit 83 consists of a buzzer that outputs a sound when the monitoring unit 50 detects an obstacle. The alarm unit 83 may also be made up of an audio output unit that outputs a voice (electronic sound) when the monitoring unit 50 detects an obstacle. The operator can recognize that the monitoring unit 50 has detected an obstacle through the rotation of the lamp of the rotating beacon 82, the lighting (or flashing) of the light-emitting unit 82, and the buzzer sound or voice output from the alarm unit 63.

[0034] As described above, the display unit 71, rotating light 81, light-emitting unit 82, and alarm-emitting unit 83 of the monitoring device 70 output an alarm by displaying an icon, rotating a lamp, emitting light, and outputting sound when the monitoring unit 50 detects an obstacle. From this, it can be said that the display unit 71, rotating light 81, light-emitting unit 82, and alarm-emitting unit 83 constitute an alarm device 90 that outputs an alarm based on the monitoring results of the monitoring unit 50. In other words, the hydraulic excavator 1 of this embodiment is equipped with an alarm device 90 that outputs an alarm based on the monitoring results of the monitoring unit 50. Note that the alarm device 90 does not need to include all of the display unit 71, rotating light 81, light-emitting unit 82, and alarm-emitting unit 83; it is sufficient if it is equipped with at least one of them.

[0035] [3. Regarding hydraulic circuits] Next, the hydraulic circuit of the hydraulic excavator 1 will be explained based on Figures 1 and 2. The hydraulic excavator 1 is equipped with multiple hydraulic actuators AC, a hydraulic pump P0 that pumps pressurized oil to the multiple hydraulic actuators AC, and a pilot pump PP. In Figure 2, for convenience, the hydraulic circuit corresponding to one hydraulic actuator AC is shown, but similar hydraulic circuits are configured for the other hydraulic actuators AC.

[0036] The multiple hydraulic actuators AC include left and right travel motors 22, which are hydraulic actuators for driving the lower travel body 2; a blade cylinder 23a, which is a hydraulic actuator for rotating the blade 23 up and down; a slewing motor 43, which is a hydraulic actuator for driving the upper slewing body 3; and a boom cylinder 31a, an arm cylinder 32a, and a bucket cylinder 33a, which are hydraulic actuators for driving the work equipment 3. The blade cylinder 23a, boom cylinder 31a, arm cylinder 32a, and bucket cylinder 33a are collectively called the hydraulic cylinder CY.

[0037] Furthermore, the hydraulic excavator 1 may be configured to have a so-called boom swing function, which allows the work implement 3 (boom 31) to swing left and right relative to the upper rotating body 4. When the hydraulic excavator 1 has a boom swing function, the hydraulic cylinder CY also includes a swing cylinder, which is a hydraulic actuator for swinging the boom 31. Generally, the boom swing function is equipped on mini excavators (small hydraulic excavators) used for construction in confined spaces.

[0038] Multiple hydraulic pumps P0 include variable displacement pumps and fixed displacement pumps, and are driven by engine 40. The variable displacement pumps supply pressurized oil to the left and right travel motors 22, boom cylinder 31a, arm cylinder 32a, and bucket cylinder 33a. The fixed displacement pumps supply pressurized oil to the blade cylinder 23a, slewing motor 43, and swing cylinder (not shown).

[0039] Each of the multiple actuators AC is provided with a corresponding directional control valve CV. This directional control valve CV is a pilot-operated directional control valve capable of switching the direction and flow rate of pressurized oil supplied from a hydraulic pump P0 (variable displacement pump or fixed displacement pump), and is also called a control valve. The directional control valve CV in this embodiment includes directional control valves corresponding to the left and right travel motors 22, a directional control valve corresponding to the boom cylinder 31a, a directional control valve corresponding to the arm cylinder 32a, a directional control valve corresponding to the bucket cylinder 33a, a directional control valve corresponding to the blade cylinder 23a, a directional control valve corresponding to the swing motor 43, and a directional control valve corresponding to the swing cylinder.

[0040] The pilot pump PP discharges pilot oil, which serves as an input command to the directional control valve CV. Driven by the engine 40, the pilot pump PP generates pilot pressure in the pilot oil passage by discharging pressurized oil. In the hydraulic excavator 1, pilot oil passages are provided from the pilot pump PP to each of the directional control valves CV.

[0041] The operating unit 41b has a remote control valve RV for switching the direction and pressure of the pressurized oil supplied to the directional control valve CV. Pressurized oil discharged from the pilot pump PP is supplied to the remote control valve RV. The remote control valve RV generates pilot pressure according to the operating direction and amount of the operating unit 41b. The operating unit 41b includes, for example, a travel lever for moving the hydraulic excavator 1 and a control lever for operating the work equipment 3, etc.

[0042] A solenoid valve SV is provided in the oil passage between the pilot pump PP and each remote control valve RV. The solenoid valve SV adjusts the pilot pressure generated by the pilot pump PP in response to a control command from the control unit 60. By adjusting the pilot pressure, for example, the drive of multiple hydraulic actuators AC can be stopped simultaneously, and the drive speed of multiple hydraulic actuators AC can be uniformly controlled.

[0043] [4. Details of the display screen on the display unit] Next, the details of the display screen of the display unit 71 described above will be explained. Figure 3 is an explanatory diagram showing an example of each display area on the display screen of the display unit 71. The display unit 71 has an image display area R1 and a notification information display area R2. The display of information in the image display area R1 and the notification information display area R2 of the display unit 71 is controlled by the control unit 60.

[0044] Image display area R1 is the area for displaying images acquired by the monitoring unit 50. "Images acquired by the monitoring unit 50" refers, for example, to the overhead image Bv (see Figure 4) generated by the overhead image generation unit 53 of the monitoring unit 50. Notification information display area R2 is the area for displaying notification information W (see Figure 4) indicating the presence of an obstacle when the monitoring unit 50 detects the presence of an obstacle.

[0045] In other words, the display unit 71 has an image display area R1 for displaying an image acquired by the monitoring unit 50, and a notification information display area R2 for displaying notification information W indicating the presence of an obstacle when the monitoring unit 50 detects the presence of an obstacle.

[0046] In this embodiment, the notification information display area R2 is located outside the image display area R1 in the display unit 71. Also, in the display unit 71, the notification information display area R2 is located adjacent to the image display area R1.

[0047] Figure 4 shows the state in which the overhead image Bv is displayed in the image display area R1 of the display unit 71 and the notification information W is displayed in the notification information display area R2. The overhead image Bv displayed in the image display area R1 includes images T1 to T3 of people that were captured in the image as obstacles. In addition, the vehicle image S representing the hydraulic excavator 1 is also displayed in the image display area R1. Thus, the display unit 71 displays the overhead image Bv together with the vehicle image S representing the hydraulic excavator 1 in the image display area R1.

[0048] The notification information W displayed in the notification information display area R2 includes strip information P, direction information A, and type information M.

[0049] The strip-shaped information P is information displayed in a strip shape along the edge R1a of the image display area R1 (see Figure 3). In Figure 4, in the overhead view image Bv displayed in the image display area R1, a person is visible to the left of the hydraulic excavator 1 (see T1, T2). Therefore, in the notification information display area R2, the strip-shaped information P1 is displayed in an arc shape along the edge R1a of the image display area R1 at a position corresponding to the left of the hydraulic excavator 1. Also, in the overhead view image Bv, a person is visible behind the hydraulic excavator 1 (see T3). Therefore, in the notification information display area R2, the strip-shaped information P2 is displayed in an arc shape along the edge R1a of the image display area R1 at a position corresponding to the rear of the hydraulic excavator 1. Thus, the notification information W includes the strip-shaped information P(P1, P2) displayed in a strip shape along the edge R1a of the image display area R1.

[0050] Furthermore, "the position corresponding to the left of the hydraulic excavator 1 in the notification information display area R2" is not strictly limited to the left, but rather any position where the operator can recognize that the display position of the strip-shaped information P1 in the notification information display area R2 is "to the left of the vehicle image S representing the hydraulic excavator 1". For example, "the position corresponding to the left" includes not only the exact left, but also the position diagonally forward to the left or diagonally backward to the left. Therefore, in the following explanation, for example, "the position corresponding to the rear" will include not only the exact rear, but also the position diagonally backward to the left or diagonally backward to the right, and "the position corresponding to the right" will include not only the exact right, but also the position diagonally forward to the right or diagonally backward to the right.

[0051] Directional information A indicates the direction of an obstacle captured in an image (e.g., overhead image Bv) as seen from the hydraulic excavator 1. In Figure 4, since a person is captured to the left of the hydraulic excavator 1 in overhead image Bv, a left-pointing arrow icon is displayed as directional information A1 in the notification information display area R2 at a position corresponding to the left of the hydraulic excavator 1. Also, since a person is captured behind the hydraulic excavator 1 in overhead image Bv, a backward-pointing arrow icon is displayed as directional information A2 in the notification information display area R2 at a position corresponding to the rear of the hydraulic excavator 1. Thus, the notification information W includes directional information A indicating the direction of an obstacle captured in an image acquired by the monitoring unit 50, relative to the hydraulic excavator 1.

[0052] Type information M is information indicating the type of obstacle detected by the image processing unit 53 of the monitoring unit 50. When the image processing unit 53 detects a "person" as an obstacle to the left of the hydraulic excavator 1 through image processing, an icon indicating that the detected obstacle is a "person" is displayed as type information M1 in the notification information display area R2 at the position corresponding to the left of the hydraulic excavator 1. Similarly, when the image processing unit 53 detects a "person" as an obstacle behind the hydraulic excavator 1 through image processing, an icon indicating that the detected obstacle is a "person" is displayed as type information M2 in the notification information display area R2 at the position corresponding to the rear of the hydraulic excavator 1. Thus, the notification information W includes type information M indicating the type of obstacle detected by the image processing unit 53.

[0053] As described above, since the notification information W is displayed in the notification information display area R2 at a position corresponding to the direction of the obstacle relative to the hydraulic excavator 1, it can be said that the display unit 71 displays the notification information W as follows: That is, when the monitoring unit 50 detects the presence of an obstacle, the display unit 71 displays the notification information W in the notification information display area R2 at a position corresponding to the direction of the obstacle captured in the image relative to the hydraulic excavator 1.

[0054] Furthermore, in this embodiment, as described above, the monitoring unit 50 monitors the area around the hydraulic excavator 1 in multiple monitoring zones D1 and D2. When the monitoring unit 50 detects the presence of an obstacle, the display unit 71 displays notification information W in a color corresponding to the monitoring zone in which the obstacle is located. For example, if the monitoring unit 50 detects an obstacle in monitoring zone D1 (a range with a radius of less than 2m from the hydraulic excavator 1), the display unit 71 displays the notification information W in, for example, red. On the other hand, if the monitoring unit 50 detects an obstacle in monitoring zone D2 (a range with a radius of 2m or more but not exceeding 3m from the hydraulic excavator 1), the display unit 71 displays the notification information W in, for example, yellow.

[0055] Specifically, if the monitoring unit 50 detects an obstacle in monitoring category D1, where there is a high risk of contact between the obstacle and the hydraulic excavator 1, the notification information W is colored red. On the other hand, if the monitoring unit 50 detects an obstacle in monitoring category D2, where there is not a high risk of contact between the obstacle and the hydraulic excavator 1, but where a warning is necessary, the notification information W is colored yellow.

[0056] Therefore, in Figure 4, for example, if a "person" is detected as an obstacle to the left of the hydraulic excavator 1 in monitoring category D2, the band information P1, direction information A1, and type information M1, which are notification information W, will be displayed in yellow. Also, if a "person" is detected as an obstacle to the rear of the hydraulic excavator 1 in monitoring category D1, the band information P2, direction information A2, and type information M2, which are notification information W, will be displayed in red. For convenience, in Figure 4, notification information W displayed in yellow is shown with a dashed line, and notification information W displayed in red is shown with a solid line.

[0057] In this embodiment, as shown in Figures 3 and 4, the notification information display area R2 is located outside the image display area R1 in the display unit 71. Therefore, even if an obstacle captured in the image displayed in the image display area R1 (for example, an overhead image Bv) is small compared to the entire image, the notification information W indicating the presence of the obstacle can be displayed relatively large in the notification information display area R2 while being clearly distinguishable from the image. For example, the strip-shaped information P1 included in the notification information W can be displayed larger (over a wider area) in the notification information display area R2 than in images T1 and T2. Similarly, the strip-shaped information P2 included in the notification information W can be displayed larger (over a wider area) than in image T3. By displaying the notification information W in this way, the operator can intuitively and easily perceive the presence of obstacles around the hydraulic excavator 1. As a result, the operator can easily perceive dangers such as collisions between the hydraulic excavator 1 and obstacles and be alerted.

[0058] Furthermore, in this embodiment, where the notification information display area R2 is located adjacent to the image display area R1 in the display unit 71, the distance between the notification information display area R2 and the image display area R1 is short. Therefore, when notification information W is displayed in the notification information display area R2, the operator can easily look at the notification information W, immediately check the image displayed in the image display area R1, and confirm the presence of an obstacle.

[0059] Furthermore, the display unit 71 displays notification information W in the notification information display area R2 at a position corresponding to the direction of the obstacle reflected in the image (e.g., overhead view image Bv) relative to the hydraulic excavator 1. This allows the operator to intuitively and easily recognize the direction in which the obstacle is located relative to the hydraulic excavator 1 from the display position of the notification information W in the notification information display area R2. For example, in the example in Figure 4, the operator can intuitively and easily recognize that the direction in which the obstacle is located is to the left of the hydraulic excavator 1 from the display positions of the strip-shaped information P1, direction information A1, and type information M1 as notification information W. Also, the operator can intuitively and easily recognize that the direction in which the obstacle is located is behind the hydraulic excavator 1 from the display positions of the strip-shaped information P2, direction information A2, and type information M2 as notification information W.

[0060] Furthermore, since the strip-shaped information P is displayed in a strip along the edge R1a of the image display area R1, it is easily recognizable visually by the operator. Therefore, by including the strip-shaped information P in the notification information W, the operator can easily recognize the presence of an obstacle based on the strip-shaped information P.

[0061] Furthermore, the notification information W includes direction information A. This allows the operator to intuitively and easily recognize the direction in which an obstacle is located relative to the hydraulic excavator 1 by looking at the displayed direction information A. For example, in the example in Figure 4, the operator can intuitively and easily recognize that the direction in which the obstacle is located is to the left of the hydraulic excavator 1 by looking at the direction information A1 as notification information W. Also, the operator can intuitively and easily recognize that the direction in which the obstacle is located is behind the hydraulic excavator 1 by looking at the direction information A2 as notification information W.

[0062] Furthermore, when the monitoring unit 50 detects the presence of an obstacle, the display unit 71 displays notification information W in a color corresponding to the monitoring categories D1 and D2 in which the obstacle exists. By looking at the color of the displayed notification information W, the operator can immediately determine which monitoring category the obstacle detected by the monitoring unit 50 belongs to. The operator can then intuitively recognize whether the obstacle is close to the hydraulic excavator 1 and easily understand the degree of danger.

[0063] Furthermore, the monitoring unit 50 includes an imaging unit 51 and an image processing unit 52. The image processing unit 52 detects whether or not there are obstacles around the hydraulic excavator 1 by performing image recognition processing on the image acquired by the imaging unit 51. Therefore, a monitoring unit 50 that monitors the area around the hydraulic excavator 1 can be realized without using an obstacle sensor. In other words, a monitoring unit 50 with a simple configuration that does not use an obstacle sensor can be realized.

[0064] Furthermore, the notification information W includes type information M. This allows the operator to easily recognize the type of obstacle (e.g., person / animal / other) present around the hydraulic excavator 1 by looking at the displayed type information M.

[0065] Furthermore, the display unit 71 displays an overhead view image Bv along with a vehicle image S showing the hydraulic excavator 1 in the image display area R1. In this case, by viewing both the vehicle image S and the overhead view image Bv, the operator can easily recognize the position of any obstacle relative to the hydraulic excavator 1 when an obstacle appears in the overhead view image Bv.

[0066] [5. Supplement] Figure 5 is an explanatory diagram showing another example of each display area on the display screen of the display unit 71. The image display area R1 of the display unit 71 may include multiple image display areas R1-1 to R1-3. Image display areas R1-1 to R1-3 display images acquired by the monitoring unit 50. More specifically, image display areas R1-1 to R1-3 display camera images Cv-1 to Cv-3 (see Figure 6) captured and acquired by the left camera 51a, right camera 51b, and rear camera 51c, which constitute the imaging unit 51 of the monitoring unit 50. Note that in the display unit 71, the notification information display area R2 is located outside the image display area R1 (R1-1 to R1-3), and the notification information display area R2 is located adjacent to the image display area R1 (R1-1 to R1-3), etc., as in the examples in Figures 3 and 4.

[0067] Thus, even when the image display area R1 includes multiple image display areas R1-1 to R1-3, the display unit 71 can display the notification information W at a predetermined location in the notification information display area R2, similar to the case in Figure 4. For example, Figure 6 is an explanatory diagram showing another display example of the display unit 71. When a "person" as an obstacle is captured in the camera image Cv-1 taken by the left camera 51a, and the monitoring unit 50 detects this obstacle, the display unit 71 can display the notification information W (band information P1, direction information A1, type information M1) in the notification information display area R2 at a position corresponding to the direction of the obstacle captured in the camera image Cv-1 relative to the hydraulic excavator 1 (for example, near the image display area R1-1). Similarly, if a "person" as an obstacle is captured in the camera image Cv-3 taken by the rear camera 51c, and the monitoring unit 50 detects this obstacle, the display unit 71 can display the notification information W (band information P2, direction information A2, type information M2) in the notification information display area R2 at a position corresponding to the direction of the obstacle captured in the camera image Cv-3 relative to the hydraulic excavator 1 (for example, near the image display area R1-3).

[0068] In Figure 6, the band-shaped information P (P1, P2) as notification information is displayed as a frame surrounding the entire outer perimeter of the camera images Cv-1 and Cv-3. In this case, the correspondence between the camera images Cv-1 and Cv-3 and the band-shaped information P1 and P2 is clear, so the operator can easily recognize in which direction the obstacle is located relative to the hydraulic excavator 1 by looking at the notification information W (band-shaped information P1 and P2). Note that the band-shaped information P may also be displayed as a band along only a part of the outer perimeter of the camera image Cv-1, etc.

[0069] In this embodiment, a hydraulic excavator 1, which is a construction machine, was used as an example of a work vehicle. However, 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 71 described in this embodiment can be applied to construction equipment other than the hydraulic excavator 1, as well as agricultural machines.

[0070] Although embodiments of the present invention have been described above, the scope of the present invention is not limited thereto, and it can be expanded or modified without departing from the spirit of the invention. [Industrial applicability]

[0071] This invention can be used, for example, in work vehicles such as construction machinery and agricultural machinery. [Explanation of Symbols]

[0072] 1. Hydraulic excavator (work vehicle) 50 Monitoring Department 51 Imaging Unit 51a Left camera (imaging unit, camera) 51b Right camera (imaging unit, camera) 51c Rear camera (imaging unit, camera) 52 Image Processing Unit 53. Overhead Image Generation Unit 71 Display section Bv overhead view Cv-1, Cv-2, Cv-3 camera images A, A1, A2 direction information M, M1, M2 type information P, P1, P2 Striped Information D1, D2 Monitoring classification R1, R1-1, R1-2, R1-3 Image display area R2 Information display area W News Information

Claims

1. A work vehicle comprising a monitoring unit for monitoring the area around the work vehicle, and a display unit for displaying images acquired by the monitoring unit, The monitoring unit detects the presence and type of obstacle by performing image recognition processing on the image acquired by the imaging unit. The display unit has an image display area for displaying the image and a notification information display area located outside of it. A work vehicle that displays, in the aforementioned notification information display area, direction information indicating the direction of the obstacle and type information indicating the type of the obstacle at a position corresponding to the direction of the obstacle's presence relative to the work vehicle.

2. The work vehicle according to claim 1, wherein the notification information display area is located adjacent to the image display area.

3. The monitoring unit monitors the area around the work vehicle in a plurality of monitoring sections that are divided according to the distance from the work vehicle. The work vehicle according to claim 1 or 2, wherein the display unit displays the direction information and the type information in a color corresponding to the monitoring area where the obstacle is located.

4. The work vehicle according to any one of claims 1 to 3, wherein the display unit, when the monitoring unit detects the presence of the obstacle, displays the direction information and the type information in the notification information display area at a position corresponding to the direction of the obstacle captured in the image relative to the work vehicle.

Images