JP2016194237A - Work machine - Google Patents

Abstract

Provided is a work machine in which an operator can easily determine whether there is an obstacle or the like that may collide with the rear part of an upper swing body during a swing operation of the upper swing body. . A work machine includes a turning means for turning an upper turning body, a plurality of cameras 61 to 67 for imaging the periphery of the work machine, and a display means for displaying images captured by the plurality of cameras 61 to 67. 60, a plurality of cameras 61 to 67, and a control means 71 for controlling the display means 60. The control means 71 includes a turning determination unit 74 that determines the presence / absence of turning and the turning direction based on the operation of the turning means. A camera image switching unit 73 that displays an image captured by any of the plurality of cameras 61 to 67 on a display unit. When the camera image switching unit 73 is determined to be stopped by the turning determination unit 74, The display unit 60 displays an image of a camera that captures the side of the upper swinging body in the direction opposite to the direction in which the rear part of the upper swinging body is turning before the turning is stopped. [Selection] Figure 6

Description

  The present invention relates to a work machine including an upper swing body.

Work machines such as hydraulic excavators used for mining work are much larger than work machines used at general construction sites, etc., and excavation work etc. using a large capacity bucket etc. according to the size of the work machine We are trying to improve efficiency.
A hydraulic excavator, which is one of such work machines, is usually provided with a cockpit at the upper left front of the upper swing body.

The pilot seat is located near the cockpit because many of the mirrors are installed in the vicinity of the cockpit because of the poor visibility of the upper swiveling body in the forward and downward position, right side, and rear. Because it is small, the operator needs to be careful not to collide the counterweight peripheral part behind the upper revolving body or the front work machine (boom, arm, bucket, etc.) part with obstacles etc. when turning operation, There is a problem that the burden on the worker becomes excessive.
For this reason, conventionally, a plurality of cameras are attached to the vehicle body of the work machine, an overhead view image is generated from images captured by each camera, and the operator is in a situation around the upper swing body by a monitor provided inside the cockpit. A technique for performing a turning operation of the upper-part turning body while confirming the above is known (for example, see Patent Document 1).

JP2013-253402A

However, the bird's-eye view image is obtained by converting an image captured by each camera into an image of a viewpoint viewed from above, that is, the image is expanded or contracted in a predetermined direction, and the subject is more than the image itself captured by each camera. It is difficult to recognize. Therefore, in the case of the technique described in Patent Document 1, when the operator performs a turning operation while checking the overhead view image, it is difficult to determine the presence or absence of an obstacle that may cause the rear part of the upper turning body to collide. There is a problem.
It is also conceivable to check the situation around the work machine using images taken by each camera. However, multiple cameras are attached to the vehicle body of the work machine, and it is necessary for the operator (operator) to switch which camera image is displayed on the monitor with a switch. Sometimes it is necessary to operate the switch etc. so that the image of the camera installed in the direction you want to check is displayed on the monitor, such as around the back of the upper revolving unit, if you want to check the surrounding situation sometimes There is a problem of becoming.

  An object of the present invention is to provide a work machine that allows an operator to easily determine whether there is an obstacle or the like that may collide with the rear part of the upper swing body during the swing operation of the upper swing body. It is to provide.

The work machine according to the first aspect of the present invention includes:
A work machine having an upper swing body,
Turning means for turning the upper turning body;
A plurality of cameras for imaging the periphery of the work machine;
Display means for displaying images taken by the plurality of cameras;
A control means for controlling the plurality of cameras and the display means;
The control means includes
A turning determination unit for determining a turning direction of the turning means;
A camera image switching unit for displaying an image captured by any of the plurality of cameras on the display unit;
When the turning determination unit determines that the turning has been stopped, the camera image switching unit is configured to capture an image of the side of the upper turning body opposite to the direction in which the rear part of the upper turning body is turning before the turning is stopped. An image is displayed on the display means.

A work machine according to a second aspect of the present invention is the first aspect,
The camera image switching unit images the side of the upper swing body when the swing of the upper swing body continues for a first predetermined time after the swing determination section determines that the turn has stopped. A camera image is displayed on the display means.

A work machine according to a third aspect of the present invention is the first aspect,
The camera image switching unit displays an image to be displayed on the display unit when a second predetermined time has elapsed since the display unit displayed an image of a camera that images the side of the upper swing unit. The image of the camera that picks up the direction is switched to the image of the camera that picks up the rear of the upper swing body.

A work machine according to a fourth aspect of the present invention, in the first aspect,
The camera image switching unit performs an upper turn in a direction in which the rear part of the upper swing body turns before it is determined that the turn has stopped and when it is determined that the upper swing body has started to turn. An image of a camera that captures the side of the body is displayed on the display means.

A work machine according to a fifth aspect of the present invention, in the first aspect,
The display means is provided in any one of a remote control seat, a control room, and a mobile terminal for remote control.

In a hydraulic excavator, after excavating earth and sand in a certain excavation area, the upper turning body is turned about 90 degrees to dump the dumped truck, and then the upper turning body is turned about 90 degrees in the opposite direction (reverse turning) In general, the operation of excavating earth and sand in the excavation area is repeated. For this reason, the upper swing body of the excavator frequently performs a series of operations of turning 90 degrees in the opposite direction after turning 90 degrees.
According to the first aspect of the present invention, when the camera image switching unit determines that the turning is stopped by the turning determination unit, the upper part in the direction opposite to the direction in which the rear part of the upper turning body has advanced until the turning is stopped. Since the image on the side of the revolving structure is displayed on the display means, the operator can confirm in advance the situation in the direction in which the rear part of the upper revolving structure is swiveled when performing reverse turning after stopping turning. Can easily find an obstacle or the like that may collide with the rear part of the upper swing body.

The side view of the working machine provided with the upper turning body which concerns on embodiment of this invention. The rear view of the working machine provided with the upper turning body in the embodiment. The top view of the working machine provided with the upper turning body in the said embodiment. The front view which shows the structure inside the cab of the working machine provided with the upper turning body in the said embodiment. The block diagram which shows the structure of the periphery monitoring apparatus in the said embodiment. The functional block diagram of the control means of the periphery monitoring apparatus in the said embodiment. The schematic diagram which shows the image displayed on the display means of the periphery monitoring apparatus in the said embodiment. The flowchart for demonstrating the effect | action of the said embodiment. The schematic diagram which shows the image displayed on the display means of the periphery monitoring apparatus in the said embodiment. The schematic diagram which shows the image displayed on the display means of the periphery monitoring apparatus in the said embodiment. The schematic diagram which shows the image displayed on the display means of the periphery monitoring apparatus in the said embodiment. The front view which shows the structure of the remote control seat used as the deformation | transformation of the said embodiment. The side view which shows the state of the remote operation using the portable terminal used as the deformation | transformation of the said embodiment.

[1] Overall Configuration of Work Machine FIGS. 1 to 3 show a hydraulic excavator 1 as a work machine having an upper swing body according to an embodiment of the present invention. FIG. 1 is a side view of the hydraulic excavator 1. FIG. 2 is a rear view of the hydraulic excavator 1, and FIG. 3 is a plan view of the hydraulic excavator 1.
The hydraulic excavator 1 is a large working machine used at a work site such as a mine, and includes a lower traveling body 2, an upper swing body 3, a working machine 4, and a cab 5. In the following description, the portion of the upper swing body 3 where the working machine 4 is provided is referred to as the front portion, and the opposite side of the front portion via the swing center O is referred to as the rear portion. Is specified.

The lower traveling body 2 includes a steel frame 21 and a pair of traveling devices 22 provided on the side surfaces of the steel frame 21.
The traveling device 22 includes a drive wheel 23 that is rotatably provided at the rear end of the steel frame 21, an idler wheel 24 that is provided at the front end of the travel direction, and a crawler belt that is wound around the drive wheel 23 and the idler wheel 24. 25. Although not shown, a plurality of lower wheels and upper wheels are rotatably provided on the frame 21 between the drive wheel 23 and the idler wheel 24 to support the crawler belt 25.

The upper swing body 3 is provided on the lower traveling body 2 so as to be swingable, and accommodates therein an unillustrated engine and a hydraulic circuit such as a hydraulic pump driven by the engine. A counterweight 31 is accommodated in the rear end portion of the upper swing body 3 through the turning center. And the power container 30 is mounted in the rear part of the upper revolving structure 3 and the area ahead of the counterweight 31. An engine, a hydraulic pump radiator, an oil cooler, and the like are accommodated in the power container.
On the left side surface of the upper swing body 3, an elevating ladder 32 is provided slidably up and down on the upper swing body 3, and a handrail 33 is provided along the outer edge of the upper surface of the upper swing body 3. The enclosed part is a catwalk 34. The operator lowers the lifting ladder 32, climbs on the catwalk 34, walks on the catwalk 34, and gets on from the back side of the cab 5.

The work implement 4 is provided at the front end of the upper swing body 3 and includes a boom 41, an arm 42, and a bucket 43.
The boom 41 is connected to the upper swing body 3 so that the base end is pivotable up and down, and is pivoted up and down by a boom cylinder 44 provided on the upper swing body 3.
The arm 42 is pivotally connected to the tip of the boom 41 at the base end, and is pivoted up and down by an arm cylinder 45 provided on the boom 41.
The bucket 43 is pivotally connected to the distal end of the arm 42 at the base end and is rotated by a bucket cylinder 46 provided on the arm 42.

The cab 5 is provided on the front left side where the work implement 4 on the upper surface of the upper swing body 3 is provided, and is configured by a box body. A glass window 51 is formed on each side surface of the box body. An operator who gets on the cab 5 performs excavation work or the like while monitoring the outside periphery from the glass window 51.
However, since the excavator 1 has the cab 5 at a high position, there is a problem that the visibility around the lower part of the upper swing body 3 cannot be sufficiently secured.

For this reason, a plurality of cameras 61 to 67 constituting a periphery monitoring device 6 described later are provided on the outer peripheral surface of the upper swing body 3. Specifically, a left front camera 61 is provided on the upper front left side of the upper swing body 3, and a right front camera 62 is provided on the upper front right corner. A front left side camera 63 and a rear left side camera 64 are provided on the left side of the upper swing body 3, and a right side camera 65 is provided on the rear right side. The rear left side camera 64 is provided on the rear side of the turning center O of the upper turning body 3.
Further, a rear camera 66 is provided at the upper rear center of the upper swing body 3, and a lower camera 67 is provided on the lower surface of the power container 30 located at the rear of the upper swing body 3.

The cameras 61 to 66 use, for example, wide-angle lenses, and the imaging ranges of the adjacent cameras 61 to 66 overlap, so that it is possible to image 360 degrees of the outer periphery of the proximity position of the excavator 1.
Similarly, the lower camera 67 uses, for example, a wide-angle lens, and can capture the rear region of the upper swing body 3, for example, the lower portion of the power container 30 and the counterweight 31, and the lower rear.
Although not shown in FIGS. 1 to 3, a peripheral monitoring radar is provided on each side surface of the upper swing body 3, and when an obstacle approaches, an operator is notified by a buzzer provided in the cab 5. A warning is issued. Specifically, one peripheral monitoring radar is provided on each of the front and rear surfaces of the upper swing body 3 and three on the left and right sides.

[2] Structure in the Cab 5 FIG. 4 shows the structure in the cab 5. A seat seat 52 is provided in the center of the cab 5, and a pair of travel levers 53 are provided in front of the seat seat 52.
On the left side of the seat 52, an operation switch panel 55 for adjusting the engine speed and the like is provided.

A left operation lever 56 and a right operation lever 57 are provided on the left and right sides of the seat 52. The left operation lever 56 corresponds to the turning operation of the upper swing body 3 and the operation of the arm 42. When the left operation lever 56 is operated left and right, the upper swing body rotates left and right, and when the left operation lever 56 is operated up and down. The arm 42 rotates in the front-rear direction. The right operation lever 57 corresponds to the operation of the boom 41 and the operation of the bucket 43. When the right operation lever 57 is operated to the left and right, the bucket 43 is rotated in the excavation and soil removal direction, and the right operation lever 57 is operated up and down. Then, the boom 41 rotates in the vertical direction. Note that the combination of the operation of the operation levers 56 and 57 and which work machine operates is not limited to that of the present embodiment.
Further, a lock lever 58 is provided on the right side of the right operation lever 57. When the lock lever 58 is operated, the flow path of a hydraulic circuit such as a hydraulic pump is shut off and the operation of the work machine 4 is stopped.

A monitor 59 is provided on the left front side of the seat 52. The monitor 59 displays various operating states of the excavator 1, such as the engine water temperature, the hydraulic oil temperature of the hydraulic circuit, and the remaining amount of fuel oil.
On the monitor 59, a touch panel display 60 as a display means is provided. On this touch panel display 60, an area where images captured by the cameras 61 to 67 are displayed and an overhead image generated by combining images captured by all the cameras 61 to 67 are displayed. have.

[3] Configuration of Perimeter Monitoring Device 6 FIG. 5 is a block diagram of the periphery monitoring device 6 according to the present embodiment. The periphery monitoring device 6 includes the touch panel display 60, the cameras 61 to 67, the periphery monitoring radar 68, the radar alarm 69, the error alarm 70, and the controller 71 described above.
Image signals picked up by the cameras 61 to 67 are input to the controller 71 as NTSC image signals.

In addition, a sensor signal from the mechanical controller 35 that controls the engine and the hydraulic circuit is input to the controller 71 via a CAN (Controller Area Network). The mechanical controller 35 outputs to the controller 71 sensor signals such as engine water temperature and hydraulic oil temperature detected by the temperature sensor, and pump pressure sensor signals detected by the pressure sensor. Further, the mechanical controller 35 detects PPC (Pressure Proportional Control) pressure (pilot pressure) corresponding to the tilted state of the left operation lever 56 that performs the turning operation with a pressure sensor, and the detected sensor signal via the CAN. Output to the controller 71.
Furthermore, the sensor signal detected by the periphery monitoring radar 68 provided on the outer peripheral surface of the upper swing body 3 is input to the controller 71 via the CAN.

The controller 71 touches the RGB image signals on the touch panel based on the image signals captured by the cameras 61 to 67, various sensor signals input from the mechanical controller 35, and sensor signals input from the peripheral monitoring radar 68. The information is output to the display 60 and various information is displayed on the touch panel display 60.
Further, the controller 71 controls the radar alarm 69 based on the sensor signal detected by the surrounding monitoring radar 68, and causes the radar alarm 69 to be called when an obstacle is found. Further, the controller 71 controls the error alarm 70 based on the sensor signal from the engine, hydraulic circuit, etc. via the mechanical controller 35. When the error signal is detected, the error alarm 70 is called.
Thereby, the controller 71 can notify the operator in the cab 5 that an obstacle is approaching or an abnormality has occurred in the engine, the hydraulic circuit, etc., and can call attention.

FIG. 6 shows a functional block diagram of the controller 71. The controller 71 includes an overhead image generation unit 72, a camera image switching unit 73, a turning determination unit 74, and a radar state determination unit 75.
The overhead image generation unit 72 is a part that generates an overhead image based on images captured by the cameras 61 to 67. Since each image captured by each of the cameras 61 to 67 is an image captured with the lens facing diagonally downward, the overhead image generation unit 72 sets each of the images with the lens facing directly below. One overhead image is generated by converting into a virtual image at the time of imaging and combining the images. In the overhead view image generated by the overhead view image generation unit 72, the upper viewpoint image of the excavator 1 is displayed in a superimposed manner so that the positional relationship between the overhead view image and the excavator can be easily understood.

In the area where the images captured by the cameras 61 to 67 on the touch panel display 60 are displayed, only images captured by any one of the cameras 61 to 67 are displayed. For this reason, the camera image switching unit 73 is a part that switches which of the images captured by the cameras 61 to 67 is to be displayed on the touch panel display 60. The switching of the image is performed based on the determination result of the turning determination unit 74 and the radar state determination unit 75 described later by the operator operating the touch panel display 60 to select a camera image to be displayed.
The turning determination unit 74 determines whether or not the turning operation of the upper swing body 3 is being performed based on the PPC pressure of the left operation lever 56 output from the mechanical controller 35, and whether the turning operation is being performed (whether the turning is in progress). In which direction the vehicle is turning) and the result of determination as to whether the vehicle is turning is output to the camera image switching unit 73. Note that the turning determination by the turning determination unit 74 is not only based on the PPC pressure of the operation lever 56, but also using a gyro sensor or the like that detects the angular velocity during turning, and whether the turning is in progress or is stopped. May be determined.
The radar state determination unit 75 determines whether or not an obstacle is approaching by the surrounding monitoring radar 68, and outputs the detected surrounding monitoring radar 68 that is approaching the obstacle to the camera image switching unit 73.

FIG. 7 shows a display image G <b> 1 displayed on the touch panel display 60. The display image G1 includes an overhead image G2 generated by the overhead image generation unit 72, a single camera image G3 that is an image captured by any one of the cameras 61 to 67, and a single camera image within the cameras 61 to 67. A display position image G4 indicating whether the image is captured by any one of the cameras.
The overhead image G2 is configured by superimposing the upper viewpoint image G5 of the excavator 1 on the overhead image generated by the overhead image generation unit 72. In addition, as shown in FIG. 7, when the overhead image G2 is virtually divided into six touch areas SW11 to SW17 and the operator touches any one of the six areas, the single camera image G3 touches. Switch to the camera image in the specified direction. As an example, when the operator touches the rear area SW16 of the upper swing body 3 on the touch panel display 60, the single camera image G3 is switched to an image captured by the rear camera 66.
Alternatively, the switches SW21 to SW26 corresponding to the respective areas may be displayed, and the same screen transition may be performed when any of the switches SW21 to SW26 is touched.

The single camera image G3 displays an image captured by any of the cameras 61 to 67. A switch SW3 is superimposed on the corners of the single camera image G3, and when the operator touches the switch SW3, the overhead image G2 is reduced and the single camera image G3 is enlarged or displayed. The camera image G3 is reduced and displayed. Further, the same switching display may be performed not only when the area of the switch SW3 is touched but also when any position in the single camera image G3 area is touched.
The display position image G4 is an image indicating which camera 61 to 67 is the image displayed in the single camera image G3, and the square in the center represents the hydraulic excavator and is displayed in the single camera image G3. The positions of the cameras 61 to 67 of the image being displayed are displayed with colors, for example. Thereby, the operator can recognize where the images of the cameras 61 to 67 are currently displayed. Note that the single camera image G3 may be switched by the operator touching any of the surrounding areas in the display position image G4.

[4] Operation and Effect of Embodiment Next, the operation of the present embodiment will be described based on the flowchart shown in FIG.
First, the radar state determination unit 75 determines whether an obstacle is approaching by any of the surrounding monitoring radars 68 (step S1).

When the radar state determination unit 75 determines that an obstacle is approaching, the camera image switching unit 73 displays the detected vicinity of the surrounding monitoring radar 68, that is, the camera image near the obstacle as a single camera image G3. (Step S2), the flow ends.
On the other hand, when the radar state determination unit 75 determines that no obstacle is approaching, the turning determination unit 74 detects an operation signal of the left operation lever 56 in the cab 5 and monitors the turning state of the upper turning body 3. (Step S3).
When it is detected that the turning motion has been started, the camera image switching unit 73 displays an image of the camera that captures the side of the upper swinging body in the direction in which the rear part of the upper swinging body 3 rotates as a single camera image G3 (step S4). ). For example, if the upper-part turning body 3 is turning left (counterclockwise), as shown in FIG. 9, the image of the right side camera 65 is displayed as a single camera image G3A, and the display position image G4 is displayed. The position of the right side camera 65 is displayed with a color.

While detecting the turning operation signal, the turning determination unit 74 determines whether the left operation lever 56 is in the neutral position and the turning operation is stopped (step S5).
If the turning is continued, the turning determination unit 74 once ends the flow.
When the turning is stopped, the turning determination unit 74 determines whether a first predetermined time (for example, 1 second) has elapsed after the turning is stopped (step S6).
If it is determined by the turning determination unit 74 that the turning operation has been resumed before the first predetermined time has elapsed after the turning is stopped (step S7), the camera image switching unit 73 performs the same method as in step S4. The camera image of the right side camera 65 in the turning direction at the rear of the upper swing body 3 is displayed (step S8).

On the other hand, when it is determined by the turning determination unit 74 that the first predetermined time has passed without performing the turning operation again, the camera image switching unit 73 determines the direction in which the rear part of the upper turning body 3 is turning before the turning is stopped. An image of a camera that captures the side of the upper swinging body in the opposite direction (the direction opposite to the turning direction) is displayed as a single camera image G3 (step S9).
For example, if the single camera image G3A of the right side camera 65 is displayed during the left turn as shown in FIG. 9 and the stop state is maintained for one second after it is determined that the turn has stopped, the camera image switching unit 73 As shown in FIG. 10, the single camera image G3B of the rear left side camera 64 is displayed, and the position of the rear left side camera 64 is displayed in color in the display position image G4.

This assumes a series of operations in which the upper revolving body of the excavator is swiveled 90 degrees and immediately excavated and then swiveled 90 degrees in the opposite direction. An object is to display an image of a camera in a direction in which the rear part of the body 3 will turn in advance so that an operator can easily discriminate an obstacle or the like in the reverse turning direction.
Further, the reason why the camera image in the direction opposite to the turning direction is not displayed immediately after the turning is stopped is to prevent the camera image from being frequently switched even when the turning operation is intermittently performed.

Thereafter, the turning determination unit 74 determines whether or not a second predetermined time has elapsed (step S10).
When the second predetermined time has not elapsed, the camera image switching unit 73 maintains the display of the current single camera image G3B.
On the other hand, when it is determined by the turning determination unit 74 that the turning operation has been resumed again within the second predetermined time (step S11), the camera image switching unit 73 determines the upper turning body 3 in the same manner as in step S4. A camera image in the rear turning direction is displayed (step S12). The second predetermined time can be arbitrarily determined, but is preferably set to about 10 seconds in consideration of the time for the worker to move to the next operation.
If the turning determination unit 74 determines that the turning is stopped even after the second predetermined time has elapsed, the camera image switching unit 73 displays the single camera image G3C of the rear camera 66 as shown in FIG. Then, the position of the rear camera 66 is displayed with color in the display position image G4 (step S13).

According to this embodiment, there are the following effects.
When the turning determination unit 74 determines that the turning operation has been stopped, the camera image switching unit 73 causes the touch panel display 60 to display the single camera image G3B in the turning direction opposite to the immediately preceding turning direction for a certain time. When the reverse turning operation is performed immediately after the stop, the operator can check the image in the reverse turn direction, and the worker can easily determine an obstacle or the like.
Further, after displaying the single camera image G3B by the rear left side camera 64 that captures the turning direction opposite to the previous turning direction for a certain period of time, the turning determination unit 74 further determines that the turning is stopped. Since the camera image switching unit 73 displays the single camera image G3C of the rear camera 66, the operator can confirm the rear image having the lowest visibility, and can perform excavation work and the like safely.
Since the camera image switching unit 73 displays the single camera image G3A in the turning direction of the rear part of the upper turning body 3 on the touch panel display 60 during the turning of the upper turning body 3, the operator has an obstacle in the turning direction. It can be easily determined whether or not.

[5] Modifications of Embodiments The present invention is not limited to the above-described embodiments, but includes modifications and improvements as long as the object of the present invention can be achieved.
In the above-described embodiment, the touch panel display 60 is provided as a display unit separately from the monitor 59. However, the present invention is not limited to this, and a single camera image G3 may be displayed on the monitor 59. Instead of the touch panel display 60, a normal display that does not include a touch sensor may be used.
In the embodiment, the overhead image G2 and the single camera image G3 are displayed on the touch panel display 60 at the same time. However, the present invention is not limited to this, and only the single camera image is displayed on the touch panel display 60. You may comprise.

In the above-described embodiment, seven cameras 61 to 67 are provided on the outer periphery of the upper swing body 3, but the periphery monitoring device may be configured with a smaller number of cameras, and more cameras than this. The perimeter monitoring device may be configured by the number of units.
In the embodiment, the periphery monitoring device 6 is configured such that the periphery monitoring radar 68 and the cameras 61 to 67 cooperate. However, the present invention is not limited to this, and the periphery monitoring device is configured by the cameras 61 to 67 alone. May be.
Moreover, in the said embodiment, although it comprised so that turning of the upper turning body 3 might be determined with the operation signal of the left control lever 56, it detects the change of the hydraulic pressure accompanying other methods, for example, turning operation | movement. You may comprise so that it may determine by.
Further, in the above embodiment, the sensor signal or the like from the mechanical controller 35 is input to the controller 71 via the CAN, but the sensor signal may be input by other means.

Moreover, in the said embodiment, it was comprised so that only the image imaged with any of the cameras 61-67 may be displayed in the area | region where the image imaged with the cameras 61-67 in the touch panel display 60 is displayed. However, it may be configured such that two or more images can be displayed simultaneously.
Furthermore, in the embodiment, after the obstacle monitoring radar 68 detects the obstacle, the turning determination unit 74 determines the turning start. However, the present invention is not limited to this, and the order can be set as appropriate.

Moreover, although the said embodiment demonstrated the structure which provided the touchscreen display 60 in the cab 5 of the hydraulic shovel 1, this invention is not limited to this.
As shown in FIG. 12, for example, a remote operation seat 100 for remotely operating the excavator 1 or a control room for overall management and control of a plurality of work machines in the mine, as shown in FIG. 60, and an image of the periphery monitoring device may be displayed on the touch panel display 60.
Furthermore, the remote operation monitor 101 described in FIG. 12 may be used as a display unit that displays an overhead image like the touch panel display 60.
Furthermore, as shown in FIG. 13, a configuration in which a touch panel display is provided in the mobile terminal 102 and the worker P can see an overhead image displayed on the mobile terminal 102 may be adopted.
Here, when a bird's-eye view image is displayed on the touch panel display 60 in the remote operation seat 100 or the control room, or when a touch panel display is provided on the mobile terminal 102, the hydraulic excavator 1, the remote operation seat 100, the control room, and the mobile terminal. A configuration may be adopted in which some communication means is provided in each of 102 and the like, and information such as an overhead image is transmitted and received.
In addition, other configurations may be used as long as the object of the present invention can be achieved.

  DESCRIPTION OF SYMBOLS 1 ... Hydraulic excavator, 2 ... Lower traveling body, 3 ... Upper turning body, 4 ... Working machine, 5 ... Cab, 6 ... Perimeter monitoring device, 21 ... Steel frame, 22 ... Traveling device, 23 ... Drive wheel, 24 ... Idle wheel, 25 ... crawler belt, 30 ... power container, 31 ... counterweight, 32 ... elevating ladder, 33 ... handrail, 34 ... catwalk, 35 ... mechanical controller, 41 ... boom, 42 ... arm, 43 ... bucket, 44 ... Boom cylinder, 45 ... Arm cylinder, 46 ... Bucket cylinder, 51 ... Glass window, 52 ... Seat seat, 53 ... Travel lever, 55 ... Operation switch panel, 56 ... Left operation lever, 57 ... Right operation lever, 58 ... Lock Lever, 59 ... monitor, 60 ... touch panel display, 61 ... left front camera, 62 ... right front camera, 64 ... rear left side turtle 65 ... Right side camera, 66 ... Rear camera, 67 ... Lower camera, 68 ... Perimeter monitoring radar, 69 ... Radar alarm, 70 ... Error alarm, 71 ... Controller, 72 ... Overhead image generation unit, 73 ... Camera image switching unit , 74 ... Turning determination unit, 75 ... Radar state determination unit, 100 ... Remote operation seat, 101 ... Remote operation monitor, 102 ... Mobile terminal, G1 ... Display image, G2 ... Overhead image, G3, G3A, G3B, G3C ... Single camera image, G4 ... display position image, G5 ... upper viewpoint image, O ... turning center, SW11-SW17 ... touch area, SW21-SW26 ... switch

Claims (5)

A work machine having an upper swing body,
Turning means for turning the upper turning body;
A plurality of cameras for imaging the periphery of the work machine;
Display means for displaying images taken by the plurality of cameras;
A control means for controlling the plurality of cameras and the display means;
The control means includes
A turning determination unit for determining a turning direction based on the operation of the turning means;
A camera image switching unit for displaying an image captured by any of the plurality of cameras on the display unit;
When the turning determination unit determines that the turning has been stopped, the camera image switching unit is configured to capture an image of the side of the upper turning body opposite to the direction in which the rear part of the upper turning body is turning before the turning is stopped. A work machine that displays an image on the display means. The work machine according to claim 1,
The camera image switching unit images the side of the upper swing body when the swing of the upper swing body continues for a first predetermined time after the swing determination section determines that the turn has stopped. A work machine that displays an image of a camera on the display means. The work machine according to claim 1,
The camera image switching unit displays an image to be displayed on the display unit when a second predetermined time has elapsed since the display unit displayed an image of a camera that images the side of the upper swing unit. A working machine that switches from an image of a camera that captures the direction to an image of a camera that captures the rear of the upper swing body. The work machine according to claim 1,
The camera image switching unit is on a side of the upper swing body in a direction in which a rear portion of the upper swing body turns when it is determined that the upper swing body has started turning before it is determined that the turn has stopped. A work machine that causes the display means to display an image of a camera that captures the image. In the work machine according to any one of claims 1 to 4,
A working machine characterized in that the display means is provided in any one of a remote control seat, a control room, and a mobile terminal for remote control.

Images