JP2013168826A - Periphery monitoring apparatus for work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To promptly and easily select a target image from among a number of image data items captured by a plurality of cameras provided in a work machine.SOLUTION: A periphery monitoring apparatus comprises cameras 8B, 8R, 8L for which at least a rear side and right and left sides of a dump truck 1 are field of view, a monitor 14 provided in a driving cab 7 of the dump truck 1, an image data group generator 35 which generates a plurality of image data items each comprised of images captured by one or more cameras as an image data group, an image selector 26 which selects and groups only image data relating to a traveling direction of the dump truck 1 out of the image data group, an input section 16 for performing work of selecting target image data from the group of the image data selected by the image selector 26, and a display image generator 38 which displays the image data selected by the input section 16 on a monitor 14.

Description

  The present invention relates to a surrounding monitoring device for a working machine that monitors the surroundings of a working machine such as a transporting vehicle for transporting earth and sand and a construction machine such as a hydraulic excavator.

  A transport vehicle represented by a dump truck is provided with a bed that can be raised and lowered on a frame of a vehicle body, and a transport object such as crushed stone or earth and sand is loaded on the vessel. Then, the dump truck transports earth and sand to a predetermined dump and discharges it. When discharging the earth and sand loaded on the vessel, the dump truck is moved backward to the discharging position and stopped. In this state, the vessel is inclined to remove earth and sand. When the earth is discharged, the vessel is returned to the original position and the dump truck is advanced.

  On the other hand, a construction machine represented by a hydraulic excavator or the like has a lower traveling body having a crawler-type or wheel-type traveling means and an upper revolving body that can be swiveled with respect to the lower revolving body. The upper swing body is provided with a cab (cab). The boom is connected to the upper swing body so as to be able to suppress the depression, the arm is connected to the tip of the boom so as to be pivotable in the vertical direction, and the earth and sand. A bucket that performs work such as excavation is provided as a working means on the upper swing body.

  The front view is good for an operator boarding a cab installed in a work machine such as a transport vehicle or construction machine, but the rear view is mostly blind spot, and the operator visually recognizes the situation behind. Can not do it. For this purpose, a camera with a visual field behind the work machine is installed, and the image captured by the camera is displayed on a monitor provided in the operator's cab so that the operator can recognize the rear situation in real time. it can. As this type of technology, Patent Document 1 discloses a technology for displaying an image from a camera installed behind a dump truck on a monitor when the shift lever is set to “R” (rear).

  In addition, three cameras with a visual field behind the hydraulic excavator and the left and right sides are provided on the hydraulic excavator, and the viewpoints of these three cameras are virtually arranged upward, and an overhead view centering on the hydraulic excavator Is disclosed in Patent Document 2. The operator can accurately recognize the situation around the hydraulic excavator by visually recognizing the bird's-eye view image, and recognize the positional relationship between the dynamic or fixed obstacle (such as a worker) and the hydraulic excavator. Can do.

JP 2011-199392 A JP 2008-248613 A

  As shown in Patent Document 1, an image of any one of the cameras can be displayed on a monitor by providing three cameras with a visual field in the rear and left and right sides of the work machine. Moreover, although the field of view of the front of the work machine is secured widely, there is still a part that generates a blind spot, so a camera may be installed in front. Further, as in Patent Document 2, by displaying a virtual viewpoint image (overhead image), the operator can recognize the situation around the work machine. Therefore, an image (camera through image) and a virtual viewpoint image from a camera having a visual field in front, rear, left, and right can be displayed on the monitor.

  The monitor provided in the operator's cab is a small-sized monitor so as not to obstruct the operator's front view. However, the monitor display area is divided according to the situation of the work machine and is different for each area. Image data may be displayed. For example, when moving backward from a state where the work machine is stopped, the most important condition is the situation around the work machine, and therefore a virtual viewpoint image is displayed. Further, camera image data whose field of view is the direction in which the work machine is traveling is displayed together with the virtual viewpoint image. Therefore, in this case, it is desirable to divide the display area of the monitor into two and display the virtual viewpoint image and the rear image (the image viewed by the rear camera).

  In addition, when the work machine runs diagonally to the left, it is desirable to display not only the rear image but also the left image (the image viewed by the left camera). Thereby, the field of view according to the traveling direction can be secured. Further, in some cases, it may be desirable to display images of all the front, rear, left and right cameras.

  Therefore, the image data displayed on the monitor varies depending on the situation. The operator searches for desired one image data from among a large number of image data and displays it on the monitor. At this time, if there are a large number of image data, it becomes difficult to specify the target image data from the large number of image data. Such an operation of searching for image data imposes an excessive burden on the operator.

  Therefore, an object of the present invention is to quickly and easily select a target image from a large number of image data photographed by a plurality of cameras provided in a work machine.

  In order to solve the above-described problems, a working machine surroundings monitoring device according to the present invention includes a camera having a visual field at least at the rear and left and right sides of a work machine, a monitor provided in a cab of the work machine, An image data group generation unit that generates a plurality of image data composed of a plurality of images taken by a camera as an image data group, and only image data related to the traveling direction of the work machine is selected from the image data group An image selection unit to be grouped, an input unit for selecting target image data from the group of image data selected by the image selection unit, and an image selected by the input unit And a display image generation unit for displaying data on the monitor.

  There are a large number of image data generated by a plurality of cameras having a visual field in the rear and left and right sides. At this time, since the image selection unit selects only image data related to the traveling direction of the work machine from among a large number of image data, the target image data can be selected easily and quickly.

  Further, the image data group includes image data taken by a camera having a field of view in front of the work machine.

  The field of vision ahead of the cab of the work machine is widely secured, but there may still be a blind spot. For this purpose, a camera having a front view is provided. Including the image data of the camera with the front view as the field of view, the image data becomes more numerous. At this time, by selecting only image data related to the traveling direction of the work machine, the target image data can be easily and quickly selected.

  Further, the image data group includes a virtual viewpoint image whose viewpoint is converted to be an upper viewpoint based on at least the rear and left and right side of the camera.

  The virtual viewpoint image allows the operator to recognize the situation around the work machine. By including this virtual viewpoint image in the image data group, the image data further increases. Even in this case, since only the image data related to the traveling direction of the work machine is selected, the target image data can be selected easily and quickly.

  The forward and backward travel of the work machine is operated by a shift lever provided in the cab, and the image selection unit determines image data to be grouped according to the position of the shift lever. .

  A transport vehicle such as a dump truck is operated to move forward, stop, and reverse by a shift lever. Therefore, the traveling direction of the work implement is specified by the position of the shift lever, and only the image data in the traveling direction indicated by the position of the shift lever can be selected.

  The left and right traveling of the work machine is operated by a steering handle provided in the driver's cab, and the image selection unit determines image data to be grouped according to a steering angle of the steering handle.

  A transport vehicle such as a dump truck is steered left and right by a steering handle. Accordingly, since the left and right traveling directions are determined by the steering handle, only the image data in the traveling direction can be selected.

  Further, the image data selected by the image selection unit is listed and displayed on the monitor, and a target image is selected from the list of image data using the input unit for performing the input operation of the image data. It is characterized by selecting data.

  Since the list of image data displayed on the monitor is composed only of image data related to the traveling direction, the number of image data to be selected is reduced. Thereby, target image data can be selected easily and quickly.

  The present invention selects a target image by selecting only image data related to the traveling direction of the work machine from among a large number of image data generated by a camera having a visual field at least in the rear and left and right sides. Data can be selected easily and quickly.

It is a left view of a dump truck. It is a block diagram of a display controller and a vehicle body controller. It is a figure which shows an example of the monitor when displaying the virtual viewpoint image. It is the figure which showed the list of the image data which an image data group production | generation part produces | generates. It is the figure which showed an example of the list of the image data displayed on a display part. It is the figure which showed the other example of the list of the image data displayed on a display part. It is the figure which showed the further another example of the list of the image data displayed on a display part.

  Embodiments of the present invention will be described below with reference to the drawings. In the present embodiment, the dump truck of the transport vehicle is applied as the work machine, but is not limited to the dump truck. As the work machine, a hydraulic excavator or the like can also be applied. The dump truck includes a rigid dump and an articulated dump, and any of them may be applied. In the present embodiment, “left” is the left side as viewed from the cab, and “right” is the right side as viewed from the cab.

  FIG. 1 shows a left side view of the dump truck 1. As shown in this figure, the dump truck 1 is composed of a body frame 2, a front wheel 3, a rear wheel 4, a vessel 5, a hoist cylinder 6, and a driver's cab 7. (Front camera 8F, right camera 8R, left camera 8L, rear camera 8B). FIG. 1 shows a left side view of the dump truck 1, and the right camera 8R is not shown, but a right camera 8R is provided on the opposite side of the left camera 8L.

  The body frame 2 forms the main body of the dump truck 1, and a front wheel 3 is provided in front of the body frame 2, and a rear wheel 4 is provided in the rear. The vessel 5 is a loading platform on which earth and sand, minerals, and the like are loaded. The hoist cylinder 6 is provided in a pair of left and right, and the vessel 5 is raised and lowered by the extendable hoist cylinder 6.

  The operator's cab 7 is used by an operator to operate the dump truck 1, and a monitor described later is disposed in the operator's cab 7. As operation means for operating the dump truck 1, a shift lever 21 for moving the dump truck 1 forward, stop, or reverse, a steering handle 22 for changing the steering angle, an accelerator pedal for accelerating the dump truck 1, and the like are provided. . An operator gets in the cab 7 and travels or works using various operation means. The operator checks the monitor when necessary.

  Of the four cameras provided for monitoring the periphery of the dump truck 1, the front camera 8F has a field of view as viewed from the front of the dump truck 1 obliquely downward. The right camera 8R is attached to the right side of the dump truck 1 and has a field of view as viewed from the right side of the dump truck 1 obliquely downward. The left camera 8L is attached to the left side of the dump truck 1 and has a field of view as viewed from the left side of the dump truck 1 obliquely downward. The rear camera 8B is attached to the rear of the dump truck 1 and has a field of view that is obliquely downward.

  Each camera (front camera 8F, right camera 8R, left camera 8L, rear camera 8B) has a predetermined range from the dump truck 1, but a part of each camera includes a vehicle body 2 of the dump truck 1. The front wheel 3, the rear wheel 4 and the like are partially projected. The four cameras 8F, 8L, 8R, and 8B installed on the dump truck 1 are set so that the shooting directions are different by approximately 90 degrees. As a result, a field of view over almost the entire circumference of the dump truck 1 can be obtained.

  Each of the four cameras 8F, 8L, 8R, and 8B has a field of view obliquely below. For example, as shown in FIG. 1, the front camera 8F has an angle θ when the ground contact surface is L. The optical axis of the objective lens is directed to Thereby, a camera image having an angle θ with respect to the ground plane L can be obtained. An image in which the ground plane L is a virtual plane is generated as a virtual viewpoint image by performing coordinate conversion so that the optical axis of the virtual viewpoint VF is in the vertical direction (direction orthogonal to the horizontal plane). That is, a virtual plane image looking down on the ground plane L from the virtual viewpoint VF becomes a virtual viewpoint image. This virtual viewpoint image becomes an overhead image.

  FIG. 2 shows a controller composed of the vehicle body controller 20 and the display controller 30, and the display controller 30 is connected to the monitor 14. The monitor 14 is disposed in the cab 7 and is disposed at a position that does not obstruct the field of vision in front of the operator on board. The monitor 14 has a display unit 15 for displaying image data and an input unit 16. As shown in FIG. 3, the input unit 16 includes an up switch 16U, a down switch 16D, and an enter button 16A.

  The display unit 15 is a display screen that displays predetermined information. The display unit 15 can also display images (camera through images) captured by the four cameras 8F, 8L, 8R, and 8B, and displays a virtual viewpoint image that has undergone viewpoint conversion. You can also The camera-through image and the virtual viewpoint image are image data, and this image data is displayed on the display unit 15 as a display image. The display unit 15 has predetermined display areas in the vertical and horizontal directions and can display a camera-through image or a virtual viewpoint image in the entire area of the display unit 15. However, the display area of the display unit 15 is divided and divided. It is also possible to use image data in which different images are arranged in the respective areas.

  The vehicle body controller 20 mainly includes a vehicle body controller 20C. Shift lever information is input to the vehicle body controller 20 from a shift lever 21 provided in the cab 7. The shift lever 21 changes in three stages: forward (F), neutral (N), and reverse (R). Accordingly, when the shift lever 21 is “F”, the dump truck 1 moves forward, when it is “N”, the dump truck 1 stops, and when it is “R”, the dump truck 1 moves backward.

  The driver's cab 7 is provided with a steering handle 22, and steering information indicating a steering angle of the steering handle 22 is input to the vehicle body controller 20. And the speed detection part 23 which detects the traveling speed of the dump truck 1 based on the rotational speed of the front wheel 3 and the rear wheel 4 is provided. The traveling speed information detected by the speed detector 23 is input to the vehicle body controller 20.

  The cab 7 is provided with a vessel operating means 24 for operating the vessel 5. By operating this vessel operating means 24, expansion / contraction control of the hoist cylinder 6 is performed. When the hoist cylinder 6 is extended, the vessel 5 is inclined and the loaded earth and sand are discharged. On the other hand, when the hoist cylinder 6 is contracted, the vessel 5 becomes parallel and no earthing is performed. The operation information of the vessel operation means 24 is input to the vehicle body controller 20 as the vessel operation information.

  The shift lever information, steering information, travel speed information, and vessel operation information are input from the vehicle body controller 20 to the display controller 30 as vehicle body information. The display controller 30 controls the contents displayed on the monitor 14. The display controller 30 includes a storage holding unit 31, an image correction unit 32, a viewpoint conversion unit 33, an image composition unit 34, an image data group generation unit 35, an image selection unit 36, an image list generation unit 37, and a display image generation unit 38. It is prepared and configured.

  The display controller 30 receives a visual field image captured by the rear camera 8B, the left camera 8L, the right camera 8R, and the front camera 8F. Each camera continuously captures the field of view, and the video from each camera can be converted into a moving image. As a result, it is possible to recognize in real time the video captured by each camera.

  The memory holding unit 31 includes camera optical system parameters such as shooting angle of view and lens distortion of the four cameras 8F, 8L, 8R, and 8B, mounting position / posture information, virtual viewpoint information when converted into a virtual viewpoint image, and a dump truck. Various information such as one symbol mark M (described later) and a scale value are stored. The storage holding unit 31 outputs information to the image correction unit 32, the viewpoint conversion unit 33, the image composition unit 34, and the display image generation unit 38.

  The image correction unit 32 is connected to the four cameras 8F, 8L, 8R, and 8B. The camera images captured from the four cameras 8F, 8L, 8R, and 8B are stored in the storage holding unit 31. Image correction such as aberration correction, contrast correction, and color tone correction is performed based on the camera optical system parameters. Thereby, the image quality of the camera image is improved. The camera image corrected by the image correction unit 31 is output to the viewpoint conversion unit 33 and the image data group generation unit 35.

  The viewpoint conversion unit 33 performs viewpoint conversion based on each camera image (front image, right image, left image, and rear image) corrected by the image correction unit 32 so that the upper viewpoint is obtained. The four cameras 8F, 8L, 8R, and 8B are photographed with their visual fields facing obliquely downward with respect to the ground plane L, and the camera images obtained at this time are subjected to image conversion processing to obtain images (virtual images) from the virtual viewpoint VF. Viewpoint image). The virtual viewpoint image is an overhead image with the viewpoint as the upper position, and the situation around the dump truck 1 can be accurately recognized based on the overhead image.

  By overlapping the boundaries of the field of view of the four cameras 8F, 8L, 8R, 8B, no blind spots are created in the situation around the dump truck 1. Among the front image, the right image, the left image, and the rear image, the front image can be visually recognized by the operator from the cab 7, so that the front image can be omitted without installing the front camera 8F. In this case, a virtual viewpoint image is generated from the three image data of the rear image, the left image, and the right image. However, there may be a blind spot in the front field of view of the cab 7, and the blind spot can be displayed to the operator by installing the front camera 8F and displaying the blind spot. In this case, control is performed so that a virtual viewpoint image by the front camera 8F is also displayed.

  The image compositing unit 34 arranges the virtual viewpoint images of the four cameras 8F, 8L, 8R, and 8B with the character of the dump truck 1 as the symbol mark M in the center, and the front and rear and the left and right regions around the symbol mark. Divide into four. For example, as shown in FIG. 3, a virtual viewpoint front image obtained by converting the viewpoint of the image data of the front camera 8F is displayed in the upper area A1 around the symbol mark M, and the left camera is displayed in the left area A2. A virtual viewpoint left image obtained by viewpoint conversion of 8L image data is displayed, a virtual viewpoint right image obtained by viewpoint conversion of image data of the right camera 8R is displayed in the right area A3, and a lower area A4 is displayed. Displays a virtual viewpoint rear image obtained by converting the viewpoint of the image data of the rear camera 8B.

  The image synthesizing unit 34 synthesizes and displays the virtual viewpoint front image, the virtual viewpoint left image, the virtual viewpoint right image, and the virtual viewpoint rear image with the symbol mark M of the dump truck 1 as the center, thereby displaying the dump truck 1. It is possible to generate a virtual viewpoint image around the entire circumference. By displaying this virtual viewpoint image, the operator can recognize the positional relationship between the dump truck 1 and a dynamic or fixed obstacle such as a worker.

  Returning to FIG. 2, the image data group generation unit 35 inputs the front image, the left image, the right image, and the rear image output from the image correction unit 32, and also inputs the virtual viewpoint image from the image composition unit 34. . The front image, the left image, the right image, and the rear image are image data, and the virtual viewpoint image is also image data. Therefore, five image data can be obtained. Thereby, an image data group composed of a plurality of image data is generated. Any one of the image data groups can be displayed on the display unit 15 of the monitor 14.

  On the other hand, the display unit 15 of the monitor 14 can be divided to display different image data simultaneously. For example, the display unit 15 may be divided into two to display a virtual viewpoint image in one area and display a rear image (camera through image) in another area. This also becomes image data. Further, the display unit 15 can be divided into two, a rear image can be displayed in one area, and a left image can be displayed in another area. This also becomes image data. Furthermore, the display unit 15 can be divided into four to generate image data to which a front image, a left image, a right image, and a rear image are assigned.

  The image selection unit 36 selects only an image related to the traveling direction of the dump truck 1 from a large number of image data generated by the image data group generation unit 35. The image data related to the running direction forms one group. The image data of this group is output to the image list generator 37. The image list generation unit 37 displays the image data belonging to the group output from the image selection unit 36 on the display unit 15 in a list format.

  Based on the list of image data displayed on the display unit 15, the operator operates the input unit 16 to select an image to be displayed on the monitor 14. Information on the selected image is output to the display image generation unit 38, and the display image generation unit 38 performs control to display the selected image data on the display unit 15.

  The above is the configuration. Next, the operation will be described. The operator gets into the cab 7 and operates the dump truck 1. At this time, image data of the field of view taken by the front camera 8F, the left camera 8L, the right camera 8R, and the rear camera 8B of the dump truck 1 is acquired. These four image data are input to the image correction unit 32, and image correction such as aberration correction, contrast correction, and color tone correction is performed based on the camera optical system parameters stored in the storage holding unit 31. Thereby, the image quality of image data is improved.

  The four corrected image data are input to the viewpoint conversion unit 33 and the image data group generation unit 35. The viewpoint conversion unit 33 performs viewpoint conversion of the four image data, and generates four images: a virtual viewpoint front image, a virtual viewpoint left image, a virtual viewpoint right image, and a virtual viewpoint rear image. Then, a virtual viewpoint image is generated by combining the virtual viewpoint front image, the virtual viewpoint left image, the virtual viewpoint right image, and the virtual viewpoint rear image with the symbol mark M of the dump truck 1 as the center. This virtual viewpoint image is output to the image data group generation unit 35.

  The image data group generation unit 35 receives the corrected image data of the front image, the left image, the right image, and the rear image, and the image data of the virtual viewpoint image. These image data constitute an image data group. In addition, as described above, the front image, the left image, the right image, the rear image, and the virtual viewpoint image can be displayed as one image data on the display unit 15 respectively. It can also be generated as one piece of image data.

  Therefore, considering all combinations of the five image data, the image data group generation unit 35 generates a large number of image data. For this reason, it is possible to set in advance in the image data group generation unit 35 so that only image data required when the dump truck 1 is used is selected. Of course, all combinations of image data can be targeted, but the image data group generation unit 35 is set so as to target only image data expected to be required when the dump truck 1 is used. In short, the image data group generation unit 35 is set so that image data that is not displayed is omitted in advance. The operator or the user sets this setting in advance before the operation of the dump truck 1. Note that the image data group may be configured by all combinations of the five image data.

  FIG. 4 shows an example of a group of image data generated by the image data group generation unit 35. That is, it shows a group of image data that is supposed to be displayed when the dump truck 1 is used (during operation). The image data G1 is image data in which a region is divided into two and a virtual viewpoint image is displayed in one region and a rear image is displayed in the other region. The image data G2 is image data displaying only the rear image. In this image data G2, a link mechanism is projected as a part of the vehicle body of the dump truck 1. The image data G3 is image data displaying only the right image. The image data G4 is image data displaying only the left image. The front wheels 3 are projected as part of the body of the dump truck 1 in the image data G3 and G4.

  The image data G5 is image data displaying only the front image. The image data G6 is image data in which a region is divided into two and a right image and a rear image are displayed. The image data G7 is image data obtained by dividing the region into two and displaying a left image and a rear image. The image data G8 is image data in which an area is divided into four, and four images of a front image, a left image, a right image, and a rear image are arranged. In the image data G1 to G8, a worker is projected as a dynamic obstacle in the front image and the rear image.

  As shown in the figure, “BACK”, “LEFT”, “RIGHT”, and “FRONT” are superimposed on the image data and displayed on each image data as direction information. This makes it possible to recognize at a glance whether the image data is a front image, a left image, a right image, or a rear image. Note that the virtual viewpoint image is not attached with direction information because it is recognized at first glance to be a virtual viewpoint image. However, direction information may also be attached to the virtual viewpoint information.

  The image data group generation unit 35 outputs eight image data to the image selection unit 36. Body information is input to the image selection unit 36 from the body controller 20. Based on the shift lever information and the steering information, the image data to be displayed as a list on the display unit 15 is selected from the eight pieces of image data.

  When the shift lever 21 is in “R”, the traveling direction of the dump truck 1 is reverse. Therefore, only the image data in which the traveling direction is related to the backward movement is selected from the eight pieces of image data shown in FIG. The selected image is shown in FIG. Of the image data shown in FIG. 4, the image data G3 is image data of only the right image, the image data G4 is image data of only the left image, and the image data G5 is an image of only the front image. .

  On the other hand, the image data G1, G2, G6 to G8 include a rear image. Therefore, the image selection unit 36 outputs the image data G1, G2, G6 to G8 to the image list generation unit 37. The image list generation unit 37 displays each image data on the display unit 15 in a list format. Here, the image data G1, G2, G6 to G8 are displayed on the display unit 15 in a list format.

  The operator visually recognizes the display unit 15 of the monitor 14 and operates the input unit 16 to select target image data. The target image data is selected by moving the arrow icon up and down with the up switch 16U or the down switch 16D of the input unit 16. Then, after selecting the target image data, pressing the determination button 16A determines the image data displayed on the display unit 15. In the example of FIG. 5, the image data G2 on the rear screen is selected (selected by an arrow icon). Accordingly, the display image generation unit 38 performs control to display the image data G2 on the display unit 15.

  Therefore, by grouping only the images related to forward or reverse based on the shift lever information, the image data to be selected can be reduced, and the target image data can be displayed easily and quickly by the operator. 15 can be displayed. As a result, it is possible to reduce the burden on the operator to search for image data, and to select target image data easily and quickly.

  Here, steering information is also input to the image selection unit 36. The steering information is steering information of the steering wheel 22 provided in the cab 7. When the steering angle of the steering handle 22 is greater than or equal to a predetermined angle, the vehicle travels to the left and right. Therefore, it is desirable to display not only the rear image but also the image in the steering direction (left image or right image). If the shift lever 21 is “R” and the steering direction is to the left, an image related to the rear image and the left image is selected from the eight image data generated by the image data group generation unit 35. And group them.

  In this case, since the images are related to the rear image and the left image, the image data G1 to G3 and G6 to G8 are selected as shown in FIG. The operator uses the input unit 16 to select any image data and display it on the display unit 15. As a result, even when the vehicle moves backward at an angle, only image data related to the traveling direction can be selected.

  Therefore, when the front camera 8F, the right camera 8R, the left camera 8L, and the rear camera 8B are arranged at four locations around the dump truck 1, not only the image data captured by each camera but also the images of a plurality of cameras are combined. Image data can be generated. Also, a virtual viewpoint image subjected to viewpoint conversion can be generated as image data. For this reason, a large number of image data is a selection target depending on the combination. By selecting only the image data related to the traveling direction among these, the image data to be selected can be reduced. Thereby, the operation | work which the operator selects the image data to display can be reduced.

  When the shift lever 21 is “R” and the steering angle of the steering handle 22 is less than a predetermined angle, the vehicle moves backward substantially straight. In this case, it is not necessary to display the left image, the right image, and the front image, and only the image data related to the rear image is selected as shown in FIG.

  In the above, as shown in FIGS. 5 and 6, only the image data selected by the image selection unit 36 is displayed and the target image data is selected, but all the image data group generation unit 35 generates. It is also possible to display the image data and make it impossible to select an image that is not related to the traveling direction.

  FIG. 7 shows an example. In FIG. 7, all the image data generated by the image data group generation unit 35 is displayed in a list format. However, the image data G3 including the right image not related to the traveling direction, the image data G4 including the left image, and the front The image data G5 consisting of images is made unselectable. The operator moves the arrow icon of the image to be selected by operating the up switch 16U or the down switch 16D of the input unit 16, but skips the image data G3 to G5 when transitioning to the next image data G2. An arrow icon can be moved to the image data G6. Thereby, only the image data related to the traveling direction can be selected.

  Further, when the load on the dump truck 1 is discharged, the rear view is important. For this reason, when the vessel operating means of the cab 7 is operated and the vessel 5 is tilted, control is performed so that the image data G2 for displaying only the rear image is automatically displayed. As a result, the operator behind the cab 7 can recognize the situation behind when the load is discharged.

  In the above-described embodiment, the image list generation unit 37 displays a series of image data selected by the image selection unit 36 on the display unit 15 and operates the input unit 16 (up switch 16U, down switch 16D). Thus, an example of selecting target image data has been shown. At this time, the image list generation unit 37 may select the target image by switching and displaying the image data every predetermined time.

  Further, the image selection by the operator is performed using the input unit 16, but a touch panel type may be used without providing the input unit 16. By selecting the image data displayed on the display unit 15 with the touch panel, it is not necessary to move the arrow icon using the up switch 16U or the down switch 16D.

  In addition, traveling speed information indicating the traveling speed of the dump truck 1 is input to the image selection unit 36. When the traveling speed information is equal to or higher than a predetermined speed, the virtual viewpoint image can be excluded from the selection target. The virtual viewpoint image can display the situation around the dump truck 1, but the display range is narrow. Therefore, it is desirable to select the virtual viewpoint image when the dump truck 1 is stopped or traveling at a low speed, but each camera 8F, 8R, 8L can view a far field when the speed exceeds a predetermined speed. , 8B camera images may be displayed, and the virtual viewpoint image may not be included in the selection target.

  Further, the list of image data displayed on the display unit 15 by the image list generation unit 37 may be in any order, but may be displayed in order from image data having a high frequency of use. As a result, the operator can display the target image data with a single operation when displaying frequently used image data. In addition, although the target image data is selected by the arrow icon operated by the up switch 16U and the down switch 16D, the target image data may be selected by a method different from the arrow icon.

DESCRIPTION OF SYMBOLS 1 Dump truck 5 Vessel 7 Driver's cab 8B Rear camera 8F Front camera 8L Left camera 8R Right camera 14 Monitor 15 Display part 16 Input part 16A Determination button 16D Down switch 16U Up switch 20 Car body controller 21 Shift lever 22 Steering handle 22 Steering Handle 23 Speed detection unit 24 Bessel operation means 30 Display controller 32 Image correction unit 33 View point conversion unit 34 Image composition unit 35 Image data generation unit 36 Image selection unit 37 Image list generation unit 38 Display image generation unit

Claims (6)

A camera with a visual field at least behind and on the left and right sides of the work machine;
A monitor provided in a cab of the work machine;
An image data group generation unit that generates a plurality of image data composed of a plurality of images captured by the plurality of cameras as an image data group;
An image selection unit that selects and groups only image data related to the traveling direction of the work machine from the image data group;
An input unit for performing an operation of selecting target image data from a group of image data selected by the image selection unit;
A display image generation unit for displaying the image data selected by the input unit on the monitor;
A working machine surrounding monitoring device characterized by comprising: 2. The work machine surrounding monitoring apparatus according to claim 1, wherein the image data group includes image data captured by a camera having a field of view in front of the work machine. 3. The work machine according to claim 1, wherein the image data group includes a virtual viewpoint image obtained by converting a viewpoint so as to be an upper viewpoint based on a camera having at least the rear and left and right side fields of view. Ambient monitoring device. The forward and reverse travel of the work machine is operated by a shift lever provided in the cab, and the image selection unit determines image data to be grouped according to the position of the shift lever. 3. A work machine ambient monitoring device according to 3. 5. The left and right traveling of the work machine is operated by a steering handle provided in the driver's cab, and the image selection unit determines image data to be grouped according to a steering angle of the steering handle. The working machine ambient monitoring device described. The image data selected by the image selection unit is listed and displayed on the monitor, and target image data is selected from the list of image data using the input unit that performs the input operation of the image data. The surrounding monitoring device for a work machine according to any one of claims 1 to 5, wherein the device is selected.

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