WORKING MACHINE

• US 20180044893A1
• Filed: 03/09/2016
• Published: 02/15/2018
• Est. Priority Date: 03/31/2015
• Status: Active Grant

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: Machida, Masaomi, Kurihara, Takeshi
• Granted Patent: US 10,781,572 B2
• Time in Patent Office: Days
• CPC Class Codes: B60R 1/23 with a predetermined field of view
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/303 using joined images, e.g. multiple camera images
• CPC Class Codes: E02F 3/32 working downwardly and towards the machine, e.g. with backhoes
• CPC Class Codes: E02F 9/26 Indicating devices E02F5/145 takes precedence
• CPC Class Codes: E02F 9/261 Surveying the work-site to be treated
• CPC Class Codes: G01S 13/04 Systems determining presence of a target based on relative movement of target G01S13/56
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles
• CPC Class Codes: H04N 23/90 Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
• CPC Class Codes: H04N 5/272 Means for inserting a foreground image in a background image, i.e. inlay, outlay
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

A work machine includes plural cameras, a display unit and a controller controlling the cameras and the display unit. The controller includes an overview image generator generating an overview image from the images by the cameras, an image superimposing unit superimposing a top view image of the work machine on the overview image, a working-equipment display unit putting a part of working equipment in the top view image of the work machine in non- or transparent-display, and an operation judging unit judging at least one of operation of the working equipment and travel of the work machine. When the operation judging unit judges the operation of the working equipment etc. is performed, the working-equipment display unit displays the top view image of the work machine without displaying at least one part of the working equipment or with transparently displaying the at least one part of the working equipment.

Claims

1. A work machine comprising:

working equipment;

a plurality of cameras configured to take images of surroundings of the work machine;

a display unit configured to display the images taken by the plurality of cameras; and

a controller configured to control the plurality of cameras and the display unit, wherein at least one of the plurality of cameras is capable of taking an image under the working equipment,

the controller comprises;

an overview image generator configured to generate an overview image based on the images taken by the plurality of cameras;

an image superimposing unit configured to superimpose a top view image of the work machine on the overview image generated by the overview image generator;

a working-equipment display unit configured to display the top view image of the work machine without displaying at least one part of the working equipment or with transparently displaying the at least one part of the working equipment; and

an operation judging unit configured to judge at least one of an operation of the working equipment and a travel operation of the work machine,

the controller controls the display unit to display the overview image on which the top view image of the work machine is superimposed, and

when the operation judging unit judges that at least one of the operation of the working equipment and the travel operation of the work machine is performed, or that at least one of the operation of the working equipment and the travel operation of the work machine is stopped, the working-equipment display unit is configured to display the top view image of the work machine without displaying at least one part of the working equipment, with transparently displaying the at least one part of the working equipment, or with fully displaying the working equipment.

2. The work machine according to claim 1, wherein

the working-equipment display unit is configured to display an outline of the working equipment in the top view image of the work machine on the overview image on which the top view image of the work machine is superimposed.

3. The work machine according to claim 1, wherein

at least one of the plurality of cameras is capable of taking an image under a main body of the work machine, and

the working-equipment display unit displays the top view image of the work machine without displaying at least one part of the main body of the work machine or with transparently displaying the at least one part of the main body of the work machine, in addition to the at least one part of the working equipment.

7. The work machine according to claim 1, wherein

the display unit is provided in any one of a remote control seat, a control room, and a portable terminal for a remote control.

4. A work machine comprising:

working equipment;

a surroundings monitor radar configured to monitor surroundings of the work machine;

a plurality of cameras configured to take images of surroundings of the work machine;

a display unit configured to display the images taken by the plurality of cameras; and

a controller configured to control the plurality of cameras and the display unit, wherein

at least one of the plurality of cameras is capable of taking an image under the working equipment,

the controller comprises;

an overview image generator configured to generate an overview image based on the images taken by the plurality of cameras;

an image superimposing unit configured to superimpose a top view image of the work machine on the overview image generated by the overview image generator;

a working-equipment display unit configured to display the top view image of the work machine without displaying at least one part of the working equipment or with transparently displaying the at least one part of the working equipment; and

a radar state judging unit configured to judge presence or absence of an obstacle in surroundings of the work machine based on a signal from the surroundings monitor radar, wherein

the controller controls the display unit to display the overview image on which the top view image of the work machine is superimposed, and

when the radar state judging unit judges that the obstacle is detected, the working-equipment display unit displays the top view image of the work machine without displaying at least one part close to the obstacle of the working equipment or with transparently displaying the at least one part of the working equipment.

5. The work machine according to claim 4, wherein

the working-equipment display unit displays an outline of the working equipment in the top view image of the work machine on the overview image on which the top view image of the work machine is superimposed.

6. The work machine according to claim 4, wherein

at least one of the plurality of cameras is capable of taking an image under a main body of the work machine,

the working-equipment display unit displays the top view image of the work machine without displaying at least one part of the main body of the work machine or with transparently displaying the at least one part of the main body of the work machine, in addition to the at least one part of the working equipment, and

when the obstacle is detected, the working-equipment display unit displays the top view image of the work machine without displaying at least one part close to the obstacle of the working equipment or the work machine or with transparently displaying the at least one part of the working equipment or the work machine.

8. The work machine according to claim 4, wherein

the display unit is provided in any one of a remote control seat, a control room, and a portable terminal for a remote control.