FIELD

The present invention relates to an image display system for a work machine, a remote operation system for a work machine, and a work machine.

BACKGROUND

As described in Patent Literature 1, techniques are known for remotely operating a work machine such as an excavator.

CITATION LIST

Patent Literature

Patent Literature 1: Japanese Patent Application No. 2004-294067

SUMMARY

Technical Problem

In remote operation of a work machine, an image of a work machine, which is displayed as seen from an operator, is used for operation, but the image is two-dimensionally displayed and there is almost no sense of perspective. Therefore, it is difficult to grasp the distance between an object to be worked and the work machine, and the working efficiency of the work machine may decrease. In addition, when an operator boarded on the work machine operates a working unit, it is difficult to grasp the distance between the working unit and the object to be worked, depending on the skill of the operator, and working efficiency may be reduced.

It is an object of the present invention to provide a work machine including a working unit having a working implement which prevents reduction in working efficiency.

Solution to Problem

According to the present invention, an image display system for a work machine comprises: an imaging device mounted to a work machine including a working unit having a working implement; an attitude detection device configured to detect an attitude of the working unit; a distance detection device configured to determine information about a distance to an object to be worked by the work machine; and a processing device configured, by using information about a position of the working implement obtained using the attitude of the working unit, and information about a position of the object to be worked obtained from the information about the distance determined by the distance detection device, to generate an image of a portion corresponding to the working implement, on the object to be worked opposing the working implement, and configured to combine the generated image with an image of the object to be worked imaged by the imaging device, and configured to display the combined image on a display device. It is preferable that the processing device generates an image of a portion corresponding to the working implement, with the imaging device as a reference.

It is preferable that the line image includes grids having a plurality of first line images, and a plurality of second line images crossing the plurality of first line images.

It is preferable that the processing device is configured, by using the attitude of the working unit, to determine an area occupied by the working implement in the image of the object to be worked, and is configured to remove the determined area from information about a terrain of the object to be worked.

It is preferable that the working implement has a bucket, and the processing device is configured to generate a line image of a portion corresponding to tooth points of the bucket, on the object to be worked, as the image of the portion corresponding to the working implement, on the object to be worked opposing the working implement.

It is preferable that the processing device is configured to generate an image of a straight line connecting the object to be worked and a side of one end in a width direction of the tooth points of the bucket, and an image of a straight line connecting the object to be worked and a side of the other end in the width direction of the tooth points of the bucket, and is configured to combine the generated images with the image of the object to be worked imaged by the imaging device, and is configured to display the combined image on a display device.

It is preferable that the processing device is configured to determine spatial position information about the working implement or the object to be worked, and display the spatial position information on the display device.

It is preferable that the processing device is configured to determine at least one of the position of the working implement, the attitude of the working implement, a position of the object to be worked, a relative attitude of the object to be worked, a relative distance between the working implement and the object to be worked, and a relative attitude of the working implement and the object to be worked, and is configured to display the determined at least one on the display device.

It is preferable that the processing device is configured, by using the information about the position of the object to be worked, to generate a line image along a surface of the object to be worked, and is configured to combine the line image with the image of the object to be worked, and is configured to display the combined image on the display device.

It is preferable that the imaging device, the attitude detection device, and the distance detection device are provided in the work machine, and the processing device and the display device are provided in a facility including an operation device configured to remotely control the work machine.

According to the present invention, an image display system for a work machine comprises: a display device; and a processing device configured, by using information about a position of the working implement obtained using an attitude of a working unit having the working implement, and information about a position of an object to be worked of the working unit obtained from information about a distance from the working unit to the object to be worked, determined by a distance detection device included in a work machine including the working unit, to generate an image of a portion corresponding to the working implement, on the object to be worked opposing the working implement, with the imaging device as a reference, and configured to combine the generated image with an image of the object to be worked imaged by the imaging device, and configured to display the combined image on the display device, wherein the display device and the processing device are provided to remotely operate the work machine.

According to the present invention, a remote operation system for a work machine comprises: the image display system for a work machine; and an operation device configured to operate the working unit included in the work machine.

According to the present invention, a work machine comprises the image display system for a work machine.

Advantageous Effects of Invention

The present invention can suppress reduction in working efficiency, when working is performed using a work machine including a working unit having a working implement.

