Work machine video display system

Abstract

Provided is a work machine video display system comprising: a plurality of cameras that capture videos of the surroundings of a work machine; a monitor that displays a camera video that is, among the videos captured by the plurality of cameras, the video of a camera corresponding to a configured display layout; and a control device that controls the display of the monitor. The control device displays, on the monitor together with the camera video, a camera label indicating the relationship between a region surrounding the work machine and the image-capture region of the camera that captures the camera video. If the display layout has been configured, the control device changes and displays the display position or display mode of the camera label. Through this configuration, deterioration of monitor visibility is suppressed while ensuring ease of identification of a monitored region displayed in the camera video.

Description

Video display system for construction machinery 【0001】 The present invention relates to a video display system for construction machinery such as a hydraulic excavator. 【0002】 Among construction machinery that can display a camera image of the surrounding area of the machine body on a monitor in the cab, there are some that can switch the display pattern of the camera image according to the operator's preference. The display pattern referred to here is, for example, a pattern in which images taken by a plurality of cameras are combined to display a camera image that pseudo-overlooks the machine body from directly above, a pattern in which camera images taken by a plurality of cameras are arranged side by side, etc., which are types of the monitored areas to be displayed and their combinations. However, in construction machinery equipped with a plurality of cameras, it may be difficult to grasp which monitored area the camera image displayed on the surrounding monitoring screen represents. 【0003】 On the other hand, a system is known that displays an icon indicating which monitored area the camera image represents together with the camera image (Patent Document 1). 【0004】 Japanese Unexamined Patent Application Publication No. 2015-55095 【0005】 In recent years, since the variations in the display forms of camera images, taking the above display pattern as an example, have been increasing, it is conceivable to enable the selection and setting of the display form of the camera image. In this case, by combining and displaying an icon as shown in Patent Document 1 on the camera image displayed on the setting screen, it becomes easier to grasp which monitored area the camera image represents. However, the display purposes of the camera image displayed on the setting screen and the camera image displayed on the surrounding monitoring screen during the operation of the construction machinery are different. Due to the different display purposes, if the same icon is combined and displayed on the camera image displayed on the setting screen and the camera image displayed on the surrounding monitoring screen during the operation of the construction machinery, there is a concern about the difficulty in grasping the monitored area displayed in the camera image and the deterioration of the visibility of the monitor. 【0006】 An object of the present invention is to provide a video display system for construction machinery that can suppress the deterioration of the visibility of the monitor while ensuring the ease of grasping the monitored area displayed in the camera image. 【0007】 To achieve the above objective, the present invention provides a video display system for a work machine comprising: a plurality of cameras that photograph the area around the work machine; a monitor that displays camera images, which are images from cameras corresponding to a set display layout, among the images captured by the plurality of cameras; and a control device that controls the display on the monitor, wherein the control device displays camera labels indicating the relationship between the area around the work machine and the shooting area of ​​the camera that captures the camera images on the monitor together with the camera images, and the control device changes the display position or display manner of the camera labels when the display layout has been set. 【0008】 According to the present invention, it is possible to ensure ease of understanding the monitoring area displayed in the camera image while suppressing a decrease in the visibility of the monitor. 【0009】This is a side view showing the exterior of a hydraulic excavator, which is an example of a work machine to which the video display system according to one embodiment of the present invention is applied. This is a schematic diagram showing the interior of the operator's cab of the hydraulic excavator in Figure 1. This is a schematic diagram showing the overall control system of the hydraulic excavator in Figure 1. This is a functional block diagram of the control device in Figure 3. This is a flowchart showing an example of the procedure for display setting processing by the control device provided in the video display system according to one embodiment of the present invention. This is a flowchart showing an example of the procedure for camera image generation processing by the control device provided in the video display system according to one embodiment of the present invention. This is a diagram showing an example of camera image generated by the control device in Figure 6. This is a diagram showing an example of camera image generated by the control device in Figure 6. This is a diagram showing an example of camera image generated by the control device in Figure 6. This is a diagram showing an example of camera image generated by the control device in Figure 6. This is a conceptual diagram showing an example of switching the display layout of the camera image. This is a flowchart showing an example of the procedure for display format image generation processing by the control device provided in the video display system according to one embodiment of the present invention. This is a diagram showing an example of a display format image for display size setting generated by the control device in Figure 6. This is a diagram showing an example of a display format image for display position setting generated by the control device in Figure 6. This figure shows an example of a display format image for setting the display position generated by the control device in Figure 6. This figure shows an example of a display format image for setting the display position generated by the control device in Figure 6. This figure shows an example of a display format image for setting the display position generated by the control device in Figure 6. This figure shows an example of a display format image for setting the display position generated by the control device in Figure 6. This is a flowchart showing an example of the procedure for generating a camera label by a control device provided in a video display system according to one embodiment of the present invention. This figure shows an example of a camera label generated by the control device in Figure 6. This is a flowchart showing an example of the procedure for display control by a control device provided in a video display system according to one embodiment of the present invention. This figure shows an example of a screen for setting the display size of a camera image. This figure shows an example of a screen for setting the display size of a camera image. This figure shows an example of a screen for setting a combination pattern of camera images.This is a diagram illustrating an example of a screen for setting combination patterns of camera images. This is a diagram illustrating an example of a screen for setting combination patterns of camera images. This is a diagram illustrating an example of a screen for setting combination patterns of camera images. This is a diagram illustrating an example of a surrounding surveillance screen showing small-sized camera images. This is a diagram illustrating an example of a surrounding surveillance screen showing small-sized camera images. This is a diagram illustrating an example of a surrounding surveillance screen showing large-sized camera images. This is a diagram illustrating an example of a surrounding surveillance screen showing large-sized camera images. This is a diagram illustrating an example of a surrounding surveillance screen showing large-sized camera images. 【0010】 Embodiments of the present invention will be described below with reference to the drawings. 【0011】 -Work Machine- Figure 1 is a side view showing the external appearance of a hydraulic excavator, which is an example of a work machine to which the video display system according to one embodiment of the present invention is applied. The right side in Figure 1 is the front of the rotating body 1d. 【0012】 The hydraulic excavator 1 comprises a body 1B and an articulated front work implement 1A attached to the body 1B. The front work implement 1A has a boom 1a, an arm 1b, and a bucket 1c that rotate in a vertical plane. The body 1B consists of a traveling body 1e and a slewing body 1d that is rotatably mounted on the traveling body 1e. The slewing body 1d is equipped with a cab 1f. The base end of the boom 1a of the front work implement 1A is connected to the front of the slewing body 1d, the arm 1b is connected to the tip of the boom 1a, and the bucket 1c is connected to the tip of the arm 1b. The boom 1a, arm 1b, bucket 1c, slewing body 1d, and traveling body 1e are driven by corresponding hydraulic actuators, specifically a boom cylinder 2a, an arm cylinder 2b, a bucket cylinder 2c, a slewing motor 3d (Figure 3), a left-side traveling motor 3e (Figure 3), and a right-side traveling motor 3f, respectively. 【0013】The boom 1a, arm 1b, and bucket 1c (more precisely, the bucket link) are equipped with angle sensors 8a-8c, respectively, to detect the rotation angles of the boom 1a, arm 1b, and bucket 1c. In this embodiment, IMUs (Inertial Measurement Units) that measure the angle of the corresponding member relative to the ground are used as angle sensors 8a-8c, but angle meters that measure the relative angle between two members can also be used. The slewing body 1d is also equipped with GNSS antennas 9a and 9b for acquiring the current position of the hydraulic excavator 1, and multiple cameras 10a, 10b, and 10c for photographing the area around the vehicle body 1B. Camera 10a photographs the left side of the slewing body 1d, camera 10b photographs the rear of the slewing body 1d, and camera 10c photographs the right side of the slewing body 1d. 【0014】 In addition, although not shown in Figure 1, the slewing body 1d is equipped with an engine 4 as the prime mover, a hydraulic pump 5 driven by the engine 4, and a valve 6 that controls the flow of pressurized oil from the hydraulic pump 5 to the hydraulic actuators (boom cylinder 2a, etc.), as shown in Figure 3, which will be described later. The valve 6 is controlled according to the operation of the operating lever devices 7a-7d (Figure 2) located in the driver's cab 1f, and the direction and flow rate of the supply of pressurized oil from the hydraulic pump 5 to each hydraulic actuator are controlled, causing each actuator to operate. In some cases, an electric motor may be used instead of the engine 4 as the prime mover. 【0015】-Operator's Cabin- Figure 2 is a schematic diagram showing the interior of the operator's cab 1f. The operator's cab 1f is equipped with operating lever devices 7a-7d for operating the vehicle body 1B or the front work implement 1A, a shut-off lever 17 that locks the operation input from the operating lever devices 7a-7d to each actuator and restricts the operation of the operating lever devices 7a-7d, and a monitor 12 which is a display device that shows camera images captured by cameras 10a-10c. For example, operating the operating lever device 7a on the left side of the driver's seat forward and backward causes the slewing body 1d to swivel left and right, and operating it left and right causes the arm 1b to rotate forward and backward. Operating the operating lever device 7b on the right side of the driver's seat forward and backward causes the boom 1a to rotate up and down, and operating it left and right causes the bucket 1c to rotate. In addition, the monitor 12 in this embodiment is equipped with a touch panel 15 as a monitor operating device for operating the monitor 12. Furthermore, the operator's cab 1f is equipped with a speaker 11 for conveying information to the operator by sound. The speaker 11 may be provided on the monitor 12, for example, but it may also be provided separately from the monitor 12. 【0016】 -Control System- Figure 3 is a schematic diagram showing the overall control system of the hydraulic excavator 1. The rotating body 1d of the hydraulic excavator 1 is equipped with a control device 100 that controls each of the mounted devices. The control device 100 consists of a main C / U (Control Unit) 50 that controls actuators, etc., a GNSSC / U (Control Unit) 40 that processes information acquired by GNSS antennas 9a and 9b, and a notification C / U (Control Unit) 60 that controls various notifications to the operator. 【0017】 The main control unit 50 controls the engine 4, hydraulic pump 5, electrical equipment, etc. of the hydraulic excavator 1. Signals are input to the main control unit 50 from the operating lever devices 7a-7d, angle sensors 8a-8c, cameras 10a-10c, shut-off lever 17, etc. In response to these input signals, the main control unit 50 controls the engine 4, hydraulic pump 5, valves 6, etc., and controls hydraulic actuators such as the boom cylinder 2a to drive the hydraulic excavator 1. 【0018】The notification C / U 60 exchanges signals with the main C / U 50 and the touch panel 15, and transmits various setting signals to the main C / U 50 in response to operation signals from the touch panel 15. Based on the various display data input to the main C / U 50 in response, the notification C / U 60 controls the display of the monitor 12. As a result, the monitor 12 can display, for example, the operating status of the hydraulic excavator 1, a menu screen, an ambient monitoring screen (such as the ambient monitoring screen 800A in Figure 18A) that displays camera images corresponding to the set display layout from among the camera images captured by cameras 10a-10c, and a setting screen (such as the setting screen 600A in Figure 15A) for setting the display layout of the camera images, in response to operations on the touch panel 15. The camera images displayed on the monitor 12 are the images from the cameras corresponding to the set display layout from among the images captured by multiple cameras 10a-10c, and the monitor 12 displays the camera images according to the set display layout. The notification C / U 60 also calculates an audio output signal in response to a signal from the main C / U 50 and outputs it to the speaker 11. 【0019】 In this specification, setting the display layout refers to changing the combination pattern of camera images captured by cameras 10a-10c that are displayed on the surrounding monitoring screen (Figures 18A-18C, 19A-19C). Changing the combination pattern includes at least one of changing the combination pattern in which the displayed camera images are in different display positions, and changing the combination pattern in which the displayed camera images are in different display sizes. The combination patterns also include patterns in which an overhead view (described later) is displayed and patterns in which a through view (described later) is displayed. In other words, setting the display layout is changing the display position or display size of the displayed camera images. In this embodiment, setting the display layout can be performed by receiving input from the touch panel 15. 【0020】-Control Unit- Figure 4 is a functional block diagram of the control unit 100. Each function shown in Figure 4 is performed by the main C / U 50 and the notification C / U 60. The control unit 100, together with the cameras 10a-10c and the monitor 12, constitutes the video display system. The control unit 100 controls the display of the monitor 12 and has the function of switching the display layout of the camera images displayed on the surrounding monitoring screen (Figures 18A-18C, 19A-19C) in response to the operation of setting the display layout of the camera images (Figure 8) performed by the touch panel 15 on the setting screen (Figures 15A, 16A, etc.) displayed on the monitor 12 (Figure 7A-7E). The control unit 100 also has the function of displaying camera labels, which will be described later, on the monitor 12 together with the camera images (described later). 【0021】 Specifically, the control device 100 includes functions such as a touch operation acquisition unit 101, a display setting unit 102, a camera image generation unit 103, a display format image generation unit 104, a camera label generation unit 105, and a display control unit 106. These functions may be implemented by hardware elements such as circuits or by software elements. The functions of each block will be described below. 【0022】 The touch operation acquisition unit 101 acquires operation signals input via the touch panel 15 and outputs the operation signals to the display setting unit 102. 【0023】The display setting unit 102 identifies various display elements and display layouts to be displayed on the monitor 12 based on operation signals acquired via the touch operation acquisition unit 101, and instructs the corresponding function units, such as the camera image generation unit 103 or the display format image generation unit 104, and the camera label generation unit 105, to generate image data according to the display layout. The display layout of the camera image is at least one of the display position of the camera image displayed by the camera image (Figures 11A-11E) and the display size of the camera image (Figures 10A and 10B). In this embodiment, both the display size and display position of the camera image can be changed, and the display setting unit 102 identifies the display size and display position of the camera image as the display format and outputs them to the camera image generation unit 103, the display format image generation unit 104, the camera label generation unit 105, and the display control unit 106. Furthermore, the display setting unit 102 instructs the display control unit 106 to display according to the operation signal, outputs data of the display screen that combines each display element generated by the camera image generation unit 103 or the display form image generation unit 104 and the camera label generation unit 105 to the monitor 12, and controls the display on the monitor 12. An example of the specific processing procedure of the display setting unit 102 will be described later with reference to Figure 5. 【0024】 The camera image generation unit 103 generates camera images according to the display layout instructed by the display setting unit 102 from the video data input from cameras 10a-10c, and outputs them to the display control unit 106 for display on the monitor 12. The camera images generated by the camera image generation unit 103 include not only individual images from cameras 10a-10c, but also data synthesized from video data input from multiple cameras among the cameras 10a-10c. An example of the specific processing procedure of the camera image generation unit 103 is shown in Figure 6, and examples of camera images generated by the camera image generation unit 103 are shown in Figures 7A-7E, which will be described later. 【0025】The display format image generation unit 104 generates a display format image that mimics the display format of the selected camera video, which is displayed on the setting screen for setting the display layout of the camera video, according to the display layout instructed by the display setting unit 102, and outputs it to the display control unit 106. When the display layout of the camera video is being set (i.e., on the setting screen (Figures 15A-17)), the display format image generation unit 104 displays a display format image that mimics the display format of the camera video on the surrounding monitoring screen (Figures 18A-19C) on the monitor 12 in place of the camera video. The display format image is not dependent on the camera video but is an image pre-stored for each camera video corresponding to the storage unit of the control device 100, and is an image that mimics the camera video in terms of, for example, the display size and display mode of the camera video. The display format images generated by the display format image generation unit 104 include a display format image for setting the display size of the camera video (Figures 10A and 10B) and a display format image for setting the display position of the camera video (Figures 11A-11E). Examples of specific processing procedures by the display format image generation unit 104 are shown in Figure 9, examples of switching the display size and display position of the camera image are shown in Figure 8, examples of display format images for setting the display size of the camera image are shown in Figures 10A and 10B, and examples of display format images for setting the display position of the camera image are shown in Figures 11A to 11E, and will be described later. 【0026】The camera label generation unit 105 generates camera labels (Figure 13) to be displayed on the surrounding monitoring screen (Figure 18B, etc.) or the display layout setting screen (Figure 16B, etc.) that displays camera images, based on instructions from the display setting unit 102, and outputs them to the display control unit 106 if necessary. The camera labels generated by the camera label generation unit 105 include a first camera label that is displayed on the setting screen (Figure 16B, etc.) in combination with a display format image, and a second camera label that is displayed on the surrounding monitoring screen (Figure 18B, etc.) in combination with camera images. These camera labels are icons that show the relationship between the area around the hydraulic excavator 1 and the shooting area of ​​the camera that takes the camera images. Specifically, the first camera label is an icon for the setting screen that shows which area of ​​the entire monitoring area by cameras 10a-10c the camera images displayed by the camera images corresponding to the display format image displayed on the setting screen will display. The second camera label is an icon for the surrounding monitoring screen that indicates which area of ​​the entire monitoring area by cameras 10a-10c the camera image currently displayed on the surrounding monitoring screen is showing. In this embodiment, the first camera label and the second camera label differ in at least one of their position (for example, their positional relationship to the display format image or camera image displayed simultaneously) and form (size, form, etc.). For example, even if the monitoring area indicated by the first camera label X1 and the second camera label X2 is the same, the forms of the first camera label X1 and the second camera label X2 are different. That is, when the display layout of the camera image has been set, the camera label generation unit 105 changes the display position or display form of the camera label (second camera label) from that of the camera label (first camera label) displayed together with the camera image. 【0027】Furthermore, based on the instructions from the display setting unit 102, the camera label generation unit 105 determines, when the display of the setting screen is instructed, whether the display format image generated by the display format image generation unit 104 is a predetermined display format image (in this embodiment, a display format image for setting the display position of the camera image) from among a predetermined set of multiple display format images. If the display format image displayed on the setting screen is a predetermined display format image, the camera label generation unit 105 generates a first camera label to be displayed on the setting screen together with the predetermined display format image and outputs it to the display control unit 106, causing the monitor 12 to display the first camera label together with the predetermined display format image. However, if the display format image displayed on the monitor 12 is a display format image other than the predetermined display format image (in this embodiment, a display format image for setting the display size of the camera image) from among a predetermined set of multiple display format images, the camera label generation unit 105 does not generate a first camera label and displays the display format image (a display format image other than the predetermined display format image) on the monitor 12 without displaying the first camera label. 【0028】Furthermore, based on the instructions from the display setting unit 102, the camera label generation unit 105 determines, when instructed to display the camera image (surroundings monitoring screen), whether the camera image generated by the camera image generation unit 103 displays a predetermined monitoring area (in this embodiment, a portion of the monitoring area by cameras 10a-10c) from among a predetermined number of monitoring areas. If the camera image displayed on the monitor 12 is a camera image of the predetermined monitoring area, the camera label generation unit 105 generates a second camera label to be displayed on the surroundings monitoring screen in combination with the camera image displaying the predetermined monitoring area, outputs it to the display control unit 106, and displays the second camera label on the monitor 12 in combination with the camera image of the predetermined monitoring area. If the camera image displayed on the monitor 12 is a camera image of a monitoring area other than the predetermined monitoring area (in this embodiment, a camera image that displays the entire monitoring area by cameras 10a-10c), the camera label generation unit 105 does not generate a second camera label and displays the camera image of the monitoring area other than the predetermined monitoring area on the monitor 12 without combining it with the second camera label. An example of the specific processing procedure of the camera label generation unit 105 will be shown in Figure 12, and an example of a camera label will be shown in Figure 13, both of which will be described later. 【0029】 The display control unit 106, in response to instructions from the display setting unit 102, outputs the camera image generated by the camera image generation unit 103, or the display format image generated by the display format image generation unit 104, in combination with the first camera label or the second camera label generated by the camera label generation unit 105, if either has been generated, to display the surrounding monitoring screen or the setting screen on the monitor 12. Examples of the specific processing procedures of the display control unit 106 are shown in Figure 14, examples of the display size setting screen are shown in Figures 15A and 15B, examples of the display position setting screen are shown in Figures 16A to 17, and examples of the surrounding monitoring screen are shown in Figures 18A to 19C, each of which will be described later. 【0030】 -Display Setting Unit Processing- Figure 5 is a flowchart showing an example of the procedure for display setting processing by the control device 100. The control device 100, using the display setting unit 102, repeatedly executes the process shown in Figure 5 in short processing cycles (for example, 10 ms) while power is supplied. 【0031】 When the process shown in Figure 5 is started, the display setting unit 102 determines whether an operation input has been made to the touch panel 15 based on the presence or absence of an operation signal input from the touch operation acquisition unit 101 (step S300). If it is determined in step S300 that no operation input has been made (No), the display setting unit 102 continues to output the same instructions as in the previous processing cycle to the camera image generation unit 103 or the display form image generation unit 104, the camera label generation unit 105, and the display control unit 106 (step S308), ending the current processing cycle and starting the next processing cycle. 【0032】 If it is determined in step S300 that an operation input has been made (Yes), the display setting unit 102 determines whether the operation input is an operation related to setting the display layout of the camera image (step S301). In this embodiment, an operation related to setting the display layout refers to an operation to set the display size of the camera image and an operation to set the display position of the camera image on the setting screen. 【0033】 If it is determined in step S301 that the operation input is an operation to set the display layout of the camera image (Yes), the display setting unit 102 outputs an instruction to the display control unit 106 to display the display layout setting screen (step S302), outputs an instruction to the display format image generation unit 104 to generate a display format image (step S303), and if a predetermined display format image is to be displayed on the setting screen, it instructs the camera label generation unit 105 to generate a first camera label for the setting screen (step S304), ends the current processing cycle, and starts the next processing cycle. The execution order of steps S302-S304 can be changed. 【0034】If it is determined in step S301 that the operation input is not an operation to set the display layout of the camera image (No), the display setting unit 102 instructs the display control unit 106 to display the camera image (surroundings monitoring screen) based on the current display layout setting (step S305), instructs the camera image generation unit 103 to generate the camera image (step S306), and if the camera image of a predetermined monitoring area is to be displayed on the surroundings monitoring screen, instructs the camera label generation unit 105 to generate a second camera label for the surroundings monitoring screen (step S307), and ends the current processing cycle and starts the next processing cycle. The execution order of steps S305-S307 can be changed. 【0035】 -Camera Image Generation Process- Figure 6 is a flowchart showing an example of the procedure for camera image generation processing by the control device 100. The control device 100, using the camera image generation unit 103, repeatedly executes the process shown in Figure 6 in short processing cycles (for example, 10 ms) while power is supplied. 【0036】 When the process shown in Figure 6 begins, the camera image generation unit 103 determines whether an instruction to generate a camera image has been input from the display setting unit 102 (step S400). The instruction to generate a camera image is the instruction input from the display setting unit 102 to the camera image generation unit 103 in the procedure shown in step S306 of Figure 5. If no instruction to generate a camera image has been input, the camera image generation unit 103 terminates the current processing cycle and starts the next processing cycle. 【0037】If an instruction to generate camera images is input, the camera image generation unit 103 determines whether it has been able to acquire video data from cameras 10a-10c (step S401). If video data has not been acquired, the camera image generation unit 103 terminates the current processing cycle and starts the next processing cycle. If video data has been acquired, the camera image generation unit 103 checks the display layout settings for the camera images based on instructions from the display setting unit 102 (step S402). After checking the display layout settings for the camera images, the camera image generation unit 103 processes the video data acquired from cameras 10a-10c according to the display layout settings and generates camera images to be displayed on the monitor 12 (step S403). Once the camera images have been generated, the camera image generation unit 103 outputs the generated camera images to the display control unit 106 (step S404), terminates the current processing cycle, and starts the next processing cycle. 【0038】 -Examples of Camera Images- Figures 7A-7E show examples of camera images for each display layout generated by the camera image generation unit 103. Camera image 201 illustrated in Figure 7A and camera image 202 illustrated in Figure 7B have the same display size on the display screen of the monitor 12. Also, camera image 203 illustrated in Figure 7C, camera image 204 illustrated in Figure 7D, and camera image 205 illustrated in Figure 7E have the same display size on the display screen of the monitor 12. Camera images 201, 202 and camera images 203-205 have different display sizes, with camera images 203-205 having a larger display size than camera images 201, 202. These multiple display layouts for camera images are pre-stored in the storage unit of the control device 100. In the following description, for convenience, the display size of the entire display area of ​​camera images 201, 202 may be described as small size, and the display size of the entire display area of ​​camera images 203-205 may be described as large size. 【0039】For example, a single camera image (area) may contain multiple camera images (images from multiple cameras), such as camera image 202 in Figure 7B containing two camera images 202A and 202B, and camera image 203 in Figure 7C containing two camera images 203A and 203B. Even camera images of the same small size, such as camera images 201 and 202, may have different display positions (layouts) of the camera images they contain. Similarly, even camera images of the same large size, such as camera images 203-205, may have different display positions (layouts) of the camera images they contain. 【0040】 The camera image 201 illustrated in Figure 7A is a real-time image generated by synthesizing the video data from cameras 10a-10c, and displays a pseudo-overhead view of the hydraulic excavator 1 from an aerial perspective across the entire display size (small size). The camera image 201 displays an overhead view of the area around the hydraulic excavator 1, generated from the video data of cameras 10a-10c, around the shovel icon 201d, which represents the hydraulic excavator 1. This overhead view is a display pattern that transforms the camera images taken by multiple cameras 10a-10c into a view from directly above the hydraulic excavator 1, and displays the entire monitoring area of ​​cameras 10a-10c. In the area 201a to the left of the shovel icon 201d in the camera image 201, the video data from camera 10a is converted into an overhead view and displayed. Similarly, the area 201b behind the shovel icon 201d and the area 201c to the right of it display the video data from cameras 10b and 10c, respectively, converted into an overhead view. The shovel icon 201d is an icon that mimics the appearance of the hydraulic excavator 1 as seen from above, and is displayed to help understand the positional relationship between the surrounding overhead view and the vehicle itself. 【0041】The camera image 202 illustrated in Figure 7B includes two camera images 202b and 202c arranged side by side. Camera images 202b and 202c display real-time video (hereinafter referred to as "through video") obtained by processing (trimming, rotating, scaling, etc.) the video data of cameras 10b and 10c, respectively, without performing viewpoint transformation as in camera image 201. Although camera images 202b and 202c display video data from different cameras, it is also possible to display different parts of the video data from the same camera side by side in camera images 202b and 202c. Figure 7B illustrates an example where the two camera images 202b and 202c are arranged horizontally, but the screen configuration may also be one in which camera images 202b and 202c are arranged vertically. Furthermore, the camera images displayed in camera images 202b and 202c can be switched arbitrarily, and camera images 202b and 202c can each display video data from one camera selected from cameras 10a-10c. Alternatively, a screen configuration that displays images from three or more cameras side-by-side may be adopted, or instead of displaying images from multiple cameras side-by-side, a screen configuration that displays only the video data from one camera selected from cameras 10a-10c across the entire screen may be considered. 【0042】 Furthermore, the camera images 202b and 202c may display not only the through-video from individual cameras, but also wide-angle images created by stitching together video data from multiple cameras (for example, cameras 10a and 10b), or overhead images of a portion of the entire monitoring area from cameras 10a-10c. 【0043】The camera image 203 illustrated in FIG. 7C displays side by side a camera image 203w that displays an aerial view image based on the video data of the cameras 10a - 10c, and a camera image 203e that displays a through image of the camera 10b. The camera image 203w corresponds to the camera image 201 (FIG. 7A), and the regions 203a - 203c and the excavator icon 203d of the camera image 203 respectively correspond to the regions 201a - 201c and the excavator icon 201d in FIG. 7A. As described above, compared with the small-sized camera images 201 and 202 in FIGS. 7A and 7B, the camera images 203 - 205 have a larger display size. In the present embodiment, with respect to the camera images 201 and 202, the camera images 203 - 205 have the same dimension in the horizontal direction on the screen of the monitor 12 and are enlarged in dimension downward. This enlarged region of the camera image 203 is the camera image 203e, and in the present embodiment, a through image of the rear camera 10b is displayed in the camera image 203e. The through image displayed in the camera image 203e together with the aerial view image is not limited to the image of the camera 10b, and may be the image of another camera, or may be the wide-angle image or the partial aerial view image described above. 【0044】 The camera image 204 illustrated in FIG. 7D displays side by side three through images of the cameras 10a - 10c. A through image of the camera 10a is displayed in the camera image 204a, a through image of the camera 10b is displayed in the camera image 204b, and a through image of the camera 10c is displayed in the camera image 204c. On the screen of the monitor 12, the camera images 204a and 204c are adjacent to each other on the left and right, and the camera image 204b is adjacent below them. For example, the display sizes of the camera images 204a and 204c correspond to those of the camera images 202b and 202c, and the camera image 204 is enlarged in display size compared with the camera image 202 by the amount of the camera image 204b. 【0045】The camera image 205 illustrated in Figure 7E displays a real-time overhead view based on the video data from cameras 10a-10c across the entire large display area. Camera image 205 is similar to camera images 201 and 203w in that it displays the entire monitoring area from cameras 10a-10c, but it differs in that the display is expanded to include the monitoring area in front of the hydraulic excavator 1. The video data from the left camera 10a is projected in area 205a, the video data from the rear camera 10b is projected in area 205b, and the video data from the right camera 10c is projected in area 205c, each converted into an overhead view from above. The shovel icon 205d is the same icon as shovel icon 201d, etc., and in camera image 205, the display of the monitoring area is expanded in front of the hydraulic excavator 1, so areas 205a and 205c extend further forward than shovel icon 205d. 【0046】 -Example of switching display layout- Figure 8 is a conceptual diagram showing an example of switching the display layout of camera images. Camera images 201-205 are the respective camera images exemplified in Figures 7A-7E. Group 220 is classified into small-sized camera images 201 and 202, which have the same display size. Similarly, Group 221 is classified into large-sized camera images 203-205, which have the same display size. Switching settings between Groups 220 and 221 is a change in combination patterns in which the display sizes of the displayed camera images are different from each other, and is performed by setting operations using the setting screen for setting the display size of the camera images (Figures 15A and 15B). Switching settings within Group 220 and within Group 221 is a change in combination patterns in which the display positions of the displayed camera images are different from each other, and is performed by setting operations using the setting screen for setting the display position of the camera images (Figures 16A-17). 【0047】 -Display Mode Image Generation Process- Figure 9 is a flowchart showing an example of the procedure for display mode image generation processing by the control device 100. The control device 100, using the display mode image generation unit 104, repeatedly executes the process shown in Figure 9 in short processing cycles (for example, 10 ms) while power is supplied. 【0048】When starting the process of FIG. 9, the display form image generation unit 104 determines whether an instruction to generate a display form image has been input from the display setting unit 102 (step S500). The instruction to generate a display form image is the instruction input from the display setting unit 102 to the display form image generation unit 104 in the procedure of step S303 of FIG. 5. If the instruction to generate a display form image has not been input (No), the display form image generation unit 104 simply ends the current processing cycle and starts the next processing cycle. 【0049】 If an instruction to generate a display form image has been input (Yes), the display form image generation unit 104 determines whether the operation input is an operation for setting the display size of the camera image (step S501). If it is determined in step S501 that the operation input is an operation for setting the display size of the camera image, the display form image generation unit 104 confirms the setting of the display form image according to the display size set by the operation input (step S502), generates an image for display size setting according to the setting (step S503), outputs the generated display form image for display size setting to the display control unit 106 (step S504), ends the current processing cycle, and starts the next processing cycle. 【0050】 If it is determined in step S501 that the operation input is not an operation for setting the display size of the camera image, the display form image generation unit 104 confirms the setting of the display form image according to the display layout set by the operation input (step S505), generates an image for display position setting according to the setting (step S506), outputs the generated display form image for display position setting to the display control unit 106 (step S504), ends the current processing cycle, and starts the next processing cycle. 【0051】-Examples of display format images for setting the display size of camera images- Figures 10A and 10B are diagrams showing examples of display format images for setting the display size generated by the display format image generation unit 104. The display format images 300 and 301 illustrated in Figures 10A and 10B are images (icons) that mimic the display size of the camera image for setting the display layout of the camera image. The control device 100 displays these display format images 300 and 301 on the setting screen without displaying the camera image (without using the camera image as a basis) (Figure 15A, etc.). In other words, the display format images 300 and 301 do not include or are based on a preview image of the current video data captured by the camera, but are pre-prepared images. The display format images 300 and 301 may be static images or dynamic images (e.g., animations) as long as they allow the operator to recognize (or associate) the selected display layout (display size) of the camera image. 【0052】Display mode images 300 and 301 are images with a resized display of the camera image (camera image 201, etc.) displayed on the surrounding monitoring screen, and are displayed on the settings screen at a smaller display size than the camera image. However, display mode images 300 and 301 can also be displayed on the settings screen at the same display size as the corresponding camera image. In this embodiment, display mode image 300 is designed to show the display size of the camera image in comparison to the liquid crystal area (maximum display area) of the monitor 12. The outer frames 300a and 301a of display mode images 300 and 301 represent the liquid crystal area of ​​the monitor 12, and the inner frames 300b and 301b represent the display area of ​​the camera image within the liquid crystal area. The inner frame 300b of display mode image 300 shows the small size (group 220 in Figure 8) exemplified in Figures 7A and 7B, and the inner frame 301b of display mode image 301 shows the large size (group 221 in Figure 8) exemplified in Figures 7C to 7E. Furthermore, in this embodiment, both display mode images 300 and 301 show the layout of the camera image in the liquid crystal area based on the positions of the inner frames 300b and 301b relative to the outer frames 300a and 301a. In the examples of Figures 10A and 10B, it can be seen that the camera image is positioned in the center of the liquid crystal area. Thus, the display mode images 300 and 301 show the display size and position of the camera image in comparison to the liquid crystal area of ​​the monitor 12. Moreover, the inner frames 300b and 301b are set to have the same aspect ratio as the selected camera image. 【0053】-Examples of display format images for setting display position- Figures 11A-11E show examples of display format images for setting display position generated by the display format image generation unit 104. The display format images 401-405 illustrated in Figures 11A-11E are images (icons) that mimic the display position (layout) of the camera image for setting the display layout of the camera image. The control device 100 displays these display format images 401-405 on the setting screen without relying on the camera image (Figure 16A, etc.). In other words, the display format images 401-405 do not include a preview image of the current video data captured by the camera, but are pre-prepared images. The display format images 401-405 may be static images or dynamic images (e.g., animations) as long as they allow the operator to recognize (or associate) the display position of the selected camera image. 【0054】 Display mode images 401-405 are images with a resized display of the camera image (camera image 201, etc.) shown on the surrounding monitoring screen, and are displayed on the camera image settings screen at a smaller display size than the actual camera image. However, display mode images 401-405 can also be displayed on the settings screen at the same display size as the corresponding camera image. Furthermore, display mode images 401-405 simulate the display layout of the selected camera image (i.e., the corresponding camera images 201-205). Display mode images 401-405 are set to have the same aspect ratio as the corresponding camera images 201-205. Specifically, the display mode images 401-405 exemplified in Figures 11A-11E correspond to the camera images 201-205 exemplified in Figures 7A-7B, respectively. 【0055】 The display mode image 401 in Figure 11A corresponds to the camera image 201 in Figure 7A, and shows the camera image 201 displaying an overhead view. 【0056】The display mode image 402 in Figure 11B corresponds to the camera image 202 in Figure 7B and includes two display mode images 402b and 402c. These display mode images 402b and 402c show camera images 202b and 202c, where the through-videos of cameras 10b and 10c are displayed, respectively, in the camera image 202. In this way, multiple display mode images can be displayed on the settings screen (for example, Figures 16B-17) depending on the combination pattern of the corresponding camera images. The same applies to the examples in Figures 11C and 11D below. 【0057】 The display mode image 403 in Figure 11C corresponds to the camera image 203 in Figure 7C and includes two display mode images 403w and 403e. These display mode images 403w and 403e show the camera image 203w, which displays an overhead view, and the camera image 203e, which displays the through view from camera 10b, respectively. 【0058】 The display mode image 404 in Figure 11D corresponds to the camera image 204 in Figure 7D and includes three display mode images 404a-404c. These display mode images 404a-404c show camera images 204a-204c in which the pass-through images from cameras 10a-10c are displayed, respectively, in the camera image 204. 【0059】 The display mode image 405 in Figure 11E corresponds to the camera image 205 in Figure 7E, and shows the camera image 205 displaying an overhead view. 【0060】 -Camera Label Generation Process- Figure 12 is a flowchart showing an example of the procedure for camera label generation by the control device 100. The control device 100, using the camera label generation unit 105, repeatedly executes the process shown in Figure 12 in short processing cycles (e.g., 10 ms) while power is supplied. 【0061】When the processing shown in Figure 12 begins, the camera label generation unit 105 determines whether the image displayed on the monitor 12 in combination with the camera label is a display format image (step S600). If it is determined in step S600 that the image displayed in combination with the camera label is a display format image (Yes), the camera label generation unit 105 checks the setting of the first camera label corresponding to the display format image corresponding to the operation input (step S601), generates the first camera label for the display format image according to the setting (step S602), outputs the generated first camera label to the display control unit 106 (step S603), ends the current processing cycle, and starts the next processing cycle. However, if the display format image is the display format image 300 or 301 for setting the display size of the camera image as described in Figures 10A and 10B, the camera label generation unit 105 does not generate the first camera label, ends the current processing cycle, and starts the next processing cycle. 【0062】 If it is determined in step S600 that the image displayed in combination with the camera label is not a display format image (No), the camera label generation unit 105 checks the setting of a second camera label corresponding to the camera image in response to the operation input (step S604), generates a second camera label corresponding to the monitoring area displayed by the camera image according to the setting (step S605), outputs the generated second camera label to the display control unit 106 (step S606), ends the current processing cycle, and starts the next processing cycle. However, for monitoring images that display the entire (omnidirectional) monitoring area of ​​cameras 10a-10c (camera image 201 in Figure 7A, camera image 203w in Figure 7C, camera image 205 in Figure 7E), the camera label generation unit 105 does not generate a second camera label. 【0063】 -Example of a camera label- Figure 13 shows an example of a camera label generated by the camera label generation unit 105. 【0064】The camera labels 501a-501e belonging to group 501 in Figure 3 are first camera labels for display format images (for setting screens), respectively. The camera labels 502a-502d belonging to group 502 are second camera labels for camera images (for surrounding monitoring screens), respectively. The circular outline 503 of each camera label represents the overall monitoring area by cameras 10a-10c. Furthermore, the area 504 represented in white (high brightness color) within the overall monitoring area represented by each outline 503 represents the monitoring area related to the display format image or camera image displayed on the monitor 12 in combination with the camera label. In the example in Figure 13, camera labels 501a and 502a represent the monitoring area to the left of the hydraulic excavator 1, camera labels 501b and 502b represent the monitoring area behind the hydraulic excavator 1, camera labels 501c and 502c represent the monitoring area to the right of the hydraulic excavator 1, and camera label 501d represents the overall monitoring area (overhead view). 【0065】 As mentioned earlier, it is also possible to combine video data from multiple cameras to display a wide-angle monitoring area on a single camera image. Camera labels 501e and 502d represent a wide-angle monitoring area extending from the rear to the left of the hydraulic excavator 1, based on video data from cameras 10a and 10b. Of course, it is also possible to display a wide-angle monitoring area extending from the rear to the right of the hydraulic excavator 1, based on video data from cameras 10b and 10c, and corresponding camera labels are provided in this case as well. However, in this embodiment, the second camera label for the camera image is not essential when representing the overall monitoring area. In this embodiment, when the control device 100 displays an overhead view on the surrounding monitoring screen, it does not display camera labels for the overhead view, but instead displays an excavator icon (for example, the excavator icon 201d in Figure 18A) indicating the hydraulic excavator 1 at the corresponding position in the overhead view image. 【0066】Furthermore, in this embodiment, of the first camera labels belonging to group 501 (camera labels 501a-501e) and the second camera labels belonging to group 502 (camera labels 502a-502d), only the first camera labels display a shovel icon 505, which shows the plan view of the hydraulic excavator 1, in the center inside the outline 503. In other words, the control device 100 displays the shovel icon 505, which represents the hydraulic excavator 1, superimposed on the camera label on the setting screen (Figures 16A-16C, Figure 17). In this way, the first camera labels belonging to group 501 indicate the monitoring area (area 504) in relation to the shovel icon 505. Since the first camera labels of group 501 are displayed in combination with a display format image that does not use video data, the shovel icon 505 is placed in the center so that the monitoring area displayed by the camera image corresponding to the display format image can be seen at a glance from the camera label display alone. 【0067】 On the other hand, in the second camera label belonging to group 502, the shovel icon 505 is omitted to simplify the display. The second camera label indicates the monitoring area (area 504) by its position (position within the outline 503) within the overall monitoring area of ​​the multiple cameras 10a-10c. Since the camera image displayed in combination with the second camera label may itself contain information about which monitoring area it is displaying, the amount of information in the second camera label is kept to a minimum. 【0068】 -Display Control Processing- Figure 14 is a flowchart showing an example of the procedure for display control processing by the control device 100. The control device 100, using the display control unit 106, repeatedly executes the process shown in Figure 14 in short processing cycles (for example, 10 ms) while power is supplied. 【0069】 When the process shown in Figure 14 is started, the display control unit 106 determines whether the screen to be displayed on the monitor 12 is a settings screen for setting the display layout of the camera image (step S700). 【0070】If it is determined in step S700 that the screen to be displayed on the monitor 12 is not a settings screen (No), the display control unit 106 checks the settings of the camera image display layout (display size and display position of the camera image) based on the instructions from the display setting unit 102 (step S705), and determines whether the camera image displays a part of the entire monitoring area by cameras 10a-10c (step S706). For camera images that display a partial monitoring area (for example, camera image 203e in Figure 7C), the display control unit 106 combines the camera image generated by the camera image generation unit 103 with the corresponding second camera label generated by the camera label generation unit 105, and generates this as the image relating to that area (step S707). For camera images that display the entire monitoring area (for example, camera image 203w in Figure 7C), the display control unit 106 generates only the camera image generated by the camera image generation unit 103 as the image relating to that area, without combining it with the second camera label (step S708). Then, the display control unit 106 combines the images for each region generated in steps S707 and S708 and outputs them to the monitor 12 (step S709), displaying the surrounding monitoring screen including the camera image on the monitor 12, ending the current processing cycle and starting the next processing cycle. 【0071】 If it is determined in step S700 that the screen to be displayed on the monitor 12 is a settings screen (Yes), the display control unit 106 checks the settings of the display format image (purpose and type of the display format image) based on the instructions from the display setting unit 102 (step S701), and determines whether the display format image to be displayed is a display format image for setting the display size of the camera image (step S702). 【0072】If it is determined in step S702 that the purpose of the display format image to be displayed is for setting the display size (Yes), the display control unit 106 outputs a display format image for setting the display size (for example, display format image 300 in Figure 10A or display format image 301 in Figure 10B) to the monitor 12 according to the setting (type of display format image) confirmed in step S701 (step S703), displays a setting screen including the display format image for setting the display size on the monitor 12, ends the current processing cycle, and starts the next processing cycle. 【0073】 If it is determined in step S702 that the display format image to be displayed is not for setting the display size (No), the display control unit 106 outputs a display format image for setting the display position (for example, any of the display format images 401-405 in Figures 11A-11E) in combination with the first camera label generated by the camera label generation unit 105 to the monitor 12 (step S704), displays a setting screen including the display format image for setting the display position on the monitor 12, ends the current processing cycle, and starts the next processing cycle. 【0074】 -Example of display size setting screen- Figures 15A and 15B are diagrams showing examples of display size setting screens for camera images. The setting screen 600A in Figure 15A and the setting screen 600B in Figure 15B are displayed on the monitor 12 in step S703 of Figure 14. 【0075】 The settings screen 600A displays the display mode image 300, selection lists 604 and 605, selection status 606 and 607, cancel button 608, and setting button 609 in the liquid crystal area 602 located inside the outer shape 601 of the monitor 12. The selection lists 604 and 605, selection status 606 and 607, cancel button 608, and setting button 609 are input units that accept changes to the display layout settings. The control device 100 displays these input units on the monitor 12 at a position below the display mode image 300. The settings screen 600B is the same as the settings screen 600A except that the display of the display mode image 300 is switched to the display of the display mode image 301. 【0076】The liquid crystal area 602 is the maximum display area of ​​the monitor 12. Display mode image 300 is a display mode image showing a small-sized camera image as exemplified in Figure 10A, and display mode image 301 is a display mode image showing a large-sized camera image as exemplified in Figure 10B. As described above, in display mode images 300 and 301, the display size of the camera image is indicated by the inner frame 300b and 301b in comparison to the outer frame 300a and 301a that represent the liquid crystal area 602 of the monitor 12. The control device 100 displays the display mode image 300 or 301 in a predetermined area (the upper half area in this embodiment) of the setting screen 600A or 600B of the monitor 12. The display format images 300 and 301 are displayed on the setting screens 600A and 600B at a smaller display size than the camera images (for example, camera image 201 in Figure 18A and camera image 203 in Figure 19A) that are set based on the display format images 300 and 301 and displayed on the surrounding monitoring screen. The inner frames 300b and 301b, which are represented as camera images in the display format images 300 and 301, are set to have the same aspect ratio as the selected camera images (for example, camera images 201 and 203). 【0077】 Selection lists 604 and 605 are input fields for setting the display layout and display the selectable display size options. "Small camera display" displayed in selection list 604 corresponds to the small size mentioned above, and "Large camera display" displayed in selection list 605 corresponds to the large size mentioned above. The control device 100 displays selection lists 604 and 605 below the display form images 300 and 301 in the setting screens 600A and 600B. 【0078】The selection states 606 and 607 indicate the selection status of the display size options shown in the selection lists 604 and 605. In Figures 15A and 15B, radio buttons for selecting "Small Camera Display" and "Large Camera Display" are shown as examples. In setting screen 600A, "Small Camera Display" is selected as the display size, and display format image 300 showing a small-sized camera image is displayed. In setting screen 600B, "Large Camera Display" is selected as the display size, and display format image 301 showing a large-sized camera image is displayed. Pressing the cancel button 608 will not apply the display size settings shown in selection states 606 and 607, and setting screens 600A and 600B will close. Pressing the setting button 609 will apply the display size settings currently shown in selection states 606 and 607. This sets the display size of the camera image displayed on the surrounding monitoring screen. 【0079】 As described above, the setting screens 600A and 600B used for setting the display size for displaying the display format images 300 and 301 do not display camera labels indicating the monitoring area related to these display format images 300 and 301. 【0080】 -Example of display position setting screen- Figures 16A-16C show examples of screens for setting the display position of camera images. The setting screen 700A in Figure 16A, the setting screen 700B in Figure 16B, and the setting screen 700C in Figure 16C are displayed on the monitor 12 in step S704 of Figure 14. In Figures 16A-16C, elements that are the same as or corresponding to those in previously shown drawings are given the same reference numerals as in previously shown drawings, and explanations are omitted as appropriate. 【0081】The settings screen 700A displays the display mode image 401, camera label 501d, selection lists 705 and 706, selection status 606 and 607, cancel button 608, and setting button 609 in the liquid crystal area 602. The selection lists 705 and 706, selection status 606 and 607, cancel button 608, and setting button 609 are input units that accept changes to the display layout settings. The control device 100 displays these input units on the monitor 12 at a position below the display mode image 401. The settings screens 700B and 700C are the same as the settings screen 700A except that the display of the display mode image 401 is switched to the display mode images 402 and 402' respectively, and the camera labels indicating the monitoring areas related to each area of ​​the display mode images 402 and 402' are different. 【0082】 Display mode image 401 is the display mode image exemplified in Figure 11A, and display mode image 402 is the display mode image exemplified in Figure 11B. As described above, display mode images 401 and 402 simulate the display layout of the selected camera image. In other words, display mode image 401 shows a camera image that displays one monitoring area overall (camera image 201 in Figure 7A in this example), while display mode images 402 and 402' show a camera image that displays two monitoring areas side by side (camera image 202 in Figure 7B in this example). 【0083】As mentioned above, the display images 401, 402, and 402' for setting the display position display a first camera label classified into group 501, which indicates the monitoring area (area 504) in relation to the shovel icon 505 explained in Figure 13. The display image 401 of the setting screen 700A displays the camera label 501d exemplified in Figure 13 as the first camera label, indicating that an overhead view is displayed. The display image on the left of the display image 402 of the setting screen 700B displays the camera label 501b exemplified in Figure 13 as the first camera label, and the display image on the right of the display image 402 displays the camera label 501c exemplified in Figure 13 as the first camera label, indicating that the monitoring areas behind and to the right of the hydraulic excavator 1 are displayed, respectively. The display mode image 402' on the left of the setting screen 700C shows camera label 501e as the first camera label, as illustrated in Figure 13, and the display mode image on the right of the display mode image 402' shows camera label 501c as the first camera label, as illustrated in Figure 13, indicating that the wide-angle area from the left to the rear of the hydraulic excavator 1 and the monitoring area to the right are displayed, respectively. 【0084】Furthermore, the first camera label displayed on the setting screens 700A-700C (the camera label of group 501 in Figure 13) differs in appearance from the second camera label (the camera label of group 502 in Figure 13) that is displayed on the monitor 12 in combination with the camera image on the surrounding monitoring screen (for example, Figure 18B). The presence or absence of the shovel icon 505 is one of the differences in appearance, but as can be seen by comparing Figures 16A and 18B, for example, the first camera label displayed on the setting screens 700A-700C (the camera label of group 501 in Figure 13) is larger on the display screen of the monitor 12 than the second camera label (the camera label of group 502 in Figure 13) that is displayed on the monitor 12 in combination with the camera image on the surrounding monitoring screen (for example, Figure 18B). In other words, the control device 100 increases the display size of the camera labels when the display layout has been set. In addition, the size ratio of the first camera label to the display format image displayed together (for example, the size ratio of camera label 501d to display format image 401 in Figure 16A) is larger than the size ratio of the second camera label to the camera image displayed together (for example, the size ratio of camera label 502a to camera image 202 in Figure 18B). Furthermore, the positional relationship between the display format image and the first camera label displayed together (for example, the size ratio of camera label 501d to display format image 401 in Figure 16A) is different from the positional relationship between the camera image and the second camera label (for example, the size ratio of camera label 502a to camera image 202 in Figure 18B). For example, as illustrated in Figure 18B, the second camera label is displayed small and superimposed on the camera image in the corner of the camera image, whereas, as illustrated in Figures 16A and 16B, the first camera label is displayed large in the center of the display format image, superimposed on the display format image used for setting the display position, which is displayed in place of the camera image. As illustrated in Figure 17, the first camera label may be displayed around (outside of) the display format image used for setting the display position.The setting screen 700D shown in Figure 17 displays a display format image 402 relating to the rear and right monitoring areas, similar to the setting screen 700B in Figure 16B. Leader lines 717 and 719 are used to clearly indicate that the camera labels 501b and 501c correspond to the display format images 402b and 402c. 【0085】 Selection lists 705 and 706 are input fields for setting the display layout, corresponding to selection lists 604 and 605 on the display size setting screens 600A and 600B (Figures 15A and 15B), and display the selectable display size options. "Overview" displayed in selection list 705 corresponds to the overhead view mentioned above, and "Through" displayed in selection list 706 corresponds to the through view (including wide-angle view) mentioned above. In the display position setting screens 700A-700C, the positional relationship between display form images 401, 402, 402', selection lists 705 and 706, selection states 606 and 607, cancel button 608, and setting button 609 is the same as the positional relationship between the corresponding display elements in the display size setting screens 600A and 600B. The fact that the size of the camera image displayed on the surrounding monitoring screen is smaller than that of the display screen of monitor 12, and that the aspect ratio is the same as that of the corresponding camera image, is the same for the display format image used for setting the display position as well as the display format image used for setting the display size. 【0086】 In setting screen 700A, "Overhead View" is selected, and a camera label 501d indicating an overhead view is displayed along with display mode image 401. In setting screens 700B and 700C, "Through View" is selected, and a camera label 501c indicating a through view is displayed along with display mode images 402 and 402'. Similar to setting screen 600A for display size settings, pressing the cancel button 608 will not apply the settings shown in selected states 606 and 607, and setting screens 700A-700C will close. Pressing the setting button 609 will apply the settings currently shown in selected states 606 and 607. This sets the display layout of the camera images displayed on the surrounding monitoring screen. Note that when multiple monitoring areas are displayed simultaneously on the surrounding monitoring screen, the monitoring areas to be displayed in the camera images can be set separately. 【0087】In the setting screens illustrated in Figures 16A-16C and 17, an example of switching the display position of camera images within group 220 in Figure 8 is shown with "Small display size" selected. However, the procedure is the same as in the examples in Figures 16A-16C and 17 when switching the display position of camera images within group 221 with "Large display size" selected. 【0088】 -Example of Surroundings Monitoring Screen (1)- Figures 18A and 18B are diagrams showing examples of surroundings monitoring screens displaying small-sized camera images. In Figures 18A and 18B, elements that are the same as or corresponding to those in previously shown drawings are denoted by the same reference numerals as in previously shown drawings, and explanations are omitted as appropriate. The surroundings monitoring screens 800A and 800B in Figures 18A and 18B are displayed on the monitor 12 in step S709 of Figure 14. The camera images displayed in Figures 18A and 18B are images classified as group 220 in Figure 8. 【0089】 In the surrounding monitoring screen 800A in Figure 18A, the camera image 201 is displayed within the liquid crystal area 602, and in the surrounding monitoring screen 800B in Figure 18B, the camera image 202 is displayed within the liquid crystal area 602. The surrounding monitoring screens 800A and 800B are screens that display the small-sized camera images exemplified in Figures 7A and 7B, respectively. As mentioned above, the camera image 201 that displays the overall monitoring area does not display a camera label indicating the monitoring area displayed by the camera image 201, as shown in Figure 18A. In contrast, the camera images 202b and 202c that display partial monitoring areas have camera labels representing the monitoring areas displayed by each camera image 202b and 202c displayed in association with the camera images 202b and 202c, as shown in Figure 18B. In the example shown in Figure 18B, the camera labels 502b and 502c illustrated in Figure 13 are displayed, and it can be seen that the current status of the monitoring area behind the hydraulic excavator 1 is displayed in camera image 202b, and the current status of the monitoring area to the right of the hydraulic excavator 1 is displayed in camera image 202c. In the surrounding monitoring screen 800B, the camera labels 502b and 502c are displayed close to the outlines of the camera images 202b and 202c, respectively, and superimposed on the camera images 202b and 202c. The camera labels illustrated in Figures 18C to 19B are similar. 【0090】 Furthermore, the camera image may display a wide-angle view of the monitoring area using video data from multiple cameras. As an example, Figure 18C shows an ambient monitoring screen 800C in which the camera label 502d, as explained in Figure 13, is displayed, and the camera image 202b' of camera image 202' displays a wide-angle view of the monitoring area extending from the left to the rear of the hydraulic excavator 1. 【0091】 -Example of Surroundings Monitoring Screen (2)- Figures 19A and 19C show examples of surroundings monitoring screens displaying large-size camera images. In Figures 19A and 19C, elements identical to or corresponding to those in previously shown drawings are denoted by the same reference numerals as in previously shown drawings, and explanations are omitted as appropriate. The surroundings monitoring screens 900A and 900C in Figures 19A and 19C are displayed on the monitor 12 in step S709 of Figure 14. The camera images displayed in Figures 19A and 19C are images classified as group 221 in Figure 8. 【0092】 In the surrounding monitoring screen 900A in Figure 19A, the camera image 203 is displayed in the liquid crystal area 602; in the surrounding monitoring screen 900B in Figure 19B, the camera image 204 is displayed in the liquid crystal area 602; and in the surrounding monitoring screen 900C in Figure 19C, the camera image 205 is displayed in the liquid crystal area 602. Surrounding monitoring screens 900A-900C are screens that display large-sized camera images as exemplified in Figures 7C-7E, respectively. 【0093】As mentioned above, camera images 203w and 205, which display the overall monitoring area, do not display camera labels indicating the monitoring area shown by those images, as shown in Figures 19A and 19C. In contrast, camera images 203e and 204a-204c, which display partial monitoring areas, display camera labels representing the monitoring areas shown by those images, as shown in Figures 19A and 19B, corresponding to the images 203e and 204a-204c. In the example in Figure 19B, the camera labels 502a-502c exemplified in Figure 13 are displayed as appropriate, and it can be seen that camera images 203e and 204b display the current status of the monitoring area behind the hydraulic excavator 1, camera image 204a displays the current status of the monitoring area to the left of the hydraulic excavator 1, and camera image 204c displays the current status of the monitoring area to the right of the hydraulic excavator 1. 【0094】 -Effects- (1) In this embodiment, if the display layout has been set, the control device 100 changes the display position or display manner of the camera label. This makes it possible to suppress a decrease in the visibility of the monitor while ensuring that the monitoring area displayed in the camera image is easy to grasp. 【0095】 (2) For example, camera footage displayed on the surrounding monitoring screen during the operation of a work machine is intended to show the operator the current conditions around the machine, and therefore requires an appropriate display size. For this reason, it is undesirable for the camera footage to be excessively reduced in size or obscured by displaying camera labels. On the other hand, display format images do not have the purpose of showing the operator the current conditions around the machine, so the required display size is different from that of camera footage. 【0096】Therefore, if the camera label representing the monitoring area is the same whether it is displayed in combination with a display mode image on the settings screen or in combination with camera footage on the surrounding monitoring screen, it may result in a specification that is suitable for one case but unsuitable for the other. For example, if the display size of the camera label is set large to prioritize clarity on the settings screen, and that camera label is then displayed on the surrounding monitoring screen as is, the camera footage may become smaller due to being compressed by the camera label, or the camera footage may be largely obscured by the camera label, making it difficult for the operator to grasp the current situation around the aircraft. 【0097】 In response, the control device 100 displays display format images 300, 301, 401-405 (Figures 10A-11E) that mimic the display format of the camera image on the setting screens 600A, 600B, 700A-700D (Figures 15A-17) for setting the display layout of the camera image. When a predetermined display format image 401-405 (Figures 11A-11E) is displayed on the setting screens 700A-700D, the control device 100 displays first camera labels 501a-501e on the setting screens 700A-700D that indicate the monitoring area displayed by the camera image set in the display format image 401-405. Furthermore, when displaying camera images 202-204 of a predetermined monitoring area (e.g., a partial monitoring area) on the surrounding monitoring screens 800B, 800C, 900A, and 900B, the control device 100 displays second camera labels 502a-502d, which indicate the predetermined monitoring area displayed by the camera images 202-204, on the surrounding monitoring screens 800B, 800C, 900A, and 900B in a different manner than the first camera labels 501a-501e. This makes it possible to display camera labels in different manners on the setting screens 700A-700D and the surrounding monitoring screens 800B, 800C, 900A, and 900B, each suited to the characteristics of its respective screen. 【0098】(3) In this embodiment, as illustrated in Figures 18A to 19C, the display size and position of the camera image can be set as part of the camera image display layout. In this way, the display size and position of the camera image displayed on the surrounding monitoring screen can be selected from multiple options, and the operator can flexibly switch the display layout of the camera image according to the work content and preferences, which can improve work efficiency. 【0099】 (4) The first camera labels (camera label 501a, etc.) of group 501 shown in setting screens 700A-700D include a shovel icon 505 indicating hydraulic excavator 1, and are designed to indicate the monitoring area (area 504) in relation to the shovel icon 505. On the other hand, the second camera labels (camera label 502a, etc.) of group 502 shown in surrounding monitoring screens 800B, 800C, 900A, 900B are designed to indicate the monitoring area (area 504) in relation to the position within the overall monitoring area by cameras 10a-10c. 【0100】In this embodiment, video data is not used in the display format images 401-405 displayed on the setting screens 700A-700D (they are not preview images of camera footage), but by representing the monitoring area in relation to the shovel icon 505, the corresponding monitoring area can be easily identified at a glance by displaying only the camera label. On the other hand, the camera footage 202 etc. displayed on the surrounding monitoring screens 800B, 800C, 900A, 900B contains a great deal of information about which monitoring area is being displayed. Therefore, for the second camera label of group 502, which is displayed on the surrounding monitoring screen in combination with the camera footage, the shovel icon 505 is omitted to reduce the amount of information, and the monitoring area (area 504) is represented by its position in the overall monitoring area (position within the outline 503). As a result, the design of the second camera label is simplified, making it easier to identify even when the display is reduced. This makes it possible to reduce the display size of the second camera label, thereby suppressing the compression and overlapping area of ​​the display area of ​​the camera footage. Therefore, it is possible to achieve both ease of checking the monitoring area displayed by the camera image and clarity of the display format images in the settings screen. Not only is the surrounding monitoring screen easy to see during work, but it also becomes easier to understand the type of camera image when operating the settings screen, improving work efficiency. 【0101】 (5) Furthermore, if a display layout has been set, the control device 100 enlarges the display size of the camera labels. For example, as can be seen by comparing the setting screen 700B (Figure 16B) and the surrounding monitoring screen 800B (Figure 18B) related to the same monitoring area, the first camera labels of group 501 (camera label 501a, etc.) displayed on the setting screens 700A-700D are larger in size on the display screen of the monitor 12 than the second camera labels of group 502 (camera label 502a, etc.) displayed on the surrounding monitoring screens 800B, 800C, 900A, and 900B. In connection with this, the size ratio of the first camera labels to the display form image is larger than the size ratio of the second camera labels to the camera image. 【0102】In this way, the second camera label displayed on the surrounding monitoring screen in combination with the camera image is displayed relatively small, while the first camera label displayed on the settings screen in combination with the display format image is displayed relatively large. For example, as shown in the settings screen 700B of Figure 16B, even when the display format image is displayed small relative to the corresponding camera image, the visibility of the camera label can be ensured by displaying the first camera label large. Furthermore, by reducing the display size of the second camera label, the display size of the camera image can be sufficiently secured, as shown in the surrounding monitoring screen 800B of Figure 18B. This also suppresses the compression and interference of the camera image by the second camera label, and makes it easier to understand the type of camera image indicated by the first camera label on the settings screen, thereby improving usability and work efficiency. 【0103】 (6) As shown in the settings screen 700B and the surrounding monitoring screen 800B, the positional relationship between the display format images 401-405 and the first camera label is different from the positional relationship between the camera image and the second camera label. By making the display positions of the first camera label displayed on the settings screen in combination with the display format image and the second camera label displayed on the surrounding monitoring screen in combination with the camera image different in this way, it is possible to display camera labels that are suited to the characteristics of the settings screen and the surrounding monitoring screen, thereby improving the clarity of the settings screen and the readability of the surrounding monitoring screen. 【0104】 (7) The first camera label is displayed in the center of the display image, superimposed on the display image, as shown in Figures 16A and 16B. This makes the outer edge or boundary of the camera image shown by the display image easier to see, which can improve the efficiency of setting operations. 【0105】 (8) When the first camera labels 501b and 501c are displayed around (outside) the display image 402 as shown in Figure 17, the camera labels can be displayed at a size that is easy to recognize, even if the display image is small. 【0106】(9) As shown in Figure 18B, by displaying the second camera label in the corner of the camera image on the surrounding monitoring screen, the reduction in the visibility of the camera image due to the second camera label can be suppressed, and the ease of checking the camera image can be ensured. 【0107】 (10) The control device 100 also displays display format images, specifically display format images 300, 301 (Figures 10A and 10B) for setting the display size, excluding the display format image for setting the display position, on the setting screens 600A and 600B (Figures 15A and 15B) without displaying the first camera label. The display format images 300, 301 for setting the display size of the camera image only need to allow the user to select the display size of the camera image on the surrounding monitoring screen, and it is not necessarily required that the monitoring area displayed by the camera image be understood. In this case, the usability may be improved by omitting the display of the first camera label and reducing the amount of information. 【0108】 (11) As described above, a predetermined camera image (for example, camera image 202 in Figure 18B) that displays a portion of the entire monitoring area by cameras 10a-10c is displayed on the surrounding monitoring screen in combination with a second camera label. In contrast, the control device 100 omits the display of the second camera label for camera images that display the entire monitoring area (for example, camera image 201 in Figure 18A) and displays them on the surrounding monitoring screen without combining them with the second camera label. For example, an overhead view is an image obtained by combining video data from multiple cameras 10a-10c and transforming the viewpoint, and has features such as displaying a camera label that mimics a hydraulic excavator 1 (excavator icon 201d, etc.), so it can be easily identified without combining it with a second camera label. Therefore, as illustrated in the surrounding monitoring screens 800A and 900A (Figures 18A and 19A), by omitting the display of the second camera label for the display of the entire monitoring area, the amount of information can be reduced unnecessarily, improving usability. 【0109】(12) Furthermore, if the display format image is used as a preview of the camera image, the processing load of the control device 100 will increase. Also, the display format image is small, making it difficult to identify the image displayed in the display format image. In contrast, in this embodiment, when the display layout is set, display format images 300, 301, 401-405 that simulate the camera image are displayed on the monitor 12 in place of the camera image. This reduces the memory pressure and processing load of the control device 100. In addition, the display format image is a simple display that simulates the display format of the target camera image, so the amount of information is appropriate and it is easy to grasp the monitoring area. 【0110】 (13) The display format image is an image that is stored in advance in the control device 100 and does not rely on real-time camera footage, thus reducing the processing load on the control device 100. 【0111】 (14) Furthermore, as can be seen by comparing, for example, Figure 16A and Figure 18A, the display format image (display format image 401, etc.) is displayed on the settings screen (settings screen 700A, etc.) at a smaller display size than the camera image (camera image 201, etc.). As a result, various displays necessary for setting the display layout, specifically, selection lists 604, 605, selection lists 705, 706, selection status 606, 607, cancel button 608, setting button 609, etc., can be displayed on the settings screen (settings screen 700A, etc.) along with the display format image. Since these various displays necessary for setting the display layout can be viewed together with the display format image on the same settings screen, usability is improved. 【0112】 However, the simulated image can also be displayed on the settings screen at the same display size as the camera image. Displaying the simulated image at the same size as the camera image makes it easier to visualize the display layout during setup. 【0113】(15) Furthermore, as can be seen by comparing, for example, Figure 16A and Figure 18A, the display format image (display format image 401, etc.) is displayed on the settings screen (settings screen 700A, etc.) so that its aspect ratio is the same as that of the selected camera image (camera image 201, etc.). This makes it easier to visualize the camera image after setting the display layout when setting it, allowing for efficient display layout setting operations and improving work efficiency. 【0114】 (16) As shown in Figures 15A and 15B, by displaying display format images 300 and 301 on the setting screens 600A and 600B, which show the display size and layout of the camera image in the inner frame 300b and 301b in contrast to the outer frame 300a and 301a that represent the maximum display area of ​​the monitor 12, it becomes easier to visualize the size of the camera image etc. in the surrounding monitoring screens 800A-800C and 900A-900C, allowing for efficient selection operations and improving work efficiency. 【0115】 (17) As shown in Figures 16A-17, by displaying display format images (display format images 401, 402, etc.) that simulate the display layout of the selected camera image on the setting screen (setting screens 700A, 700B, etc.), it becomes easier to visualize the surrounding monitoring screen (surrounding monitoring screens 800A, 800B, etc.) after setting the display layout. As a result, the display layout selection operation can be performed efficiently, improving work efficiency. 【0116】 (18) As shown in Figures 15A to 17, by arranging the display layout setting input fields (selection lists 604, 605, etc.) below the display format image (display format image 300, etc.) on the setting screen (setting screen 600A, etc.), the operator's hand does not overlap the display format image in their field of view during touch operation, and they can perform setting operations while checking the display format image, thereby improving operability. 【0117】-Modifications- The present invention is not limited to the embodiments described above and may include various modifications. For example, the present invention is not necessarily limited to a configuration having all the components described in each of the embodiments above. For example, it is possible to replace some of the components with other components. It is also possible to delete some of the components of the embodiments or add other components. 【0118】 For example, in the above embodiment, a touch panel 15 was used as the monitor operating device for operating the monitor 12, but the monitor operating device may be an operating device using physical buttons, dials, switches, etc. Also, although a hydraulic excavator 1 equipped with multiple cameras 10a-10c was used as an example in the explanation, the present invention is also applicable to a hydraulic excavator 1 equipped with only one camera. Furthermore, although a hydraulic excavator 1 was used as an example of a work machine to which the invention is applied, the present invention is also applicable to other work machines such as wheel loaders. 【0119】 1...Hydraulic excavator (working machine), 10a-c...Camera, 12...Monitor, 100...Control device, 201-205, 202b, 202c, 203w, 203e, 204a-204c...Camera image, 300, 301, 401-405, 402b, 402c, 403w, 403e, 404a-404c...Display format image, 501a-e, 502a-d...Camera label, 505...Excavator icon (working machine image), 600A, B, 700A-D...Setting screen, 800A-C, 900A-C...Surroundings monitoring screen

Claims

1. A video display system for a work machine comprising: a plurality of cameras that photograph the area around the work machine; a monitor that displays camera images, which are images from cameras corresponding to a set display layout, among the images captured by the plurality of cameras; and a control device that controls the display on the monitor, wherein the control device displays camera labels indicating the relationship between the area around the work machine and the shooting area of ​​the camera that captures the camera images on the monitor together with the camera images, and the control device is characterized in that, when the display layout has been set, it changes the display position or display manner of the camera labels.

2. The video display system for a work machine according to claim 1, wherein the control device increases the display size of the camera label when the display layout has been set.

3. A video display system for a work machine according to claim 1, wherein the monitor is capable of displaying an ambient monitoring screen that displays the camera image corresponding to the set display layout and a setting screen for setting the display layout, and the control device is characterized in that, on the setting screen, an icon representing the work machine is superimposed on the camera label.

4. A video display system for a work machine according to claim 1, wherein the monitor is capable of displaying an ambient monitoring screen that displays the camera image corresponding to the set display layout and a setting screen for setting the display layout, and the control device is characterized in that the setting screen displays a display format image that mimics the display format of the camera image on the ambient monitoring screen.

5. The video display system for a work machine according to claim 4, characterized in that the display format image is an image obtained by changing the size of the camera image displayed on the surrounding monitoring screen.

6. The video display system for a work machine according to claim 4, wherein the setting of the display layout is a change in the combination pattern of camera images captured by the plurality of cameras displayed on the surrounding monitoring screen, and the display format images displayed on the setting screen are displayed in multiple quantities according to the combination pattern.

7. The video display system for a work machine according to claim 6, characterized in that the change of the combination pattern includes a combination pattern in which the display position of the displayed camera image is different or a combination pattern in which the display size of the displayed camera image is different.

8. An image display system for a work machine according to claim 6, wherein the control device displays the camera label on the surrounding monitoring screen, positioned close to the outer edge of the camera image and superimposed on the camera image, and displays the camera label in the center of the display format image on the settings screen.

9. An image display system for a work machine according to claim 6, wherein the control device displays the camera label on the surrounding monitoring screen, positioned close to the outer edge of the camera image and superimposed on the camera image, and displays the camera label on the setting screen, positioned around the display format image.

10. A video display system for a work machine according to claim 8, wherein the control device displays the camera label on the setting screen at a larger size than the camera label displayed on the surrounding monitoring screen.

11. A video display system for a work machine according to claim 6, wherein the combination pattern includes a pattern that displays an overhead view obtained by synthesizing camera images captured by the plurality of cameras and converting them into a view of the work machine from directly above, and the control device, when displaying the overhead view on the surrounding monitoring screen, displays an icon indicating the work machine at a corresponding position on the overhead view, without displaying the camera labels on the overhead view.

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