Work machine video display system

Abstract

Provided is a work machine video display system that comprises: a camera that images the surrounding of a work machine; a monitor that displays a camera video captured by the camera in accordance with a set display layout; and a control device that controls the display of the monitor. The control device causes the monitor to display, instead of the camera video, a simulated image simulating the camera video while the display layout is being set. Accordingly, it becomes easier to understand a camera video display mode to be selected when setting the camera video display mode.

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】 In a display device in which operation information related to the operation state of a construction machine and a camera image around the machine body are simultaneously displayed on a monitor, there is known one in which at least one of the display position of the operation information and the camera image can be switched by a single changeover switch (Patent Document 1). 【0003】 International Publication No. 2015 / 163381 【0004】 Among construction machines that can display a camera image of the surrounding of the machine body on a monitor in the cab, there are those in which the display pattern of the camera image can be switched according to the preference of the operator. The display pattern here refers to, for example, a pattern in which images taken by a plurality of cameras are synthesized 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., and is a type of the monitoring area to be displayed and the combination of displays. Also, there are cases where not only the display pattern but also the display size of the camera image can be changed. As a result, the display forms of camera images such as display patterns and display sizes have become diversified. Therefore, it is conceivable to display a setting screen on the monitor so that the display form of the camera image can be set on the setting screen. 【0005】However, if the settings screen is configured to display the individual names of the display modes as options, it may be difficult to understand how the camera footage of each monitoring area will be displayed in the selected display mode. While it is possible to preview the actual camera footage on the settings screen, the camera footage is large in size because its purpose is to show the operator the current situation around the aircraft. Therefore, directly previewing the camera footage on the settings screen at the same time as setting raises concerns about increased processing load due to the scaling down of the camera footage according to the settings. It is also possible to use a conversion map to scale down the camera footage for the settings screen, but in this case, not only is a conversion map required to scale down the camera footage for the settings screen, but the scaled-down display of the camera footage makes it difficult to discern the details of the monitoring area due to its small size. In particular, if the area around the aircraft looks similar in all directions, it may be impossible to determine which monitoring area is being displayed. 【0006】 The object of the present invention is to provide a video display system for a work machine that makes it easier to understand the selected display mode for camera images when setting the display mode for camera images. 【0007】 To achieve the above objective, the present invention provides a video display system for a work machine comprising a camera that photographs the area around the work machine, a monitor that displays camera images captured by the camera according to a set display layout, and a control device that controls the display on the monitor, wherein the control device, when the display layout has been set, displays a simulated image that simulates the camera image on the monitor instead of the camera image. 【0008】 According to the present invention, it is possible to easily understand the selected display mode for the camera image when setting the display mode for the camera image. 【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 simulated 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 simulated image for display size setting generated by the control device in Figure 6. This is a diagram showing an example of a simulated image for display position setting generated by the control device in Figure 6. This is a diagram showing an example of a simulated image for setting the display position generated by the control device in Figure 6. This is a diagram showing an example of a simulated image for setting the display position generated by the control device in Figure 6. This is a diagram showing an example of a simulated image for setting the display position generated by the control device in Figure 6. This is a diagram showing an example of a simulated 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 icon generation processing by a control device provided in a video display system according to one embodiment of the present invention. This is a diagram showing an example of an icon generated by the control device in Figure 6. This is a flowchart showing an example of the procedure for display control processing by a control device provided in a video display system according to one embodiment of the present invention. This is a diagram showing an example of a screen for setting the display size of camera images. This is a diagram showing an example of a screen for setting the display size of camera images. This is a diagram showing an example of a screen for setting combination patterns of camera images. This is a diagram showing 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 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 displays, 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 the operation of the touch panel 15. The camera images displayed on the monitor 12 are images from 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 a video display system. This 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 a second icon, 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 simulated image generation unit 104, an icon 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 simulated image generation unit 104, and the icon generation unit 105, to generate image data according to the display layout for each display element. 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 layout and outputs them to the camera image generation unit 103, the simulated image generation unit 104, the icon 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 the display elements generated by the camera image generation unit 103 or the simulated image generation unit 104 and the icon 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 simulated image generation unit 104 generates a simulated image that mimics the selected camera image, which is displayed on the setting screen for setting the display layout of the camera image, 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 image is being set (i.e., on the setting screen (Figures 15A-17)), the simulated image generation unit 104 displays a simulated image that mimics the display form of the camera image on the surrounding monitoring screen (Figures 18A-19C) on the monitor 12 in place of the camera image. The simulated image is not based on the camera image but is an image pre-stored for each camera image corresponding to the storage unit of the control device 100, and is an image that mimics the camera image in terms of display size, display mode, etc. When the display layout of the camera image is being set, the simulated image generation unit 104 displays the simulated image on the monitor 12 in place of the camera image. The simulated images generated by the simulated image generation unit 104 include simulated images for setting the display size of the camera image (Figures 10A and 10B) and simulated images for setting the display position of the camera image (Figures 11A to 11E). An example of the specific processing procedure by the simulated image generation unit 104 is shown in Figure 9, an example of switching the display size and display position of the camera image is shown in Figure 8, examples of simulated images for setting the display size of the camera image are shown in Figures 10A and 10B, and examples of simulated images for setting the display position of the camera image are shown in Figures 11A to 11E, which will be described later. 【0026】The icon generation unit 105 generates icons (Figure 13) to be displayed on the surrounding monitoring screen (Figure 18B, etc.) or the display layout setting screen (Figure 16B, etc.) that displays the camera image, based on instructions from the display setting unit 102, and outputs them to the display control unit 106, if necessary. The icons generated by the icon generation unit 105 include a first icon that is displayed on the setting screen (Figure 16B, etc.) in combination with a simulated image, and a second icon that is displayed on the surrounding monitoring screen (Figure 18B, etc.) in combination with the camera image. These icons indicate the relationship between the orientation of the hydraulic excavator 1 and the shooting direction of the cameras 10a-10c. Specifically, the first icon is an icon for the setting screen that indicates which area of ​​the entire monitoring area by the cameras 10a-10c will be displayed by the camera image corresponding to the simulated image displayed on the setting screen. The second icon 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 icon and the second icon differ in at least one of their position (for example, their positional relationship to the simulated image or camera image displayed simultaneously) and appearance (size, shape, etc.). For example, even if the monitoring area indicated by the first icon X1 and the second icon X2 is the same, the appearance of the first icon X1 and the second icon X2 will be different. That is, when the display layout of the camera image has been set, the icon generation unit 105 displays the second icon with a different display position or display appearance than the first icon which is displayed together with the camera image. 【0027】Furthermore, based on the instructions from the display setting unit 102, the icon generation unit 105 determines whether the simulated image generated by the simulated image generation unit 104 is a predetermined simulated image (in this embodiment, a simulated image for setting the display position of the camera image) from among a predetermined set of multiple simulated images, if the display of the setting screen is instructed. If the simulated image displayed on the setting screen is the predetermined simulated image, the icon generation unit 105 generates a first icon to be displayed on the setting screen together with the predetermined simulated image and outputs it to the display control unit 106, causing the monitor 12 to display the first icon together with the predetermined simulated image. However, if the simulated image displayed on the monitor 12 is a simulated image other than the predetermined simulated image from among a predetermined set of multiple simulated images (in this embodiment, a simulated image for setting the display size of the camera image), the icon generation unit 105 does not generate the first icon and displays the simulated image (a simulated image other than the predetermined simulated image) on the monitor 12 without displaying the first icon. 【0028】 Furthermore, based on the instructions from the display setting unit 102, the icon 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 icon generation unit 105 generates a second icon 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 icon 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 icon generation unit 105 does not generate a second icon 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 icon. An example of the specific processing procedure of the icon generation unit 105 will be shown in Figure 12, and an example of an icon 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 simulated image generated by the simulated image generation unit 104, in combination with the first icon or the second icon if one has been generated by the icon generation unit 105, and displays the surrounding monitoring screen or 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, and 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 simulated image generation unit 104, the icon 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 step S301 determines 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 simulated image generation unit 104 to generate a simulated image (step S303), and if a predetermined simulated image is to be displayed on the setting screen, it instructs the icon generation unit 105 to generate a first icon 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 (surroundings monitoring screen) of a predetermined monitoring area is to be displayed, instructs the icon generation unit 105 to generate a second icon 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 may contain multiple camera images, as shown in Figure 7B where camera image 202 contains two camera images 202A and 202B, and in Figure 7C where camera image 203 contains 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 bird's-eye view image 203w based on the video data of cameras 10a - 10c and a through image of camera 10b, i.e., camera image 203e. The camera image 203w corresponds to the camera image 201 (FIG. 7A), and regions 203a - 203c and the excavator icon 203d of the camera image 203w respectively correspond to regions 201a - 201c and the excavator icon 201d in FIG. 7A. As described above, the camera images 203 - 205 have a larger display size than the small-sized camera images 201 and 202 in FIGS. 7A and 7B. 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 an enlarged dimension in the downward direction. 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 bird's-eye view image is not limited to the image of the camera 10b, and may be the image of another camera, or may be the above-described wide-angle image or partial bird's-eye view image. 【0044】 The camera image 204 illustrated in FIG. 7D displays side by side three through images of cameras 10a - 10c. A through image of camera 10a is displayed in the camera image 204a, a through image of camera 10b is displayed in the camera image 204b, and a through image of 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 to them on the lower side. 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 to the camera image 202 by the size 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】 - Simulated Image Generation Process - Figure 9 is a flowchart showing an example of the procedure for simulated image generation processing by the control device 100. The control device 100, using the simulated 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 simulated image generation unit 104 determines whether an instruction to generate a simulated image has been input from the display setting unit 102 (step S500). The instruction to generate a simulated image is the instruction input from the display setting unit 102 to the simulated image generation unit 104 in the procedure of step S303 of FIG. 5. If the instruction to generate a simulated image has not been input (No), the simulated image generation unit 104 simply ends the current processing cycle and starts the next processing cycle. 【0049】 If the instruction to generate a simulated image has been input (Yes), the simulated 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 simulated image generation unit 104 confirms the setting of the simulated 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 simulated 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 simulated image generation unit 104 confirms the setting of the simulated image according to the display layout set by the operation input (step S505), generates a simulated image for setting the combination pattern of the camera images according to the setting (step S5, outputs the generated simulated 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 simulated images for setting the display size of camera images- Figures 10A and 10B show examples of simulated images for setting the display size generated by the simulated image generation unit 104. The simulated 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 simulated 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 simulated images 300 and 301 do not include or are based on preview images of the current video data captured by the camera, but are pre-prepared images. The simulated 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】The simulated images 300 and 301 are images with a modified display size 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 actual camera image. However, the simulated 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, the simulated 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 the simulated 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 the simulated image 300 shows the small size (group 220 in Figure 8) exemplified in Figures 7A and 7B, and the inner frame 301b of the simulated image 301 shows the large size (group 221 in Figure 8) exemplified in Figures 7C to 7E. Furthermore, in this embodiment, both simulated 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 located in the center of the liquid crystal area. In this way, the display size and position of the camera image are shown in the simulated images 300 and 301 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 simulated images for setting combination patterns of camera images- Figures 11A-11E show examples of simulated images for setting display positions generated by the simulated image generation unit 104. The simulated images 401-405 illustrated in Figures 11A-11E are images (icons) that mimic the display positions (layouts) of camera images for setting the display layout of camera images. The control device 100 displays these simulated images 401-405 on the setting screen without relying on camera images (Figure 16A, etc.). In other words, the simulated images 401-405 do not include preview images of the current video data captured by the camera, but are pre-prepared images. The simulated 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】 Simulated images 401-405 are images with a resized display of camera images (camera image 201, etc.) shown on the surrounding monitoring screen, and are displayed on the camera image settings screen at a smaller size than the actual camera image. However, simulated images 401-405 can also be displayed on the settings screen at the same size as the corresponding camera image. Furthermore, simulated images 401-405 simulate the display layout of the selected camera image (i.e., the corresponding camera images 201-205). Simulated images 401-405 are set to have the same aspect ratio as the corresponding camera images 201-205. Specifically, the simulated images 401-405 exemplified in Figures 11A-11E correspond to the camera images 201-205 exemplified in Figures 7A-7B, respectively. 【0055】 The simulated 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 simulated image 402 in Figure 11B corresponds to the camera image 202 in Figure 7B and includes two simulated images 402b and 402c. These simulated images 402b and 402c represent camera images 202b and 202c, in which the pass-through images from cameras 10b and 10c are displayed, respectively, in the camera image 202. In this way, multiple display format 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 simulated image 403 in Figure 11C corresponds to the camera image 203 in Figure 7C and includes two simulated images 403w and 403e. These simulated images 403w and 403e represent 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 simulated image 404 in Figure 11D corresponds to the camera image 204 in Figure 7D and includes three simulated images 404a-404c. These simulated 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 simulated 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】 - Icon Generation Process - Figure 12 is a flowchart showing an example of the procedure for icon generation processing by the control device 100. The control device 100, using the icon generation unit 105, repeatedly executes the process shown in Figure 12 in short processing cycles (for example, 10 ms) while power is supplied. 【0061】When the processing shown in Figure 12 begins, the icon generation unit 105 determines whether the image displayed on the monitor 12 in combination with the icon is a simulated image (step S600). If it is determined in step S600 that the image displayed in combination with the icon is a simulated image (Yes), the icon generation unit 105 checks the setting of the first icon corresponding to the simulated image in response to the operation input (step S601), generates the first icon for the simulated image according to the setting (step S602), outputs the generated first icon to the display control unit 106 (step S603), ends the current processing cycle, and starts the next processing cycle. However, if the simulated image is the simulated image 300 or 301 for setting the display size of the camera image as described in Figures 10A and 10B, the icon generation unit 105 does not generate the first icon, 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 icon is not a simulated image (No), the icon generation unit 105 checks the setting of the second icon corresponding to the camera image in response to the operation input (step S604), generates a second icon corresponding to the monitoring area displayed by the camera image according to the setting (step S605), outputs the generated second icon to the display control unit 106 (step S606), ends the current processing cycle, and starts the next processing cycle. However, for monitoring areas 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 icon generation unit 105 does not generate a second icon. 【0063】 -Example of an icon- Figure 13 shows an example of an icon generated by the icon generation unit 105. 【0064】Icons 501a-501e belonging to group 501 in Figure 3 are first icons for simulated images (for the settings screen), respectively. Icons 502a-502d belonging to group 502 are second icons for camera images (for the surrounding monitoring screen), respectively. The circular outline 503 of each icon 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 simulated image or camera image displayed on the monitor 12 in combination with the icon. In the example in Figure 13, icons 501a and 502a represent the monitoring area to the left of the hydraulic excavator 1, icons 501b and 502b represent the monitoring area behind the hydraulic excavator 1, icons 501c and 502c represent the monitoring area to the right of the hydraulic excavator 1, and icon 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. Icons 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 icons are provided in this case as well. However, in this embodiment, the second icon for camera images 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 the second icon for the overhead view, but instead displays a shovel icon (for example, the shovel icon 201d in Figure 18A) indicating the hydraulic excavator 1 at the corresponding position in the overhead view image. 【0066】Furthermore, in this embodiment, among the first icons (icons 501a-501e) belonging to group 501 and the second icons (icons 502a-502d) belonging to group 502, only the first icons 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 first icon in the setting screen (Figures 16A-16C, 17). In this way, the first icons belonging to group 501 indicate the monitoring area (area 504) in relation to the shovel icon 505. Since the first icons of group 501 are displayed in combination with a simulated 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 simulated image can be seen at a glance just by the display of the icon. 【0067】 On the other hand, in the second icon belonging to group 502, the shovel icon 505 is omitted, simplifying the display. The second icon indicates the monitoring area (area 504) by its position (position within the outline 503) within the overall monitoring area by multiple cameras 10a-10c. Since the camera image displayed in combination with the second icon may itself contain information about which monitoring area is being displayed, the amount of information displayed in the second icon 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 icon generated by the icon 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 icon (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 S708), 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 simulated image (purpose and type of the simulated image) based on the instructions from the display setting unit 102 (step S701), and determines whether the simulated image to be displayed is a simulated 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 simulated image to be displayed is for setting the display size (Yes), the display control unit 106 outputs a simulated image for setting the display size (for example, simulated image 300 in Figure 10A or simulated image 301 in Figure 10B) to the monitor 12 according to the setting (type of simulated image) confirmed in step S701 (step S703), displays a setting screen including the simulated 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 purpose of the simulated image to be displayed is not for setting the display size (No), the display control unit 106 outputs a simulated image for setting the display position (for example, any of the simulated images 401-405 in Figures 11A-11E) in combination with the first icon generated by the icon generation unit 105 to the monitor 12 (step S704), according to the setting (type of simulated image) confirmed in step S701, and displays a setting screen including the simulated 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 simulated image 300, selection lists 604 and 605, selection status 606 and 607, a cancel button 608, and a settings 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, the cancel button 608, and the settings 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 simulated image 300. The settings screen 600B is the same as the settings screen 600A except that the display of simulated image 300 has been switched to the display of simulated image 301. 【0076】The liquid crystal area 602 is the maximum display area of ​​the monitor 12. Simulated image 300 is a simulated image showing a small-sized camera image as illustrated in Figure 10A, and simulated image 301 is a simulated image showing a large-sized camera image as illustrated in Figure 10B. As described above, in the simulated images 300 and 301, the display size of the camera image is shown 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 simulated 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 simulated 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 simulated 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 simulated 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 available 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 simulated 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 a simulated image 300 showing a small-sized camera image is displayed. In setting screen 600B, "Large Camera Display" is selected as the display size, and a simulated image 301 showing a large-sized camera image is displayed. Pressing the cancel button 608 disables the display size settings shown in selection states 606 and 607, and closes setting screens 600A and 600B. Pressing the setting button 609 applies the currently displayed display size settings in selection states 606 and 607. This sets the display size of the camera image displayed on the surrounding monitoring screen. 【0079】 As mentioned above, the setting screens 600A and 600B, which are used to set the display size for displaying the simulated images 300 and 301, do not display icons indicating the monitoring area related to these simulated 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 simulated image 401, icon 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 simulated image 401. The settings screens 700B and 700C are the same as the settings screen 700A except that the display of simulated image 401 is switched to simulated image 402 and 402' respectively, and the icons indicating the monitoring areas related to each area of ​​simulated image 402 and 402' are different. 【0082】 Simulated image 401 is the same as the simulated image shown in Figure 11A, and simulated image 402 is the same as the simulated image shown in Figure 11B. As described above, simulated images 401 and 402 simulate the display layout of the selected camera image. Specifically, simulated image 401 shows a camera image that displays one monitoring area overall (camera image 201 in Figure 7A in this example), while simulated 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 simulated images 401, 402, and 402' for setting the display position display a first icon classified as group 501, which indicates the monitoring area (area 504) in relation to the shovel icon 505 explained in Figure 13. In the simulated image 401 of the setting screen 700A, the icon 501d exemplified in Figure 13 is displayed as the first icon, indicating that an overhead view is displayed. In the simulated image 402 of the setting screen 700B, the left-hand simulated image displays the icon 501b exemplified in Figure 13 as the first icon, and the right-hand simulated image displays the icon 501c exemplified in Figure 13 as the first icon, indicating that the monitoring areas behind and to the right of the hydraulic excavator 1 are displayed, respectively. In the simulated image 402' of the settings screen 700C, the left-hand simulated image displays icon 501e as the first icon, as exemplified in Figure 13, and the right-hand simulated image displays icon 501c as the first icon, as exemplified in Figure 13. This indicates 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 icons displayed on the setting screens 700A-700C (the icons of group 501 in Figure 13) differ in appearance from the second icons (the icons of group 502 in Figure 13) that are displayed on the monitor 12 in combination with camera images 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 Figure 16A and Figure 18B, for example, the first icons displayed on the setting screens 700A-700C (the icons of group 501 in Figure 13) are larger in size on the display screen of the monitor 12 than the second icons (the icons of group 502 in Figure 13) that are displayed on the monitor 12 in combination with camera images on the surrounding monitoring screen (for example, Figure 18B). In other words, the control device 100 increases the display size of the icons when the display layout has been set. In addition, the size ratio of the first icon to the simulated image displayed together (for example, the size ratio of icon 501d to simulated image 401 in Figure 16A) is larger than the size ratio of the second icon to the camera image displayed together (for example, the size ratio of icon 502a to camera image 202 in Figure 18B). Furthermore, the positional relationship between the simulated image displayed together and the first icon (for example, the size ratio of icon 501d to simulated image 401 in Figure 16A) is different from the positional relationship between the camera image and the second icon (for example, the size ratio of icon 502a to camera image 202 in Figure 18B). For example, as illustrated in Figure 18B, the second icon 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 icon is displayed large in the center of the simulated image used for setting the display position, superimposed on the simulated image used for setting the display position, which is displayed in place of the camera image. Note that, as illustrated in Figure 17, the first icon may also be displayed around (outside) the simulated image used for setting the display position. The settings screen 700D shown in Figure 17 displays a simulated image 402 relating to the rear and right monitoring areas, similar to the settings screen 700B in Figure 16B. Leader lines 717 and 719 are used to clearly indicate that icons 501b and 501c correspond to simulated 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 relationships between the simulated images 401, 402, 402', selection lists 705 and 706, selection states 606 and 607, cancel button 608, and setting button 609 are the same as the positional relationships between the corresponding display elements in the display size setting screens 600A and 600B. The simulated image for setting the display position is the same as the simulated image for setting the display size in that the size on the display screen of the monitor 12 is smaller than the camera image displayed on the surrounding monitoring screen, and the aspect ratio is the same as that of the corresponding camera image. 【0086】 In setting screen 700A, "Overhead View" is selected, and an icon 501d indicating an overhead view is displayed along with the simulated image 401. In setting screens 700B and 700C, "Through View" is selected, and an icon 501c indicating a through view is displayed along with the simulated 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 position 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 area for each camera image 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 shown in Figure 18A, the camera image 201 is displayed within the liquid crystal area 602, and in the surrounding monitoring screen 800B shown 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 an icon 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 icons representing the monitoring areas displayed by each camera image 202b and 202c displayed in correspondence with the camera images 202b and 202c, as shown in Figure 18B. In the example shown in Figure 18B, icons 502b and 502c, as illustrated in Figure 13, are displayed. Camera image 202b shows the current status of the monitoring area behind the hydraulic excavator 1, and camera image 202c shows the current status of the monitoring area to the right of the hydraulic excavator 1. In the surrounding monitoring screen 800B, icons 502b and 502c are displayed close to the outlines of camera images 202b and 202c, and superimposed on camera images 202b and 202c, respectively. The icons illustrated in Figures 18C to 19B are displayed similarly. 【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 a surrounding monitoring screen 800C in which the icon 502d described 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, the camera images 203w and 205, which display the overall monitoring area, do not display icons indicating the monitoring area shown by those images, as shown in Figures 19A and 19C. In contrast, the camera images 203e and 204a-204c, which display partial monitoring areas, display icons representing the monitoring area shown by those images, as shown in Figures 19A and 19B, corresponding to the camera images 203e and 204a-204c. In the example in Figure 18B, the icons 502a-502c exemplified in Figure 13 are displayed as appropriate, and it can be seen that the current status of the monitoring area behind the hydraulic excavator 1 is displayed in camera images 203e and 204b, the current status of the monitoring area to the left of the hydraulic excavator 1 is displayed in camera image 204a, and the current status of the monitoring area to the right of the hydraulic excavator 1 is displayed in camera image 204c. 【0094】 - Effects - (1) If a simulated image is used as a preview of the camera image, the processing load of the control device 100 increases. Also, the display of the simulated image is small, making it difficult to identify the image captured in the simulated image. 【0095】In contrast, in this embodiment, when the display layout is set, a simulated image that mimics the camera image is displayed on the monitor 12 for setting the display layout of the camera image, for example, as shown in Figures 15A and 16A. This makes it easy to understand the display layout of the camera image to be selected based on the simulated image when setting the display layout of the camera image, allowing for efficient settings related to the display of the camera image and improving work efficiency. It also reduces the memory strain and processing load of the control device 100. In this way, it is possible to easily understand the display format of the camera image to be selected when setting the display format of the camera image. 【0096】 (2) The simulated images are images that are pre-stored in the control device 100 and do not rely on real-time camera footage, thus reducing the processing load on the control device 100. 【0097】 (3) Furthermore, as can be seen by comparing, for example, Figure 16A and Figure 18A, the simulated image (simulated 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.). This allows 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., to be displayed on the settings screen (settings screen 700A, etc.) along with the simulated image. Since these various displays necessary for setting the display layout can be viewed together with the simulated image on the same settings screen, usability is improved. 【0098】 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. 【0099】(4) Furthermore, as can be seen by comparing, for example, Figure 16A and Figure 18A, the simulated image (simulated 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. 【0100】 (5) 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. 【0101】 (6) As shown in Figures 15A and 15B, by displaying simulated images 300 and 301 on the setting screens 600A and 600B, which show the display size and layout of the camera image in inner frames 300b and 301b in comparison to outer frames 300a and 301a that represent the maximum display area of ​​the monitor 12, it becomes easier to visualize the size of the camera image in the surrounding monitoring screens 800A-800C and 900A-900C, allowing for efficient selection and improving work efficiency. 【0102】 (7) As shown in Figures 16A to 17, by displaying simulated images (simulated 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. 【0103】(8) As shown in Figures 15A to 17, by arranging the display layout setting input fields (selection lists 604, 605, etc.) below the simulated image (simulated image 300, etc.) on the setting screen (setting screen 600A, etc.), the operator's hand does not overlap the simulated image in their field of view during touch operation, and they can perform setting operations while checking the simulated image, thereby improving operability. 【0104】 (9) 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. 【0105】 (10) 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. 【0106】 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. 【0107】In response, the control device 100 displays simulated images 300, 301, 401-405 (Figures 10A-11E) that mimic the display format of the camera image on setting screens 600A, 600B, 700A-700D (Figures 15A-17) for setting the display layout of the camera image. When a predetermined simulated image 401-405 (Figures 11A-11E) is displayed on setting screens 700A-700D, the control device 100 displays first icons 501a-501e on setting screens 700A-700D that indicate the monitoring area displayed by the camera image set in the simulated 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 icons 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 icons 501a-501e. This allows icons to be displayed in different manner 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. 【0108】 (11) The first icons of group 501 shown in setting screens 700A-700D (icon 501a, etc.) include a shovel icon 505 representing the 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 icons of group 502 shown in surrounding monitoring screens 800B, 800C, 900A, 900B (icon 502a, etc.) are designed to indicate the monitoring area (area 504) in relation to the overall monitoring area by cameras 10a-10c. 【0109】In this embodiment, although no video data is used in the simulated images 401-405 displayed on the setting screens 700A-700D (they are not preview images of camera footage), the monitoring area is represented by its positional relationship with the shovel icon 505, making it easy to identify the corresponding monitoring area at a glance using only the icon. On the other hand, the camera footage 202 displayed on the surrounding monitoring screens 800B, 800C, 900A, and 900B contains a great deal of information about which monitoring area is being displayed. Therefore, for the second icon 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 within the overall monitoring area (position within the outline 503). As a result, the design of the second icon is simplified, making it easier to identify even when the display is reduced. This allows the display size of the second icon to be reduced, thereby suppressing the encroachment on and overlapping area of ​​the camera footage display area. Thus, it is possible to achieve both ease of confirmation of the monitoring area displayed by the camera footage and clarity of the simulated images on the setting screen. Not only is the surrounding monitoring screen easier to view during work, but it also makes it easier to understand the type of camera footage when operating the settings screen, thus improving work efficiency. 【0110】 (12) Furthermore, if the display layout has been set, the control device 100 enlarges the display size of the camera label. 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 icons of group 501 (icon 501a, etc.) displayed on the setting screens 700A-700D are larger in size on the display screen of the monitor 12 than the second icons of group 502 (icon 502a, etc.) displayed on the surrounding monitoring screens 800B, 800C, 900A, and 900B. In connection with this, the size ratio of the first icons to the simulated image is larger than the size ratio of the second icons to the camera image. 【0111】In this way, the second icon displayed on the surrounding monitoring screen in combination with the camera image is displayed relatively small, while the first icon displayed on the settings screen in combination with the simulated image is displayed relatively large. For example, as shown in the settings screen 700B of Figure 16B, even when the simulated image is displayed small relative to the corresponding camera image, the large display of the first icon ensures the visibility of the icon. Furthermore, by reducing the display size of the second icon, it is possible to ensure a sufficient display size for the camera image, 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 icon, and makes it easier to understand the type of camera image indicated by the first icon on the settings screen, thereby improving usability and work efficiency. 【0112】 (13) As shown in the settings screen 700B and the surrounding monitoring screen 800B, the positional relationship between the simulated images 401-405 and the first icon is different from the positional relationship between the camera image and the second icon. By making the display positions of the first icon, which is displayed on the settings screen in combination with the simulated image, and the second icon, which is displayed on the surrounding monitoring screen in combination with the camera image, different, it is possible to display icons 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. 【0113】 (14) The first icon is displayed in the center of the simulated image, superimposed on the simulated image, as shown in Figures 16A and 16B. This makes it easier to see the outer edge or boundary of the camera image shown by the simulated image, which can improve the efficiency of setting operations. 【0114】 (15) When the first icons 501b and 501c are displayed around (outside) the simulated image 402 as shown in Figure 17, the icons can be displayed at a size that is easy to recognize, even if the simulated image is small. 【0115】(16) As shown in Figure 18B, by displaying the second icon 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 icon can be suppressed, and ease of checking the camera image can be ensured. 【0116】 (17) The control device 100 also displays simulated images, excluding the simulated image for setting the display position, specifically the simulated images 300 and 301 (Figures 10A and 10B) for setting the display size, on the setting screens 600A and 600B (Figures 15A and 15B) without displaying the first icon. The simulated images 300 and 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 in the camera image be understood. In this case, the usability may be improved by omitting the display of the first icon and reducing the amount of information. 【0117】 (18) 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 the second icon. In contrast, the control device 100 omits the display of the second icon 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 icon. For example, the 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 an icon modeled after the hydraulic excavator 1 (excavator icon 201d, etc.), so it can be easily identified without combining it with the second icon. Therefore, as illustrated in the surrounding monitoring screens 800A and 900A (Figures 18A and 19A), by omitting the display of the second icon for the display of the entire monitoring area, the amount of information can be reduced unnecessarily, thereby improving usability. 【0118】-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. 【0119】 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. 【0120】 1...Hydraulic excavator (working machine), 10a-c...Camera, 12...Monitor, 15...Touch panel, 100...Control device, 201-205, 202b, 202c, 203w, 203e, 204a-204c...Camera image, 300, 301, 401-405, 402b, 402c, 403w, 403e, 404a-404c...Simulated image, 600A, B...Setting screen, 604, 605...Selection list (input section), 606, 607...Selection status (input section), 608...Cancel button (input section), 609...Setting button (input section), 700A-D...Setting screen, 705, 706...Selection list (input section), 800A-C, 900A-C...Surroundings monitoring screen

Claims

1. A video display system for a work machine comprising: a camera that photographs the area around the work machine; a monitor that displays camera images captured by the camera according to a set display layout; and a control device that controls the display on the monitor, wherein the control device, when the display layout is set, displays a simulated image that simulates the camera image on the monitor instead of the camera image.

2. The video display system for a work machine according to claim 1, characterized in that the simulated image is an image pre-stored in the control device.

3. The video display system for a work machine according to claim 2, characterized in that the setting of the display layout is a change in the display position or a change in the display size of the camera image to be displayed.

4. The video display system for a work machine according to claim 1, wherein the system has a plurality of cameras, the setting of the display layout is a change in the combination pattern of displaying camera images from the plurality of cameras, and the simulated image is a simulated image for each of the camera images stored in advance in the control device.

5. The video display system for a work machine according to claim 4, 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.

6. The video display system for a work machine according to claim 1, characterized in that the camera image includes an overhead view image converted from an image of a viewpoint directly above the work machine.

7. The video display system for a work machine according to claim 1, characterized in that the simulated image displayed in place of the camera image is displayed in a manner that simulates the layout of the camera image.

8. The video display system for a work machine according to claim 1, characterized in that the simulated image displayed in place of the camera image is displayed at a smaller display size than the camera image.

9. The video display system for a work machine according to claim 1, characterized in that the simulated image displayed in place of the camera image is displayed such that it has the same aspect ratio as the camera image.

10. An image display system for a work machine according to claim 1, characterized in that the simulated image displayed in place of the camera image is displayed at the same display size as the camera image.

11. A video display system for a work machine according to claim 1, wherein the monitor is a touch panel, the display layout can be set by the touch panel receiving input, and the control device displays an input unit for receiving changes to the display layout on the monitor at a position below the simulated image.

12. An image display system for a work machine according to claim 1, wherein the control device displays a camera label indicating the relationship between the orientation of the work machine and the shooting direction of the camera, superimposed on the simulated image displayed in place of the camera image.

Images