Display system and display method

Inventor: Kazuhisa Takahama (Tokyo, JP)

Assignee: Komatsu Ltd.

G06T17/05

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Quick Facts

Patent No.: US 11,908,076
App. No.: 17/605,272
Granted: Feb 20, 2024
Kind: B2

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Abstract

A display system for a work machine includes an acquisition unit configured to acquire three-dimensional data of a plurality of measurement points, a conversion unit configured to convert the three-dimensional data into a vehicle body coordinate system, an image generation unit configured to generate a reference image representing a three-dimensional shape of a terrain based on the three-dimensional data converted into the vehicle body coordinate system, and a display processing unit configured to display the reference image on a captured image in a superimposed manner. The image generation unit decides a display form of the reference image at a position of the reference image corresponding to each measurement point depending on a distance of the measurement point in a normal direction with respect to a ground surface of the work machine.

Claims (55)

1. A display system for a work machine, the display system comprising:

a processor and a storage unit,

wherein the processor has functional elements including:

an acquisition unit configured to acquire three-dimensional data of an actual terrain of a plurality of measurement points measured by a distance detection device mounted in the work machine;

a conversion unit configured to convert the three-dimensional data into a vehicle body coordinate system defined in association with a vehicle body of the work machine;

an image generation unit configured to generate a reference image representing a three-dimensional shape of the actual terrain based on the three-dimensional data converted into the vehicle body coordinate system; and

a display processing unit configured to display the reference image on an image captured by an imaging device in a superimposed manner,

wherein the image generation unit decides a display form of the reference image at a position of the reference image corresponding to each measurement point depending on a distance of the measurement point in a normal direction with respect to a ground surface of the work machine, in a target on which the work machine travels or performs work.

2. The display system according to claim 1 ,

wherein the reference image includes a plurality of line images.

3. The display system according to claim 2 ,

wherein the reference image includes a lattice by the plurality of line images.

4. The display system according to claim 3 ,

wherein the display form is coloring of the reference image.

5. The display system according to claim 3 ,

wherein the display form is a thickness of a line of the line image.

6. The display system according to claim 1 ,

wherein the display form is coloring of the reference image.

7. The display system according to claim 1 ,

wherein the image generation unit differs the display form from a case where the work machine is grounded on a horizontal plane to a case where the work machine is grounded on a slope surface.

8. The display system according to claim 2 ,

wherein the display form is a thickness of a line of the line image.

9. The display system according to claim 2 ,

wherein the display form is coloring of the reference image.

10. A display method comprising the steps of:

acquiring three-dimensional data of an actual terrain of a plurality of measurement points measured by a distance detection device mounted in a work machine;

converting the three-dimensional data into a vehicle body coordinate system defined in association with a vehicle body of the work machine;

generating a reference image representing a three-dimensional shape of the actual terrain based on the three-dimensional data converted into the vehicle body coordinate system; and

displaying, on a display device, the reference image on an image captured by an imaging device in a superimposed manner,

wherein the step of generating the reference image includes a step of deciding a display form of the reference image at a position of the reference image corresponding to each measurement point depending on a distance of the measurement point in a normal direction with respect to a ground surface of the work machine, in a target on which the work machine travels or performs work.

11. A remote operation system for a work machine comprising:

the display system according to claim 1 ;