Control method for work vehicles

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 Art

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

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

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

[0005] An object of the present invention is to provide a control method for a work vehicle that displays an enlarged image obtained by enlarging the entire monitoring image on a display unit.

Means for Solving the Problems

[0006] A control method for a work vehicle according to one aspect of the present invention is 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, and by a switching operation of a specific display image, an enlarged image obtained by enlarging the entire monitoring image is displayed on the display unit. [Effects of the Invention]

[0007] An enlarged image of the entire surveillance image is displayed on the display unit. [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 a block diagram showing the main components of the hydraulic excavator described above. [Figure 3] This is an explanatory diagram showing an example of the display screen of the display unit of the hydraulic excavator described above. [Figure 4] This is an explanatory diagram showing the display screen of the above-mentioned display unit in the first display mode. [Figure 5] This is an explanatory diagram showing the display screen of the above-mentioned display unit in the second display mode. [Figure 6] This is an explanatory diagram showing the display screen of the above-mentioned display unit in the third display mode. [Figure 7] This is an explanatory diagram showing the display screen of the above-mentioned display unit in the fourth display mode. [Figure 8] This is an explanatory diagram showing the display screen of the above-mentioned display unit in the fifth display mode. [Figure 9] This is an explanatory diagram showing the display screen of the above-mentioned display unit in the sixth display mode. [Figure 10] This is an explanatory diagram showing an example of transitions between multiple display modes. [Figure 11] This is an explanatory diagram showing another example of the display screen of the above-mentioned display unit. [Figure 12] This is an explanatory diagram showing yet another example of the display screen of 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 a boom cylinder 31a. The boom cylinder 31a has its base end supported at the front part of the upper revolving body 4 and is movable in an extendable and retractable manner. The arm 32 is rotated by an arm cylinder 32a. The arm cylinder 32a has its base end supported at the tip of the boom 31 and is movable in an extendable and retractable manner. The bucket 33 is rotated by a bucket cylinder 33a. The bucket cylinder 33a has its base end supported at the tip of the arm 32 and is movable in an extendable and retractable manner. 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 working machine 3 and is a container-shaped member having teeth for performing excavation work. The bucket 33 is rotatably attached to the tip of the arm 32 via a pin 34. Further, the bucket 33 is connected to the 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 operation of lifting and lowering an object to be lifted. The hook 36 is rotatably supported with the axis of the link mechanism 35 as a rotation fulcrum, and can change its posture between a deployed state (see FIG. 1) protruding from the bucket 33 and a stored state (not shown) stored on the bucket 33 side. For example, when performing excavation work with the bucket 33, the hook 36 is set to the stored state. On the other hand, when performing crane work with the hook 36, the hook 36 is set to the deployed state.

[0017] The upper revolving body 4 is configured to be rotatable with respect to the lower traveling body 2 via a slewing bearing (not shown). The upper revolving body 4 is provided with a control unit 41, a turntable 42, a slewing motor 43, an engine room 44, etc. The upper revolving body 4 rotates via the slewing bearing by the drive of the slewing motor 43 which is a hydraulic motor. At the rear part of the upper revolving body 4, in addition to an engine 40 that provides power to each part, a plurality of hydraulic pumps (not shown) are arranged.

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

[0019] The control unit 41, where the operator sits, has a cockpit 41a. The control units 41b are arranged around the cockpit 41a (especially in front and to the left and right).

[0020] The control unit 41b consists of operating levers, switches, buttons, etc., for driving the hydraulic actuator. The hydraulic actuator is driven when the operator sits in the cockpit 41a and operates the control unit 41b. This enables the lower traveling body 2 to travel, leveling work with the blade 23, excavation work with the work equipment 3, crane work, rotation of the upper rotating body 4, and so on.

[0021] The control unit 41b includes a cutoff lever. The cutoff lever is mounted near the cockpit 41a so as to be rotatable up and down. When the operator pushes down the cutoff lever, a cutoff switch (not shown) turns ON, making it possible to operate the control unit 41b to drive a predetermined hydraulic actuator (active state). On the other hand, when the operator pulls up the cutoff lever, the cutoff switch turns OFF, making it impossible to drive the hydraulic actuator even if the operator operates the control unit 41b (inactive state). When the operator is about to get out of the control unit 41, they will pull up the cutoff lever to disable the hydraulic actuator before getting out of the cockpit 41a.

[0022] The hydraulic excavator 1 has two operating modes: a normal mode and a crane mode. The normal mode is an operating mode in which the excavator performs actions or tasks such as traveling (driving the lower traveling body 2), slewing (driving the upper slewing body 4), and excavating (driving the work implement 3). In normal mode, the operator can make the hydraulic excavator 1 perform traveling, slewing, excavating, etc., by operating the control unit 41b. On the other hand, the crane mode is an operating mode in which the excavator performs crane work by suspending an object with the hook 36. The operator can set the crane mode by operating the input unit 62 (see Figure 3), which will be described later, and then make the hydraulic excavator 1 perform crane work by operating the control unit 41b.

[0023] [2. Components of the main parts of a hydraulic excavator] Figure 2 schematically shows the configuration of the main parts of the hydraulic excavator 1. The hydraulic excavator 1 further comprises a monitoring unit 50, a monitoring device 60, an alarm device 70, an operating state detection unit 80, and a control unit 90.

[0024] <2-1. Monitoring section> The monitoring unit 50 monitors the surroundings of the hydraulic excavator 1 by detecting the presence or absence of obstacles around it. These obstacles include monitored objects 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 includes 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 monitoring image acquisition unit 51 acquires images of the area around the hydraulic excavator 1 as monitoring images NA (see Figure 3, etc.). This monitoring image acquisition unit 51 includes a left camera 54a, a right camera 54b, a rear camera 54c, and an overhead image generation unit 55.

[0026] The left camera 54a captures the left side of the hydraulic excavator 1 and acquires a left-side image NL (see Figure 4). The right camera 54b captures the right side of the hydraulic excavator 1 and acquires a right-side image NR (see Figure 4). The rear camera 54c captures the rear of the hydraulic excavator 1 and acquires a rear image NB (see Figure 5). The left-side image NL, the right-side image NR, and the rear image NB are all 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 capture the left side, right side, and rear of the hydraulic excavator 1, respectively. The monitoring image NA includes the left-side image NL captured by the left camera 54a, the right-side image NR captured by the right camera 54b, and the rear image NB captured by the rear camera 54c. The monitoring image NA is, for example, a video, but it may also be a still image acquired by shooting at a predetermined frame rate.

[0027] The overhead image generation unit 55 synthesizes the left-side image NL, the right-side image MR, and the rear-view image NB through image processing to generate an image of the hydraulic excavator 1 viewed from above, i.e., an overhead image NP (see Figure 6). The overhead image NP is included in the monitoring image NA. That is, the monitoring image acquisition unit 51 includes an overhead image generation unit 55 that synthesizes the left-side image NL, the right-side image NR, and the rear-view image NB to generate the overhead image NP. The monitoring image NA then includes the overhead image NP. The overhead image generation unit 55 is composed of a computing device such as a central processing unit called a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit). Note that the overhead image NP may be an animated image.

[0028] (2-1-2. Enlarged Image Generation Unit) The magnified image generation unit 52 enlarges the monitoring image NA (left-side image NL, right-side image NR, rear-view image NB, overhead image NP) acquired by the monitoring image acquisition unit 51 through image processing to generate a magnified image EA (see Figure 7, etc.). The image magnification ratio can be set arbitrarily. The magnified image generation unit 52, like the overhead image generation unit 55, is configured by, for example, a CPU or GPU. In other words, the hydraulic excavator 1 of this embodiment includes a monitoring image acquisition unit 51 that acquires images of the surroundings of the hydraulic excavator 1 as a work vehicle as monitoring image NA, and a magnified image generation unit 52 that enlarges the monitoring image NA to generate a magnified image EA.

[0029] The magnified image generation unit 52 magnifies the left-side image NL from the monitoring image NA to generate a left-side magnified image EL (see Figure 7), magnifies the right-side image NR to generate a right-side magnified image ER (see Figure 7), and magnifies the rear-side image NB to generate a rear-side magnified image EB (see Figure 8). Therefore, the magnified image EA generated by the magnified image generation unit 52 includes a left-side magnified image EL obtained by magnifying the left-side image NL, a right-side magnified image ER obtained by magnifying the right-side image NR, and a rear-side magnified image EB obtained by magnifying the rear-side image NB.

[0030] Furthermore, the enlarged image generation unit 52 also generates an overhead enlarged image EP (see Figure 9). The overhead enlarged image EP is an image obtained by enlarging the overhead image NP generated by the overhead image generation unit 55 through image processing, and is included in the enlarged image EA described above. In other words, the enlarged image generation unit 52 generates the overhead enlarged image EP by enlarging the overhead image NP generated by the overhead image generation unit 55. The enlarged image EA then includes the overhead enlarged image EP.

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

[0032] The monitoring unit 50 may also be configured to detect obstacles using obstacle sensors. 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 have the functions of multiple cameras integrated and measure the distance to an object from the captured image can be used as obstacle sensors.

[0033] <2-2. Monitoring Device> The monitoring device 60 is positioned near the cockpit 41a shown in Figure 1 (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 60 includes a display unit 61, an input unit 62, and a display control unit 63.

[0034] (2-2-1.Display section) Figure 3 is a front view of the monitoring device 60. The display unit 61 of the monitoring device 60 is composed of, 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 a display unit 61 that displays either the monitoring image NA or the enlarged image EA. The display unit 61 displays an image after the cutoff switch detects that the cutoff lever has been lowered, i.e., that the prohibition on the operation of the operation unit 41b has been released, while the ignition key for starting the engine 40 (see Figure 1) is turned ON.

[0035] The display unit 61 also displays operating status information D1, menu information D2, and crane information D3. Operating status information D1 is information regarding the operating status of the hydraulic excavator 1. In Figure 3, operating status information D1 is shown, for example, as information on the remaining fuel level of the hydraulic excavator 1. Note that operating status information D1 is not limited to the remaining fuel level information mentioned above, and may also be information regarding the operating time of the hydraulic excavator 1, the remaining battery charge, etc.

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

[0037] Crane information D3 is displayed when the crane mode is set by operating the input unit 62. Figure 3 shows an example where the crane information D3 displays that the weight of the load that can be lifted in crane mode (rated weight) is 3.0t and the current lifting load is 2.8t.

[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 consists of a plurality of mechanical button switches 62a (in Figure 3, for example, six button switches 62a1 to 62a6). By operating the input unit 62 (for example, by pressing any of the button switches 62a), the operator can perform various settings and other operations.

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

[0040] Furthermore, by pressing the button switch 62a4 located below the "Camera" display in menu information D2, the operator can input a command to switch the image displayed on the display unit 61 between the monitoring image NA and the enlarged image EA. As described above, although six button switches 62a are provided in this embodiment, only one button switch 62a, button switch 62a4, is used to input a command to switch the displayed image. Therefore, button switch 62a4 specifically constitutes a single image switching command input unit 62P. In other words, the hydraulic excavator 1 of this embodiment is equipped with a single image switching command input unit 62P that receives a command to switch the displayed image on the display unit 61 between the monitoring image NA and the enlarged image EA. The image switching command input unit 62P is the button switch 62a4.

[0041] In Figure 3, no specific function is set for button switches 62a3, 62a5, and 62a6 when pressed, but it is possible to set any function as appropriate.

[0042] The input unit 62 may be configured as a touch panel input device superimposed on the display unit 61, or as a jog dial. In the former case, the display unit 61 displays a button icon at a position corresponding to the button switch 62a, and the touch panel input device detects the operator's pressing position, allowing the operator to perform various settings, selections, and inputs. In the latter case, the operator can select a desired item from the menu information D2 by rotating the jog dial and input instructions for the item by pressing the center of the jog dial.

[0043] In this embodiment, the input unit 62 (particularly the image switching instruction input unit 62P) is provided on 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 Figure 2 controls the operation of each part of the monitor device 60. This display control unit 63 is composed of an electronic control unit called an ECU (Electronic Control Unit). In this embodiment, when the monitor device 60 has a built-in display control unit 63, the display control unit 63 can also be called a monitor ECU. The display control unit 63 may be provided outside the monitor device 60 (independently of the monitor device 60). For example, the overall control unit 91 of the control unit 100, which will be described later, may also serve as the display control unit 63.

[0045] In this embodiment, the display control unit 63 controls the display unit 61 to display only one of the monitoring image NA or the enlarged image EA, based on the 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 a display control unit 63 that displays either 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. Details of the display image switching control by the display control unit 63 will be described later.

[0046] <2-3. Alarm device> The alarm device 70 outputs an alarm based on the monitoring results of the monitoring unit 50. Such an alarm device 70 consists of a rotating light (e.g., a rotating lamp), a light-emitting unit (e.g., a light-emitting diode), and an alarm-generating unit (e.g., a buzzer). 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-generating unit emits a sound. This allows the operator to recognize that the monitoring unit 50 has detected an obstacle.

[0047] <2-4. Operating State Detection Unit> The operating state detection unit 80 detects the operating state of the hydraulic excavator 1. In this embodiment, the operating state of the hydraulic excavator 1 is considered to be, for example, the remaining amount of fuel in the hydraulic excavator 1. In this case, the operating state detection unit 80 is composed of a fuel detection sensor that detects the remaining amount of fuel in the hydraulic excavator 1. Alternatively, the operating time of the hydraulic excavator 1 or the remaining battery charge may be considered as the operating state. The operating time of the hydraulic excavator 1 can be detected by configuring the operating state detection unit 80 as a timer. The remaining battery charge can be detected by configuring the operating state detection unit 80 as a battery charge detection sensor. Thus, the hydraulic excavator 1 of this embodiment is equipped 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 part of the hydraulic excavator 1. The abnormality determination unit 92 determines whether 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, if the operating state detection unit 80 detects that the remaining fuel is above a predetermined amount, the abnormality determination unit 92 determines that there is no abnormality in the hydraulic excavator 1. On the other hand, if the operating state detection unit 80 detects that the remaining fuel is below a 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 is equipped with an abnormality determination unit 92 that determines whether there is an abnormality in the hydraulic excavator 1 based on the above operating state.

[0049] The control unit 90 may also include a memory unit. The memory unit stores programs and various information necessary to operate the control unit 90. Such a memory unit can include RAM (Random Access Memory), ROM (Read Only Memory), non-volatile memory, etc.

[0050] [3. Regarding switching the displayed image] Next, the details of the control of the display image switching of the display unit 61 by the display control unit 63 will be described.

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

[0052] Figure 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 the left-side image NL and the right-side image NR are displayed as monitoring images 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 displays the left-side image NL and the right-side image NR on the display unit 61 in addition to the operating status information D1, menu information D2, and crane information D3. Note that if the operating mode of the hydraulic excavator 1 is not set to crane mode, the crane information D3 may be hidden (the same applies hereafter).

[0053] Figure 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 in which the left-side image NL, the right-side image NR, and the rear image NB are displayed as monitoring images NA. When the second display mode M2 ​​is set by the button switch 62a4, the display control unit 61 displays the left-side image NL, the right-side image NR, and the rear image NB on the display unit 61 in addition to the operating status information D1, menu information D2, and crane information D3.

[0054] Figure 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 the overhead image NP is displayed as the monitoring image NA. When the third display mode M3 is set by the button switch 62a4, the display control unit 61 displays the overhead image NP on the display unit 61 in addition to the operating status information D1, menu information D2, and crane information D3.

[0055] Figure 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 in which the left-side enlarged image EL and the right-side enlarged image ER are displayed as enlarged images EA. When the fourth display mode M4 is set by the button switch 62a4, the display control unit 61 displays the left-side enlarged image EL and the right-side enlarged image ER on the display unit 61.

[0056] Figure 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 in which the left-side enlarged image EL, the right-side enlarged image ER, and the rear-side enlarged image EB are displayed as enlarged images EA. When the fifth display mode M5 is set by the button switch 62a4, the display control unit 61 displays the left-side enlarged image EL, the right-side enlarged image ER, and the rear-side enlarged image EB on the display unit 61.

[0057] Figure 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 magnified image EP is displayed as an enlarged image EA. When the sixth display mode M6 is set by the button switch 62a4, the display control unit 61 displays the overhead magnified image EP on the display unit 61.

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

[0059] Figure 10 is a schematic diagram illustrating the transition of the display mode of the image displayed on the display unit 61 when an instruction to switch the displayed image is received by the button switch 62a4. In this embodiment, the display control unit 63 displays the monitoring image NA or the enlarged image EA on the display unit 61 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 pressing state of the button switch 62a4, specifically according to the pressing time. This point will be explained in more detail below.

[0060] Here, when the operator presses the button switch 62a4 for a predetermined time or longer (for example, 2 seconds or more), it is referred to as a "long press." Conversely, when the operator presses the button switch 62a4 for less than a predetermined time (for example, less than 2 seconds), it is referred to as a "short press."

[0061] (3-1. If you press and hold) When the operator presses and holds the button switch 62a4, the display mode of the display unit 61 is switched and transitions between several display modes for displaying the surveillance image NA.

[0062] For example, if the current display mode is set to the first display mode M1, pressing and holding the button switch 62a4 will cause the display mode to transition 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 will switch from the screen shown in Figure 4 to the screen shown in Figure 5. In other words, the display control unit 63 will display the left-side image NL, the right-side image NR, and the rear image NB as monitoring images NA on the display unit 61.

[0063] Next, when the operator presses and holds 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 switches from the screen shown in Figure 5 to the screen shown in Figure 6. In other words, the display control unit 63 displays the overhead image NP as the monitoring image NA on the display unit 61.

[0064] Furthermore, when the operator presses and holds 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 switches from the screen shown in Figure 6 to the screen shown in Figure 4. In other words, the display control unit 63 displays the left-side image NL and the right-side image NR as the monitoring image NA on the display unit 61.

[0065] On the other hand, for example, if the current display mode is set to the fourth display mode M4, pressing and holding the button switch 62a4 will cause the display mode to transition 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 Figure 7 to the screen shown in Figure 8. In other words, the display control unit 63 displays the left-side magnified image EL, the right-side magnified image ER, and the rear-side magnified image EB as magnified images EA on the display unit 61.

[0066] Next, when the operator presses and holds 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 switches from the screen shown in Figure 8 to the screen shown in Figure 9. In other words, the display control unit 63 displays the overhead magnified image EP as the magnified image EA on the display unit 61.

[0067] Furthermore, when the operator presses and holds 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 switches from the screen shown in Figure 9 to the screen shown in Figure 7. In other words, the display control unit 63 displays the left-side enlarged image EL and the right-side enlarged image ER as enlarged images EA on the display unit 61.

[0068] (3-2. In the case of a 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 that displays the monitoring image NA and a display mode that displays the enlarged image EA.

[0069] For example, if the current display mode is set to the first display mode M1, a short press of the button switch 62a4 by the operator will transition the display mode 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 will switch from the screen shown in Figure 4 to the screen shown in Figure 7. In other words, the display control unit 63 will display the left-side enlarged image EL and the right-side enlarged image ER as enlarged images EA on the display unit 61.

[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 switches from the screen shown in Figure 7 to the screen shown in Figure 4. In other words, the display control unit 63 displays the left-side image NL and the right-side image NR as the monitoring image NA on the display unit 61.

[0071] Furthermore, if the current display mode is set to the second display mode M2, a short press of the button switch 62a4 by the operator will transition the display mode 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 Figure 5 to the screen shown in Figure 8. In other words, the display control unit 63 displays the left-side magnified image EL, the right-side magnified image ER, and the rear-side magnified image EB as magnified images EA on the display unit 61.

[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 switches from the screen shown in Figure 8 to the screen shown in Figure 5. In other words, the display control unit 63 displays the left-side image NL, the right-side image NR, and the rear image NB as monitoring images NA on the display unit 61.

[0073] Furthermore, if the current display mode is set to the third display mode M3, a short press of the button switch 62a4 by the operator will transition the display mode 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 Figure 6 to the screen shown in Figure 9. In other words, the display control unit 63 displays the overhead magnified image EP as the magnified image EA on the display unit 61.

[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 switches from the screen shown in Figure 9 to the screen shown in Figure 6. In other words, the display control unit 63 displays the overhead image NP as the monitoring image NA on the display unit 61.

[0075] Furthermore, the control for switching the display mode when the operator long-presses the button switch 62a4 may be reversed from the control for switching the display mode when the operator short-presses it. In other words, when the operator short-presses the button switch 62a4, 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. And when the operator long-presses the button switch 62a4, 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, and the third display mode M3 and the sixth display mode M6.

[0076] By combining long presses and short presses of the button switch 62a4, the operator can switch the display mode from any display mode (e.g., the first display mode M1) to any display mode (e.g., the sixth display mode).

[0077] [4. Effects] The hydraulic excavator 1 of this embodiment is equipped with a single image switching instruction input unit 62P (button switch 62a4) as an input unit that receives instructions to switch the displayed image in the display unit 61. As a result, the operator can give instructions to switch the displayed image by operating a single image switching instruction input unit 62P. Therefore, unlike conventional systems where there are multiple button switches to give instructions to switch the displayed image, the operator does not have to worry about confusing the operation to give instructions to switch the displayed image. Thus, the operator can easily give instructions to switch the displayed image with an intuitive and easy-to-understand operation. In other words, the operator's operability when performing the operation to switch the displayed image can be improved.

[0078] Furthermore, the display control unit 63 displays either the monitoring image NA or the enlarged image EA on the display unit 61 according to the pressing state of the button switch 62a4, which is a single image switching instruction input unit 62P. Therefore, the operator can easily switch the displayed image on the display unit 61 between the monitoring image NA and the enlarged image EA by changing the pressing state of the single button switch 62a4.

[0079] In particular, the display control unit 63 displays the monitoring image NA or the enlarged image EA on the display unit 61 according to the pressing time of the button switch 62a4. In other words, 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 long-pressing or short-pressing a single button switch 62a4. Therefore, the operator can give instructions to switch the displayed image with a simple long-press / short-press operation of the button switch 62a4.

[0080] Furthermore, in this embodiment, when the button switch 62a4 is pressed briefly, that is, when the button switch 62a4 is pressed for, for example, less than 2 seconds, the display image of the display unit 61 is switched between the monitoring image NA and the enlarged image EA (transition 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, for example, 2 seconds or more, the display control unit 63 displays either the monitoring image NA or the enlarged image EA in one of several display modes (transition T1 to T3, or transition T4 to T6). As mentioned 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 for a short time.

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

[0082] In this case, the operator can distinguish between instructions to switch the displayed image between the monitoring image NA and the magnified image EA, and instructions to switch the display mode of the monitoring image NA or the magnified image EA, depending on the duration of pressing a single button switch 62a4.

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

[0084] Furthermore, the multiple display modes include a third display mode M3 for displaying 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 then instruct the display unit 61 to display the monitoring image NA in the selected display mode.

[0085] Furthermore, the multiple display modes include a fourth display mode M4 that displays a left-side magnified image EL and a right-side magnified image ER, and a fifth display mode M5 that displays a left-side magnified image EL, a right-side magnified image ER, and a rear-side magnified image EB. In this case, the operator can select either the fourth display mode M4 or the fifth display mode M5 as the display mode for the magnified image EA by pressing a single button switch 62a4, and then instruct the display unit 61 to display the magnified image EA in the selected display mode.

[0086] Furthermore, the multiple display modes include a sixth display mode M6 that displays an overhead magnified 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 magnified image EA by pressing a single button switch 62a4, and then instruct the display unit 61 to display the magnified image EA in the selected display mode.

[0087] Furthermore, in this 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 displays the driving status information D1 (for example, fuel level information) together with the monitoring image NA on the display unit 61 (see Figures 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 hides the driving status information D1 and displays the enlarged image EA on the display unit 61 (see Figures 7 to 9). In other words, when the display unit 61 displays the monitoring image NA, the display control unit 63 displays information indicating the driving status together with the monitoring image NA on the display unit 61, while when the display unit 61 displays the enlarged image EA, the information indicating the driving status is erased and the enlarged image EA is displayed on the display unit 61.

[0088] When the monitoring image NA is displayed on the display unit 61, the operating status information D1 is also displayed, allowing the operator to understand the operating status (fuel level) 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 status information D1 is erased, so the area that previously displayed the operating status information D1 can be used as the display area for the enlarged image EA. This ensures that the enlarged image EA can be reliably displayed within the limited display screen of the display unit 61.

[0089] [6. Display of other information] Figure 11 shows a display screen with abnormality information D4 displayed on the display unit 61. In this embodiment, where the hydraulic excavator 1 is equipped with an abnormality determination unit 92 (see Figure 2), the display control unit 63 may display abnormality information D4 on the display unit 61 when the abnormality determination unit 92 determines that there is an abnormality in the hydraulic excavator 1. In Figure 11, when the operating state detection unit 80 (see Figure 2) detects that the fuel level is low, the abnormality determination unit 92 determines that the hydraulic excavator 1 is abnormal, and based on this determination, the display control unit 63 controls the display unit 61 to display abnormality information D4 indicating that the fuel level is low.

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

[0091] In particular, the abnormal information D4 is displayed on the display unit 61 by the control of the display control unit 63, even in display modes in which the enlarged image EA is displayed on the display unit 61, that is, display modes in which the operating status information D1 is not displayed on the display unit 61 (fourth display mode M4 to sixth display mode M6). As a result, even while the enlarged image EA is being displayed on the display unit 61, if an abnormality occurs, the operator can see the abnormal information D4 and notice the abnormality, and take appropriate measures.

[0092] Figure 12 shows a display screen with warning information D5 displayed on the display unit 61. In this embodiment, the hydraulic excavator 1 is equipped with an image recognition unit 53 that detects whether or not there are obstacles in the surrounding area by image recognition. When the image recognition unit 53 detects an obstacle, warning information D5 indicating the presence of an obstacle may be displayed on the display unit 61.

[0093] In the example shown in Figure 12, the display unit 61 shows warning information D5, including an icon A1 indicating a "person" as an obstacle, an arrow icon A2 indicating the direction in which the person is located, and an arc-shaped band A3 (see thick dashed line) indicating that the person is located to the left of the hydraulic excavator 1. In addition, the display unit 61 also shows warning information D5, including an icon B1 indicating a "person" as an obstacle, an arrow icon B2 indicating the direction in which the person is located, and an arc-shaped band B3 (see thick solid line) indicating that the person is located behind the hydraulic excavator 1.

[0094] In this manner, the display control unit 63 displays warning information D5 on the display unit 61 when an obstacle is detected (around the hydraulic excavator 1) by the image recognition unit 53. In this case, the operator can recognize 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, check the surroundings, and 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.

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

[0096] 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 61 described in this embodiment can be applied to construction equipment other than the hydraulic excavator 1, as well as agricultural machines.

[0097] 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]

[0098] This invention can be used, for example, in work vehicles such as construction machinery and agricultural machinery. [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. Overhead Image Generation Unit 61 Display section 62a4 Button switch (image switching instruction input section) 62P Image switching instruction input section 63 Display Control Unit 80 Operating state detection unit 92 Abnormality judgment unit NA surveillance images NL Left Side Image NR Right-side image NB rear view NP overhead view EA Enlarged Image EL left side enlarged image ER Right Side Enlarged Image EB rearward magnified image EP Overhead view enlarged image M1 First display mode M2 Second Display Mode M3 Third Display Mode M4 4th display mode M5 5th display mode M6 6th display mode D4 Anomaly Information D5 Warning Information

Claims

1. A method for controlling a work vehicle, which displays multiple images of the surroundings of the work vehicle as monitoring images on a display unit, By switching a specific display image, an enlarged image is displayed on the display unit, which enlarges the entire monitoring image, including all the images that were displayed on the display unit, to fill the entire display unit. Along with the aforementioned monitoring image, the display unit will display information regarding the work vehicle, A method for controlling a work vehicle, comprising the following steps: the switching operation erases the information displayed on the display unit and prevents other images from being superimposed on the enlarged image.

2. The method for controlling a work vehicle according to claim 1, wherein the aforementioned information is displayed to the side of the monitoring image.

3. The method for controlling a work vehicle according to claim 1, wherein the aforementioned information is displayed below the monitoring image.

4. The information includes a plurality of item information displayed along the lower end of the display unit, The control method for a work vehicle according to claim 3, further comprising a plurality of button switches positioned below the display unit, corresponding to a plurality of item information, and enabling operations according to the corresponding items.

5. The control method for a work vehicle according to claim 4, wherein the switching operation is performed by one of the plurality of button switches.

6. A method for controlling a work vehicle according to any one of claims 1 to 5, wherein the enlarged image is displayed across the entire display unit.

Images