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WO-2026094459-A1 - DISPLAY CONTROL SYSTEM, REMOTE OPERATION SYSTEM, AND DISPLAY CONTROL METHOD

WO2026094459A1WO 2026094459 A1WO2026094459 A1WO 2026094459A1WO-2026094459-A1

Abstract

This display control system is for a display device and: acquires measurement information obtained through measurement by a work machine; generates and displays a composite image on the display device, the composite image including a reference image representing a reference in the height direction and a ground contact surface height image representing the height of a ground contact surface of the work machine; defines a predetermined height around the work machine which is a height different from the ground contact surface of the work machine as a reference for the reference image; and generates the composite image on the basis of the measurement information such that the ground contact surface height image is in a position corresponding to the height of the reference image.

Inventors

  • DAVIS, JEFFERSON
  • ARIO, Tomoaki
  • KIKUCHI, ATSUNORI

Assignees

  • 株式会社小松製作所

Dates

Publication Date
20260507
Application Date
20250916
Priority Date
20241029

Claims (16)

  1. A display control system for a display device, We acquire measurement information measured by the work machine, A composite image is generated and displayed on the display device, which includes a reference image representing a height reference and a ground surface height image representing the height of the ground surface of the work machine. A display control system that uses a predetermined height around the work machine, which is different from the height of the work machine's ground contact surface, as the reference for the reference image, and generates the composite image based on the measurement information so that the ground contact surface height image is positioned at a position corresponding to the height of the reference image.
  2. The display control system according to claim 1, wherein the ground surface height image is an image that extends in the forward direction of the work machine.
  3. The display control system according to claim 2, wherein the composite image includes a side view of the work machine.
  4. The display control system according to claim 3, wherein the composite image includes an inclined image representing the inclination angle of the work machine.
  5. The display control system according to claim 1, wherein the ground surface height image is an image representing a straight line extending in the horizontal direction.
  6. The aforementioned work machine includes a rotating body, The display control system according to claim 5, wherein the ground surface height image is an image representing a straight line extending horizontally from the intersection of the pivot axis of the pivoting body and the ground surface.
  7. The display control system according to claim 4, wherein the reference image, the ground surface height image, and the inclination image are each displayed in different ways.
  8. The composite image includes an image representing a rectangular frame and a plurality of grid lines arranged in a grid pattern within the frame. The display control system according to claim 7, wherein the composite image is generated based on the plurality of grid lines, and the composite image is generated such that a portion of the ground surface height image is located outside the frame line.
  9. The display control system according to claim 8, wherein the composite image is generated such that a portion of the side view is located outside the frame line.
  10. The display control system according to claim 9, wherein the composite image is generated such that the frame line is positioned in the forward direction of the side image.
  11. The display control system according to claim 10, wherein the predetermined height of the surrounding area is a height based on other work machines.
  12. The aforementioned work machine is equipped with an imaging device, The display control system according to claim 11, wherein the composite image is superimposed on the image captured by the imaging device and displayed on the display device.
  13. The display control system according to claim 12, which switches the height of the reference image based on the positional relationship between the aforementioned work machine and the other work machine.
  14. The display control system according to claim 13, which switches the height of the reference image in response to a predetermined input operation by the operator.
  15. A display control system according to any one of claims 1 to 14, An operating device for the work machine located in a remote location, A remote control system comprising the aforementioned display device.
  16. A method for controlling the display of a display device, We acquire measurement information measured by the work machine, A composite image is generated and displayed on the display device, which includes a reference image representing a height reference and a ground surface height image representing the height of the ground surface of the work machine. A display control method wherein a predetermined height around the work machine, which is different from the ground contact surface of the work machine, is used as the reference for the reference image, and the composite image is generated based on the measurement information such that the ground contact surface height image is positioned at a position corresponding to the height of the reference image.

Description

Display control system, remote control system, and display control method This disclosure relates to a display control system, a remote control system, and a display control method. This application claims priority to Japanese Patent Application No. 2024-189791, filed in Japan on October 29, 2024, and the contents of that application are incorporated herein by reference. Patent Document 1 describes a display control system for controlling a display device in a remote control room for remotely operating a work vehicle (hereinafter referred to as "work machine"). In the display control system described in Patent Document 1, supplementary images are displayed on the display device to compensate for the lack of sensory information obtained when operating the work machine. Here, the supplementary images include, for example, a posture image that depicts the side view of the work machine, representing its current posture. This is a schematic diagram showing an example configuration of a remote control system according to the present disclosure.This is an external view of a work machine according to an embodiment of the present disclosure.This is a schematic diagram showing an example of an image captured by an imaging device of a work machine according to an embodiment of the present disclosure.This is a schematic block diagram showing an example configuration of a remote control system according to the present disclosure.This is a schematic diagram showing an example of an image extracted from an image captured according to the embodiment of this disclosure.This is a schematic diagram showing an example of an image displayed by a display device according to the embodiment of this disclosure.This is a schematic diagram showing an example of a composite image according to the embodiments of this disclosure.This is a schematic diagram illustrating an example of changes in a composite image according to the embodiments of this disclosure.This is a schematic diagram illustrating a composite image according to an embodiment of the present disclosure.This is a schematic diagram showing an example of a composite image according to the embodiments of this disclosure.This is a schematic diagram illustrating an example of changes in a composite image according to the embodiments of this disclosure.This is a schematic diagram showing an example of a composite image according to the embodiments of this disclosure.This flowchart shows an example of the operation of a remote control system according to the embodiment of this disclosure. The embodiments of this disclosure will be described below with reference to the drawings. In each drawing, the same or corresponding components are denoted by the same reference numerals, and their descriptions are omitted as appropriate. (Remote control system) Figure 1 is a schematic diagram showing an example configuration of the remote control system 1 according to the embodiment of this disclosure. Figure 2 is an external view of the work machine 100 according to the embodiment of this disclosure. Figure 4 is a schematic block diagram showing an example configuration of the remote control system 1 according to the embodiment of this disclosure. The remote control system 1 is a remote control system for remotely controlling a work machine 100 equipped with a work machine 130 having a work tool, and comprises a work machine 100 that operates by remote control, a transport vehicle 200 such as a dump truck which is the object to be loaded with excavated material for loading by a bucket 133 which is a work tool, and a remote control room 500 for performing remote control. The work machine 100 operates at a work site (for example, a mine, a quarry, etc.). The remote control room 500 is located at a point away from the work machine 100 (a remote location from the work machine 100; for example, an urban area, within the work site, etc.). The work machine 100 and the remote control room 500 are connected via communication means such as a mobile communication network or the internet. The remote control system 1 is a system for operating the work machine 100 using a remote control room 500. The transport vehicle 200 and the remote control room 500 are connected via communication means such as a mobile communication network or the internet, or further connected via an unmanned dump truck operation control system, etc., which will be described later. The work machine 100 operates according to control signals received from the remote control room 500. In other words, there is no operator on board the work machine 100. The remote control room 500 receives the operation of the work machine 100 via operator input and transmits control signals to the work machine 100. The control signals will be described later. (Remote control room) The remote control room 500 includes a driver's seat 510, a first display device 520, a second display device 530, an operating device 540, a control device 550, and a communi