Work machine

Abstract

A hydraulic shovel according to the present invention comprises a vehicle body, a display device, a controller that causes the display device to display reference lines that give a reference for the distance to the vehicle body on video of the surroundings of the vehicle body, and an input device that inputs instructions to the controller. The reference lines that the controller causes to be displayed on the surroundings video include a fixed reference line that has a fixed rendering position on the surroundings video and a changeable-position reference line that has a rendering position on the surroundings video that can be changed on the basis of input from the input device. The reference lines rendered on the surroundings video make it possible to allow an operator to easily ascertain the positions of the reference lines while helping the operator to appropriately recognize the distance between a work machine and objects in the surroundings of the work machine.

Description

Work machinery

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

[0002] In order to assist the operator in the driver's seat in recognizing the surroundings of a work machine, a technology has been proposed in which an image of the surroundings captured by a camera attached to the work machine is displayed on a monitor in the driver's seat, and a guide line is drawn on the image of the surroundings to indicate the distance from the work machine (Patent Document 1).

[0003] Patent Document 1 discloses a surrounding monitoring system for a work machine that includes a display control unit that causes a display unit to display an image showing the periphery of a work machine and reference lines that are arranged around at least a portion of the periphery of the work machine in the image, and the display control unit switches the display state of the reference lines between an enabled state in which an alarm is output when an object is present around the work machine, and an disabled state in which the alarm is not output, and switching the display state includes switching the distance between the work machine and the reference lines on the display screen of the display unit (claims 1 and 4).

[0004] Japanese Patent Application Laid-Open No. 2021-68948

[0005] According to the technology described in Patent Document 1, the position of the reference line (the distance between the work machine and the reference line) can be changed depending on whether the surrounding monitoring device is in a state to output an alarm, making it possible for the operator to easily recognize the position.

[0006] On the other hand, if the operator is allowed to freely change the position of the reference line (the distance between the work machine and the reference line) on the surrounding image, it is thought that this will help the operator to properly recognize the distance between the work machine and objects around it.

[0007] However, if the operator is allowed to change the position of the reference line at will, the operator will have to remember the distance between the work machine and the reference line every time the position of the reference line is changed, which places a heavy burden on the operator. Also, if the operator misperceives the distance between the work machine and the reference line, they will not be able to correctly grasp the surrounding environment. Furthermore, in an operation where multiple operators are on board a work machine, if one operator changes the position of the reference line, the other operators will have to check the distance between the work machine and the reference line each time.

[0008] The present invention has been made in consideration of the above-mentioned problems, and its purpose is to provide a work machine that uses guide lines drawn on the surrounding image to assist the operator in properly recognizing the distance between the work machine and objects around it, while allowing the operator to easily grasp the position of the guide lines.

[0009] In order to achieve the above-mentioned object, the present invention provides a work machine comprising a vehicle body, a display device, a control device that causes guide lines indicating an approximate distance from the vehicle body to be superimposed on an image of the surroundings of the vehicle body and displayed on the display device, and an input device that inputs instructions to the control device, wherein the guide lines superimposed on the image of the surroundings by the control device include a first guide line whose drawing position on the image of the surroundings is fixed and a second guide line whose drawing position on the image of the surroundings is changed based on input from the input device.

[0010] According to the present invention, the reference lines drawn on the surrounding image assist the operator in properly recognizing the distance between the work machine and objects around it, while also allowing the operator to easily grasp the position of the reference lines.

[0011] FIG. 1 is a side view schematically showing the configuration of a hydraulic excavator according to a first embodiment of the present invention. FIG. 2 is a top view schematically showing the configuration of a hydraulic excavator according to a first embodiment of the present invention. FIG. 3 is a view schematically showing the interior of a driver's seat according to a first embodiment of the present invention. FIG. 4 is a view schematically showing the configuration of a surroundings image display system according to a first embodiment of the present invention. FIG. 5 is a view showing an example of a surroundings image displayed on a display device according to a first embodiment of the present invention. FIG. 6 is a functional block diagram of a hydraulic excavator according to a first embodiment of the present invention. FIG. 7 is a view showing an example of a case where fixed reference lines and position-changeable reference lines are drawn on an overhead image according to a first embodiment of the present invention. FIG. 8 is a view showing an example of a case where fixed reference lines and position-changeable reference lines are drawn on a camera image according to a first embodiment of the present invention. FIG. 9 is a view showing an example of a screen for setting the positions of position-changeable reference lines according to a first embodiment of the present invention. FIG. 10 is a view showing an example of changing the position setting of position-changeable reference lines according to a first embodiment of the present invention. 10 is a diagram showing an example in which fixed reference lines and position-changeable reference lines are drawn on an overhead image in accordance with a second embodiment of the present invention.FIG. 11 is a flowchart showing processing by a controller in accordance with a second embodiment of the present invention.

[0012] A work machine according to an embodiment of the present invention will be described below with reference to the drawings. In each drawing, the same reference numerals are used to designate equivalent parts, and duplicated descriptions will be omitted where appropriate. In this embodiment, the work machine will be described as a hydraulic excavator having a vehicle body formed of a crawler-type lower traveling body and an upper rotating body, but the present invention is not limited to this and may also be applied to wheeled hydraulic excavators, cranes, etc.

[0013] FIG. 1 is a side view and FIG. 2 is a top view showing a schematic configuration of a hydraulic excavator according to a first embodiment of the present invention.

[0014] 1, the hydraulic excavator 1 is made up of a self-propelled crawler-type lower traveling body 2, an upper rotating body 3 rotatably supported on the lower traveling body 2, and an articulated front working machine 4 supported on the front side of the upper rotating body 3 so as to be able to move up and down. The upper rotating body 3 and the lower traveling body 2 make up the vehicle body of the hydraulic excavator 1.

[0015] The upper rotating body 3 has a rotating frame 5 that forms a support structure, and the base end of the front working implement 4 is rotatably supported on the front side of the rotating frame 5. A counterweight 10 is attached to the rear side of the rotating frame 5 to balance the weight with the front working implement 4. A driver's seat 6 is provided on the front left side of the rotating frame 5, where an operator who operates the hydraulic excavator 1 gets in.

[0016] The driver's seat 6 is equipped with a seat for the operator, operating devices for driving the front work implement 4, rotating the upper rotating body 3, and operating the lower running body 2, as well as a display device 12 (shown in FIG. 3) located in a position that is easy for the operator seated in the seat to see but does not obstruct the operator's external field of view.

[0017] Additionally, a building cover 7 is disposed in front of the counterweight 10, and houses onboard equipment such as an engine, hydraulic pump, heat exchanger, and the like (none of which are shown). The building cover 7 is generally composed of left and right side panels 7A located on both the left and right sides of the revolving frame 5 and extending in the front-to-rear direction, and a top panel 7B extending horizontally and connecting the upper ends of the side panels 7A, and the rear side of the building cover 7 is closed by the counterweight 10. An engine cover 8 is provided on the top panel 7B of the building cover 7, covering the onboard equipment housed inside the building cover 7 from above.

[0018] Cameras 11a to 11d are installed at the front upper part of the driver's seat 6 at the front of the upper rotating body 3, at the upper left and right parts of the upper rotating body 3 (i.e., the left and right ends of the top panel 7B of the building cover 7) near the center in the fore-and-aft direction, and at the left and right center position of the counterweight 10, so that the surroundings of the vehicle body, including the area near the vehicle body, are captured in the shooting range.

[0019] FIG. 3 is a diagram schematically showing the interior of the operator's seat 6 of the hydraulic excavator 1 according to the first embodiment.

[0020] Inside the driver's seat 6, there are installed a display device 12 such as a monitor that displays various information to the operator, an input device 15 that allows the operator to input various settings and information, a shut-off lever 13 that can switch between operating and not operating the hydraulic excavator 1, and operation levers 14A to 14D that can be used to operate the hydraulic excavator 1.

[0021] The display device 12 and the input device 15 may be configured as a single device such as a touch panel monitor, or the input device 15 may be configured as multiple separate devices.

[0022] Fig. 4 is a diagram schematically showing the configuration of a surroundings image display system mounted on the hydraulic excavator 1 according to the first embodiment. As shown in Fig. 4, the surroundings image display system includes a plurality of cameras 11a to 11d (for example, four cameras in the first embodiment), a display device 12 that displays images captured by the plurality of cameras 11a to 11d, a controller 16 that serves as a control device that controls the overall operation of the surroundings image display system, and an input device 15 that allows an operator to input operations to the controller 16.

[0023] The controller 16 is configured as a computer including a processing device such as a CPU (Central Processing Unit), MPU (Micro Processing Unit), DSP (Digital Signal Processor), etc., a non-volatile memory such as a ROM (Read Only Memory), a flash memory, a hard disk drive, etc., a volatile memory called RAM (Random Access Memory), an input / output interface, and other peripheral circuits. The controller 16 may be configured as a single computer or multiple computers.

[0024] The nonvolatile memory stores programs capable of executing various calculations. In other words, the nonvolatile memory is a storage medium from which the programs that realize the functions of this embodiment can be read. The processing device expands the programs stored in the nonvolatile memory into the volatile memory and executes calculations, and performs predetermined calculations on signals received from the input / output interface, the nonvolatile memory, and the volatile memory in accordance with the programs.

[0025] The controller 16 is connected to each of the cameras 11 a to 11 d, the display device 12 and the input device 15 .

[0026] The input section of the input / output interface converts signals input from various devices (such as cameras) into signals that can be calculated by the processing device, while the output section of the input / output interface generates an output signal corresponding to the calculation result of the processing device and outputs the signal to various devices (such as the display device 12).

[0027] The display device 12 has an area for displaying surrounding images 17, such as images captured by each camera 11a to 11d and images obtained by converting the viewpoint of these images so that they appear as if they were captured from vertically above (i.e., from an upward viewpoint) to produce an overhead image of the vehicle body and its surroundings captured from above the vehicle body.

[0028] The input device 15 is provided for an operator to input operations to the controller 16 .

[0029] FIG. 5 is a diagram showing an example of a surrounding image displayed on the display device 12 according to the first embodiment.

[0030] 5A illustrates an example in which a bird's-eye view image 18 is displayed as the surroundings image 17. The bird's-eye view image 18 is formed, for example, by converting images captured by cameras 11a to 11d above, below, left, and right of the vehicle in the bird's-eye view image 18 into upper viewpoint images 18a to 18d with the vehicle at the center, and arranging the images. A vehicle body icon 19 representing the vehicle is arranged in the center of the bird's-eye view image 18.

[0031] 5B shows an example in which camera images captured by cameras 11b to 11d are displayed as surroundings image 17. Rear camera image 20 is an image of the rear of the vehicle captured by camera 11c, right camera image 21 is an image of the right side of the vehicle captured by camera 11b, and left camera image 22 is an image of the left side of the vehicle captured by camera 11d. Vehicle bodies 23a to 23c in the camera images are parts of the vehicle that appear in each camera image.

[0032] 5C shows an example in which the bird's-eye view image 18 and the camera image captured by the camera 11c are displayed as the surroundings image 17. The bird's-eye view image 18 is displayed in the upper half of the surroundings image 17, and the rear camera image 20 captured by the camera 11c is displayed in the lower half. In this way, the surroundings image 17 can be configured by freely combining the bird's-eye view image 18 and the images captured by the cameras 11a to 11d.

[0033] FIG. 6 is a functional block diagram of the hydraulic excavator 1 according to the first embodiment.

[0034] In Figure 6, the controller 16 functions as an overhead image synthesis unit 101, a surrounding image synthesis unit 102, a reference line position adjustment unit 103, a reference line drawing unit 104, and a reference line settable position memory unit 105 by executing a program stored in non-volatile memory.

[0035] The overhead image synthesis unit 101 generates an overhead image 18 by synthesizing multiple camera images input from the cameras 11a to 11d based on parameters for synthesizing the overhead image, and outputs the generated overhead image 18 to the surrounding image synthesis unit 102.

[0036] The surrounding image synthesis unit 102 selects necessary images from the multiple images input from the cameras 11 a to 11 d and the overhead image 18 input from the overhead image synthesis unit 101 , and synthesizes the surrounding image 17 .

[0037] A list of drawing positions of selectable, position-changeable guide lines (reference line drawing position list) is recorded in the guide line settable position storage unit 105. The guide line drawing position list is output to the guide line position adjustment unit 103 at the time of setting. A plurality of drawing positions of selectable, position-changeable guide lines are set, including a reference position and positions spaced a predetermined distance from that position.

[0038] The reference line position adjustment unit 103 generates a list of drawing position options based on the reference line drawing position list read from the reference line settable position storage unit 105 and presents it to the operator. The operator selects a drawing position from the presented option list. Based on the selected drawing position, the reference line position adjustment unit 103 outputs information required to draw fixed reference lines and position-changeable reference lines on the surrounding video as reference line position information to the reference line drawing unit 104. The reference line position information is information including the position, thickness, length, shape, etc. of the fixed reference lines and position-changeable reference lines on the surrounding video.

[0039] Based on the reference line position information acquired from the reference line position adjustment unit 103, the reference line drawing unit 104 draws fixed reference lines and position-changeable reference lines on the surrounding image 17 generated by the surrounding image synthesis unit 102, and outputs the drawn reference lines to the display device 12, thereby presenting the surrounding image 17 on which the fixed reference lines and position-changeable reference lines are drawn to the operator. The reference line drawing unit 104 internally stores the reference line position information acquired from the reference line position adjustment unit 103, and can draw the reference lines without having to receive the reference line position information each time the reference lines are drawn. If the reference line position changes, the reference line position information is received again, and the drawing position of the reference line is changed.

[0040] 7 is a diagram showing an example in which fixed reference lines and position-changeable reference lines are drawn on an overhead image according to the first embodiment. An overhead image 18 is displayed as the surroundings image 17, and a vehicle icon 19 is drawn in the center of the overhead image 18. A fixed reference line 30a, whose drawing position cannot be changed, and a position-changeable reference line 31a, whose drawing position can be changed, are drawn on the overhead image 18.

[0041] The fixed reference line 30a and the position-changeable reference line 31a on the overhead view image 18 are drawn as rectangles that surround the vehicle body icon 19. The sides that make up each reference line indicate the distance from the front end, rear end, left and right sides of the hydraulic excavator 1. Although each reference line is drawn as a rectangle in Figure 8, it may also be made up of a straight line of an appropriate length, etc., as long as it is possible to display the approximate distance from the hydraulic excavator 1.

[0042] The fixed reference line 30a on the overhead view image 18 represents a position closer to the vehicle body than the position-changeable reference line 31a, and is drawn at a position closer to the vehicle body icon 19. Even if the position of the position-changeable reference line 31a on the overhead view image 18 is changed, the position-changeable reference line 31a on the overhead view image 18 is not positioned at a position closer to the vehicle body icon 19 than the fixed reference line 30a on the overhead view image. As a result, the reference line closer to the vehicle body icon 19 is always the fixed reference line 30a, making it possible for the operator to easily recognize which reference line is the fixed reference line 30a.

[0043] The fixed reference lines 30a on the overhead image 18 are drawn as solid lines, and the position-changeable reference lines 31a on the overhead image 18 are drawn as dotted lines. The reference lines may be drawn in different ways depending on whether or not the position can be changed, and differences may be expressed by color, thickness, line shape, etc. It is desirable to draw the fixed reference lines 30a in a more emphasized manner than the position-changeable reference lines 31a. This makes it possible for the operator to recognize the fixed reference lines 30a preferentially.

[0044] The fixed guideline 30a on the overhead view image and the position-changeable guideline 31a on the overhead view image are drawn as rectangles, but the guideline drawn in front of the hydraulic excavator may be eliminated and drawn as a U-shape.

[0045] FIG. 8 is a diagram showing an example in which fixed guide lines and position-changeable guide lines are drawn on a camera image according to the first embodiment.

[0046] 8A, each reference line is drawn as a straight line. A rear camera image 20, a right camera image 21, and a left camera image 22 are displayed as surroundings image 17. A fixed reference line 32a and a position-changeable reference line 33a are drawn in rear camera image 20, a fixed reference line 32b and a position-changeable reference line 33b are drawn in right camera image 21, and a fixed reference line 32c and a position-changeable reference line 33c are drawn in left camera image 22.

[0047] The fixed reference lines 32a to 32c on the camera images represent positions closer to the vehicle bodies 23a to 23c than the position-changeable reference lines 33a to 33c on the camera images 20 to 22, and are drawn at positions closer to the vehicle bodies 23a to 23c on each of the camera images 20 to 22. The position-changeable reference lines 33a to 33c on the camera images 20 to 22 are not positioned closer to the vehicle bodies 23a to 23c than the fixed reference lines 32a to 32c on the camera images 20 to 22, even when their positions are changed.

[0048] The fixed reference lines 32a-32c on the camera images 20-22 are drawn with solid lines, and the position-changeable reference lines 33a-33c on the camera images 20-22 are drawn with dotted lines. Each reference line may be drawn in a different manner depending on whether its position can be changed, and differences may be expressed by color, thickness, line shape, etc. It is desirable to draw the fixed reference lines 32a-32c in a more emphasized manner than the position-changeable reference lines 33a-33c. This makes it possible for the operator to recognize the fixed reference line 30a preferentially.

[0049] In Figure 8(b), each reference line is drawn as a curved line. A wide-angle lens or a fisheye lens with a wide angle of view is used for the camera used to monitor the periphery of the hydraulic excavator 1 so that a single camera can capture a wide range. If a lens with a wide angle of view is used, distortion occurs in the image, and when drawing each reference line on the camera images 20 to 22 while taking this distortion into consideration, each reference line is drawn as a curved line as shown in Figure 8(b).

[0050] 9 is a diagram showing an example of a screen for setting the position of a position-changeable reference line according to Example 1. The reference line position setting screen 40 is displayed on the display device 12, and the operator of the hydraulic excavator 1 inputs operations using the input device 15. The reference line position setting screen 40 is made up of the surrounding image 17, a display image switching button 41, and a reference line position selection GUI 42.

[0051] In FIG. 9, an overhead view image 18 is displayed as the surrounding image 17, but by pressing the display image switching button 41, it can be switched to any of the camera images 20 to 22.

[0052] The reference line position selection GUI includes a reference line position selection section 43 and a confirm button 44. The reference line position selection section 43 displays selectable position options and the currently selected option in the form of radio buttons. The selectable position options include a displacement amount (-1, -2) from the reference position as a base point toward the vehicle body, and a displacement amount (+1, +2, +3, +4) from the reference position as a base point away from the vehicle body. When the confirm button 44 is pressed, the change in the reference line position made by the operator is confirmed and reflected in the reference line position display on the surrounding image 17. Note that a displacement amount that would bring the position of the repositionable reference line 45 closer to the vehicle body than the fixed reference line 46 is not displayed as a selectable position option for the repositionable reference line 45.

[0053] 9 shows the case where the position-changeable guideline 45 is at the reference position. Since this is the case, the reference position is selected in the guideline position selection unit 43, and the position-changeable guideline 45 at the reference position is drawn on the surrounding image 17.

[0054] Other information such as the upper and lower limits of the position where the position changeable guideline 45 can be set may be displayed on the surrounding image 17. Furthermore, although the position changeable guideline 45 is set collectively for the entire rectangle of the position changeable guideline in Fig. 9, the position may be adjusted for each side.

[0055] FIG. 10 is a diagram showing an example of changing the position setting of the position changeable guide line according to the first embodiment.

[0056] 10A shows a case where −1 is selected as the position of the position-changeable guide line. The difference from FIG. 9 is that −1 is selected in the guide line position selection unit 43, and a position-changeable guide line 45a after the position selection is drawn on the surrounding image 17.

[0057] Because -1 is selected as the reference line position, the position changeable reference line 45a after position selection is drawn at a position closer to the vehicle body than the position changeable reference line 45 for the reference position. The position changeable reference line 45 for the reference position is drawn in a different manner so as to be distinguishable from the position changeable reference line 45a after position change. By pressing the confirm button 44 after selecting the reference line position, the position changeable reference line can be changed so that it is drawn at the -1 position.

[0058] 10B shows a case where +2 is selected as the reference line position. The difference from FIG. 9 is that +2 is selected in the reference line position selection unit 43, and a position-changeable reference line 45b after the position selection is drawn on the surrounding image 17.

[0059] Since +2 is selected as the reference line position, the position changeable reference line 45b after position selection is drawn at a position farther from the vehicle body than the position changeable reference line 45 for the reference position. The position changeable reference line 45 for the reference position is drawn in a different manner so as to be distinguishable from the position changeable reference line 45b after position change. By selecting the reference line position and then pressing the confirm button, the position changeable reference line can be changed so that it is drawn at the +2 position.

[0060] 11 is a flowchart showing the processing of the controller 16 according to the first embodiment. Each step will be described in detail below.

[0061] First, the controller 16 captures images using the cameras 11a to 11d (step S100). The images captured by the cameras 11a to 11d are input to the overhead image synthesis unit 101 of the controller 16, which synthesizes an overhead image based on parameters previously recorded in the controller 16 (step S101).

[0062] Next, the surrounding image synthesis unit 102 selects the necessary images from the images acquired by the cameras 11a to 11d in step S100 and the overhead image synthesized in step S101 based on the layout information of the surrounding image, and synthesizes the surrounding image (step S102).

[0063] Finally, the reference line drawing unit 104 uses the reference line position information stored therein to draw the fixed reference lines and the position-changeable reference lines on the surrounding image (step S107). Each reference line is drawn as shown in Fig. 8 when the surrounding image is an overhead image, and as shown in Fig. 9 when the surrounding image is a camera image.

[0064] In parallel with the processes of steps S100 to S102, a process for setting the reference line position is performed. First, the reference line position adjustment unit 103 determines whether or not the operator has performed a setting operation for the reference line drawing position (step S103). If the determination in step S103 is NO, the determination is repeated until a setting operation is performed.

[0065] If the determination in step S103 is YES, the reference line position adjustment unit 103 reads out the reference line drawing position list from the reference line settable position storage unit 105 (step S104). Thereafter, the reference line position adjustment unit 103 uses the reference line drawing position list to generate a reference line position setting screen 40 (shown in FIG. 9 ) and outputs it to the display device 12, and the operator operates the input device 15 to select the drawing position of the position-changeable reference line from the reference line drawing position options (step S105).

[0066] The reference line position adjustment unit 103 generates reference line position information based on the drawing positions of the selected position-changeable reference lines and the fixed reference lines, and outputs the generated information to the reference line drawing unit 104 (step S106). The reference line drawing unit 104 updates the reference line position information stored therein based on the acquired reference line position information, draws the fixed reference lines and position-changeable reference lines on the known image based on the reference line position information, and outputs the surrounding image to the display device 12.

[0067] 7 and 8 show examples in which one position-changeable guideline and one fixed guideline are displayed, but the number of position-changeable guidelines and the number of fixed guidelines do not need to be the same, and multiple of each may be displayed. Furthermore, to make it easier to distinguish the position-change guideline to be set on the guideline position setting screen shown in FIGS. 9 and 10, the guideline to be set and the guideline not to be set may be drawn in a different manner from normal.

[0068] (Summary) In the first embodiment, in a hydraulic excavator 1 (work machine) equipped with vehicle bodies 2, 3, a display device 12, a controller 16 (control device) that causes guide lines 30a, 31a indicating an approximate distance to the vehicle bodies 2, 3 to be superimposed on a surrounding image 17 of the vehicle bodies 2, 3 and displayed on the display device 12, and an input device 15 that inputs instructions to the controller 16, the guide lines 30a, 31a that are superimposed on the surrounding image 17 by the controller 16 include fixed guide lines 30a (first guide lines) whose drawing positions on the surrounding image 17 are fixed, and position-changeable guide lines 31a (second guide lines) whose drawing positions on the surrounding image 17 can be changed based on input from the input device 15.

[0069] According to the first embodiment configured as described above, the operator of the hydraulic excavator 1 can appropriately recognize the distance to objects present around the hydraulic excavator 1 by changing the position of the position-changeable guideline 31a (second guideline) drawn on the surrounding image 17, and can easily grasp the position of the position-changeable guideline 31a by using the position of the fixed guideline 30a (first guideline), whose drawn position does not change, as a reference.

[0070] Furthermore, in the first embodiment, the vehicle bodies 2, 3 include a lower traveling body 2, an upper rotating body 3 rotatably attached to the lower traveling body 2, and a plurality of cameras 11a to 11d mounted on the upper rotating body 3, and the surroundings image 17 includes an overhead image 18 that shows the surroundings of the vehicle bodies 2, 3 and is created by combining a plurality of camera images from the plurality of cameras 11a to 11d. This allows the operator to grasp the distance to objects present around the hydraulic excavator 1 on the overhead image 18 of the hydraulic excavator 1.

[0071] In the first embodiment, the vehicle bodies 2, 3 include a lower traveling body 2, an upper rotating body 3 rotatably attached to the lower traveling body 2, and a plurality of cameras 11a to 11d mounted on the upper rotating body 3, and the surroundings image 17 includes at least one camera image from the plurality of camera images from the plurality of cameras 11a to 11d. This makes it possible to grasp the distance to objects present around the hydraulic excavator 1 on the camera images 20 to 22 that show the periphery of the hydraulic excavator 1.

[0072] Furthermore, the position-changeable reference line 31a (second reference line) in the first embodiment is drawn on the surrounding image 17 at a position farther away from the vehicle bodies 2, 3 than the fixed reference line 30a (first reference line). As a result, the reference line closer to the hydraulic excavator 1 is always the fixed reference line 30a, and the operator can easily recognize which reference line is the fixed reference line 30a.

[0073] Furthermore, the controller 16 (control device) in the first embodiment draws the fixed reference line 30a (first reference line) and the position-changeable reference line 31a (second reference line) in different styles, allowing the operator to easily distinguish between the first reference line 30a and the second reference line 31a.

[0074] Furthermore, the controller 16 (control device) in the first embodiment draws the fixed reference line 30a (first reference line) in a manner that emphasizes it more than the position-changeable reference line 31a (second reference line), thereby enabling the operator to recognize the fixed reference line 30a preferentially.

[0075] Furthermore, the controller 16 (control device) in the first embodiment stores the reference position of the position-changeable reference line 45 (second reference line), and changes the drawing position of the position-changeable reference line 45 in accordance with the amount of displacement from the reference position instructed via the input device 15. This allows the operator to easily set the drawing position of the position-changeable reference line 45.

[0076] In the first embodiment, the controller 16 (control device) receives an instruction from the input device 15 and generates a setting screen 40 for setting the drawing position of the position-changeable guide line 31 a (second guide line), and displays the setting screen 40 on the display device 12. The setting screen 40 includes the surrounding image 17 on which the fixed guide line 30 a (first guide line) and the position-changeable guide line 31 a (second guide line) are drawn. This allows the operator to set the drawing position of the position-changeable guide line 31 a while checking the positions of the fixed guide line 30 a and the position-changeable guide line 31 a on the surrounding image 17.

[0077] Furthermore, in the first embodiment, the vehicle bodies 2, 3 include a lower traveling body 2, an upper rotating body 3 rotatably attached to the lower traveling body 2, and a plurality of cameras 11a to 11d mounted on the upper rotating body 3, and the plurality of cameras 11b to 11d are mounted on the upper rotating body 3 so as to be able to capture images of the left and right rear of the upper rotating body 3, and the depiction positions of the position-changeable guide lines 33a to 33c (second guide lines) can be set individually for each of the plurality of camera images 20 to 22. This allows the operator to grasp the surrounding environment of the hydraulic excavator 1 more flexibly.

[0078] A hydraulic excavator 1 according to a second embodiment of the present invention will be described with reference to FIGS. 12 to 15, focusing mainly on the differences from the first embodiment.

[0079] 12 is a functional block diagram of a hydraulic excavator 1 according to a second embodiment. The difference from the first embodiment (shown in FIG. 6) is that a detection range setting unit 106, an obstacle detection unit 107, a detection range settable position storage unit 108, and a reference line position information generation unit 109 are provided instead of the reference line position adjustment unit 103 and the reference line settable position storage unit 105 (shown in FIG. 6).

[0080] A list of detection ranges that can be set in the obstacle detection function is stored in the detection range settable position storage unit 108. The list of settable detection ranges is output to the detection range setting unit 106 when the detection range is set.

[0081] The detection range setting unit 106 generates a detection range setting GUI based on the list of settable detection ranges read from the detection range settable position storage unit 108, and presents it to the operator by outputting it to the display device 12. The operator operates the presented detection range setting GUI to select a detection range. Based on the selected detection range, the detection range setting unit 106 outputs information required to set the detection range as detection range information to the obstacle detection unit 107 and the reference line position information generation unit 109. The detection range information is information for specifying coordinates around the vehicle body as the detection range.

[0082] The obstacle detection unit 107 detects obstacles, such as people, from multiple images input from the cameras 11a to 11d. In the detection process, the position of the obstacle and a polygonal detection frame surrounding the obstacle captured in the image are calculated. Examples of detection process methods include pattern matching using HOG (Histograms of Oriented Gradients) features and deep learning using a convolutional neural network. Information about the detected obstacle is output to the display device 12 as a detection result and presented to the operator of the hydraulic excavator 1. The range within which the obstacle is detected is input from the detection range setting unit 106 as detection range information and stored internally in the obstacle detection unit 107. When new detection range information is acquired from the detection range setting unit 106, the internally stored detection range information is updated and used in the detection process.

[0083] The reference line position information generation unit 109 generates reference line position information required for drawing fixed reference lines and position-changeable reference lines from the detection range information input from the detection range setting unit 106, and outputs the information to the reference line drawing unit 104. The reference line position information is information required for drawing fixed reference lines corresponding to the detection range 50 (shown in FIG. 13 ) near the vehicle body on the surrounding image 17, and information required for drawing position-changeable reference lines corresponding to the detection range 51 (shown in FIG. 13 ) far from the vehicle body on the surrounding image 17, and is information such as the position, thickness, length, and shape of each reference line on the surrounding image 17.

[0084] FIG. 13 is a top view of the hydraulic excavator 1 showing the detection range of the obstacle detection function according to the second embodiment, and schematically shows a detection range 50 near the vehicle body and a detection range 51 far from the vehicle body around the hydraulic excavator 1 as viewed from above.

[0085] While the detection range 50 near the vehicle body cannot be changed, the detection range 51 far from the vehicle body can be changed through an operation by the operator. However, the detection range 51 far from the vehicle body is always set to surround the detection range 50 near the vehicle body. The obstacle detection unit 107 outputs an alarm when an obstacle is detected in the detection range 51 far from the vehicle body, and outputs a stronger alarm when an obstacle is detected in the detection range 50 near the vehicle body. The alarm is output to the display device 12, a speaker (not shown), or the like. Note that when an obstacle is detected in the detection range 50 near the vehicle body, control may be performed to restrict the movement of the vehicle body.

[0086] 14 is a diagram showing an example in which fixed reference lines and position-changeable reference lines are drawn on an overhead image according to the second embodiment. An overhead image 18 is displayed as a surrounding image 17, and a vehicle body icon 19 is drawn in the center. Fixed reference lines 55 corresponding to a detection range 50 near the vehicle body and position-changeable reference lines 56 corresponding to a detection range 51 far from the vehicle body are drawn around the vehicle body icon 19.

[0087] A fixed reference line 55 corresponding to the detection range 50 near the vehicle body and a position-changeable reference line 56 corresponding to the detection range 51 far from the vehicle body are drawn in different ways at the boundary positions of the detection ranges 50, 51. When the setting of the detection range 51 far from the vehicle body is changed and the detection range changes, the drawing position of the position-changeable reference line 56 corresponding to the detection range 51 far from the vehicle body is changed to match the change.

[0088] 15 is a flowchart showing the processing of the controller 16 according to the second embodiment. Steps that differ from the first embodiment (shown in FIG. 11) will be described in detail below.

[0089] In parallel with the processes of steps S100 to S102, the controller 16 performs processes for the detection ranges 50 and 51. First, the detection range setting unit 106 determines whether or not the operator has performed a setting operation for the detection range 51 (step S108). If the determination in step S108 is NO, the determination is repeated until a setting operation is performed.

[0090] If the determination in step S108 is YES, the detection range setting unit 106 reads a list of selectable detection ranges 51 (detection range list) from the detection range settable position storage unit 108 (step S109). Thereafter, the detection range setting unit 106 generates a setting screen for the detection range 51 using the detection range list and outputs it to the display device 12. The operator operates the input device 15 to select a detection range 51 from the options for the detection range 51 displayed on the display device 12 (step S110).

[0091] The detection range setting unit 106 generates detection range information based on the detection range 50 and the selected detection range 51, and outputs the generated detection range information to the obstacle detection unit 107 (step S111). The obstacle detection unit 107 updates the detection range information stored therein based on the acquired detection range information, and performs detection processing based on the detection range information.

[0092] The detection range setting unit 106 also outputs the detection range information to the reference line position information generation unit 109. The reference line position information generation unit 109 generates reference line position information required for drawing the fixed reference lines and the position-changeable reference lines from the detection range information input from the detection range setting unit 106, and outputs the information to the reference line drawing unit 104 (step S112).

[0093] In the second embodiment, the detection ranges 50 and 51 are represented by rectangles as shown in FIG. 13 , but they may be shapes other than rectangles, such as circles or polygons. Furthermore, the obstacle detection unit 107 is implemented as a detection function using image processing provided in the controller 16, but means other than image processing may be used. For example, an object detection sensor such as a Lidar (Light Detection and Ranging, Laser Imaging Detection and Ranging) or an ultrasonic sensor may be provided and used as an obstacle detection means. Furthermore, the detection range 51 is changed by setting it by the operator. However, the detection range 51 may be changed depending on whether a specific function is enabled or disabled, and the drawing position of the position-changeable guide line may be changed in accordance with the change in the detection range 51.

[0094] (Summary) In the second embodiment, the vehicle bodies 2, 3 comprise a lower running body 2, an upper rotating body 3 rotatably attached to the lower running body 2, and a plurality of cameras 11a to 11d mounted on the upper rotating body 3, and the controller 16 (control device) has an obstacle detection function that determines whether or not an obstacle is present within a detection range 51 set around the vehicle bodies 2, 3 based on the plurality of camera images 20 to 22, and the detection range 51 in the obstacle detection function can be changed by the input device 15, and the drawing position of the position-changeable guide line 31a (second guide line) is changed based on the detection range 51 changed by the input device 15.

[0095] In the second embodiment configured as described above, the operator of the hydraulic excavator 1 can also appropriately recognize the distance to objects present around the hydraulic excavator 1 by changing the position of the position-changeable reference line 31a (second reference line) drawn on the surrounding image 17, and can easily grasp the position of the position-changeable reference line 31a by using the position of the fixed reference line 30a (first reference line), the drawn position of which does not change, as a reference. Furthermore, the operator can also change the drawn position of the position-changeable reference line 31a by changing the detection range 51 of the obstacle detection function.

[0096] Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. Furthermore, it is possible to add part of the configuration of one embodiment to the configuration of another embodiment, or to delete part of the configuration of one embodiment or replace it with part of another embodiment.

[0097] 1... Hydraulic excavator (work machine), 2... Lower traveling body (vehicle body), 3... Upper rotating body (vehicle body), 4... Front working machine, 5... Swing frame, 6... Driver's seat, 7... Building cover, 7A... Side panel, 7B... Top panel, 8... Engine cover, 10... Counterweight, 11a to 11d... Camera, 12... Display device, 13... Shut-off lever, 14A to 14D... Operation lever, 15... Input device, 16... Controller, 17... Surrounding image, 18... Bird's-eye view image, 18a to 18d... Image, 19... Vehicle body icon, 20... Rear camera image, 21... Right camera image, 22... Left camera image, 23a to 23c... Vehicle body, 30a... Fixed guide line (first guide line), 31a... Position-changeable guide line (second guide line) safety lines), 32a to 32c... fixed reference lines (first reference lines), 33a to 33c... position-changeable reference lines (second reference lines), 40... reference line position setting screen, 41... button, 42... reference line position selection GUI, 43... reference line position selection section, 44... confirm button, 45, 45a, 45b... position-changeable reference lines, 46... fixed reference lines, 50, 51... detection range, 55... fixed reference lines, 56... position-changeable reference lines, 101... bird's-eye view image synthesis section, 102... surrounding image synthesis section, 103... reference line position adjustment section, 104... reference line drawing section, 105... reference line settable position memory section, 106... detection range setting section, 107... obstacle detection section, 108... detection range settable position memory section, 109... reference line position information generation section.

Claims

1. A work machine comprising: a vehicle body; a display device; a control device that causes a reference line indicating an approximate distance from the vehicle body to be superimposed on an image of the surroundings of the vehicle body and displayed on the display device; and an input device that inputs instructions to the control device, wherein the reference line superimposed on the image of the surroundings by the control device includes a first reference line whose drawing position on the image of the surroundings is fixed, and a second reference line whose drawing position on the image of the surroundings is changed based on input from the input device.

2. A work machine as described in claim 1, wherein the vehicle body comprises a lower running body, an upper rotating body rotatably attached to the lower running body, and a plurality of cameras mounted on the upper rotating body, and the surrounding image includes an overhead image showing the area around the vehicle body created by combining a plurality of camera images from the plurality of cameras.

3. A work machine as described in claim 1, wherein the vehicle body comprises a lower running body, an upper rotating body rotatably attached to the lower running body, and a plurality of cameras mounted on the upper rotating body, and the surrounding image includes at least one camera image from a plurality of camera images from the plurality of cameras.

4. A work machine according to claim 1, wherein the second reference line is drawn on the surrounding image at a position farther from the vehicle body than the first reference line.

5. A work machine according to claim 1, characterized in that the control device draws the first reference line and the second reference line in different ways.

6. A work machine according to claim 5, wherein the control device draws the first reference line in a manner that emphasizes it more than the second reference line.

7. A work machine as described in claim 1, wherein the control device stores the reference position of the second reference line, and changes the drawing position of the second reference line according to the amount of displacement from the reference position instructed via the input device.

8. A work machine as described in claim 1, wherein the control device receives instructions from the input device, generates a setting screen for setting the drawing position of the second reference line, and displays it on the display device, and the setting screen includes the surrounding image on which the first reference line and the second reference line are drawn.

9. A work machine as described in claim 1, wherein the vehicle body comprises a lower running body, an upper rotating body rotatably attached to the lower running body, and a plurality of cameras mounted on the upper rotating body, the control device has an obstacle detection function that determines whether or not an obstacle is present within a detection range set around the vehicle body based on camera images from the plurality of cameras, the detection range in the obstacle detection function can be changed by the input device, and the drawing position of the second reference line is changed based on the detection range of the input device.

10. A work machine as described in claim 1, wherein the vehicle body comprises a lower running body, an upper rotating body rotatably attached to the lower running body, and a plurality of cameras mounted on the upper rotating body, the plurality of cameras being mounted on the upper rotating body so as to be able to photograph the left and right rear of the upper rotating body, and the drawing position of the second reference line can be set individually in each of the plurality of camera images from the plurality of cameras.

Images