Construction machine

Abstract

The present invention provides a construction machine comprising: a lower traveling body; an upper slewing body slewably installed on the lower traveling body; a driver cabin installed on the upper slewing body; imaging devices disposed at least at the front and at the rear of the upper slewing body; a display device installed inside the driver cabin; and a controller that combines video images taken by the imaging devices to generate an overhead video image and displays the generated overhead video image on the display device, wherein the imaging device at the front is installed at a downward tilt to enable imaging of a range in closer proximity to the upper slewing body than the imaging range of the imaging device at the rear, and the controller generates the overhead video image containing a video image taken by the imaging device at the front and a video image taken by the imaging device at the rear. With this arrangement, information that an operator needs can be obtained with greater precision.

Description

Construction machinery

[0001] The present invention relates to a construction machine.

[0002] In construction machinery such as hydraulic excavators, it is difficult for the operator to directly view the area around the vehicle from the cab mounted on the upper rotating body. Therefore, a technique is known that supports the operator's field of vision by creating an overhead image from images captured by multiple imaging devices attached to the periphery of the vehicle and displaying the image on a display device installed in the cab.

[0003] For example, Patent Document 1 discloses a hydraulic excavator that includes a lower traveling body, an upper rotating body rotatably provided on the lower traveling body, a work machine including a bucket, a plurality of cameras that capture images of the area around the hydraulic excavator, a display means that displays images captured by the plurality of cameras, and a control means that controls the plurality of cameras and the display means, wherein the control means includes an overhead image generation unit that generates an overhead image based on images captured by the plurality of cameras, an image superimposition unit that superimposes an upper viewpoint image of the hydraulic excavator on the overhead image generated by the overhead image generation unit, and a work machine display processing unit that switches the display of the upper viewpoint image of the hydraulic excavator between a first state in which the work machine including the bucket is displayed, and a second state in which at least a part of the work machine is hidden.

[0004] Japanese Patent Application Laid-Open No. 2020-112030

[0005] However, the above-mentioned conventional technology does not take into consideration what kind of information the operator needs depending on the state of the work. In other words, since the information required by the operator in the cab varies depending on the situation, it is possible that the operator may not be able to obtain sufficient information depending on the installation mode of the camera or the display mode of the synthesized overhead image.

[0006] The present invention has been made in view of the above, and has an object to provide a construction machine that enables an operator to obtain necessary information with higher accuracy.

[0007] The present application includes multiple means for solving the above-mentioned problems, and one example thereof is a construction machine comprising a lower running body, an upper rotating body rotatably mounted on the lower running body, a cab mounted on the upper rotating body, imaging devices arranged at least in front and behind the upper rotating body, a display device mounted in the cab, and a controller that synthesizes images captured by the imaging devices to generate an overhead image and displays the generated overhead image on the display device, wherein the front imaging device is installed at a downward incline so that it can image a range near the upper rotating body beyond the imaging range of the rear imaging device, and the controller generates the overhead image including images captured by the front imaging device and images captured by the rear imaging device.

[0008] According to the present invention, the information required by the operator can be obtained with higher accuracy.

[0009] FIG. 1 is a side view schematically showing the configuration of a hydraulic excavator, which is an example of construction machinery. FIG. 2 is a diagram showing an example of the arrangement of an imaging device mounted on a hydraulic excavator. FIG. 3 is a functional block diagram showing functional units relating to the synthesis of overhead-view images, extracted from the processing functions of a controller, together with related configurations. FIG. 4 is a diagram showing an example of an overhead-view image display screen displayed on a monitor. FIG. 5 is a diagram showing another example of an overhead-view image display screen displayed on a monitor. FIG. 6 is a flowchart showing the contents of alarm processing by a controller. FIG. 7 is a top view showing an example of the imaging range of a camera. FIG. 8 is a diagram showing a synthesis area of ​​overhead-view images. FIG. 9 is a diagram schematically showing the configuration of a remote operation support system. FIG. 10 is a diagram showing an example of an overhead-view image display screen displayed on a monitor. FIG. 11 is a diagram showing another example of an overhead-view image display screen displayed on a monitor.

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following description, a hydraulic excavator will be shown as an example of a construction machine, but the present invention can also be applied to other construction machines.

[0011] First Embodiment A first embodiment of the present invention will be described with reference to FIGS. 1 to 3. FIG.

[0012] Fig. 1 is a side view showing a schematic configuration of a hydraulic excavator, which is an example of a construction machine according to this embodiment, and Fig. 2 is a diagram showing an example of the arrangement of image capture devices mounted on the hydraulic excavator.

[0013] As shown in FIG. 1, a hydraulic excavator 1, which is a construction machine, includes a crawler-type lower traveling body 3 and an upper rotating body 2 that is rotatably attached to the upper part of the lower traveling body 3 and that, together with the lower traveling body 3, constitutes the body of the construction machine.

[0014] The lower traveling body 3 has a pair of left and right tracks 3b (only one of which is shown in FIG. 1 ) wound around an idler wheel and a driving wheel, and is driven by left and right traveling hydraulic motors 3a (only one of which is shown in FIG. 1 ) connected to the driving wheels via a transmission.

[0015] The upper swing body 2 is driven by torque generated by a swing hydraulic motor (not shown) and swings left and right relative to the lower traveling body 3 .

[0016] An operator's cab 6 for an operator is installed on one front side (e.g., left side) of the upper rotating body 2, and an articulated front working implement 4 for performing work to form target terrain, etc. is attached to the side (e.g., right side) of the operator's cab 6 at the front of the upper rotating body 2. The direction in which the front working implement 4 of the upper rotating body 2 is installed is defined as the front of the vehicle body.

[0017] The front working mechanism 4 is configured by connecting a boom 4a, an arm 4b, and a bucket 4c, each of which rotates vertically, and is driven by a boom cylinder 4d, an arm cylinder 4e, and a bucket cylinder 4f, respectively.

[0018] Cameras 5a, 5b, 5c, and 5d are installed as imaging devices on the front, right side (right side), rear, and left side (left side) of the upper rotating body 2, respectively, to capture images in each direction. In this embodiment, the front side of the upper rotating body 2 is referred to as the front, the right side of the upper rotating body 2 as the right side, the left side of the upper rotating body 2 as the left side, and the rear side of the upper rotating body 2 as the rear, and the left and right sides are defined relative to the front and rear, respectively, and the front and rear sides are defined relative to the left and right sides, respectively. Therefore, for example, cameras 5a, 5b, 5c, and 5d are respectively disposed at four locations on the front left side of the upper rotating body 2, the front side on the right side, the right side on the rear side, and the rear side on the left side (see FIG. 2 ). Furthermore, cameras 5a, 5b, 5c, and 5d are installed so that their imaging directions are directed downward relative to the horizontal direction.

[0019] Since the cab 6 is located on the front left side of the upper rotating body 2, the front camera 5a is installed above the cab 6. In this case, the front camera 5a is installed so that its front end is rearward of the foremost part of the cab 6. The right camera 5b and the left camera 5d are mounted on the upper rotating body 2 and are installed above an exterior cover that forms a machinery room in which a hydraulic pump, a prime mover, etc. are housed. The rear camera 5c is installed above a counterweight that forms the rear end of the upper rotating body 2. The rear camera 5c is installed at a position higher than the exterior cover and the counterweight so that the surroundings of the vehicle body can be visually confirmed from the cab 6. In other words, the front camera 5a is installed at a higher position than the right camera 5b, the rear camera 5c, and the left camera 5d.

[0020] The front camera 5a and the rear camera 5c are installed so that the angle 7a of the front camera 5a with respect to the horizontal direction is larger than the angle 7c of the rear camera 5c with respect to the horizontal direction. In other words, the front camera 5a is installed facing downward more than the rear camera 5c.

[0021] Similarly, the right camera 5b and the left camera 5d are installed so that the angle they form with the front camera 5a relative to the horizontal is larger than the angles they form with the front camera 5a relative to the horizontal. In other words, the front camera 5a is installed facing more downward than the right camera 5b and the left camera 5d.

[0022] That is, the front camera 5a is installed facing downward more than any of the right camera 5b, the rear camera 5c, and the left camera 5d.

[0023] Note that by installing the front camera 5a, right camera 5b, rear camera 5c, and left camera 5d so that the angles they form with the horizontal direction, in other words, the relative angles of cameras 5a, 5b, 5c, and 5d, are as described above, it is possible to standardize parts using cameras of the same type (for example, cameras with similar specifications). However, this is not limited to this. For example, if a camera with a significantly wider angle of view is used as the front camera 5a than the right camera 5b, rear camera 5c, and left camera 5d, the cameras 5a, 5b, 5c, and 5d may be installed so that the angles they form with the horizontal direction are the same.

[0024] The operator's cab 6 is equipped with an operating lever device (not shown) for driving the boom cylinder 4d, arm cylinder 4e, bucket cylinder 4f, swing hydraulic motor (not shown), and traveling hydraulic motor 3a to operate the boom 4a, arm 4b, bucket 4c, upper swing body 2, and lower traveling body 3; a touch panel monitor 6a (see FIG. 3 and other figures below) which functions as a display device for presenting the operator with various information and an overhead image showing information about the surroundings of the hydraulic excavator 1 which is synthesized based on images taken by the cameras 5a, 5b, 5c, and 5d, and also functions as an input device for inputting various settings and the like by the operator; and a controller 100 which includes a function for synthesizing an overhead image of the hydraulic excavator 1 and controls the overall operation of the hydraulic excavator 1.

[0025] Fig. 3 is a functional block diagram illustrating functional units related to the synthesis of overhead-view images, among the processing functions of the controller, together with related configurations. Fig. 4 is a diagram illustrating an example of an overhead-view image display screen displayed on a monitor.

[0026] As shown in FIG. 3, the controller 100 includes a video storage unit 101 , an overhead video synthesis unit 102 , a synthesis pattern storage unit 103 , and a synthesis pattern setting unit 104 .

[0027] The video storage unit 101 temporarily stores the video images captured by the cameras 5 a , 5 b , 5 c , and 5 d , which are imaging devices, and outputs the video images to the overhead video synthesis unit 102 .

[0028] The overhead image synthesis unit 102 generates an overhead image of the area around the vehicle body from the image in the image storage unit 101 based on a synthesis pattern set by the synthesis pattern setting unit 104 from among multiple synthesis patterns stored in the synthesis pattern storage unit 103, and outputs the image to the monitor 6a.

[0029] The composite pattern setting unit 104 selects one of the multiple composite patterns stored in the composite pattern memory unit 103 in response to operation of the monitor 6a by the operator in the cab 6, and sets it in the overhead image synthesis unit 102.

[0030] As shown in FIG. 4, the overhead image display screen 200 displayed on the monitor 6a of the operator's cab 6 has an operation information display section 201 that displays operation information set by the operator, a vehicle body information display section 202 that displays vehicle body information indicating the state of the vehicle body, an overhead image display section 203 that displays an image of the surroundings of the vehicle body (overhead image), an operation mode display section 204 that displays the operation mode of the hydraulic excavator 1, and a time display section 205 that displays the current time, the operating time of the hydraulic excavator 1, etc.

[0031] The overhead image display unit 203 displays an overhead image synthesized based on the images captured by the cameras 5a, 5b, 5c, and 5d. The overhead image is generated by synthesizing an image of a ground portion 203b (horizon) and a sky portion 203c captured around the body of the hydraulic excavator 1. The overhead image display unit 203 in Fig. 4 displays an overhead image so that the top of the overhead image corresponds to the front of the hydraulic excavator 1, the bottom of the overhead image corresponds to the rear of the hydraulic excavator 1, the right of the overhead image corresponds to the right of the hydraulic excavator 1, and the left of the overhead image corresponds to the left of the hydraulic excavator 1. An icon 203a representing the hydraulic excavator 1 is arranged above the center of the overhead image.

[0032] The overhead image displayed on the overhead image display unit 203 is synthesized to include the vicinity in front of the upper rotating body 2 and the distant area behind. Specifically, the overhead image displayed on the overhead image display unit 203 of the monitor 6a is synthesized so that the proportion of the sky, in other words, the width dimensions of the display frame and the horizon in the overhead image display unit 203, are larger in the rear (dimension b) and left and right directions (dimensions c and d) than in the front (dimension a).

[0033] The effects of the present embodiment configured as above will be described.

[0034] Some prior art technologies do not take into consideration what information the operator needs depending on the work situation. In other words, the information required by the operator in the cab varies depending on the situation, and it is possible that the operator may not be able to obtain sufficient information he or she needs depending on the installation mode of the camera and the display mode of the synthesized overhead image. For example, when performing excavation work using a hydraulic excavator, it is preferable that the image capture range includes the area immediately adjacent to the vehicle body in the front, and it is also preferable that the image capture range includes the areas further from the vehicle body than the areas near the vehicle body in the left and right rear to prevent contact with surrounding people while the excavator is traveling or when the upper rotating body 2 is rotating.

[0035] In contrast to this, in this embodiment, a hydraulic excavator 1 (construction machine) is provided with a lower traveling body 3, an upper rotating body 2 rotatably mounted on the lower traveling body 3, a cab 6 mounted on the upper rotating body 2, cameras 5a, 5b, 5c, 5d (imaging devices) arranged at least in front and behind the upper rotating body 2, a monitor 6a (display device) mounted in the cab 6, and a controller 100 that generates an overhead image by synthesizing images taken by the cameras 5a, 5b, 5c, 5d (imaging devices) and displays the generated overhead image on the monitor 6a (display device). One camera 5a (imaging device) is installed at a downward incline so that it can capture an area near the upper rotating body 2 that is wider than the imaging range of the rear camera 5c (imaging device), and the controller 100 is configured to synthesize the overhead image displayed on the monitor 6a (display device) so that it includes the area near the front of the upper rotating body 2 and the area far behind, i.e., to generate an overhead image that includes images captured by the front camera 5a (imaging device) and images captured by the rear camera 5c (imaging device), thereby enabling the operator to obtain the information he or she needs with greater accuracy.

[0036] For example, by capturing an image of the area in front of the upper rotating body 2 to which the front working implement 4 is extended and presenting the image to the operator, the operator can obtain information about the excavation object located in the front of the upper rotating body 2 and the truck onto which the excavation object is to be loaded. In other words, the operator can obtain information necessary for work using the front working implement 4, such as excavation work or loading work, thereby improving workability.

[0037] Furthermore, by capturing images of areas relatively far away from the rear or sides of the upper rotating body 2 and presenting them to the operator, the operator can obtain information about workers or others approaching the machine from the rear or sides of the upper rotating body 2, which is the side where the front work implement 4 is not operating. In other words, the operator can quickly detect workers or others who the machine may come into contact with by reversing or turning, and can take action to avoid contact, such as sounding an alarm or stopping the machine, before the worker or others come into contact with the machine.

[0038] Furthermore, in this embodiment, the front camera 5a is positioned above the operator's cab 6 located on the front left side of the upper rotating body 2, that is, at a relatively high position in the hydraulic excavator 1, which is a construction machine. Therefore, by capturing images from this high position, it is possible to prevent objects located closer to the front in front of the upper rotating body 2 from interfering with the capture of images of the excavation target located further back, thereby improving excavation workability.

[0039] Furthermore, in this embodiment, the front camera 5a is installed so that its front end is rearward of the forefront of the cab 6, and therefore the field of view of the operator sitting in the cab 6 is not obstructed by the front camera 5a. Furthermore, it is possible to prevent flying objects (e.g., mud, sand, pebbles, etc.) that are kicked up by the excavation work or traveling operation of the hydraulic excavator 1 from colliding with the front camera 5a.

[0040] Furthermore, in this embodiment, the bird's-eye view image displayed on the bird's-eye view image display unit 203 is configured so that the icon 203a representing the hydraulic excavator 1 is positioned above the center. That is, in the bird's-eye view image, a larger display area is provided for the left, right, and rear of the upper rotating body 2, which are difficult for the operator to directly view, compared to the display area in front of the upper rotating body 2, which is easy for the operator to directly view. This improves the operator's visibility via the bird's-eye view image when checking the conditions around the upper rotating body 2, and allows the operator to more reliably check, for example, whether or not there are any obstacles in the surroundings when reversing or turning.

[0041] In this embodiment, as shown in FIG. 4, an example has been described in which an overhead image is synthesized so that the proportion of the sky in the overhead image displayed on monitor 6a is greater in the rear than in the front, but the present invention is not limited to this, and various modifications are possible within the scope of the present invention.

[0042] 5, the bird's-eye view image may be synthesized so that the proportion of the sky in the bird's-eye view image displayed on monitor 6a (the proportion of sky portion 203c to ground portion 203b) is greater in the front than in the rear. The bird's-eye view image may also be synthesized so that the proportion of the sky in the bird's-eye view image displayed on monitor 6a is greater in the front than in the left and right. Specifically, the bird's-eye view image displayed on bird's-eye view image display section 203 of monitor 6a may be synthesized so that the proportion of the sky, in other words, the width of the display frame and the horizon in bird's-eye view image display section 203, is greater in the front (dimension a) and left and right (dimensions c and d) than in the rear (dimension b).

[0043] Second Embodiment A second embodiment of the present invention will be described with reference to FIGS.

[0044] In this embodiment, an icon indicating a combined area of ​​the images from cameras 5a, 5b, 5c, and 5d is superimposed on a bird's-eye view image displayed on a monitor 6a, which is a display device. In this embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and descriptions thereof will be omitted where appropriate.

[0045] FIG. 6 is a top view showing an example of the imaging range of the camera.

[0046] As shown in the first embodiment (see FIG. 1), in this embodiment, the front camera 5a is disposed on the front left side, the right camera 5b is disposed on the front right side, the rear camera 5c is disposed on the rear right side, and the left camera 5d is disposed on the rear left side. In this case, as shown in FIG. 6, the right side of the shooting range 8a of the front camera 5a is covered by the shooting range 8b of the right camera 5b, the rear side of the shooting range 8b of the right camera 5b is covered by the shooting range 8c of the rear camera 5c, the left side of the shooting range 8c of the rear camera 5c is covered by the shooting range 8d of the left camera 5d, and the front side of the shooting range 8d of the left camera 5d is covered by the shooting range 8a of the front camera 5a.

[0047] FIG. 7 is a diagram showing a synthesis area of ​​an overhead view video.

[0048] 7 , a portion of the overhead-view image displayed on overhead-view image display section 203 of overhead-view image display screen 200 of monitor 6 a includes composite areas 206 a, 206 b, 206 c, and 206 d obtained by combining overlapping portions of multiple images from cameras 5 a, 5 b, 5 c, and 5 d. By displaying icons indicating composite areas 206 a, 206 b, 206 c, and 206 d (e.g., figures enclosing composite areas 206 a, 206 b, 206 c, and 206 d with lines or the like) superimposed on the overhead-view image on overhead-view image display section 203, it is possible to indicate to the operator that the area is a composite area, thereby assisting in more accurate interpretation of the overhead-view image.

[0049] FIG. 8 is a diagram showing a schematic configuration of a remote operation support system.

[0050] As shown in Figure 8, the remote operation support system 300 is made up of a remote operation support server 310 as a remote operation support device, a remote operation device 320 through which an operator remotely operates a construction machine 1, a plurality of construction machines 1 (only two are shown) to be remotely operated by the remote operation device 320, a plurality of clients 330 (only one is shown), and a network 340 through which the remote operation support server 310, the remote operation device 320, the client 330, and the construction machine 1 communicate with each other. An overhead image from the construction machine 1 is transmitted to the remote operation support server 310 via the network 340, and then to the remote operation device 320, where it is presented to the operator. The operator operates the construction machine 1 while referring to the overhead image displayed on the remote operation device 320. The remote operation device 320 generates an operation signal in response to the operator's operation and transmits it to the construction machine 1 via the remote operation support server 310, thereby remotely operating the construction machine 1. That is, in the remote operation support system 300, the construction machine 1 transmits an overhead image to an external remote operation support server 310 via a network 340, receives an operation signal generated based on operation by an external operator using a remote operation device 320 in response to the transmitted overhead image, and operates in accordance with the received operation signal.

[0051] The other configurations are the same as those in the first embodiment.

[0052] The present embodiment configured as above can also achieve the same effects as the first embodiment.

[0053] Furthermore, by arranging the imaging devices (cameras 5a, 5b, 5c, 5d) in this embodiment, the front camera 5a is positioned in front of the upper rotating body 2, approximately in the center in the left-right direction, and away from the range of motion of the front working implement 4, which swings up and down, and it is possible to capture a sufficient range around the vehicle body with a fewer number of imaging devices (cameras), thereby enabling the synthesis of a more accurate overhead image. In other words, the fewer the number of imaging devices, the smaller the synthesis area for the overhead image, making it possible to provide a less awkward-looking overhead image.

[0054] Furthermore, by displaying an icon indicating that the area is a synthesis area in the overhead view image, it is possible to show the operator that the area is a synthesis area, thereby assisting in more accurate interpretation of the overhead view image.

[0055] This is particularly effective when the operator is performing remote control of the construction machine, where he or she cannot directly see the surroundings of the machine, as in this embodiment.

[0056] The cameras may be installed in reversed positions, front to back or left to right. Specifically, the front camera is installed on the front right side, the right camera is installed on the rear right side, the rear camera is installed on the rear left side, and the left camera is installed on the front left side. In this case, the left camera's shooting range complements the left side of the front camera's shooting range, the rear camera's shooting range complements the rear side of the left camera's shooting range, the right camera's shooting range complements the right side of the rear camera's shooting range, and the front camera's shooting range complements the front side of the right camera's shooting range.

[0057] Furthermore, the icons displayed superimposed on the overhead view video are not limited to those indicating the synthesis area. For example, icons indicating the blind spots of the imaging devices may be displayed superimposed on the overhead view video.

[0058] Third Embodiment A third embodiment of the present invention will be described with reference to FIGS.

[0059] This embodiment shows a case where the mode of the icon displayed superimposed on the overhead image is switched in response to an operation by an operator. Note that in this embodiment, the same components as those in the first and second embodiments are denoted by the same reference numerals, and the description thereof will be omitted as appropriate.

[0060] As shown in the first embodiment (see FIG. 3 ), controller 100 includes video storage unit 101, overhead video synthesis unit 102, synthesis pattern storage unit 103, and synthesis pattern setting unit 104. Video storage unit 101 temporarily stores video captured by cameras 5 a, 5 b, 5 c, and 5 d, which are image capture devices, and outputs the video to overhead video synthesis unit 102. Bird's-eye view video synthesis unit 102 generates an overhead video of the vehicle periphery from the video stored in video storage unit 101 based on a synthesis pattern set by synthesis pattern setting unit 104 from among a plurality of synthesis patterns stored in synthesis pattern storage unit 103, and outputs the generated video to monitor 6 a. Synthesis pattern setting unit 104 selects one of a plurality of synthesis patterns stored in synthesis pattern storage unit 103 in response to an operation of monitor 6 a by an operator in cab 6, and sets the selected video to overhead video synthesis unit 102.

[0061] FIG. 9 is a diagram showing an example of an overhead video display screen displayed on the monitor.

[0062] As shown in Figure 9, the overhead image display screen 200 displayed on the monitor 6a of the operator's cab 6 has an operation information display section 201 that displays operation information set by the operator, a vehicle body information display section 202 that displays vehicle body information that indicates the state of the vehicle body, an overhead image display section 203 that displays an image of the area around the vehicle body (overhead image), an operation mode display section 204 that displays the operation mode of the hydraulic excavator 1, and a time display section 205 that displays the current time, the operating time of the hydraulic excavator 1, etc.

[0063] The overhead image display unit 203 displays an overhead image obtained by combining the images captured by the cameras 5a, 5b, 5c, and 5d based on a composite pattern selected by the operator in response to operation of the monitor 6a, and an icon 203a indicating the hydraulic excavator 1 is placed near the center of the overhead image. There are various conceivable methods for the operator to select a composite pattern, and one possible method is to display a list of multiple composite patterns on the monitor 6a serving as a display device, and have the operator select and determine one from the displayed multiple composite patterns using the monitor 6a serving as an input device.

[0064] 9 shows a display example of the overhead view image display screen 200 in which an overhead view image is synthesized (first display pattern) by evenly using images captured by the front, rear, left, and right cameras 5a, 5b, 5c, and 5d of the hydraulic excavator 1. In this case, the overhead view image is displayed evenly in the front, rear, left, and right directions relative to the icon 203a, that is, so that the icon 203a is positioned at the center and the distances from the icon 203a to the outer periphery of the overhead view image display section 203 are approximately the same.

[0065] FIG. 10 is a diagram showing another example of the overhead video display screen displayed on the monitor.

[0066] 10 shows the appearance of the bird's-eye view image display screen 200 when the operator operates the monitor 6a to select a composite pattern (second display pattern) in which the display range of the forward portion of the bird's-eye view image is small. Specifically, of the images captured by the front, rear, left, and right cameras 5a, 5b, 5c, and 5d of the hydraulic excavator 1, the display range of the image from the front camera 5a is reduced, and an overhead image is generated by equally using the images captured by the other cameras 5b, 5c, and 5d, and the resulting image is displayed on the bird's-eye view image display unit 203. That is, the bird's-eye view image is composited by reducing the forward and backward image without changing the capturing ranges (image ranges) of the left and right rear portions. In this case, as shown in FIG. 10, the icon 203d in the bird's-eye view image is displayed evenly in the left and right rear portions where the bird's-eye view image is displayed evenly, and is stretched forward in the forward portion where the bird's-eye view image is reduced.

[0067] The display pattern (second display pattern) shown in Figure 10 illustrates an example in which the display range of the image from the front camera 5a is reduced and an overhead image is synthesized using equally distributed images captured by the other cameras 5b, 5c, and 5d. However, this is not limited to this, and for example, the display range of the image from the front camera 5a may be eliminated and an overhead image may be synthesized using equally distributed images captured by the other cameras 5b, 5c, and 5d.

[0068] The other configurations are the same as those of the first and second embodiments.

[0069] The present embodiment configured as above can also achieve the same effects as the first and second embodiments.

[0070] Furthermore, in this embodiment, a composite pattern (second display pattern) in which the display range of the front of the overhead image is small is selected, and an overhead image is synthesized using the image of the front camera 5a with a reduced display range and the images of the other cameras 5b, 5c, and 5d with equal display ranges, and displayed on the overhead image display unit 203.As a result, a wide display area is secured for the images on the left and right of the upper rotating body 2 in the overhead image, improving visibility for the operator, and allowing the operator to more reliably check, for example, whether there are any obstacles in the surrounding area when turning.

[0071] Furthermore, for various tasks performed with hydraulic excavators, the operator can select the imaging range required for the overhead image depending on the task, allowing the operator to obtain the information he or she needs with greater accuracy.

[0072] There are various combination patterns of the overhead view image that can be selected by the operator on the monitor 6a (image switching device). For example, when a pattern in which the display range of the front of the overhead view image is small is selected on the monitor 6a (image switching device), a single image from the camera 5a (imaging device) that captures the image in front of the vehicle body may be simultaneously displayed. This allows the operator to recognize the status of the excavation site, which is difficult to recognize from the overhead view image, using the single image. This is particularly effective in the case of remote operation where the operator cannot directly see the front.

[0073] In addition, the composite pattern selected by the monitor 6a (image switching device) may be configured to include a composite pattern of an overhead image that does not include any image captured by the front camera 5a (i.e., no imaging range at all).

[0074] <Others> The present invention is not limited to the above-described embodiments and includes various modifications within the scope of the gist thereof. For example, the present invention is not limited to those including all of the configurations described in the above-described embodiments and includes those in which some of the configurations are omitted. Furthermore, a portion of the configuration of one embodiment can be added to or replaced with a configuration of another embodiment. Furthermore, the components of the above-described control device, as well as their functions and execution processes, may be implemented in part or in whole by hardware (e.g., by designing logic that executes each function using an integrated circuit). Furthermore, the components of the above-described control device may be implemented as a program (software) that is read and executed by an arithmetic processing device (e.g., a CPU) to realize the functions of the control device. Information related to the program can be stored, for example, in semiconductor memory (e.g., flash memory, SSD), magnetic storage device (e.g., hard disk drive), and recording medium (e.g., magnetic disk, optical disk), etc.

[0075] 1...hydraulic excavator (construction machine), 2...upper rotating body, 3...lower traveling body, 3a...traveling hydraulic motor, 3b...track, 4...front working machine, 4a...boom, 4b...arm, 4c...bucket, 4d...boom cylinder, 4e...arm cylinder, 4f...bucket cylinder, 5a, 5b, 5c, 5d...camera, 6...operator's cab, 6a...monitor, 7a, 7c...angle formed, 8a, 8b, 8c, 8d...shooting range, 100...controller, 101...image storage unit, 102...bird's-eye view image synthesis unit, 103...synthesis pattern storage Memory unit, 104...composite pattern setting unit, 200...bird's-eye view image display screen, 201...operation information display unit, 202...vehicle body information display unit, 203...bird's-eye view image display unit, 203a...icon, 203b...ground portion, 203c...sky portion, 203d...icon, 204...driving mode display unit, 205...time display unit, 206a, 206b, 206c, 206d...composite area, 300...remote operation support system, 310...remote operation support server, 320...remote operation device, 330...client, 340...network

Claims

1. In a construction machine comprising a lower traveling body, an upper slewing body rotatably mounted on the lower traveling body, a cab mounted on the upper slewing body, imaging devices disposed at least in front of and behind the upper slewing body, a display device mounted in the cab, and a controller that synthesizes images captured by the imaging devices to generate an overhead view image and displays the generated overhead view image on the display device, the front imaging device is installed to be inclined downward so as to be able to image a range near the upper slewing body more than the imaging range of the rear imaging device, and the controller is characterized by generating the overhead view image including the image captured by the front imaging device and the image captured by the rear imaging device.

2. The construction machine according to claim 1, further comprising imaging devices disposed on the left and right sides of the upper slewing body, and the front imaging device is installed to be inclined downward more than any of the imaging devices on the left and right sides and the rear imaging device.

3. The construction machine according to claim 1, wherein the front imaging device is installed behind the foremost part of the cab.

4. The construction machine according to claim 1, wherein the controller synthesizes the overhead view image such that the proportion of empty space in the overhead view image displayed on the display device is larger behind the upper slewing body than in front of the upper slewing body.

5. The construction machine according to claim 4, wherein the controller synthesizes the overhead view image such that the proportion of empty space in the overhead view image displayed on the display device is larger on the left and right sides of the upper slewing body than in front of the upper slewing body.

6. The construction machine according to claim 1, wherein the controller arranges an icon indicating the construction machine above the center of the overhead view image displayed on the display device.

7. The construction machine according to claim 1, wherein the imaging devices are disposed at four locations: the front left side, the front right side, the rear right side, and the rear left side of the upper slewing body.

8. The construction machine according to claim 1, wherein the imaging device is arranged at four positions: the right front side, the right rear side, the left rear side, and the left front side in front of the upper swing body.

9. The construction machine according to claim 7 or 8, further comprising a remote operation support system that transmits the overhead view image to the outside, receives an operation signal generated based on an operation of an external operator according to the transmitted overhead view image, and controls the operation of the construction machine according to the received operation signal.

10. The construction machine according to claim 1, wherein the controller overlays and displays an icon indicating a blind spot of the imaging device on the overhead view image displayed on the display device.

11. The construction machine according to claim 1, further comprising an image switching device that selectively switches the overhead view image displayed on the display device between a predetermined first display pattern and a second display pattern in which the display range in front of the upper swing body is narrower than the first display pattern according to an operation of the operator, and the controller synthesizes the overhead view image displayed on the display device according to the display pattern selected by the image switching device.

12. The construction machine according to claim 11, wherein when the second display pattern is selected by the image switching device, the controller synthesizes an overhead view image in which the left and right images of the upper swing body are stretched in the front-rear direction of the upper swing body with respect to the overhead view image when the first display pattern is selected.

13. The construction machine according to claim 11, wherein when the second display pattern is selected by the image switching device, the controller simultaneously displays the image captured by the front imaging device with the overhead view image.

Images