Work machine

Abstract

Provided is a work machine comprising: a vehicle body; a camera that captures the surroundings of the vehicle body; a monitor that displays a camera image captured by the camera; a monitor operation device that instructs a change in the display magnification of the camera image displayed on the monitor; and a control device that controls the display of the monitor in accordance with the operation of the monitor operation device. When the display magnification indicated by the monitor operation device is outside the range of a predetermined magnification and a predetermined operation condition is satisfied before the operation of the vehicle body, the control device warns the operator or disables the change in display magnification instructed by the monitor operation device. As a result, a loss in the area displayed on the monitor during travel with respect to an appropriate display target area is suppressed.

Description

Work machinery

[0001] The present invention relates to a work machine such as a hydraulic excavator.

[0002] Some work machines, such as hydraulic excavators, are equipped with a function that provides the operator with camera images of the area around the work machine. This system that provides camera images of the surrounding area is called a visibility assistance system, and it makes it easier for the operator to grasp the situation around the work machine while operating the work machine. The monitor on which the visibility assistance system displays the camera images often also serves as a display device for a menu screen for configuring various settings for the work machine. Therefore, after operating the menu screen, the operator must switch the monitor display to the camera image when starting to operate the work machine.

[0003] In response to this, there is known a work machine that displays a camera image on a monitor when an operation signal is input to operate an actuator of the work machine and the camera image is not currently displayed on the monitor (Patent Document 1).

[0004] International Publication No. 2018 / 123001

[0005] If the camera image displayed on the monitor of a work machine could be enlarged and reduced, it would be convenient for the operator to enlarge the area of ​​interest to check it in detail, or to use a wide-area display to quickly check the general situation around the work machine. However, the original purpose of displaying camera images is to provide the operator with visual information about the current situation around the work machine while driving, and there is a recommended appropriate range for the area displayed in the camera image. For example, if the operator drives the work machine while the camera image is enlarged, the area displayed on the monitor may be missing from the area that should be displayed, and the operator may not be able to check the current situation around the work machine on the monitor.

[0006] The system in Patent Document 1 discloses a function that automatically switches the monitor display to the camera image in response to driving operations when the camera image is not being displayed on the monitor, without the need to manually switch the display. However, even with this function, if the work machine is operated with the camera image enlarged, for example, the display switching function does not work because the camera image is already being displayed, and a loss occurs in the area displayed on the monitor compared to the area that should be displayed, which can make it difficult to check the surrounding situation while driving.

[0007] An object of the present invention is to provide a work machine that can prevent the area displayed on the monitor from being lost during operation relative to the appropriate display target area.

[0008] In order to achieve the above object, the present invention provides a work machine comprising a vehicle body, a front work implement attached to the vehicle body, a camera that photographs the area around the vehicle body, a monitor that displays the camera image photographed by the camera, a monitor operation device that instructs a change in the display magnification of the camera image displayed on the monitor, and a control device that controls the display of the monitor in accordance with operation of the monitor operation device, wherein the control device issues a warning to the operator or disables the change in display magnification instructed by the monitor operation device when the display magnification instructed by the monitor operation device is outside a predetermined range of magnifications and when predetermined operating conditions are met before the vehicle body moves.

[0009] According to the present invention, it is possible to prevent the area displayed on the monitor during driving from being missing from the appropriate display target area.

[0010] FIG. 1 is a side view showing the appearance of a hydraulic excavator, which is an example of a work machine according to a first embodiment of the present invention. FIG. 2 is a schematic diagram showing the interior of the operator's cab of the hydraulic excavator of FIG. 1. FIG. 3 is a schematic diagram showing the overall control system for a work machine according to a first embodiment of the present invention. FIG. 4 is a block diagram showing typically the functions of a control device for a work machine according to a first embodiment of the present invention. FIG. 5 is an example of operation of a touch panel of a monitor provided in a work machine according to a first embodiment of the present invention. FIG. 6 is an example of operation of a touch panel of a monitor provided in a work machine according to a first embodiment of the present invention. FIG. 7 is a diagram showing an example of a display pattern of a camera image displayed on a monitor in a work machine according to a first embodiment of the present invention. FIG. 8 is a diagram showing another example of a display pattern of a camera image displayed on a monitor in a work machine according to a first embodiment of the present invention. FIG. 9 is a diagram showing an example of setting a setting display area. FIG. 10 is a flowchart showing a monitor display control procedure by a control device provided in a work machine according to a first embodiment of the present invention. FIG. 11 is an explanatory diagram showing how the display of a camera image on a monitor is enlarged or reduced in response to a zoom operation in a first embodiment of the present invention. FIG. 12 is an explanatory diagram showing how the display of a camera image on a monitor is enlarged or reduced in response to a zoom operation in a first embodiment of the present invention. FIG. 1 is an explanatory diagram illustrating how a notification is given when the camera image on the monitor is narrow or wide relative to the set display area in the first embodiment of the present invention. FIG. 2 is an explanatory diagram illustrating how a notification is given when the camera image on the monitor is narrow or wide relative to the set display area in the first embodiment of the present invention. FIG. 3 is an explanatory diagram illustrating how a notification is given when the camera image on the monitor is narrow or wide relative to the set display area in the first embodiment of the present invention. FIG. 4 is a block diagram schematically showing the functions of a control device for a work machine according to a second embodiment of the present invention. FIG. 5 is a flowchart showing the monitor display control procedure by a control device provided in a work machine according to the second embodiment of the present invention. FIG. 6 is a block diagram schematically showing the functions of a control device for a work machine according to a third embodiment of the present invention. FIG. 7 is a flowchart showing the monitor display control procedure by a control device provided in a work machine according to the third embodiment of the present invention.

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0012] 1 is a side view showing the appearance of a hydraulic excavator, which is an example of a work machine according to a first embodiment of the present invention. The right side in FIG. 1 is the front of a rotating body 1d.

[0013] The hydraulic excavator 1 includes a vehicle body 1B and an articulated front working unit 1A attached to the vehicle body 1B. The front working unit 1A has a boom 1a, an arm 1b, and a bucket 1c, each of which rotates in a vertical plane. The vehicle body 1B includes a running unit 1e and a rotating unit 1d that is rotatably mounted on the running unit 1e. The rotating unit 1d is equipped with a driver's cab 1f. The base end of the boom 1a of the front working unit 1A is connected to the front of the rotating unit 1d, the arm 1b is connected to the tip of the boom 1a, and the bucket 1c is connected to the tip of the arm 1b. The boom 1a, arm 1b, bucket 1c, rotating unit 1d, and running unit 1e are driven by corresponding hydraulic actuators, specifically, a boom cylinder 2a, an arm cylinder 2b, a bucket cylinder 2c, a swing motor 3d ( FIG. 3 ), and left and right traveling motors 3e, 3f, respectively. The boom 1a, arm 1b, and bucket 1c (strictly speaking, bucket link) are provided with angle sensors 8a, 8b, and 8c that detect the rotation angles of the boom 1a, arm 1b, and bucket 1c, respectively. In addition, the revolving unit 1d is provided with GNSS antennas 9a and 9b for acquiring the current position of the hydraulic excavator 1, and multiple cameras 10a, 10b, and 10c that photograph the surroundings of the vehicle body 1B. Camera 10a photographs the left side of the revolving unit 1d, camera 10b photographs the rear side of the revolving unit 1d, and camera 10c photographs the right side of the revolving unit 1d.

[0014] Although not shown in Fig. 1, the rotating body 1d is equipped with an engine 4 as a prime mover, a hydraulic pump 5 driven by the engine 4, and a valve 6 that controls the flow of pressure oil from the hydraulic pump 5 to hydraulic actuators (such as the boom cylinder 2a), as shown in Fig. 3, which will be described later. The valve 6 is controlled in response to the operation of operating lever devices 7a-7d (Fig. 2) provided in the operator's cab 1f, which controls the supply direction and supply flow rate of pressure oil from the hydraulic pump 5 to each hydraulic actuator, thereby operating each actuator. An electric motor may be used as the prime mover instead of the engine 4.

[0015] -Driver's Cabin- Figure 2 is a schematic diagram showing the interior of the driver's cab 1f. The driver's cab 1f is equipped with control lever devices 7a-7d for operating the vehicle body or front work equipment, a shutoff lever 18 for limiting the operation of the control lever devices 7a-7d, and a monitor 12 for displaying camera images captured by cameras 10a-10c. For example, operating the control lever device 7a on the left side of the driver's seat forward or backward causes the revolving unit 1d to rotate left or right, and operating it left or right causes the arm 1b to rotate forward or backward. Operating the control lever device 7b on the right side of the driver's seat forward or backward causes the boom 1a to rotate up or down, and operating it left or right causes the bucket 1c to rotate. Furthermore, the monitor 12 of this embodiment is equipped with a touch panel 11 as a monitor operating device for instructing changes to the display magnification of the camera images displayed on the monitor 12.

[0016] - Control System - Figure 3 is a schematic diagram showing the overall control system of a work machine according to the first embodiment of the present invention. A control device 200 that controls each of the mounted devices is mounted on the rotating body 1d of the hydraulic excavator 1. In addition to a main C / U 50 that controls the actuators, etc., the control device 200 is configured to include a GNS C / U 40 that processes information acquired by the GNSS antennas 9a and 9b, and a notification C / U 60 that controls various notifications to the operator.

[0017] Signals are input to the main C / U 50 from the control lever devices 7a-7d, angle sensors 8a-8c, cameras 10a-10c, key cylinder 14, shutoff lever 18, and the like. In response to these input signals, the main C / U 50 controls the engine 4, hydraulic pump 5, and valve 6, and controls hydraulic actuators such as the boom cylinder 2a to drive the hydraulic excavator 1. The key cylinder 14 is an operating device that issues commands to start and stop the engine 4 and is installed in the operator's cab 1f. As described above, the shutoff lever 18 is an operating device that limits the operation of the control lever devices 7a-7d. It is configured to hydraulically limit the operation of the hydraulic actuators via the control lever devices 7a-7d by cutting off the pilot pressure that drives the valve 6, and also to electrically limit the operation of the hydraulic actuators via the control lever devices 7a-7d by prohibiting the main C / U 50 from outputting a command signal to the valve 6 (strictly speaking, the solenoid valve that controls the pilot pressure to the valve 6) depending on the position of the shutoff lever 18. In either configuration, the position of the shutoff lever 18 is detected by a potentiometer (not shown) or the like and input to the main C / U 50 .

[0018] The notification C / U 60 has the function of excavating data between the main C / U 50 and displaying the operating status of the hydraulic excavator 1, menu screens, camera images captured by the cameras 10a-10c, etc. on the monitor 12 in response to operation of the touch panel 11.

[0019] The notification C / U 60, together with the main C / U 50, constitutes the display control device 100 that controls the display on the monitor 12 in response to operations on the touch panel 11, and plays the role of a visibility assistance system. In this embodiment, a configuration is exemplified in which the functions of the display control device 100 of the control device 200 are shared between the main C / U 50 and the notification C / U 60, but the functions of the display control device 100 may be provided in a single C / U (Control Unit).

[0020] -Control Device- The control device 200 generates a display signal based on signals from the touch panel 11 and the cameras 10a-10c, and outputs the generated display signal to the monitor 12 to control the display on the monitor 12. When the display magnification of the camera image instructed by the touch panel 11 as a monitor operation device is outside a predetermined magnification range and a predetermined operating condition is met before the operation of the vehicle body 1B, the control device 200 issues a warning to the operator or invalidates the change in display magnification instructed by the touch panel 11.

[0021] Specifically, the control device 200 has a function of enlarging or reducing the camera image displayed on the monitor 12 in response to an operation signal input via the touch panel 11 that instructs the display magnification of the camera image to be enlarged or reduced. The control device 200 also has a function of issuing a warning that the camera image is narrow or wide relative to a set display area (described below) when the camera image currently displayed on the monitor 12 is narrow or wide relative to a set display area (described below). The control device 200 may also have a function of invalidating the change in display magnification instructed via the touch panel 11 by switching the display area of ​​the camera image currently displayed on the monitor 12 to the set display area when the camera image currently displayed on the monitor 12 is narrow or wide relative to the set display area (described below). In this embodiment, the control device 200 enlarges or reduces the camera image in response to a pinch operation (pinch out operation / pinch in operation) performed on the touch panel 11. Furthermore, in this embodiment, multiple display patterns are provided as options for the camera image, and the control device 200 selects a display pattern from the options according to the operation signal input from the touch panel 11, and displays the camera image on the monitor 12 in the selected display pattern.

[0022] FIG. 4 is a block diagram schematically illustrating the functions of the control device 200. As shown in FIG. 4, the control device 200 includes an operation content determination unit 101, a display pattern setting unit 102, a display pattern storage unit 103, a notification information creation unit 104, and a setting display area storage unit 105 in order to perform the above-described display control. These may be realized by hardware elements such as circuits, or by software elements such as programs. For example, the operation content determination unit 101, the display pattern setting unit 102, and the notification information creation unit 104 are functions executed by a computing device (e.g., a CPU) of the control device 200, and the display pattern storage unit 103 and the setting display area storage unit 105 are configured by a storage device (e.g., a HDD) included in or connected to the control device 200. Each function will be described below.

[0023] [Operation Content Determination Unit] The operation content determination unit 101 determines the operation content based on an operation signal input from the touch panel 11. The operation content determination unit 101 determines the operation content based on the position on the screen of the touch panel 11 touched by the operator, the number of fingers touching, the movement of the touching fingers, etc. For example, a pinch-out operation ( FIG. 5A ) or a pinch-in operation ( FIG. 5B ) is recognized as the movement of two fingers touching the screen widening or narrowing the distance between them, and the screen display is enlarged or reduced around the midpoint between the positions where the two fingers touched.

[0024] [Display Pattern Setting Unit] The display pattern setting unit 102 sets a display pattern specified on the touch panel 11 based on the operation content determined by the operation content determination unit 101. At least one display pattern (a plurality of display patterns in this embodiment) is stored in advance in the display pattern storage unit 103 for, for example, the display format of the camera image displayed on the monitor 12. The display pattern setting unit 102 reads and sets a display pattern corresponding to the operation content determined by the operation content determination unit 101 from the display pattern storage unit 103. Examples of display patterns of the camera image displayed on the monitor 12 are shown in Figures 6A and 6B.

[0025] The camera video 201 according to the first display pattern illustrated in FIG. 6A is a real-time bird's-eye view image of the hydraulic excavator 1 generated by combining images captured by the cameras 10a-10c. Specifically, the camera video 201 is a projected display of an bird's-eye view image of the surroundings of the hydraulic excavator 1 generated by combining images captured by the cameras 10a, 10b, and 10c around a hydraulic excavator icon 201d. In an area 201a to the left of the hydraulic excavator icon 201d in the camera video 201, the image captured by the camera 10a is converted into a bird's-eye view image and displayed. Similarly, in an area 201b behind the hydraulic excavator icon 201d and an area 201c to the right of the hydraulic excavator icon 201d, the images captured by the cameras 10b and 10c are converted into bird's-eye views and displayed, respectively.

[0026] The camera image 202 according to the second display pattern illustrated in FIG. 6B is obtained by displaying cropped images captured by cameras 10a and 10b side by side in adjacent areas 202a and 202b. Images captured by different cameras are displayed in areas 202a and 202b, but different areas of an image captured by the same camera can also be displayed side by side in areas 202a and 202b. While FIG. 6B illustrates an example in which areas 202a and 202b displaying two camera images are arranged horizontally, areas 202a and 202b may also be arranged vertically. The camera images displayed in areas 202a and 202b can be switched freely, and each area 202a and 202b can display an image captured by one selected from cameras 10a-10c. Alternatively, a screen configuration in which two camera images are displayed side by side can be adopted, or a screen configuration in which only one image selected from cameras 10a-10c is displayed enlarged instead of displaying multiple camera images side by side can be adopted.

[0027] [Set Display Area Storage Unit] In FIG. 4 , the set display area storage unit 105 stores a set display area that is preset for the camera image displayed on the monitor 12 so that a predetermined area around the vehicle body 1B is displayed on the monitor 12. The set display area is a recommended area of ​​the surrounding area to be displayed in the camera image on the monitor 12 while the hydraulic excavator 1 is in operation. The set display area may be an area of ​​a specific size, or may be an area having a range defined by upper and lower limits of size. The predetermined area around the vehicle body 1B related to the set display area is an area where attention should be paid to interference between the vehicle body 1B and an obstacle. In this embodiment, since the rear end of the rotating unit 1d is in the blind spot of the operator in the cab 1f and is the part of the rotating unit 1d that describes the maximum turning trajectory, the predetermined area is an area corresponding to the turning radius of the rear end of the rotating unit 1d. In other words, in this embodiment, the camera image of the set display area displayed on the monitor 12 shows a surrounding area that is equal to or greater than the turning radius of the rear end of the rotating unit 1d. When multiple display patterns are prepared, the setting display area storage unit 105 stores a display magnification set individually for each display pattern so that the setting display area is displayed on the monitor 12 for each of the multiple display patterns.

[0028] The area corresponding to the turning radius of the rear end of the rotating unit 1d is the narrowest area set as the set display area, and the set display area can be set wider. However, if the area is wider than necessary, obstacles will appear small on the screen and be difficult to see on the monitor 12. Therefore, it is necessary to prevent obstacles from appearing too small on the monitor 12. As described above, in this embodiment, if the display magnification of the camera image is outside the predetermined magnification range and a predetermined operating condition is met before the vehicle body 1B moves, the operator is notified of this, or the change in the display magnification is invalidated. In this case, an example of a predetermined magnification for the display magnification of the camera image is a display magnification in which the camera image displayed on the monitor 12 is narrower than the turning radius of the rear end.

[0029] FIG. 7 is a diagram showing an example of the setting of the set display area. The smaller area 204a shown by the dotted line in FIG. 7 is an example of the boundary of the area around the vehicle body that is desired to be shown to the operator on the monitor 12 as a visibility assistance system while the hydraulic excavator 1 is operating. In the example of FIG. 1, the area 204a is set to a value that covers the maximum turning radius of the hydraulic excavator 1. An example of the width of the set display area is area 204a. The larger area 204b shown by the dotted line in FIG. 7 is an example of a boundary that defines the wide-area limit of the area set as the set display area. If an area wider than this area 204b is displayed, obstacles displayed in the camera image 201 will be smaller than allowable, and the visibility of the obstacles will be excessively reduced. The set display area should not be wider than this area 204b. While FIG. 7 illustrates the camera image 201, which is a composite overhead image, the same concept applies to the camera image 202 ( FIG. 6B ), which displays images from individual cameras.

[0030] 4, the notification information creation unit 104 generates a display image of the display pattern set by the display pattern setting unit 102 from image data input in real time from the cameras 10a-10c based on an operation signal input from the touch panel 11, and outputs the generated image to the monitor 12. Also, based on the operation signal input from the touch panel 11, the notification information creation unit 104 appropriately outputs information such as meters required for driving, maps, menu screens, setting screens, etc. to the monitor 12. Also, when the operation content determination unit 101 determines that a pinch operation has been performed, the camera image is enlarged or reduced in accordance with the operation. The same applies when a pinch operation is performed on other images such as maps.

[0031] Furthermore, the notification information creation unit 104 determines whether the camera image being displayed on the monitor 12 is narrow or wide relative to the set display area, and if the camera image is narrow or wide relative to the set display area, notifies the operator that the camera image is narrow or wide relative to the set display area. For example, if the operator enlarges the camera image to check the situation around the vehicle body 1B while the operation of the hydraulic excavator 1 is suspended, and then resumes operation of the hydraulic excavator 1, if the camera image remains enlarged, operation may be started without the set display area being displayed. In this way, if the camera image display is narrow or wide relative to the set display area before the start of operation, the notification information creation unit 104 generates an image indicating that the camera image is narrow or wide relative to the set display area, and outputs this to the monitor 12 to notify the operator of this.

[0032] -Display Control- Fig. 8 is a flowchart showing the display control procedure for the monitor 12 by the control device 200. The control device 200 periodically (for example, at short intervals of about 0.1 seconds) executes the flow of Fig. 8 while power is on.

[0033] 8 starts, the control device 200 first determines whether a camera image is currently being displayed on the monitor 12 (step S300). If the camera image is not being displayed on the monitor 12, the control device 200 repeats the process of step S300. If the camera image is being displayed on the monitor 12, the control device 200 determines with the operation content determination unit 101 whether an operation to enlarge ( FIG. 5A ) or reduce ( FIG. 5B ) the camera image is being performed on the touch panel 11 (step S301). If an operation to enlarge or reduce the camera image is being performed, the control device 200 determines with the operation content determination unit 101 whether the operation is an operation to enlarge the camera image (step S302).

[0034] If it is determined in step S302 that an operation to enlarge the camera image has been performed, the control device 200 causes the notification information creation unit 104 to generate an enlarged image corresponding to the operation and output it to the monitor 12, enlarge the camera image displayed on the monitor 12 (step S303), and proceeds to step S306. On the other hand, if it is determined in step S302 that an operation to enlarge the camera image has not been performed, that is, a reduction operation has been performed, the control device 200 causes the notification information creation unit 104 to generate a reduced image corresponding to the operation and output it to the monitor 12, reduce the camera image displayed on the monitor 12 (step S304), and proceeds to step S306. If an operation to enlarge or reduce the camera image has not been performed, the control device 200 does not enlarge or reduce the camera image (step S305), and proceeds to step S306.

[0035] When the procedure proceeds to step S306, the control device 200 determines, based on the zoom ratio of the camera image currently being output to the monitor 12, whether the camera image being displayed is outside the set display area stored in the set display area storage unit 105 (whether the image is displayed in a narrower or wider area than the set display area). If the camera image being displayed is narrower or wider than the set display area, the control device 200 notifies the operator by outputting to the monitor 12 that the camera image being displayed is narrower or wider than the set display area (step S307), and the procedure returns to step S300. If the camera image being displayed matches the set display area, the control device 200 skips step S307 and returns to step S300.

[0036] 9A to 9C are explanatory diagrams illustrating how the display of a camera image on a monitor is enlarged or reduced in response to a zoom operation. For example, assume that camera image 201A shown in FIG. 9A is displayed on monitor 12 in step S300 of FIG. 8. When a zoom-out operation is performed on camera image 201A, camera image 201A is reduced, and camera image 201B, which has a wider area than camera image 201A, is displayed on monitor 12, as shown in FIG. 9B, for example. Furthermore, when a zoom-in operation is performed on camera image 201A, camera image 201A is enlarged, and camera image 201C, which has a narrower area than camera image 201A, is displayed on monitor 12, as shown in FIG. 9C, for example. Camera image 201B is a reduced-scale display of a bird's-eye composite image using images captured by cameras 10a to 10c, allowing a wide range to be confirmed at a glance, but the images captured by each of cameras 10a to 10c and the display of hydraulic excavator icon 201d are reduced in size. Camera image 201C, unlike camera image 201B, has a narrower visible range, but shows a larger image of the area near hydraulic excavator 1.

[0037] 10A-10C are explanatory diagrams illustrating how a notification is given when the camera image on the monitor is narrow or wide relative to the set display area. Camera image 201A in FIG. 10A shows an example of a display when it is determined in step S316 of FIG. 8 that the image matches the set display area. In contrast, camera image 201B in FIG. 10B shows an example of a display when it is determined in step S316 of FIG. 8 that the image is a wide-area display relative to the set display area. In this case, the control device 200 displays, on the monitor 12, a notification 205B informing the operator that the camera image is too reduced, as shown in FIG. 10B, along with the camera image 201B. Furthermore, camera image 201C in FIG. 10C shows an example of a display when it is determined in step S316 of FIG. 8 that the image is a narrow-area display relative to the set display area. In this case, the control device 200 displays, on the monitor 12, a notification 205C informing the operator that the camera image is too enlarged, as shown in FIG. 10C, along with the camera image 201C.

[0038] The touch panel 11, which serves as a monitor operation device, is provided with a button 201D for switching the camera image 201B or 201C displayed on the monitor 12 to a setting display area. The button 201D may be a physical button, but FIGS. 10B and 10C illustrate an example of a button that is displayed on the monitor 12 together with a notification 205B or 205C when the camera image is wide or narrow relative to the setting display area. When the operator operates the button 201D, the control device 200 switches the camera image displayed on the monitor 12 to a setting display area such as that shown in FIG. 10A. The button 201D may be provided separately from the touch panel 11 (monitor operation device).

[0039] In this embodiment, Figures 8 and 10A-10C illustrate a configuration in which notification 205B or 205C is displayed when the camera image being displayed on monitor 12 is narrow or wide relative to the set display area, but instead of displaying notification 205B or 205C, the camera image may be switched to display in the set display area as in the embodiment described below.

[0040] - Effect - (1) In this embodiment, the control device 200 issues a warning to the operator when the display magnification indicated by the touch panel 11 is outside a predetermined range of magnifications and when predetermined operating conditions are met before the vehicle body 1B moves. By notifying the operator that the display magnification is outside the predetermined range when the predetermined conditions are met before the vehicle body 1B moves and prompting them to switch the display magnification, it is possible to prevent the area displayed on the monitor 12 during driving from being missing from the appropriate display target area.

[0041] (2) In this embodiment, the control device 200 has a function of enlarging or reducing the camera image displayed on the monitor 12 relative to a set display area in response to an operation signal that instructs enlarging or reducing the camera image, which is input via the touch panel 11. This allows the operator to adjust the display area of ​​the camera image and change the area that can be viewed on the monitor 12 according to the purpose, such as by performing a zoom-out operation when wanting to check the situation over a wide area around the hydraulic excavator 1 and by performing a zoom-in operation when wanting to check the detailed situation near the hydraulic excavator 1, thereby contributing to improved work efficiency.

[0042] However, while being able to zoom in and out on the camera image displayed on the monitor 12 is convenient for the operator, allowing them to enlarge an area of ​​interest for detailed confirmation or to use a wide-area display to quickly check the overall situation around the hydraulic excavator 1, there are cases where the area displayed by the camera image is too narrow or too wide during operation of the hydraulic excavator 1. The original purpose of displaying the camera image is to provide the operator with visual information about the area around the hydraulic excavator 1 while operating, and there is a recommended appropriate range for the display area. For example, if the operator operates the hydraulic excavator 1 while the camera image is enlarged, the area displayed on the monitor 12 will be incomplete relative to the appropriate range that should be presented to the operator, and the operator may not be able to visually recognize the current situation around the hydraulic excavator 1. Conversely, if the display area of ​​the camera image is widened beyond the appropriate range, obstacles and other objects that should be notified to the operator may be displayed too small, and may be overlooked.

[0043] In response to this, the control device 200 stores a set display area as the display area of ​​the appropriate range to be displayed on the monitor 12 during driving, and has a function of notifying the operator by notification 205B, etc., when the camera image being displayed on the monitor 12 is narrow or wide relative to the set display area. As a result, when the camera image displayed on the monitor 12 is too reduced or enlarged, the operator is notified of this, and the operator can be prompted to switch the display area of ​​the camera image on the monitor 12 to the set display area.

[0044] As described above, according to this embodiment, the camera image displayed on the monitor 12 can be enlarged or reduced, and it is possible to prevent the area displayed on the monitor 12 from being lost during operation relative to the appropriate display target area. For example, it is possible to interrupt operation of the hydraulic excavator 1 and quickly check various situations by enlarging or reducing the camera image on the monitor 12, and if the operator attempts to continue operating the hydraulic excavator 1, it is possible to notify the operator that the camera image has been enlarged or reduced relative to the set display area, and to switch the display of the camera image to the set display area before operation begins.

[0045] (3) The display area is set so that an area corresponding to the turning radius of the rotating body 1d is displayed. Therefore, obstacles that may interfere with the vehicle body 1B when the vehicle body 1B turns can be displayed on the monitor 12, and interference between the vehicle body 1B and the obstacles can be rationally suppressed.

[0046] (4) In addition, in this embodiment, a plurality of display patterns of the camera image are prepared and the display pattern can be switched as desired, and the display magnification is set individually for each display pattern so that a set display area is displayed on the monitor 12 for each of the plurality of display patterns, and the set display area is displayed on the monitor 12 regardless of the display pattern. Therefore, it is possible to prevent obstacles that the operator should be aware of while driving from not appearing in the camera image or from being difficult to identify depending on the selected display pattern.

[0047] (5) The multiple display patterns include an overhead image of the hydraulic excavator 1 generated by combining images captured by multiple cameras 10a-10c. By displaying the set display area using this overhead image, it is possible to make it easier for the operator to understand the positional relationship between obstacles and the hydraulic excavator 1.

[0048] (6) Furthermore, since the touch panel 11 is used as a monitor operation device for operating the monitor 12, the operator can intuitively and easily zoom in or out on the camera image by pinching the touch panel 11.

[0049] (7) Furthermore, for example, when a user pinches out to reduce the camera image in response to notification 205C informing the user that the camera image is enlarged too much, the image may be reduced beyond the setting display area, causing notification 205B to be displayed, making it difficult to dismiss the notification. Therefore, this embodiment provides button 201D for switching the camera image displayed on monitor 12 to the setting display area. This allows the user to quickly switch the camera image display area to the setting display area with a single touch and dismiss the notification.

[0050] Second Embodiment A second embodiment of the present invention will be described. This embodiment differs from the first embodiment in that the control device 200 stores a determination condition for determining whether the hydraulic excavator 1 is in operation or preparation for operation, and when the determination condition is satisfied, determines that a predetermined operating condition is met before the vehicle body 1B is operated. When the predetermined operating condition is met, it is assumed that the hydraulic excavator 1 is in operation or preparation for operation. When it is determined that the predetermined operating condition is met, the control device 200 notifies the operator if the camera image on the monitor 12 is narrower or wider than the set display area. In other words, in the first embodiment, the operator is notified if the camera image on the monitor 12 is narrower or wider than the set display area. In contrast, in this embodiment, a notification is not issued simply because the camera image is narrower or wider than the set display area, but is issued if the camera image is narrower or wider than the set display area when operation or preparation for operation is detected. In this embodiment, the condition for determining whether the hydraulic excavator 1 is operating or being prepared for operation is that the touch panel 11 has remained in a non-operated state for a preset time period α [s]. The set time period α can be, for example, a period of time ranging from several seconds to about 10-odd seconds.

[0051] -Control device- Figure 11 is a block diagram showing in schematic form the functions of a control device for a work machine according to a second embodiment of the present invention. Figure 11 corresponds to Figure 4 of the first embodiment, and elements in Figure 11 that are the same as or correspond to those in the first embodiment are given the same reference numerals as in Figure 4, and descriptions thereof will be omitted where appropriate.

[0052] 11 , in order to execute the above-described display control, the control device 200 includes an operation content determination unit 101, a display pattern setting unit 102, a display pattern storage unit 103, a notification information creation unit 104, a setting display area storage unit 105, and in addition a condition storage unit 106. The condition storage unit 106 is configured by a storage device (e.g., an HDD) included in or connected to the control device 200.

[0053] The condition storage unit 106 stores a preset set time α as a threshold for determining the above-mentioned determination condition for the no-operation duration Tm [s] during which the touch panel 11 remains in a no-operation state. In this embodiment, the notification information creation unit 104 determines whether the camera image currently displayed on the monitor 12 is narrow or wide relative to the set display area, and also determines whether the no-operation duration Tm of the touch panel 11 exceeds the set time α (Tm > α). If both determinations are satisfied, the notification information creation unit 104 outputs the notification 205B or 205C to the monitor 12. If one or both determinations are not satisfied, the notification information creation unit 104 does not output the notification 205B or 205C to the monitor 12. Therefore, in this embodiment, even if the camera image currently displayed on the monitor 12 is narrow or wide relative to the set display area, the notification 205B or 205C is not displayed if the no-operation duration Tm of the touch panel 11 is equal to or shorter than the set time α.

[0054] -Display Control- Figure 12 is a flowchart showing the monitor display control procedure performed by a control device provided in a work machine according to a second embodiment of the present invention. Figure 12 corresponds to Figure 8 of the first embodiment, and in Figure 12, processes that are similar to or correspond to those in the first embodiment are given the same numbers as in Figure 8, and descriptions thereof will be omitted as appropriate. The control device 200 repeatedly executes the flow of Figure 12 periodically (for example, at a short period of about 0.1 seconds) while power is supplied.

[0055] 12 starts, the control device 200 executes steps S300 to S306 in the same manner as in the first embodiment. When a zoom-in or zoom-out operation is performed on the touch panel 11, the control device 200 zooms in or out on the camera image displayed on the monitor 12 and determines whether the camera image is wider or narrower than the set display area. In this embodiment, if the camera image is determined to be wider or narrower than the set display area, the control device 200 advances the procedure from step S306 to step S306a before proceeding to step S307, and determines whether the current no-operation duration Tm of the touch panel 11 exceeds the set time α (Tm > α). If the no-operation duration Tm has continued beyond the set time α, the control device 200 notifies the operator by outputting to the monitor 12 that the camera image being displayed is narrower or wider than the set display area (step S307), and returns the procedure to step S300. If the no-operation duration Tm is equal to or shorter than the set time α, the control device 200 skips step S307 and returns to step S300. Note that the processing of steps S306 and S306a may be executed in reverse order or may be executed in parallel.

[0056] Other configurations and functions of the work machine of this embodiment are the same as those of the work machine of Embodiment 1. Note that, in this embodiment as well, instead of displaying notification 205B or 205C, the display area of ​​the camera image may be switched to the set display area.

[0057] Effect—According to this embodiment, the condition for displaying notifications 205B and 205C includes the condition that the duration of no operation Tm on the touch panel 11 exceeds the set time α. Therefore, for example, when the operator is operating the monitor 12, notifications 205B and 205C are not displayed because the duration of no operation Tm is equal to or less than the set time α. If notifications 205B and 205C were displayed every time the camera image was enlarged or reduced while the operator was operating the monitor 12, this could be irritating to the operator. In this embodiment, notifications 205B and 205C are not displayed while the operator is operating the monitor 12, thereby reducing the operator's annoyance. Then, when the operator finishes operating the touch panel 11 and starts operating the hydraulic excavator 1, the duration of no operation Tm exceeds the set time α. If the camera image is excessively enlarged or reduced at this time, notifications 205B and 205C are displayed on the monitor 12, achieving the same effect as in the first embodiment.

[0058] Third Embodiment A third embodiment of the present invention will be described. Similar to the second embodiment, this embodiment differs from the first embodiment in that the control device 200 stores a determination condition for determining whether the hydraulic excavator 1 is in operation or preparation for operation, and when the determination condition is satisfied, determines that a predetermined operating condition is met before the vehicle body 1B is operated. When the predetermined operating condition is met, it is assumed that the hydraulic excavator 1 is in operation or preparation for operation. However, in this embodiment, when it is determined that the predetermined operating condition is met, the control device 200 switches the display area of ​​the camera image on the monitor 12 to the set display area if the camera image on the monitor 12 has a narrower or wider area than the set display area. In other words, whereas the first embodiment was configured to notify the operator if the camera image on the monitor 12 has a narrower or wider area than the set display area, in this embodiment, no notification is given simply because the camera image is narrower or wider than the set display area, and the display of the camera image is switched to the set display area when operation or preparation for operation is detected. In this embodiment, the condition for determining whether the hydraulic excavator 1 is operating or being prepared for operation is that the restriction on the operation of the operating lever devices 7a-7d by the shutoff lever 18 has been released.

[0059] -Control device- Figure 13 is a block diagram showing in schematic form the functions of a control device for a work machine according to a third embodiment of the present invention. Figure 13 corresponds to Figure 4 of the first embodiment and Figure 11 of the second embodiment, and in Figure 13, elements that are the same as or correspond to those in the first or second embodiment are given the same reference numerals as in Figure 4 or Figure 11, and descriptions thereof will be omitted as appropriate.

[0060] 13 , in order to execute the above-described display control, the control device 200 includes an operation content determination unit 101, a display pattern setting unit 102, a display pattern storage unit 103, a notification information creation unit 104, a set display area storage unit 105, and a condition storage unit 106, as well as an operation restriction state determination unit 107. The operation restriction state determination unit 107 is a function executed by a calculation unit (e.g., a CPU) of the control device 200.

[0061] In this embodiment, the condition storage unit 106 stores a determination condition as to whether the restriction on operation of the operating lever devices 7a-7d by the shutoff lever 18 has been released. Furthermore, the operation restriction state determination unit 107 determines, for example, based on the output of the potentiometer of the shutoff lever 18, whether the position of the shutoff lever 18 is a restricted position that restricts (disables) operation of the operating lever devices 7a-7d, or a released position that allows operation of the operating lever devices 7a-7d. In this embodiment, the notification information creation unit 104 not only determines whether the camera image displayed on the monitor 12 is narrow or wide relative to the set display area, but also determines whether the restriction on operation of the operating lever devices 7a-7d by the shutoff lever 18 has been released, i.e., whether the shutoff lever 18 is in the released position. If both determinations are met, the notification information creation unit 104 switches the display area of ​​the camera image to the set display area. If one or both determinations are not met, the notification information creation unit 104 maintains the current display state without switching the display area of ​​the camera image to the set display area.

[0062] -Display Control- Figure 14 is a flowchart showing the monitor display control procedure performed by a control device provided in a work machine according to a third embodiment of the present invention. Figure 14 corresponds to Figure 8 of the first embodiment and Figure 12 of the second embodiment, and in Figure 14, processes that are similar to or correspond to those in the first or second embodiment are given the same numbers as in Figure 8 or Figure 12, and descriptions thereof will be omitted as appropriate. The control device 200 repeatedly executes the flow in Figure 14 periodically (for example, at a short period of about 0.1 seconds) while power is supplied.

[0063] When the flow of FIG. 14 starts, the control device 200 executes steps S300 to S306, as in the first embodiment. When a zoom operation is performed on the touch panel 11, the control device 200 zooms in or out on the camera image displayed on the monitor 12 and determines whether the camera image is wide or narrow relative to the set display area. In this embodiment, if the camera image is determined to be wide or narrow relative to the set display area, the control device 200 proceeds from step S306 to step S306b and determines whether the shutoff lever 18 is in the release position. If the shutoff lever 18 is in the release position, the control device 200 corrects the zoom ratio of the currently displayed camera image, switches the display area to the set display area (step S307b), and returns to step S300. If the shutoff lever 18 is in the limit position, the control device 200 skips step S307b and returns to step S300. The processing of steps S306 and S306b may be executed in reverse order or may be executed in parallel.

[0064] For example, when the wide-area camera image 201B is displayed as shown in Fig. 10B, it is determined in step S306 that the setting display area is not being displayed properly. Furthermore, when it is determined in step S306b that the shut-off lever 18 is in the released position, it is determined that the hydraulic excavator 1 is operating or preparing to operate, and in step S306b the wide-area camera image 201B is switched to the setting display area camera image 201A (Fig. 10A).

[0065] Effect: According to this embodiment, the condition for switching the display area of ​​the camera image to the set display area is added to the condition that the shutoff lever 18 is in the release position. Therefore, for example, if the operator is taking a break by restricting the operation of the control lever devices 7a-7d using the shutoff lever 18, the camera image will not automatically switch to the set display area. Therefore, when starting (resuming) operation of the hydraulic excavator 1, the operator can quickly check the conditions around or near the hydraulic excavator 1 by zooming in or out of the camera image before starting operation. Thereafter, when the shutoff lever 18 is switched to the release position to operate the hydraulic excavator 1, the display of the camera image automatically switches to the set display area. Therefore, it is possible to prevent the hydraulic excavator 1 from being operated without the set display area being properly displayed. Furthermore, since the operator does not need to manually adjust the display area of ​​the camera image to the set display area each time he or she starts operation of the hydraulic excavator 1, improved work efficiency can be expected.

[0066] In this embodiment, the display area of ​​the camera image is switched to the set display area (step S307b) when the determination of the display area of ​​the camera image (step S306) and the determination of the position of the shut-off lever 18 (step S306b) are satisfied, but notification 205B or 205C may also be displayed as in the first or second embodiment.

[0067] (Modifications) The present invention is not limited to the above-described embodiments and may include various modifications. For example, the present invention is not necessarily limited to configurations that include all of the configurations described in the above-described embodiments. For example, it is possible to replace some of the configurations with other configurations. It is also possible to delete some of the configurations of the embodiments or add other configurations.

[0068] For example, in the above embodiment, the touch panel 11 is used as the monitor operation device for operating the monitor 12, but the monitor operation device may be an operation device using physical buttons, dials, switches, etc. Furthermore, when the operation lever devices 7a-7d are operated, if the camera image is enlarged or reduced relative to the set display area, a notification to that effect may be displayed, or the display area for the camera image may be switched to the set display area. Furthermore, although the hydraulic excavator 1 equipped with multiple cameras 10a-10c has been described as an example, the present invention is also applicable to a hydraulic excavator 1 equipped with only one camera. Furthermore, although the hydraulic excavator 1 has been described as an example of a construction machine to which the present invention is applied, the present invention is also applicable to other construction machines, such as a wheel loader.

[0069] DESCRIPTION OF SYMBOLS 1...hydraulic excavator (working machine), 1A...front working machine, 1B...vehicle body, 1d...swivel body, 1e...traveling body, 7a-7d...operating lever device, 10a-10c...camera, 11...touch panel (monitor operating device), 12...monitor, 18...shut-off lever, 200...control device, 201...camera image (bird's-eye view image), 201A-C...camera image, 201D...button, 202...camera image, Tm...non-operation duration, α...set time

Claims

1. A work machine comprising: a vehicle body; a camera which photographs the area around the vehicle body; a monitor which displays camera images photographed by the camera; a monitor operation device which instructs a change in the display magnification of the camera image displayed on the monitor; and a control device which controls the display of the monitor in response to operation of the monitor operation device, wherein the control device issues a warning to an operator or invalidates the change in display magnification instructed by the monitor operation device when the display magnification instructed by the monitor operation device is outside a predetermined range of magnifications and predetermined operating conditions are met before the vehicle body moves.

2. A work machine as described in claim 1, wherein the control device stores a preset display area for the camera image so that a specified area around the vehicle body is displayed on the monitor, and in response to an operation signal input via the monitor operation device indicating the display magnification for enlarging or reducing the camera image, the camera image to be displayed on the monitor is enlarged or reduced and displayed on the monitor, and when the camera image being displayed on the monitor is narrow or wide relative to the set display area, a warning is issued to the effect that the camera image is narrow or wide relative to the set display area.

3. A work machine as described in claim 1, wherein the control device stores a preset set display area for the camera image so that a specified area around the vehicle body is displayed on the monitor, and in response to an operation signal input via the monitor operation device indicating the display magnification of the camera image to be enlarged or reduced, the camera image to be displayed on the monitor is enlarged or reduced and displayed on the monitor, and when the camera image being displayed on the monitor is narrower or wider than the set display area, the display area of ​​the camera image being displayed on the monitor is switched to the set display area, thereby invalidating the change in display magnification indicated by the monitor operation device.

4. A work machine as described in claim 1, characterized in that the control device stores judgment conditions for judging whether the machine is in operation or preparation for operation, and when the judgment conditions are satisfied, judges that the specified operating conditions are established before the movement of the vehicle body.

5. A work machine as claimed in claim 4, characterized in that the judgment condition is that the non-operation state of the monitor operation device continues for a period exceeding a preset time.

6. A working machine as claimed in claim 4, further comprising an operating lever device for operating the vehicle body or front working equipment, and a shut-off lever for limiting the operation of said operating lever device, and wherein said judgment condition is that the limit on the operation of said operating lever device by said shut-off lever has been released.

7. A work machine as claimed in claim 2 or 3, characterized in that the vehicle body comprises a running body and a rotating body rotatably mounted on the running body, and the set display area is set so as to display an area equivalent to the turning radius of the rotating body as the specified area.

8. A work machine as described in claim 2, wherein the vehicle body comprises a running body and a rotating body rotatably mounted on the running body, the set display area is set so as to display an area equivalent to the turning radius of the rotating body as the specified region, and the specified magnification is a display magnification at which the camera image displayed on the monitor has a narrower area than the turning radius.

9. A work machine as described in claim 1, characterized in that the control device stores a plurality of display patterns of the camera image, and stores a display magnification that is individually set for each of the plurality of display patterns so that a set display area is displayed on the monitor for each of the plurality of display patterns.

10. A work machine as claimed in claim 9, characterized in that it is provided with a plurality of cameras, and the display pattern includes an overhead image of the vehicle body generated by combining images taken by the plurality of cameras.

11. A work machine as described in claim 1, wherein the monitor operation device is a touch panel mounted on the monitor, and the control device enlarges or reduces the camera image in response to a pinch operation performed on the touch panel.

12. A work machine as claimed in claim 1, further comprising a button for switching the camera image displayed on said monitor to a setting display area.

Images