WO2019230366A1

WO2019230366A1 - Display system

Info

Publication number: WO2019230366A1
Application number: PCT/JP2019/019088
Authority: WO
Inventors: 薫草深; 橋本　直
Original assignee: 京セラ株式会社
Priority date: 2018-05-30
Filing date: 2019-05-14
Publication date: 2019-12-05

Abstract

A display system (1) is provided for a construction machine (2) that includes a working machine (23) and a main body (22) having the working machine attached thereto. The display system (1) comprises a display unit (53), a first optical member (61), and a controller (54). The display unit (53) displays disparity images with disparity therebetween. The first optical member (61) reflects the image light (IL) from the disparity images displayed on the display unit (53) to a given position corresponding to the position of the eyes of a driver driving the construction machine (2). The first optical member (61) transmits external light incident on the surface on the opposite side of the reflection surface for the image light. The controller (54) displays the disparity images on the display unit (53).

Description

Display system

Cross-reference of related applications

This application claims the priority of Japanese Patent Application No. 2018-103387 filed on May 30, 2018, the entire disclosure of which is incorporated herein by reference.

This disclosure relates to a display system.

Conventionally, it is known that a construction machine such as a hydraulic excavator includes a display device that displays information (see Patent Document 1).

JP 2017-179961 A

The display system of the present disclosure is a display system for a construction machine that includes a work machine and a main body unit to which the work machine is attached. The display system includes a display unit, a first optical member, and a controller. The display unit displays parallax images having parallax with each other. The first optical member reflects image light of the parallax image displayed on the display unit with respect to a predetermined position corresponding to an eye position of a driver of the construction machine. The first optical member transmits external light incident on a surface opposite to a surface that reflects the image light. The controller displays a parallax image on the display unit.

FIG. 1 is a diagram showing a schematic configuration of an excavator car equipped with a display system in the present embodiment. FIG. 2 is a diagram showing a schematic configuration of the display device shown in FIG. FIG. 3 is a diagram showing an example of the display panel shown in FIG. 2 viewed from the normal direction of the active area. FIG. 4 is a diagram showing the parallax barrier shown in FIG. FIG. 5 is a diagram for explaining a virtual image visually recognized by the driver's left eye on the display panel shown in FIG. 1. FIG. 6 is a diagram for explaining a virtual image visually recognized by the driver's right eye on the display panel shown in FIG. 1. FIG. 7A is a diagram illustrating a relationship between the excavator and the horizontal plane when the angle of the excavator with respect to the horizontal plane is 0 degree. FIG. 7B is a diagram illustrating a relationship between the excavator and the horizontal plane when the angle of the excavator with respect to the horizontal plane is 10 degrees. FIG. 7C is a diagram illustrating a relationship between the shovel car and the horizontal plane when the angle of the shovel car with respect to the horizontal plane is −5 degrees. FIG. 8A is a diagram illustrating a relationship between the shovel car and the design surface when the angle of the shovel car with respect to the horizontal plane is 0 degree. FIG. 8B is a diagram illustrating a relationship between the shovel car and the design surface when the angle of the shovel car with respect to the horizontal plane is 10 degrees. FIG. 8C is a diagram illustrating a relationship between the shovel car and the design surface when the angle of the shovel car with respect to the horizontal plane is −5 degrees. FIG. 9A is a diagram illustrating a state in which the working machine is extended so that the bucket is separated from the main body portion forward. FIG. 9B is a diagram illustrating a state in which the working machine is extended so that the bucket is closer to the ground than the state illustrated in FIG. 9A. FIG. 9C is a diagram illustrating a state where the working machine is extended so that the bucket excavates the ground. FIG. 10A is a diagram illustrating a scene visually recognized by the driver when the work machine is in the state illustrated in FIG. 9A. FIG. 10B is a diagram illustrating a scene visually recognized by the driver when the work machine is in the state illustrated in FIG. 9B. FIG. 10C is a diagram illustrating a scene visually recognized by the driver when the work machine is in the state illustrated in FIG. 9C. FIG. 11 is a diagram illustrating an example of a virtual image that is visible to the driver and indicates a range that can be reached by the work implement. FIG. 12A is a diagram illustrating a state in which the working machine is extended so that the bucket is separated from the main body portion forward. FIG. 12B is a diagram illustrating a state in which the working machine is extended so that the bucket is closer to the main body than the state illustrated in FIG. 12A. FIG. 12C is a diagram illustrating a state in which the working machine is extended so that the bucket is closer to the main body than the state illustrated in FIG. 12B. FIG. 13 is a diagram illustrating an example of a virtual image showing a portion that can be reached by the work implement on the design surface, which is visually recognized by the driver. FIG. 14 is a diagram for explaining the relationship between the position and orientation of the mirror and the region where the image light reaches the windshield.

In a conventional display device, it is desired to improve convenience when a driver operating a construction machine recognizes information.

The present disclosure provides a display system capable of improving convenience when a driver operating a construction machine recognizes information.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

The display system 1 according to the present embodiment may be mounted on an excavator (construction machine) 2 as shown in FIG. The excavator 2 includes a traveling unit 21, a main body unit 22, and a work machine 23.

The traveling unit 21 is, for example, a crawler type traveling device. The traveling unit 21 is connected to the main body 22 below the main body 22. The traveling unit 21 includes drive wheels 211, idle wheels 212, and crawlers 213 wound around the drive wheels 211 and idle wheels 212. The traveling unit 21 moves on the ground in the extending direction by driving the driving wheels 211 and rotating the crawler 213 in the extending direction.

The main body 22 is connected to the traveling unit 21 on the upper side of the traveling unit 21. Therefore, the main body 22 moves as the traveling unit 21 moves. The main body 22 is provided so as to be able to turn in a plane parallel to the ground. The main body 22 includes a driver seat 221 for the driver to sit on and a windshield 222 provided on the front side of the driver who has seated. The main body unit 22 includes an operation unit such as an operation lever for operating the traveling unit 21 and the work implement 23, respectively.

The work machine 23 is attached to the main body 22. The work machine 23 is attached so as to be rotatable around an attachment position to the main body 22 and changes its posture by turning. The work machine 23 includes a boom (first portion) 231, an arm (second portion) 232, and a bucket (third portion) 233.

The boom 231 is attached to the side of the main body 22 at one end in the longitudinal direction. The boom 231 is pivotally attached around the attachment position to the main body 22 based on the operation of the driver, and changes its posture by turning.

The arm 232 is attached to the boom 231 at one end in the longitudinal direction. The arm 232 is attached so as to be rotatable around an attachment position to the boom 231. The position of the boom 231 is changed by the rotation of the arm 232. The boom 231 changes its posture by rotating.

The bucket 233 is attached to the end of the arm 232 opposite to the end attached to the boom 231. The bucket 233 is attached so as to be rotatable around an attachment position to the arm 232. The position of the bucket 233 is changed by the rotation of the boom 231 and the arm 232. The bucket 233 changes its posture by rotating.

The display system 1 includes a position detection device 3, an attitude detection device 4, a display device 5, a projection optical system 6, and a drive device 7. A part of the configuration of the display system 1 may be shared with other devices or parts included in the excavator 2.

The position detection device 3 detects the position of the position detection device 3. The position of the position detection device 3 corresponds to the position of the excavator 2 on which the position detection device 3 is mounted. Therefore, the position detection device 3 detects the position of the excavator 2 by detecting the position of the position detection device 3. The position detection device 3 includes, for example, a receiver of a global positioning satellite system (GNSS). The position detection device 3 detects the position of the position detection device 3 based on the signal received from the artificial satellite by the receiver of the global positioning system. The global positioning system includes satellite positioning systems such as GPS (Global Positioning System), GLONASS, Galileo, and Quasi-Zenith Satellite. When the position of the shovel car 2 is detected, the position detection device 3 outputs information indicating the position (hereinafter also referred to as “position information”) to the display device 5 and the drive device 7.

The posture detection device 4 detects the posture of the main body 22 of the excavator 2 on which the posture detection device 4 is mounted. The posture is, for example, an inclination angle with respect to the horizontal plane. The posture detection device 4 may be a tilt sensor, for example. The tilt sensor measures, for example, gravitational acceleration and determines the posture based on the measured gravitational acceleration. When the position detection device 3 detects the posture of the shovel car 2, the position detection device 3 outputs information indicating the posture (hereinafter also referred to as “posture information”) to the display device 5 and the drive device 7.

The display device 5 is, for example, a three-dimensional display device. As shown in FIG. 2, the display device 5 includes a communication unit 51, a memory 52, a display unit 53, and a controller 54.

The communication unit 51 may receive position information indicating the position of the excavator 2 transmitted from the position detection device 3. The communication unit 51 may receive posture information indicating the posture of the main body 22 transmitted from the posture detection device 4. The communication unit 51 may receive design information from an external device. The design information is information indicating the size and position of the design surface formed by the excavator 2, for example.

The memory 52 includes an arbitrary storage device such as a RAM (Random Access Memory) and a ROM (Read Only Memory). The memory 52 may store design information.

The display unit 53 displays parallax images having parallax with each other. The display unit 53 includes an irradiator 531, a display panel 532, and a parallax barrier 533 as an optical element.

The irradiator 531 can irradiate the display panel 532 in a plane. The irradiator 531 may include a light source, a light guide plate, a diffusion plate, a diffusion sheet, and the like. The irradiator 531 emits irradiation light from a light source, and equalizes the irradiation light in the surface direction of the display panel 532 using a light guide plate, a diffusion plate, a diffusion sheet, or the like. The irradiator 531 can emit the uniformed light toward the display panel 532.

The display panel 532 may display a left eye image (first image) and a right eye image (second image) having parallax with each other. Specifically, the display panel 532 may employ a display panel such as a transmissive liquid crystal display panel. As shown in FIG. 3, the display panel 532 has a plurality of partitioned areas partitioned into an active area 532 a formed on the surface of the plate-shaped display panel 532 in a first direction and a second direction orthogonal to the first direction. Have A direction orthogonal to the first direction and the second direction is referred to as a third direction. The first direction may be referred to as the horizontal direction. The second direction may be referred to as the vertical direction. The third direction may be referred to as the depth direction. However, the first direction, the second direction, and the third direction are not limited to these. In the drawing, the first direction is represented as the x-axis direction, the second direction is represented as the y-axis direction, and the third direction is represented as the z-axis direction.

Each sub-region corresponds to one subpixel. Therefore, the active area 532a includes a plurality of sub-pixels arranged in a grid along the horizontal direction and the vertical direction.

Each subpixel corresponds to any color of R (Red), G (Green), and B (Blue), and one pixel can be configured by combining the three subpixels of R, G, and B. One pixel can be referred to as one pixel. The horizontal direction is, for example, a direction in which a plurality of subpixels constituting one pixel are arranged. The vertical direction is, for example, a direction in which sub-pixels of the same color are arranged. The display panel 532 is not limited to a transmissive liquid crystal panel, and other display panels such as an organic EL can be used. When a self-luminous display panel is used as the display panel 532, the display device 5 may not include the irradiator 531.

As described above, a plurality of subpixels arranged in the active area 532a constitute a subpixel group Pg. The subpixel group Pg is repeatedly arranged adjacent to each other in the horizontal direction. The subpixel group Pg is repeatedly arranged adjacent to a position shifted by one subpixel in the horizontal direction in the vertical direction.

The subpixel group Pg includes subpixels in a predetermined row and column. Specifically, the sub-pixel group Pg includes b pieces (b rows) in the vertical direction, 2 × n pieces (2 × n columns) in the horizontal direction, and (2 × n × b) pieces arranged in succession. Subpixels P1 to P (2 × n × b) are included. In the example shown in FIG. 3, in the active area 532a, a subpixel group Pg including twelve subpixels P1 to P12 arranged in succession, one in the vertical direction and twelve in the horizontal direction is arranged. In the example illustrated in FIG. 2, reference numerals are given to some of the subpixel groups Pg.

The subpixel group Pg is a minimum unit for the controller 54 to perform control for displaying an image. The subpixels P1 to P (2 × n × b) having the same identification information of all the subpixel groups Pg are similarly controlled by the controller 54 at the same time. For example, when the controller 54 switches the image to be displayed on the subpixel P1 from the left eye image (first image) to the right eye image (second image), the image to be displayed on the subpixels P1 in all the subpixel groups Pg. Switching from the left eye image to the right eye image simultaneously.

The parallax barrier 533 is formed by a plane along the active area 532a as shown in FIG. The parallax barrier 533 is arranged at a predetermined distance (gap) g from the active area 532a. The parallax barrier 533 may be positioned on the opposite side of the irradiator 531 with respect to the display panel 532. The parallax barrier 533 may be positioned on the irradiator 531 side of the display panel 532.

As shown in FIG. 4, the parallax barrier 533 has a light beam direction that is a propagation direction of the image light IL emitted from the sub-pixel for each of the light-transmitting regions 533 b that are a plurality of band-like regions extending in a predetermined direction in the plane. Stipulate. The predetermined direction is a direction that forms a predetermined angle other than 0 degree with respect to the vertical direction. By defining the image light IL emitted from the sub-pixel by the parallax barrier 533, an area on the active area 532a that can be visually recognized by the driver's eyes is determined. Hereinafter, the area is referred to as a visible area. A region on the active area 532a that can be visually recognized by the driver's left eye is referred to as a left visible region 532aL (first visible region). A region on the active area 532a that can be visually recognized by the driver's right eye is referred to as a right visible region 532aR (second visible region).

Specifically, the parallax barrier 533 includes a plurality of light shielding surfaces 533a that shield the image light IL. The plurality of light shielding surfaces 533a define a light transmitting region 533b between the light shielding surfaces 533a adjacent to each other. The light transmitting region 533b has a higher light transmittance than the light shielding surface 533a. The light shielding surface 533a has a light transmittance lower than that of the light transmitting region 533b.

The light transmissive region 533 b is a portion that transmits light incident on the parallax barrier 533. The light transmitting region 533b may transmit light with a transmittance equal to or higher than the first predetermined value. The first predetermined value may be 100%, for example, or a value close to 100%. The light blocking surface 533a is a portion that blocks light that is incident on the parallax barrier 533 and does not transmit the light. In other words, the light shielding surface 533 a blocks an image displayed on the display device 5. The light blocking surface 533a may block light with a transmittance equal to or lower than the second predetermined value. The second predetermined value may be 0%, for example, or a value close to 0%.

The light transmissive regions 533b and the light shielding surfaces 533a extend in a predetermined direction along the active area 532a, and are alternately and repeatedly arranged in a direction orthogonal to the predetermined direction. The translucent area 533b defines the light ray direction of the image light IL emitted from the subpixel.

The parallax barrier 533 may be composed of a film or a plate-like member having a transmittance less than the second predetermined value. In this case, the light shielding surface 533a is configured by the film or the plate-like member. The light transmitting region 533b is configured by an opening provided in a film or a plate-like member. A film may be comprised with resin and may be comprised with another material. The plate-like member may be made of resin or metal, or may be made of other materials. The parallax barrier 533 is not limited to a film or a plate-like member, and may be constituted by other types of members. In the parallax barrier 533, the base material may have a light-shielding property, and the base material may contain an additive having a light-shielding property.

The parallax barrier 533 may be configured with a liquid crystal shutter. The liquid crystal shutter can control the light transmittance according to the applied voltage. The liquid crystal shutter may be composed of a plurality of pixels and may control the light transmittance in each pixel. The liquid crystal shutter may be formed in an arbitrary shape with a region having a high light transmittance or a region having a low light transmittance. When the parallax barrier 533 is configured by a liquid crystal shutter, the light transmitting region 533b may be a region having a transmittance equal to or higher than the first predetermined value. When the parallax barrier 533 is configured by a liquid crystal shutter, the light shielding surface 533a may be a region having a transmittance equal to or lower than the second predetermined value.

Thereby, the parallax barrier 533 defines the light beam direction, which is the propagation direction of the image light IL emitted from the sub-pixel, for each of a plurality of band-shaped regions extending in a predetermined direction in the active area 532a. The image light IL in which the light beam direction is defined is propagated via the projection optical system 6 to a predetermined position corresponding to the eyes of the driver sitting on the driver seat 221 of the main body 22.

In such a configuration, for example, when the left eye image (first image) is displayed on the subpixels P1 to P6 and the right eye image (second image) is displayed on the subpixels P7 to P12, the left eye and the right eye are displayed. Each eye sees a virtual image.

Specifically, as shown in FIG. 5, half of the left eye image displayed on the subpixel P1, the entire left eye image displayed on the subpixels P2 to P6, and the right image displayed on the subpixel P7. The image light IL with each half of the eye image is transmitted to the left eye of the driver via the projection optical system 6. As a result, the left eye of the driver is half of the left eye image displayed on the subpixel P1, the entire left eye image displayed on the subpixels P2 to P6, and the right eye image displayed on the subpixel P7. The virtual image with half of In FIGS. 5 and 6, the subpixel that displays the left-eye image is denoted by the symbol “L”, and the subpixel that displays the right-eye image is denoted by the symbol “R”.

As shown in FIG. 6, half of the right eye image displayed on the subpixel P7, the entire right eye image displayed on the subpixels P8 to P12, and half of the left eye image displayed on the subpixel P1. The image light IL is propagated to the right eye of the driver through the projection optical system 6. Thus, the right eye of the driver is half of the right eye image displayed on the subpixel P7, the entire right eye image displayed on the subpixels P8 to P12, and the left eye image displayed on the subpixel P1. The virtual image with half of

In this state, the sub-pixel area displaying the left eye image viewed by the driver's left eye is maximized, and the sub-pixel area displaying the right eye image is minimized. The subpixel area displaying the right eye image viewed by the driver's right eye is maximized, and the subpixel area displaying the left eye image is minimized. Therefore, the driver visually recognizes a virtual image of the three-dimensional image in a state where crosstalk is most suppressed.

The controller 54 is connected to each component of the display system 1 and can control each component. The components controlled by the controller 54 include a display panel 532. The controller 54 is configured as a processor, for example. The controller 54 may include one or more processors. The processor may include a general-purpose processor that reads a specific program and executes a specific function, and a dedicated processor specialized for a specific process. The dedicated processor may include an application specific IC (ASIC: Application Specific Circuit). The processor may include a programmable logic device (PLD: Programmable Logic Device). The PLD may include an FPGA (Field-Programmable GateArray). The controller 54 may be one of SoC (System-on-a-Chip) in which one or a plurality of processors cooperate, and SiP (System-In-a-Package). The controller 54 includes a storage unit, and may store various types of information or a program for operating each component of the display system 1 in the storage unit. The storage unit may be configured by, for example, a semiconductor memory. The storage unit may function as a work memory for the controller 54. Details of the controller 54 will be described later.

As shown in FIG. 2, the projection optical system 6 can be configured to include a first optical member 61 and a second optical member 62.

The first optical member 61 reflects the image light IL whose propagation direction is deflected by the second optical member 62 and transmits external light incident on the surface opposite to the surface from which the image light IL is reflected. Specifically, the first optical member 61 reflects the image light IL emitted from the display device 5 and reflected by the second optical member 62 and propagates it to the left eye and right eye of the driver. As shown in FIG. 1, the windshield 222 of the shovel car 2 may also be used as the first optical member 61. When the image light is reflected by the first optical member 61 and reaches the eyes, the eyes of the driver of the excavator 2 can visually recognize the virtual image VI. The first optical member 61 transmits external light incident on the windshield 222 from the side opposite to the second optical member 62.

The second optical member 62 deflects the propagation direction of the image light IL emitted from the display device 5. Specifically, the second optical member 62 reflects the image light IL emitted from the display panel 532 via the parallax barrier 533 to reach the first optical member 61. The second optical member 62 may include one or more mirrors and lenses. When the second optical member 62 includes a mirror, for example, the mirror included in the second optical member 62 may be a concave mirror. In FIG. 2, the second optical member 62 is displayed as one mirror. However, the present invention is not limited to this, and the second optical member 62 may be configured by combining one or more mirrors, lenses, and other optical elements.

The driving device 7 changes the position and posture of the second optical member 62. For example, the driving device 7 determines the position of the second optical member 62 and the position of the second optical member 62 based on the position of the excavator 2 detected by the position detection device 3 and the position of the work area indicated by the work information stored in the memory 52. Change posture. Specifically, when the distance between the position of the excavator 2 and the position of the work area is equal to or greater than a predetermined value, the driving device 7 causes the image light IL to reach an area around the center of the windshield 222. In addition, the position and posture of the second optical member 62 may be changed. The predetermined value will be described in detail later. When the distance between the position of the excavator 2 and the position of the work area is less than a predetermined value, the driving device 7 is configured to cause the image light IL to reach an area below the area around the center of the windshield 222. The position and posture of the two optical members 62 may be changed.

The controller 54 displays the parallax image on the display panel 532.

<Display of the horizontal plane based on the posture of the main unit>
The controller 54 causes the display panel 532 to display a parallax image based on the posture detected by the posture detection device 4 and a predetermined position corresponding to the position of the driver's eyes. The predetermined position is a position where the driver's eyes are expected to be positioned when the driver is seated on the main body 22.

For example, the controller 54 may acquire posture information indicating the posture of the main body unit 22 detected by the posture detection device 4 and received by the communication unit 51. Based on the posture of the main body 22 with respect to the horizontal plane indicated by the posture information, the controller 54 displays a parallax image indicating the horizontal plane on the display panel 532 when the driver is seated on the main body 22. You may display according to the predetermined | prescribed predetermined position anticipated. Specifically, the controller 54 allows the driver to visually recognize a virtual image VI of a virtual plane parallel to the actual horizontal plane from the position of the driver's eyes, superimposed on a scene outside the windshield 222. In addition, a parallax image is displayed on the display panel 532. The controller 54 may display the parallax image based on the actual position of the driver's eyes instead of according to a predetermined position.

For example, when the inclination angle of the main body portion 22 with respect to the horizontal plane is + 10 ° as shown in FIG. 7B, the controller 54 extends forward and downward compared to the case where the inclination angle as shown in FIG. 7A is 0 degrees. A parallax image is displayed so that the driver can visually recognize the virtual plane. For example, when the tilt angle is −5 ° as illustrated in FIG. 7C, the controller 54 causes the parallax image so that the driver can visually recognize a virtual surface extending forward as compared with the case illustrated in FIG. 7A. Is displayed.

<Display of design surface based on position and orientation of main unit>
The controller 54 may display a parallax image on the display unit 53 based on the position of the design surface and the position and orientation of the main body unit 22. Specifically, the controller 54 may acquire position information indicating the position of the main body unit 22 detected by the position detection device 3 and received by the communication unit 51. The controller 54 may acquire posture information indicating the posture of the main body unit 22 detected by the posture detection device 4 and received by the communication unit 51. The controller 54 may acquire design information stored in the memory 52. The controller 54 may acquire design information received from an external device by the communication unit 51. The controller 54 may display a parallax image indicating the design surface on the display unit 53 based on the position of the design surface and the position and orientation of the main body unit 22. Specifically, the controller 54 superimposes the parallax image on the display unit 53 so that the driver can visually recognize the virtual image VI of the parallax image indicating the design surface superimposed on a scene visually recognized on the outside of the windshield 222. You may display.

For example, in the controller 54, when the inclination angle of the main body 22 with respect to the horizontal plane is + 10 ° as shown in FIG. 8B, the driver moves forward as compared with the case where the inclination angle as shown in FIG. 8A is 0 degrees. The parallax image is displayed so as to visually recognize the design surface extending to the screen. For example, when the inclination angle is −5 ° as shown in FIG. 8C, the controller 54 is a virtual that the driver extends forward as compared with the case where the inclination angle is 0 degree as shown in FIG. 8A. A parallax image is displayed so as to visually recognize a typical design surface.

<Display of reachable range of work equipment>
(With the main unit fixed)
The controller 54 may cause the driver to visually recognize a virtual image VI indicating a reachable range of the work implement 23 by rotating each part of the work implement 23 with the main body portion 22 fixed. As shown in FIG. 9A, when each part of the work machine 23 is rotated so that the bucket 233 is farthest forward from the main body 22, the tip of the bucket 233 reaches the position A. At this time, the driver visually recognizes the substance of the bucket 233 shown in FIG. 10A outside the windshield 222. For example, as illustrated in FIG. 9B, when each part of the work implement 23 is rotated so that the bucket 233 is closer to the ground than the state illustrated in FIG. 9A, the tip of the bucket 233 reaches the position B. At this time, the driver visually recognizes the substance of the bucket 233 shown in FIG. 10B outside the windshield 222. For example, as shown in FIG. 9C, when each part of the work implement 23 is rotated so that the bucket 233 excavates the ground from the state shown in FIG. 9B, the tip of the bucket 233 reaches the position C. At this time, the driver visually recognizes the substance of the bucket 233 shown in FIG. 10C outside the windshield 222.

Therefore, the controller 54 calculates the reachable range of the bucket 233 with the main body 22 fixed in accordance with the movable range of the boom 231, the arm 232, and the bucket 233 based on the position of the main body 22. Good. The controller 54 may display a parallax image indicating the reachable range of the bucket 233 on the display unit 53. Specifically, the controller 54 displays a parallax image on the display unit 53 so that the driver can visually recognize the virtual image VI that indicates the reachable range of the bucket 233 as indicated by a two-dot chain line in FIG. 11. It's okay.

(Main body and boom fixed)
The controller 54 may calculate the reachable range of the bucket 233 based on the position of the main body 22 and the posture of the boom 231 while the main body 22 and the boom 231 are fixed. At this time, the controller 54 can calculate the reachable range of the bucket 233 using the movable range of the arm 232 and the bucket 233. The controller 54 may display a parallax image indicating a reachable range of the bucket 233 on the display unit 53. Specifically, the controller 54 may display the parallax image on the display unit 53 so that the driver displays a virtual image VI indicating the reachable range of the bucket 233.

<Display of reachable parts of the work equipment on the design>
The controller 54 may cause the display unit 53 to display a parallax image indicating the design surface based on the position and orientation of the main body unit 22 and an external design surface. Specifically, based on the position and orientation of the main body 22 and the position of the design surface, the controller 54 determines a portion of the design surface that can be reached by the bucket 233 according to the movable range of each unit of the work implement 23. May be calculated.

As shown in FIG. 12A, the bucket 233 does not reach the region of the design surface that is separated from the main body 22 in the horizontal direction. As illustrated in FIGS. 12B and 12C, the bucket 233 reaches a region near the horizontal direction from the main body 22 in the design surface. The controller 54 may display a parallax image on the display unit 53 for identifying a portion that can be reached by the bucket 233 and a portion that cannot be reached by the bucket 233 in the design surface. Specifically, the controller 54 displays the parallax image so that the driver's eyes can visually recognize the virtual image VI indicating the portion that can be reached by the bucket 233 in the design surface as indicated by the two-dot chain line in FIG. Is displayed on the display unit 53.

<Change of position and posture of second optical member>
The controller 54 may change the position and / or posture of the second optical member 62 so as to change the region where the image light IL reaches in the first optical member 61. Specifically, the controller 54 may cause the driving device 7 to change the position and angle of the second optical member 62 based on the position of the main body 22. More specifically, the controller 54 may cause the driving device 7 to change both and / or one of the position and angle of the second optical member 62 based on the position of the main body 22 and the position of the work area.

As shown in FIG. 14, for example, when the distance between the position of the main body 22 and the position of the work area is equal to or greater than a predetermined value, the controller 54 reaches the image light ILa at a predetermined position corresponding to the driver's eyes. The image light IL may be reflected by the central region 61a of the first optical member 61 so as to do so. The predetermined value may be, for example, the maximum value of the distance from the work area of the main body 22 that should be positioned to operate the work machine 23 with respect to the work area. The predetermined value may be, for example, the distance between the bucket 233 and the main body 22 when the bucket 233 is farthest from the main body 22 in the horizontal direction. In this case, the controller 54 may control the driving device 7 so that the second optical member 62 is in the position and posture indicated by the second optical member 62a. Accordingly, the driver's eyes visually recognize the virtual image VIa outside the central region 61 a of the first optical member 61.

For example, when the distance between the position of the main body 22 and the position of the work area is less than a predetermined value, the controller 54 causes the first optical member 61 so that the image light ILb reaches a predetermined position corresponding to the driver's eyes. The image light IL may be reflected by the lower region 61b. For this reason, the controller 54 may control the driving device 7 so as to change the second optical member 62 to the position and posture indicated by the second optical member 62b. Accordingly, the driver's eyes visually recognize the virtual image VIb outside the lower region 61 b of the first optical member 61.

As described above, according to an embodiment of the present disclosure, it is possible to improve convenience when a driver operating a construction machine recognizes information. In one embodiment, the construction machine display system 1 includes a display unit 53 that displays a parallax image. The display system 1 reflects the image light IL whose propagation direction is deflected by the second optical member 62 and transmits the external light incident on the surface opposite to the surface that reflects the image light IL. 61 and a controller 54 for displaying a parallax image on the display unit 53. For this reason, when the eyes of the driver of the excavator 2 are located on the surface side that reflects the image light IL with respect to the first optical member 61, the eyes of the driver are reflected by the first optical member 61. The virtual image VI is visually recognized by the IL. Since external light that has passed through the first optical member 61 reaches the eyes of the driver, a scene on the opposite side of the driver from the first optical member 61 is visually recognized. As a result, the driver's eyes visually recognize the virtual image VI of the parallax image displayed on the display unit 53 while visually recognizing the scene outside the excavator 2. For example, when the driver moves his / her line of sight to the display to confirm the image displayed on the display during the operation of the excavator 2, the observation power to the work area may be reduced. However, in the present embodiment, the driver can grasp information necessary for driving the shovel car 2, for example, shown in the parallax image without interrupting observation of the outside of the shovel car 2.

In the present embodiment, the posture of the main body unit 22 is acquired, and a parallax image is displayed on the display unit 53 based on the posture. When the posture of the main body 22 changes, the relative position of the scene outside the excavator 2 with respect to the driver changes. For this reason, when the parallax image is displayed so as to visually recognize the virtual image VI of the parallax image superimposed on the scene outside the shovel car 2 visually recognized by the driver, the posture of the main body 22 changes to The virtual image VI of the parallax image may not be superimposed at an appropriate position in the scene. However, when the controller 54 displays the parallax image based on the posture of the main body unit 22, the driver can visually recognize the virtual image VI of the parallax image at an appropriate position.

In the present embodiment, the controller 54 displays a parallax image indicating a horizontal plane on the display unit 53 based on the attitude of the main body unit 22. For this reason, the driver can visually recognize the virtual image VI of the parallax image showing the horizontal plane on the outside of the excavator 2. Thereby, even if the main body 22 on which the driver is seated is inclined with respect to the horizontal plane, the driver can recognize the horizontal plane outside the shovel car 2. Therefore, the driver can accurately operate the work machine 23 based on the horizontal plane.

In the present embodiment, the controller 54 displays on the display unit 53 a parallax image indicating an area that can be reached by the work machine 23 rotating. For this reason, the driver can visually recognize a virtual image VI of a parallax image indicating an area reachable by the work implement 23 when the work implement 23 is operated while being superimposed on a scene outside the excavator 2. . Accordingly, the driver can recognize the workable range before operating the work machine 23, and can change at least one of the position and orientation of the excavator 2 as necessary. Therefore, the driver can operate the excavator 2 efficiently.

In the present embodiment, the controller 54 causes the display unit 53 to display a parallax image indicating an area reachable by the work implement 23 by rotating the arm 232 while the boom 231 is fixed to the main body unit 22. For this reason, when the driver rotates the arm 232 in a state where the boom 231 is fixed to the main body portion 22 so as to be superimposed on the scene on the outside of the excavator car 2, an area where the working machine 23 can reach is shown. The virtual image VI of the parallax image can be visually recognized. Accordingly, the driver can recognize the workable range before operating the arm 232, and can change the position of the boom 231 as necessary. Therefore, the driver can operate the excavator 2 efficiently.

In the present embodiment, the controller 54 displays a parallax image indicating the design surface based on the position and orientation of the main body 22 and the position of the design surface. For this reason, the driver can visually recognize the virtual image VI of the parallax image indicating the design surface on the outside of the excavator 2. Thereby, even if the main body 22 on which the driver is seated is tilted, the driver can recognize the design surface on the outside of the excavator 2. Therefore, the driver can accurately operate the work machine 23 based on the design surface.

In the present embodiment, the controller 54 displays on the display unit 53 a parallax image that indicates a part in the design plane that can be reached by the work implement 23 by rotating the arm 232 while the boom 231 is fixed to the main body unit 22. To do. Therefore, the driver can recognize the workable range in the design plane before operating the arm 232, and can change the position of the boom 231 as necessary. Therefore, the driver can operate the excavator 2 efficiently.

In the present embodiment, the display system 1 further includes a drive device 7 that changes the position and orientation of the second optical member 62. For this reason, the position of the virtual image VI to be visually recognized by the driver's eyes can be changed. In general, the main body 22 may not be so wide that the display device 5 and the second optical member 62 can be arranged so that the image light IL reaches the entire surface of the windshield 222 that also serves as the first optical member 61. . Therefore, the driver can visually recognize the virtual image VI at an appropriate position by changing the region of the windshield 222 through which the image light IL reaches.

In the present embodiment, the controller 54 acquires the position of the work area where the work machine 23 is operated, and based on the distance between the position of the main body portion 22 and the position of the work area, the position of the second optical member 62 in the drive device 7. And change posture. For example, when the distance between the position of the main body 22 and the position of the work area is equal to or greater than a predetermined value, the driver is expected to move the excavator 2 toward the work area. Therefore, when the image light IL reaches the central region 61a of the first optical member 61, which is in the direction of viewing when the driver moves, the driver observing the distant outside the main body 22 visually recognizes the virtual image VI. Make it easier. When the distance between the position of the main body 22 and the position of the work area is less than a predetermined value, the driver is expected to observe the work area outside the shovel car 2. Therefore, when the image light IL reaches an area corresponding to the height of the work area in the first optical member 61, the driver can easily see the virtual image VI.

The above embodiment has been described as a representative example, but it will be apparent to those skilled in the art that many changes and substitutions can be made within the spirit and scope of the present disclosure. Accordingly, the present disclosure should not be construed as being limited by the above-described embodiments, and various modifications and changes can be made without departing from the scope of the claims. For example, a plurality of constituent blocks described in the embodiments and examples can be combined into one, or one constituent block can be divided.

In the above-described embodiment, the display device 5 may be a two-dimensional display device. In this case, the display unit 53 of the display device 5 does not include the irradiator 531 and the parallax barrier 533. The controller 54 may display the two-dimensional image on the display unit 53 so that the driver can visually recognize the virtual image VI of the two-dimensional image. The two-dimensional image may be, for example, a cross-sectional view showing a work area, a horizontal plane and a design surface with respect to the work area.

In the above embodiment, the sub-pixel group Pg is repeatedly arranged adjacent to a position shifted by one sub-pixel in the horizontal direction in the vertical direction, but in the vertical direction at a position that does not shift in the horizontal direction. It may be arranged repeatedly adjacent. In this case, in the parallax barrier 533, the light shielding surfaces 533a extending in the vertical direction may be arranged at predetermined intervals in the horizontal direction.

In the above-described embodiment, the optical element of the display device 5 is the parallax barrier 533, but is not limited thereto. For example, the optical element included in the display device 5 may be a lenticular lens. In this case, the lenticular lens is configured by arranging the cylindrical lenses 9 in a plane parallel to the active area 532a. Similarly to the parallax barrier 533, the lenticular lens propagates the image light IL emitted from the sub-pixel in the left visible region 532aL to the position of the driver's left eye, and emits the image light emitted from the sub-pixel in the right visible region 532aR. The IL is propagated to the position of the driver's right eye.

DESCRIPTION OF SYMBOLS 1 Display system 2 Excavator 3 Position detection apparatus 4 Attitude detection apparatus 5 Display apparatus 6 Projection optical system 7 Drive apparatus 21 Traveling part 22 Main body part 23 Work machine 51 Communication part 52 Memory 53 Display part 54 Controller 61 1st optical member 62 1st Two optical members 211 Drive wheel 212 idle wheel 213 crawler 221 driver seat 222 wind shield 231 boom 232 arm 233 bucket 531 irradiator 532 display panel 532a active area 532aL left visible area 532aR right visible area 533 parallax barrier 533a light shielding surface 533b Region IL Image light VI Virtual image

Claims

A construction machine display system comprising a work machine and a main body portion to which the work machine is attached,
A display unit for displaying parallax images having parallax with each other;
The surface of the parallax image displayed on the display unit is reflected with respect to a predetermined position corresponding to the position of the driver's eye of the construction machine, and the surface opposite to the surface that reflects the image light A first optical member that transmits external light incident on
A controller for displaying the parallax image on the display unit,
Construction machine display system.
Further comprising an attitude detection device for detecting the attitude of the main body,
The display system according to claim 1, wherein the controller displays the parallax image based on a posture of the main body detected by the posture detection device.
The display system according to claim 2, wherein the controller displays the parallax image indicating a horizontal plane on the display unit based on an attitude of the main body unit.
The working machine is attached so as to be rotatable around an attachment position to the main body,
The display system according to any one of claims 1 to 3, wherein the controller displays the parallax image indicating an area that is reachable when the work implement rotates.
The working machine includes a first part attached to the main body, and a second part attached to the first part,
The first part is rotatable around an attachment position to the main body, and the second part is rotatable around an attachment position to the first part;
The controller is configured to display the parallax image indicating an area reachable by the work implement by rotating the second portion in a state where the first portion is fixed to the main body based on an attitude of the first portion. The display system according to any one of claims 1 to 3, wherein the display is performed.
A position detection device for detecting the position of the main body,
The controller displays the parallax image indicating the design surface based on a position of the main body portion and an attitude of the main body portion and a predetermined design surface located outside the main body portion. 3. The display system according to 3.
The working machine is attached so as to be rotatable around an attachment position to the main body,
The display system according to claim 6, wherein the controller displays the parallax image indicating a portion in the design plane that can be reached by rotating the work implement.
The working machine includes a first part attached to the main body, and a second part attached to the first part,
The first part is rotatable around an attachment position to the main body, and the second part is rotatable around an attachment position to the first part;
Based on the posture of the first part, the controller determines an area in the design plane that the work implement can reach by rotating the second part with the one part fixed to the main body. The display system according to claim 6, wherein the displayed parallax image is displayed.
A second optical member that deflects the propagation direction of the image light of the parallax image displayed on the display unit toward the first optical member;
A drive device for changing the position and posture of the second optical member;
Further comprising
The controller causes the driving device to change at least one of the position and the posture of the second optical member so as to change the region where the image light reaches the first optical member based on the position of the main body. The display system according to any one of claims 6 to 8.
The controller acquires a position of a work area where the work implement is operated, and determines a position and a posture of the second optical member on the driving device based on a distance between the position of the main body and the position of the work area. The display system according to claim 9, wherein the display system is changed.
The display according to claim 10, wherein when the controller determines that the distance is less than a predetermined value, the controller causes the driving device to change the position and orientation of the second optical member based on the height of the work area. system.