WO2020080294A1

WO2020080294A1 - Hydraulic excavator

Info

Publication number: WO2020080294A1
Application number: PCT/JP2019/040240
Authority: WO
Inventors: 直樹萩原; 溝口　和彦; 尚多胡; 真一笹▲崎▼; 古渡　陽一
Original assignee: 日立建機株式会社
Priority date: 2018-10-15
Filing date: 2019-10-11
Publication date: 2020-04-23
Also published as: JP2020063569A

Abstract

This hydraulic excavator uses images captured by multiple monitoring cameras to generate a planar, bird's-eye-view image, generates a schematized icon image showing the vehicle body in planar view, performs synthesis processing for displaying a planar view image around the icon image, and, in the area where the frontal view of the left side camera is blocked by the operator cabin, combines an icon different from the images captured by the multiple monitoring cameras, generating a composite image. By this means, it is possible for the operator to monitor the periphery without worrying.

Description

Hydraulic excavator

The present invention relates to a hydraulic excavator.

For work machines such as hydraulic excavators, a technology is known that assists the operator in monitoring the surroundings of the work machine by displaying the image obtained by the camera provided on the vehicle body on the monitor in the cab.

As a technique related to such work machine surroundings monitoring, for example, in Patent Document 1, a plurality of cameras are installed in the work machine, signal processing is performed based on camera images acquired by these cameras, and an upper viewpoint is obtained. As described above, a viewpoint monitoring device for a work machine that converts the viewpoint and displays it on a monitor as a bird's-eye image, and an image synthesizing unit that displays a synthesized bird's-eye image obtained by synthesizing the individual bird's-eye images captured by the cameras on the monitor, A work machine configured to convert the composite bird's-eye view image into at least one image of the individual bird's-eye view images forming the composite bird's-eye view image by converting it to a camera image before viewpoint conversion. A perimeter monitor is disclosed.

Further, in Patent Document 2, an object detection unit that detects a predetermined object existing within a predetermined range around a work machine, and an alarm unit that issues a sound alarm when the object detection unit detects the object. When the state in which the object is detected by the object detection unit continues, the alarm unit stops the alarm by the sound and outputs the sound by the sound when a predetermined condition is satisfied. A perimeter monitoring system for a work machine is disclosed, which issues a warning by light after the warning is stopped.

JP 2012-74929A

JP, 2008-111981, A

By the way, depending on the structure of the car body and the installation position of the camera, it is assumed that the structure of the car body is reflected in the image displayed on the monitor. In such a case, information unnecessary for surroundings monitoring is displayed on the monitor, and the operator may feel uncomfortable when performing surroundings monitoring.

The present invention has been made in view of the above, and an object thereof is to provide a hydraulic excavator that allows an operator to monitor the surroundings without feeling discomfort.

The present application includes a plurality of means for solving the above problems, but to give an example thereof, a vehicle body constituted by an upper revolving structure and a lower traveling structure, and a cab provided in front of the upper revolving structure, A plurality of surveillance cameras that photograph the periphery of the upper swing body, a controller that generates a composite image from the images captured by the plurality of surveillance cameras, and a monitor that displays the composite image generated by the controller In the hydraulic excavator provided with, the plurality of monitoring cameras is provided on the left side of the upper revolving structure and behind the operator's cab, and a left side camera having a field of view of the front and left sides of the upper revolving structure, A right-side camera provided on the right side of the upper revolving structure and having a field of view in front of and on the right side of the upper revolving structure, and on the left and right sides of the upper revolving structure provided behind the upper revolving structure. And a rear camera having a rear view, and the controller generates a plan view image viewed from above using the images captured by the plurality of monitoring cameras and displays the vehicle body in a plane. Generating a graphic icon image, performing a combining process of displaying the planar view image around the icon image, and monitoring the plurality of monitoring images at a portion where the front view of the left side camera is blocked in the cab. It is assumed that an image different from the image captured by the camera is combined to generate the combined image.

According to the present invention, the operator can monitor the surroundings without feeling any discomfort.

It is a left side view showing roughly the appearance of the hydraulic excavator concerning one embodiment of the present invention. It is a right side view showing roughly the appearance of the hydraulic excavator concerning one embodiment of the present invention. It is a top view which shows roughly the external appearance of the hydraulic excavator which concerns on one embodiment of this invention. It is a rear view which shows roughly the external appearance of the hydraulic excavator which concerns on one embodiment of this invention. It is a figure which extracts the surroundings monitoring apparatus which concerns on one embodiment of this invention, and shows it typically. It is a figure which extracts and shows the synthetic image displayed on a monitor. It is a functional block diagram which shows the function which concerns on the surroundings monitoring apparatus of a controller. It is a flowchart which shows the processing content of a controller.

An embodiment of the present invention will be described below with reference to the drawings.

1 to 4 are diagrams schematically showing the appearance of a hydraulic excavator according to the present embodiment. FIG. 1 is a left side view, FIG. 2 is a right side view, FIG. 3 is a top view, and FIG. It is a figure.

1 to 4, a hydraulic excavator 100 includes a vehicle body including a crawler-type lower traveling body 1 and an upper revolving body 2 that is provided so as to be rotatable with respect to the lower traveling body 1, and a front side of the upper revolving body 2. The front working machine 3 is arranged so as to be able to move upward and downward.

The front working machine 3 is configured by connecting a plurality of driven members (boom 3a, arm 3b, and bucket 3c) that rotate in the vertical direction, respectively. The base end of the boom 3a is rotatably supported by the front part of the upper swing body 2. Further, one end of an arm 3b is rotatably connected to the tip of the boom 3a, and a bucket 3c is rotatably connected to the other end (tip) of the arm 3b. The boom 3a, the arm 3b, and the bucket 3c are driven by a boom cylinder 3d, an arm cylinder 3e, and a bucket cylinder 3f, which are hydraulic actuators, respectively.

The lower traveling body 1 includes a pair of

crawlers

1e and 1f, which are respectively wound around a pair of left and right crawler frames 1c, and a traveling hydraulic pressure as a hydraulic actuator that drives the

crawlers

1e and 1f via a reduction mechanism (not shown) or the like. It is composed of

motors

1a and 1b. It should be noted that in FIGS. 3 and 4, for simplification of illustration, all or part of the front working machine 3 is omitted.

The upper swing body 2 is configured by arranging each member on a swing frame 2a serving as a base, and the swing frame 2a swings with respect to the lower traveling body 1 by a swing hydraulic motor (not shown) that is a hydraulic actuator. By being driven, the upper swing body 2 can swing with respect to the lower traveling body 1.

An operator's cab 4 for the operator to operate the hydraulic excavator 100 is disposed on the revolving frame 2a of the upper revolving structure 2, and although not shown, an engine that is a prime mover and is driven by the engine. The hydraulic circuit system for driving the hydraulic pump and the pilot pump, and the hydraulic actuators (travel

hydraulic motors

1a and 1b, swing hydraulic motor, boom cylinder 3d, arm cylinder 3e, bucket cylinder 3f) are mounted. Further, a controller 20 that controls the overall operation of the hydraulic excavator 100 is arranged on the upper swing body 2.

In the cab 4, in addition to a seat on which an operator is seated, an operating device (not shown) for performing a driving operation of the front working unit 3, a turning operation of the upper revolving structure 2, a traveling operation of the lower traveling structure 1, and the like, A monitor 30 (described later) is arranged at a position where an operator seated on the seat can easily see and does not obstruct the external visual field.

A plurality of surveillance cameras 14 to 16 that take images of the surroundings of the upper swing body 2 are mounted on the left, right, and rear of the upper portion of the upper swing body 2. The plurality of surveillance cameras 14 to 16 are referred to as a right side camera 14, a rear camera 15, and a left side camera 16, respectively, depending on their arrangement. That is, the plurality of monitoring cameras 14 to 16 are provided behind the driver's cab 4 on the left side of the upper swing body 2, and have a left-side camera 16 that has a view of the front and left sides of the upper swing body 2 and the upper swing body. 2 is provided on the right side of the upper revolving superstructure 2 and has a right-side camera 14 in the field of view of the front and right sides of the upper revolving superstructure 2, and is provided behind the upper revolving superstructure 2 to view the left and right sides and the rear of the upper revolving superstructure 2. And the rear camera 15 of the above.

As shown in FIG. 3, each of the plurality of monitoring cameras 14 to 16 is arranged so as to be inside the outer contour of the vehicle body (the lower traveling structure 1 and the upper revolving structure 2) as viewed from above. . Specifically, the left side camera 16 is arranged behind the driver's cab 4 above the upper swing body 2 so as to be inside the left side surface of the upper swing body 2 (including the left side surface of the driver's cab 4). Has been done. Similarly, the right side camera 14 is located on the right side surface of the upper swing body 2 inside the right side surface of the lower traveling body 1 and the right and rear confirmation mirrors 2b forming the upper swing body 2. It is located in. Further, the rear camera 15 is arranged behind the upper swing body 2 so as to be inside the rear surface (rear side surface) of the upper swing body 2.

The hydraulic excavator 100 of the present embodiment configured as described above displays the images taken by the monitoring cameras 14 to 16 on the monitor 30 provided in the operator's cab 4, so that the operator can monitor the surroundings of the vehicle body. It is equipped with an auxiliary environment monitoring device.

FIG. 5 is a diagram schematically showing the surroundings monitoring device according to the present embodiment as extracted. In addition, FIG. 6 is a diagram in which a composite image displayed on the monitor is extracted and shown.

In FIG. 5, the surrounding display device includes a plurality of surveillance cameras 14 to 16, a controller 20 that generates a composite image from images captured by the plurality of surveillance cameras 14 to 16, and a composite image generated by the controller 20. And a monitor 30 for displaying.

The controller 20 images captured by the plurality of monitoring cameras 14 to 16 or images that have undergone viewpoint conversion as if these images were captured from vertically above (that is, a planar view image of an upper viewpoint), or A composite that generates a pictorial icon image 31a for displaying the vehicle body in a plane, displays the images 314 to 316 captured by each of the monitoring cameras 14 to 16 and converted into a two-dimensional view image around the icon image 31a. By performing the processing, an image (hereinafter referred to as a composite image 31) obtained by taking a bird's-eye view of the situation of the vehicle body and the surroundings from above the vehicle body is generated and displayed on the monitor 30. That is, in FIG. 5 and FIG. 6, the composite image 31 displayed on the monitor 30 has the icon image 31a schematically showing the shape and size of the vehicle in the composite image 31 arranged in the center, and the right side of the icon image 31a. , The lower side, and the left side are formed by converting the images photographed by the monitoring cameras 14 to 16 into the upper viewpoint images 314 to 316 centered on the vehicle body of the hydraulic excavator 100 and arranging them. . 5 and 6 exemplify a case in which the upper side of the icon image 31a of the combined image 31 is combined so as to correspond to the front of the hydraulic excavator 100.

Further, in the synthesis processing of the synthetic image 31, the controller 20 defines the images taken by the plural monitoring cameras 14 to 16 at the portions where the visual fields of the plural monitoring cameras 14 to 16 are obstructed by the components of the vehicle body. Combine different images. Specifically, an image different from the images captured by the plurality of surveillance cameras 14 to 16 is displayed on the entire portion 31c where the front view of the left-side camera 16 is blocked by the driver's cab 4 (for example, a monochrome image such as black). Icon 131c: hatched for explanation in FIG. 6). In the process of synthesizing the synthetic image 31, a single-color icon 131b, such as black, is synthesized on the entire portion 31b corresponding to the front of the vehicle body that is out of the visual field of the plurality of monitoring cameras 14 to 16. Further, by unifying the colors of the icons 131b and 131c to be combined with the combined image 31, they can be integrally displayed.

Further, in the combining process of the combined image 31, the controller 20 includes

linear parts

132d, 134d, 136d and

curved parts

133d, 135d arranged along the periphery of the icon image 31a at a predetermined distance from the icon image 31a. A second outer ring 31d composed of a

straight line portion

132e, 134e, 136e and a

curved portion

133e, 135e arranged along the outside of the first outer ring 31d as viewed from the icon image 31a. And the outer ring line 31e of the above are combined with the combined image 31.

The

straight line portions

132d, 134d, 136d of the first outer wheel line 31d are located at predetermined distances from the icon image 31a along the left and right sides (corresponding to the left and right side surfaces and the back surface of the hydraulic excavator 100) of the icon image 31a. It is arranged. Further, the

curved portions

133d and 135d of the first outer ring 31d are arranged so as to connect the ends of the

straight portions

132d, 134d and 136d while keeping the distance from the corner of the icon image 31a substantially constant. That is, the two

curved portions

133d and 135d of the first outer ring 31d are formed non-concentrically.

The

straight line portions

132e, 134e, 136e of the second outer race line 31e are arranged outside the first outer race line 31d along the

straight line portions

132d, 134d, 136d of the first outer race line 31d. Is arranged at a predetermined distance from. The

curved portions

133e and 135e of the second outer ring 31e are arranged concentrically with the

curved portions

133d and 135d of the first outer ring 31d so as to connect the ends of the

straight portions

132e, 134e and 136e. . That is, the two

curved portions

133e and 135e of the second outer ring 31e are formed non-concentrically. The second outer ring 31e is arranged outside the range corresponding to the turning range of the upper swing body 2 in the composite image 31.

The first outer ring line 31d and the second outer ring line 31e are arranged in the composite image 31 at a position showing a certain distance from the vehicle body in accordance with the shape of the vehicle body. Therefore, for example, refer to the information around the vehicle body displayed in the composite image 31 and the

straight line portions

132d, 134d, 136d of the first outer ring 31d and the

straight line portions

132e, 134e, 136e of the second outer ring 31e. Thus, the width of the vehicle body can be easily adjusted with respect to the obstacle. Further, since a plurality of outer race lines (first outer race line 31d and second outer race line 31e) are displayed, the vehicle body can be moved and arranged with higher accuracy.

Further, the controller 20 detects the presence or absence of a moving object in the image based on the images from the plurality of monitoring cameras 14 to 16 in the combining process of the combined image 31, and if the moving object is detected, the monitor is detected. Information indicating that a moving body is detected is synthesized and displayed on 30. Specifically, for example, when a moving body is detected, the marker 31f is combined and displayed at a position corresponding to the detection position of the moving body in the composite image 31, so that the moving body is present, and Inform the operator of the position.

FIG. 7 is a functional block diagram showing functions related to the surroundings monitoring device of the controller.

The controller 20 is equivalent to a computer having a processing device (for example, a CPU) and a storage device (for example, a semiconductor memory such as a ROM or a RAM) in which a program executed by the processing device and data necessary for executing the program are stored. Hardware. In FIG. 7, various calculation processes executed by the controller 20 are shown by functional blocks.

In FIG. 7, the controller 20 includes an image storage unit 21 that stores images captured by the monitoring cameras 14 to 16 and a camera mounting position storage unit that stores the mounting positions and mounting angles of the monitoring cameras 14 to 16 with respect to the vehicle body. 24, a storage unit 23 that stores various kinds of information for generating a composite image 31 displayed on the monitor 30, and the presence or absence of a moving body and the position with respect to the vehicle body are determined from the images captured by the monitoring cameras 14 to 16. A composite image 31 is generated from the images of the monitoring cameras 14 to 16 stored in the image storage unit 21, based on the information stored in the moving body determination unit 22, the storage unit 23, and the camera mounting position storage unit 24, It has an image composition processing unit 25 for outputting to the monitor 30.

When the moving body determination unit 22 acquires the images captured by the monitoring cameras 14 to 16 and determines the presence or absence of the moving body in the image by, for example, the background subtraction method, and determines that there is a moving body (that is, , When the moving body is detected), the position of the moving body is calculated. Note that an obstacle such as a worker (person) may be detected by pattern matching or the like, and information indicating that the obstacle has been detected and the position of the obstacle may be output.

In the storage unit 23, in addition to the coordinate information on the screen regarding the arrangement and shape of the images captured by the plurality of surveillance cameras 14 to 16 in the combined image 31, the coordinate information on the screen regarding the icon image 31a and the combined image. The coordinate information on the screen of the first outer ring line 31d and the second outer ring line 31e in 31, the coordinate on the screen of the icon 131b corresponding to the portion corresponding to the front of the vehicle body that does not fall within the field of view of the plurality of monitoring cameras 14 to 16. The information and the coordinate information on the screen of the icon 131c corresponding to the portion where the visual fields of the plurality of surveillance cameras 14 to 16 are blocked by the structure of the vehicle body are stored.

The image composition processing unit 25 generates a planar view image looking down from above by using the images captured by the plurality of monitoring cameras 14 to 16 and also generates coordinate information on the screen regarding the icon image 31a from the storage unit 23. An icon image 31a is generated based on the icon image 31a, and a combination process of displaying a two-dimensional image around the icon image a is performed to generate the combined image 31.

Further, the image composition processing unit 25, in the composition process of the composite image 31, based on the coordinate information on the screen regarding the icon 131c from the storage unit 23 in the portion 31c where the front view of the left side camera 16 is blocked by the cab 4. The icon 131c is combined, and the icon 131b is combined with the portion 31b corresponding to the front of the vehicle body which is out of the visual fields of the plurality of monitoring cameras 14 to 16 based on the coordinate information on the screen regarding the icon 131b from the storage unit 23.

Further, the image combining processing unit 25 combines the first outer ring line 31d and the second outer ring line 31e based on the coordinate information on the screen from the storage unit 23 in the combining process of the combined image 31, and determines the moving body. The marker 31f is combined based on the determination result (presence or absence of a moving body and its position) from the unit 22. The composite image 31 generated by the image composition processing unit 25 is output to the monitor 30.

The operation of this embodiment configured as described above will be described using a flowchart.

FIG. 8 is a flowchart showing the processing contents of the controller.

In FIG. 8, the controller 20 repeats the following processing from START to END at predetermined intervals (for example, 10 ms which is the processing cycle of the controller 20).

First, the image storage unit 21 of the controller 20 reads and stores the images captured by the monitoring cameras 14 to 16 (step S100).

Next, the image composition processing unit 25 uses, as information used to create the composite image 31, coordinate information on the screen regarding the icon image 31a, coordinate information on the screen regarding the icons 131b and 131c, the first outer ring 31d and the first outer ring 31d. The coordinate information on the screen regarding the second outer ring 31e is read from the storage unit 23 (step S110), and the composite image 31 is created (step S120). At this time, in the combined image 31, the icon 131c is combined with the entire portion 31c of the driver's cab 4, which is a structure of the vehicle body, and information unnecessary for surrounding monitoring is displayed on the monitor and presented to the operator. Absent. Therefore, the operator can monitor the surroundings without feeling discomfort.

In addition, following the processing of step S110, the moving body determination unit 22 of the controller 20 determines whether or not a moving body has been detected based on the images captured by the monitoring cameras 14 to 16 (step S130), and makes a determination. If the result is YES, the coordinate information on the screen regarding the position where the moving body is detected is read (step S140), and the marker 31f to be combined with the detected position of the moving body in the combined image 31 created in step S120 is generated. And outputs it to the image composition processing unit 25 (step S150). Subsequently, the image composition processing unit 25 creates a composite image similarly to step S120, and combines the created composite image 31 with the marker 31f indicating the detection position of the moving body from the moving body determination unit 22 (step S160). The composite image 31 is output and displayed on the monitor 30 (step S170), and the process is terminated. If the determination result in step S130 is NO, the composite image 31 created in step S120 is output to the monitor 30 as it is and displayed (step S170), and the process ends.

The effects of this embodiment configured as above will be described.

In work machines such as hydraulic excavators, when monitoring the surroundings by displaying the image obtained by the camera provided on the vehicle body on the monitor in the cab, the image displayed on the monitor may be displayed depending on the vehicle body structure and the camera installation position. It is assumed that the structure of the car body is reflected in the. In such a case, information unnecessary for surroundings monitoring is displayed on the monitor, and the operator may feel uncomfortable when performing surroundings monitoring.

In order to solve such a problem, in the present embodiment, the images captured by the plurality of surveillance cameras 14 to 16 are used to generate a plan view image looking down from above, and the vehicle body is displayed on a plane. The combined icon image 31a is generated, and the two-dimensional image is displayed around the icon image 31a. The combining process is performed, and the front view of the left-side camera 16 is blocked by the driver's cab 4 in the portion 31c. Since the image different from the image captured in 16 (that is, the icon 131c) is combined to generate the combined image 31, the operator can monitor the surroundings without feeling discomfort.

In addition, in the present embodiment, since the first outer ring line 31d and the second outer ring line 31e are arranged in the composite image 31 at a position indicating a certain distance from the vehicle body in accordance with the shape of the vehicle body, For example, by referring to the information around the vehicle body displayed in the composite image 31 and the

straight line portions

132e, 134e, 136e of the first outer ring line 31d and the second outer ring line 31e, the width of the vehicle body with respect to an obstacle, etc. Can be done easily.
Further, in the present embodiment, since the plurality of outer ring lines (the first outer ring line 31d and the second outer ring line 31e) are combined and displayed, the distance from the obstacles and the like around the vehicle body, The positional relationship can be known more accurately.

The features of this embodiment configured as described above will be explained.

(1) In the above embodiment, the vehicle body constituted by the upper swing body 2 and the lower traveling body 1, the driver's cab 4 provided in front of the upper swing body, and the surroundings of the upper swing body are photographed. A plurality of monitoring cameras 14 to 16, a controller 20 that generates a composite image 31 from images captured by the plurality of monitoring cameras, and a monitor 30 that displays the composite image generated by the controller. In the hydraulic excavator 100, the plurality of monitoring cameras are provided on the left side of the upper swing body and behind the operator's cab, and the left side camera 16 has a field of view in front of and on the left side of the upper swing body; A right side camera 14 provided on the right side of the upper swing body and having a field of view in front of and on the right side of the upper swing body, and on the left and right sides of the upper swing body provided behind the upper swing body. A rear camera 15 having a rear view, and the controller generates a plan view image looking down from above using images captured by the plurality of monitoring cameras and displays the vehicle body in a plane. The graphic image of the icon 31a is generated, and the planar view image is displayed around the icon image. The combining process is performed, and the front view of the left-side camera is covered by the plurality of parts 31c in the driver's cab. An image (for example, the icon 131c) different from the image captured by the surveillance camera is combined to generate the combined image.

With this, the operator can monitor the surroundings without discomfort.

(2) In the above-described embodiment, in the hydraulic excavator 100 of (1), the left side camera 16 and the right side camera 14 move above the vehicle body (for example, the upper swing body 2 and the lower traveling body 1). It is supposed to be provided inside the outer shell when viewed from above.

(3) Further, in the above embodiment, in the hydraulic excavator 100 of (1), the controller 20 detects the presence or absence of a moving body based on the images from the plurality of monitoring cameras 14 to 16, When the moving body is detected, information indicating that the moving body is detected is displayed on the monitor 30.

(4) Further, in the above embodiment, in the hydraulic excavator 100 according to (1), the controller 20 has a predetermined distance from the icon image so as to be along the periphery of the icon image 31a of the composite image 31. The first outer ring line 31d, which is composed of the

straight line portions

132d, 134d, 136d and the

curved line portions

133d, 135d, and the outer side of the first outer ring line as seen from the icon image. The second outer ring line 31e including the

straight line portions

132e, 134e, 136e and the

curved line portions

133e, 135e is displayed on the composite image.

(5) Further, in the above embodiment, in the hydraulic excavator 100 according to (4), the controller 20 is located outside the range corresponding to the swing range of the upper swing body 2 in the composite image 31. The second outer ring line 31e is displayed.

<Appendix>
It should be noted that the present invention is not limited to the above-described embodiments, and various modifications and combinations are included within the scope of the invention. Further, the present invention is not limited to the one provided with all the configurations described in the above-described embodiments, and includes one obtained by deleting a part of the configuration. Further, the above-described respective configurations, functions and the like may be realized by partially or entirely designing, for example, an integrated circuit. Further, each of the above-described configurations, functions and the like may be realized by software by a processor interpreting and executing a program for realizing each function.

DESCRIPTION OF SYMBOLS 1 ... Lower traveling body, 1a, 1b ... Traveling hydraulic motor, 1c, 1d ... Crawler frame, 1e, 1f ... Crawler, 2 ... Upper revolving body, 2a ... Revolving frame, 2b ... Mirror, 3 ... Front working machine, 3a ... Boom, 3b ... Arm, 3c ... Bucket, 3d ... Boom cylinder, 3e ... Arm cylinder, 3f ... Bucket cylinder, 4 ... Driver's cab, 14 ... Right side camera (surveillance camera), 15 ... Rear camera (surveillance camera) , 16 ... Left side camera (surveillance camera), 20 ... Controller, 21 ... Image storage unit, 22 ... Moving body determination unit, 23 ... Storage unit, 24 ... Camera mounting position storage unit, 25 ... Image combination processing unit, 30 ... monitor, 31 ... composite image, 31a ... icon image, 31d ... first outer ring line, 31e ... second outer ring line, 31f ... marker, 100 ... hydraulic excavator, 131b ... Con, 131c ... icon

Claims

A vehicle body composed of an upper revolving structure and a lower traveling structure, a driver's cab provided in front of the upper revolving structure, a plurality of monitoring cameras for photographing the periphery of the upper revolving structure, and the plurality of monitoring cameras. In a hydraulic excavator including a controller that generates a composite image from the image captured in, and a monitor that displays the composite image generated by the controller,
The plurality of monitoring cameras are provided on the left side of the upper revolving structure and behind the operator's cab, and have a left-side camera having a front view and a left side view of the upper revolving structure and a right side of the upper revolving structure. A right side camera provided in front and right side of the upper revolving structure in the field of view; a rear camera provided in the rear of the upper revolving structure in the left and right sides and the rear of the upper revolving structure in the field of view; Have
The controller generates a planar view image looking down from above using images captured by the plurality of surveillance cameras, and also generates a graphic icon image for displaying the vehicle body in a plane, An image is displayed around the icon image, and a composite image different from the images captured by the plurality of monitoring cameras is composited in a portion where the front view of the left side camera is blocked by the driver's cab. A hydraulic excavator characterized by generating the composite image.
The hydraulic excavator according to claim 1,
A hydraulic excavator, wherein the left side camera and the right side camera are provided inside an outer contour of the vehicle body when viewed from above.
The hydraulic excavator according to claim 1,
The controller detects the presence or absence of a moving body based on the images from the plurality of monitoring cameras, and when the moving body is detected, displays information indicating that the moving body is detected on the monitor. A hydraulic excavator characterized by that.
The hydraulic excavator according to claim 1,
The controller includes a first outer ring line composed of a straight line portion and a curved line portion, which is arranged at a predetermined distance from the icon image along the periphery of the icon image of the composite image, and is viewed from the icon image. And a second outer ring line composed of a straight line portion and a curved line portion, which is arranged along the outer side of the first outer ring line, in the composite image.
The hydraulic excavator according to claim 4,
The hydraulic excavator, wherein the controller displays the second outer wheel line outside a range corresponding to a swing range of the upper swing body in the composite image.