JP6352797B2 - Work machine ambient monitoring device - Google Patents

Description

  The present invention relates to a surrounding monitoring device for a work machine.

  Conventionally, a distance between a distance image sensor attached to the upper swing body of the work machine and an object existing around the work machine is calculated for each pixel of the distance image sensor, and the distance is formed by pixels having a predetermined value or less. A surrounding monitoring device that superimposes a frame corresponding to a pixel area on a display image is known (Patent Document 1).

JP 2013-204411 A

  In the method described in Patent Document 1, the frame to be superimposed on the display image is greatly influenced by the detection result of the object such as the shape and size of the detected object. For example, when the object moves, the detection position and orientation of the object change with the movement, and the shape of the overlapping frame changes. It is difficult to see a screen in which the size of a mark such as a frame to be superimposed on the display image changes continuously.

A work machine surroundings monitoring device according to a first aspect of the present invention includes a surrounding image acquisition unit that acquires captured images from a plurality of cameras that capture the surrounding environment of the working machine, and a plurality of acquired surrounding images . a surroundings monitoring device for a working machine and a display image generating unit that generates a display image based on the captured image, among the plurality of captured images acquired by the peripheral image acquisition unit, detecting a moving object And a setting unit that sets a reference point indicating the position of the moving object in the display image to a position of the moving object closest to the work machine in each of the plurality of captured images. wherein the display image generating unit, while to each of said reference point, the detection unit by superimposing displays a mark representing the position of the detected the moving object represents the position of the moving object to be superimposed and displayed Click, the size of the moving object in the display image even when the change over time, the constant magnitude.

  According to the present invention, the detection result of the obstacle detection can be displayed in an easily viewable manner.

It is the perspective view which showed typically the working machine by which the surroundings monitoring apparatus by one embodiment of this invention is mounted. It is a figure explaining the bird's-eye view image about the surrounding environment of a working machine. It is a block diagram which shows one structural example of the surroundings monitoring apparatus by one embodiment of this invention. It is a figure explaining the image area | region detected as a moving object by an obstruction detection part. It is a figure explaining the reference point calculated by a superposition position calculation part. It is a figure which shows an example of the synthesized image which superimposed the mark of the fixed magnitude | size on the position corresponding to the reference point on a bird's-eye view image. It is a figure which shows an example of the setting screen of a mark. It is a figure which shows an example of a mark. It is a flowchart regarding the process which a surroundings monitoring apparatus performs. It is a figure which shows the modification which highlights the position of a moving object by superimposing a mark on images other than a bird's-eye view image.

  Hereinafter, a working machine surroundings monitoring apparatus according to an embodiment of the present invention will be described in detail with reference to the drawings. In this embodiment, as an example of a work machine, a case where a surrounding monitoring device is mounted on a dump truck used for work in a mine or the like will be described. In the following, “left” is the left direction seen from the cab of the dump truck, and “right” is the right direction seen from the cab of the dump truck.

  FIG. 1 is an overall perspective view schematically showing a dump truck 301 on which a surrounding monitoring device according to an embodiment of the present invention is mounted. The dump truck 301 has a driver's cab 310 in the upper front portion, and a front camera 302 for photographing the front of the dump truck 301 is provided in front of the driver's cab 310. On the left side surface of the dump truck 301, for example, above the left front wheel 401a of the dump truck 301, a left camera 303 that captures the left side of the dump truck 301 is provided. A rear camera 304 that captures the rear of the dump truck 301 is provided at the rear of the dump truck 301 and under the loading platform 403. A right camera 305 that captures the right side of the dump truck 301 is provided on the right side surface of the dump truck 301, for example, above the right front wheel 401 b of the dump truck 301. The front camera 302, the left camera 303, the rear camera 304, and the right camera 305 each have a wide-angle lens such as a fisheye lens, and are installed with a predetermined depression angle so as to mainly photograph the ground surface. Has been.

  FIG. 1 shows an example of images taken by the front camera 302, the left camera 303, the rear camera 304, and the right camera 305. The front image 306 is an example of an image captured by the front camera 302. The left image 307 is an example of an image captured by the left camera 303. The rear image 308 is an example of an image captured by the rear camera 304. The right image 309 is an example of an image captured by the right camera 305. As illustrated in FIGS. 2A to 2D, the front extraction area 601, the left extraction area 602, and the rear extraction are respectively included in the front image 306, the left image 307, the rear image 308, and the right image 309. An area 603 and a right extraction area 604 are set. The surrounding monitoring device generates an overhead image 605 as shown in FIG. 2E using the images of the front extraction region 601, the left extraction region 602, the rear extraction region 603, and the right extraction region 604, and displays the overhead image. 605 is displayed on a display monitor (not shown) or the like provided in the cab 310 (FIG. 1). In the following description, the front image 306, the left image 307, the rear image 308, and the right image 309 are abbreviated as surrounding images 306 to 309. Further, the front extraction area 601, the left extraction area 602, the rear extraction area 603, and the right extraction area 604 are abbreviated as extraction areas 601 to 604.

  A car icon 610 indicating the position of the dump truck 301 is arranged in the center of the bird's-eye view image 605, and a forward transformation is performed on the upper side of the car icon 610 by converting each pixel of the forward extraction area 601 into a bird's-eye view image. An image 606 is arranged. Similarly, on the left side of the own vehicle icon 610, a left-side converted image 607 that is a bird's-eye view image obtained by coordinate-converting each pixel of the left-side extraction region 602 is arranged, and below the own vehicle icon 610, a rear extraction is performed. A rear converted image 608 is obtained by converting each pixel in the region 603 to a bird's-eye view image. On the right side of the vehicle icon 610, each pixel in the right extraction region 604 is coordinate-converted to obtain a right image as a bird's-eye view image. A direction-converted image 609 is arranged. The shapes of the forward extraction area 601, the left extraction area 602, the rear extraction area 603, and the right extraction area 604 are the same as those of the forward conversion image 606, the left conversion image 607, the rear conversion image 608, and the right conversion image 609 in FIG. As shown in e), it is determined in advance so as to contact at the boundary without overlapping. The own vehicle icon 610 includes images indicating the positions of the driver's cab 310, the left front wheel 401a, the right front wheel 401b, and the like so that the user can easily determine the direction of the dump truck 301.

  FIG. 3 is a block diagram of a surrounding monitoring apparatus according to an embodiment of the present invention. The surrounding monitoring device 100 includes a controller 110 and a display monitor 111. The controller 110 includes a CPU, a RAM, a ROM (not shown), and the like, and by executing a program stored in advance in the ROM or the like, a surrounding image acquisition unit 101, an obstacle detection unit 102, a superimposed position calculation unit 103, a display It functions as the image generation unit 104 and the speed acquisition unit 105. Display monitor 111 includes a display monitor provided in cab 310 shown in FIG.

  The surrounding image acquisition unit 101 sequentially receives image information regarding the surrounding images 306 to 309 (see FIG. 1) from the front camera 302, the left camera 303, the rear camera 304, and the right camera 305 shown in FIG. 1 at a predetermined frame rate. get. The surrounding image acquisition unit 101 outputs image information regarding the acquired surrounding images 306 to 309 to the obstacle detection unit 102 and the display image generation unit 104.

  The obstacle detection unit 102 detects an obstacle moving around the dump truck 301 such as a worker or a car from image information regarding the plurality of surrounding images 306 to 309 sequentially acquired by the surrounding image acquisition unit 101. Hereinafter, regarding the obstacle image detected by the obstacle detection unit 102, the area of the obstacle image in the surrounding image is referred to as an object area. Details of the obstacle detection process will be described later.

  The superimposition position calculation unit 103 in FIG. 3 sets, in the surrounding images 306 to 309, reference points when the above-described mark representing the position of the moving object is superimposed and displayed in the overhead image 605. The display image generation unit 104 generates an overhead image 605 from the vehicle upper viewpoint based on the surrounding images 306 to 309 acquired by the surrounding image acquisition unit 101. When the dump truck 301 is traveling, the display image generation unit 104 outputs the generated overhead image 605 to the display monitor 111 as a display image. Further, before the dump truck 301 starts, that is, when the dump truck 301 is parked or stopped, the display image generation unit 104 looks down on the mark based on the reference point set by the superimposed position calculation unit 103. A composite image superimposed on the image 605 is generated as a display image. Detailed description regarding the mark display will be described later.

  The speed acquisition unit 105 acquires speed information related to the traveling speed of the dump truck 301. For example, the speed acquisition unit 105 acquires information such as an angular speed of a front wheel or a rear wheel of the dump truck 301, a GPS signal, and the like, and calculates a traveling speed of the dump truck 301. In addition, you may decide to acquire the information regarding the travel speed of the dump truck 301 from the other vehicle-mounted system of the dump truck 301.

(Obstacle detection process)
FIGS. 4A to 4D are diagrams for explaining the obstacle detection processing executed by the obstacle detection unit 102. FIG. 4A and 4B show an example of two consecutive frames of images acquired by the surrounding image acquisition unit 101 at a predetermined frame rate. FIG. 4B shows the right image 309b of the f0 frame acquired from the right camera 305 by the surrounding image acquisition unit 101 at time t0. FIG. 4A shows a right image 309a one frame before, that is, the f0-1 frame before FIG. 4B. In other words, FIG. 4A shows the right image 309a obtained by processing the video acquired from the right camera 305 at time t0−Δt. In the right image 309a, an automobile image 410 exists in the vicinity of the right end of the right extraction region 604. The vehicle is moving in the period Δt from the f0-1 frame to the f0 frame, that is, the period Δt from the time t0-Δt to the time t0. In the right image 309b, the image 411 of the car Existing.

  The right image 309a and the right image 309b are divided into a plurality of small regions (not shown). For example, when the right image 309a is an area of 640 × 480 pixels and the small area is 8 × 8 pixels, it is divided into 4800 small areas.

  The obstacle detection unit 102 performs a correlation operation on each small region of the right image 309a with a small region at the same or surrounding position in the right image 309b. The obstacle detection unit 102 detects the small area of the right image 309b having the highest correlation for each small area of the right image 309a based on the result of the correlation calculation. The obstacle detection unit 102 is a motion vector representing the positional relationship between the small area of the right image 309a and the small area of the right image 309b having the highest correlation with the small area, that is, each small area of the right image 309a. A vector indicating in which direction and how much each of the images has moved during Δt is calculated for each small region of the right image 309a. The obstacle detection unit 102 determines that the same moving object image is included in the small area having the same or similar direction and the size of the motion vector, integrates the small areas, and relates to the moving object. Detect as an object area. Note that when performing a correlation operation on each small region of the right image 309a with a small region at the same or surrounding position in the right image 309b, a motion vector is calculated for each small region of the right image 309a. If so, the range of the small region of the right image 309b that is the object of the correlation calculation may be set based on the motion vector. For example, correlation calculation between the small area of the right image 309b designated by the motion vector and the small areas around it may be performed.

  FIG. 4C and FIG. 4D show examples of detection results by the obstacle detection unit 102. FIG. 4C shows an object region 412 when the entire automobile image 411 is detected as a moving object by the obstacle detection unit 102. FIG. 4D shows that overexposure or the like occurs in a part of the car image 411 due to the influence of sunlight and light from various lamps of the dump truck 301, so that only a part of the car image 411 is detected as a moving object. The object region 413 is shown. As described above, the moving object detection is greatly influenced by the light source that illuminates the moving object, and the size of the object region may change with time even if the detection result is the same object.

(Explanation of mark display)
The superimposed position calculation unit 103 selects object regions included in the front extraction region 601, the left extraction region 602, the rear extraction region 603, and the right extraction region 604 among the object regions detected from the surrounding images 306 to 309. The pixel closest to the dump truck 301 is set as the reference pixel. For example, for the object region 412 illustrated in FIG. 4C, the reference point P0 is set at the position shown in FIG. For the object region 413 illustrated in FIG. 4D, the reference point P1 is set at the position shown in FIG.

  FIG. 6 is a diagram illustrating a display example of a mark. The display image generation unit 104 performs coordinate conversion of the reference point P0 set by the superimposed position calculation unit 103 in the overhead image 605, and, as illustrated in FIG. 6, a predetermined color, shape, and The size mark 700 is superimposed on the overhead image 605, and the composite image 701 is generated as a display image. In FIG. 6A, the mark 700 is a black ring having a certain diameter, and the mark 700 is superimposed on the overhead image 605 so that the center of the mark 700 coincides with the reference point P0. I have to. In addition, as shown in FIG. 6B, it may be superimposed on the overhead image 605 so that the portion of the edge of the annular mark 700 that is closest to the vehicle icon 610 coincides with the reference point P0. In the example of FIG. 6B, the left end portion closest to the vehicle icon 610 on the outer periphery of the annular mark 700 is superimposed on the overhead image 605 so as to coincide with the reference point P0. In this way, the mark 700 can be brought close to the moving object, and the mark 700 can be reliably displayed on the moving object.

  Also, a plurality of types of marks 700 may be prepared in advance so that the user can select any one of them. FIG. 7 shows an example of a setting screen 800 displayed on the display monitor 111 of FIG. The display image generation unit 104 generates a setting screen 800 as shown in FIG. 7 and displays the setting screen 800 on the display monitor 111. The setting screen 800 displays a menu screen 801 used for setting the number and type of colors used for the mark 700 and the shape and size of the mark 700, and a composite image confirmation screen 802 using the mark 700 being set. ing.

  FIG. 8 is a diagram illustrating an example of a display form of the mark 700. In the example shown in FIG. 8, the number of colors used for the mark 700 is two at the maximum, and is selected from three colors of black, red, and green. In FIG. 8, red and green are expressed using hatching. The shape of the mark 700 can be selected from three types, a ring, a quadrangle, and a triangle, and the size can be selected from three types of large, medium, and small. By causing the user to set the color, shape, and size of the mark 700 using the menu screen 801 of FIG. 7, it is possible to perform a display that is easier to see for each user.

  Note that the mark 700 illustrated in FIG. 8 is merely an example, and is not limited to these patterns. Each setting value of the mark 700 input using the setting screen 800 is recorded in a memory (not shown) provided in the controller 110 and is referred to when a composite image is generated.

  Next, calculation processing of the surroundings monitoring apparatus 100 will be described using the flowchart shown in FIG. When the user gets into the cab 310 of the dump truck 301 and activates the dump truck 301, the controller 110 proceeds to step S200 in FIG. 9 and requests the user to set the color, shape, and size of the mark 700.

  When the setting related to the mark 700 is completed, the controller 110 proceeds to step S201, and the surrounding image acquisition unit 101 acquires image information related to the surrounding images 306 to 309. The controller 110 that acquired the image information related to the surrounding images 306 to 309 proceeds to step S202, and determines whether there is image information related to the surrounding images 306 to 309 of the previous frame. Such a determination is made because the surrounding images 306 to 309 at a plurality of points in time are necessary to calculate the motion vector by the obstacle detection unit 102. Immediately after the surrounding image acquisition unit 101 starts acquiring the image information related to the surrounding images 306 to 309, the surrounding image 306 to 309 of the previous frame does not exist, so a negative determination is made in step S202, and the process proceeds to step S201 and the surroundings of the next frame Image information relating to the images 306 to 309 is acquired. The controller 110 that has acquired the image information related to the surrounding images 306 to 309 of the next frame determines the previously acquired surrounding images 306 to 309 as the image information related to the surrounding images 306 to 309 of the previous frame, and makes a positive determination in step S202. Proceed to step S203. In step S203, the controller 110 generates the overhead image 605 based on the latest surrounding images 306 to 309 acquired in step S201.

  When the generation of the bird's-eye view image 605 is completed, the controller 110 proceeds to step S204, where the obstacle detection unit 102 detects a moving object and detects an object region. That is, as described above, the controller 110 causes the obstacle detection unit 102 to calculate a motion vector for each of the small regions constituting the surrounding images of the surrounding images of two different frames. An object region related to a moving object is detected by integrating small regions having the same or similar magnitude and direction of the calculated motion vector. Note that when there is no moving object around the dump truck 301, the object region is not detected.

  When the moving object detection process by the obstacle detection unit 102 in step S204 is completed, the controller 110 proceeds to step S205 and determines whether or not an object region is detected by the obstacle detection unit 102. If the obstacle detection unit 102 has detected the object region, the controller 110 proceeds to step S206, and the object region includes the front extraction region 601, the left extraction region 602, the rear extraction region 603, and the right extraction region 604. It is determined whether it is included in any of them. When the object region is included in any of the front extraction region 601, the left extraction region 602, the rear extraction region 603, and the right extraction region 604, the controller 110 proceeds from step S206 to step S207. In step S207, the controller 110 causes the superimposition position calculation unit 103 to set the nearest pixel in the object region as a reference point.

  On the other hand, if the object area is not detected by the obstacle detection unit 102 in step S205, and if the object area is not included in the extraction area in step S206, the controller 110 proceeds to step S210. In step S210, the controller 110 causes the display image generation unit 104 to output the overhead image generated in step S203 to the display monitor 111 as a display image.

  In step S208, the controller 110 causes the display image generation unit 104 to superimpose a mark 700 having a certain size on the position corresponding to the reference point set in step S207 in the overhead image 605 generated in step S203. 701 is generated. In subsequent step S209, the controller 110 causes the display image generation unit 104 to output the composite image 701 as a display image to the display monitor 111.

  When the controller 110 outputs the display image to the display monitor 111 in step S209 or step S210, the process proceeds to step S211 and whether or not the dump truck 301 is parked or stopped based on the speed information acquired by the speed acquisition unit 105. Determine. When the dump truck 301 is parked or stopped, the controller 110 makes a positive determination in step S211 and returns to the process of step S201. If the dump truck 301 has started and the dump truck 301 is moving, a negative determination is made in step S211 and the process proceeds to step S212.

  In step S212, the controller 110 acquires the image information regarding the surrounding images 306 to 309 by the surrounding image acquisition unit 101 as in step S201. When the image information is acquired in step S212, the controller 110 causes the display image generation unit 104 to generate the overhead image 605 using the image information in step S213, and in step S214, outputs the overhead image 605 as a display image. The process returns to the determination in S211.

According to the embodiment described above, the following operational effects can be obtained.
(1) The surrounding monitoring apparatus 100 includes the controller 110 that functions as the surrounding image acquisition unit 101, the display image generation unit 104, the obstacle detection unit 102, and the superimposed position calculation unit 103. The ambient image acquisition unit 101 acquires ambient images from the front camera 302, the left camera 303, the rear camera 304, and the right camera 305 that capture the surrounding environment of the work machine, for example, the dump truck 301. The display image generation unit 104 generates a display image based on the captured image acquired by the surrounding image acquisition unit 101. In the above-described embodiment, the display image generation unit 104 generates the overhead image 605 as the display image. The obstacle detection unit 102 detects a moving object from a plurality of surrounding images acquired by the surrounding image acquisition unit 101. The superimposed position calculation unit 103 sets a reference point indicating the position of the moving object in the overhead image 605. For example, the superimposed position calculation unit 103 sets the reference point P0 in the image region where the moving object is detected by the obstacle detection unit 102, for example, the object region 412. The reference point P <b> 0 is coordinate-converted to a position in the overhead image 605 by the display image generation unit 104. The display image generation unit 104 generates a composite image 701 by superimposing a mark 700 having a certain size on the reference point P 0 calculated by the superposition position calculation unit 103.

  As shown in FIG. 4, even if the detection result is for the same object, the size and shape of the object region may change with time depending on the ambient environment conditions. In the conventional surrounding monitoring device, the position of the moving object is notified by superimposing a rectangular frame surrounding the object region on the overhead image 605. In this method, when the size of the object region changes with time, the size of the rectangular frame also changes with time, and it may be difficult to see.

  On the other hand, in the present embodiment, as shown in FIG. 5, even if the size / shape of the object region changes with time, the display form (size, color, shape, etc.) of the mark 700 that informs the position of the moving object Is constant, it is excellent in the visibility of obstacles (moving objects). As a result, the user can quickly and accurately determine the surrounding environment and take appropriate measures.

(2) As shown in FIGS. 5A and 5B, the superimposed position calculation unit 103 is a position closest to the dump truck 301 in the object region in which the obstacle is detected by the obstacle detection unit 102, in other words, Then, a position closest to the dump truck 301 (own vehicle icon 610) in the overhead image 605, that is, a position having the highest possibility of collision with the dump truck 301 is set as the reference point P0. Therefore, it is possible to clearly notify the user who has seen the composite image 701 of the level of collision risk. Of course, another position of the object region may be set as the reference point P0.

(3) In order to allow the user to select any one of a plurality of marks having different display forms as shown in FIG. 8, an input unit for selection may be provided. In the embodiment described above, the setting screen 800 as shown in FIG. 7 is displayed on the display monitor 111 so that the user can select the display form (size, shape, color, color combination) of the mark 700. Yes. The display image generation unit 104 superimposes and displays the mark 700 selected by the input unit (display monitor 111) at a position on the display image corresponding to the reference point. Therefore, the mark 700 can be displayed in a size that each user can easily see. In the present embodiment, the mark 700 is selected using the display monitor 111. However, the mark 700 may be selected using an input unit such as a switch.

  The following modifications are also within the scope of the present invention, and one or a plurality of modifications can be combined with the above-described embodiment.

(Modification 1)
In the above embodiment, the display image generation unit 104 generates the composite image 701 by superimposing the mark 700 on the overhead image 605. However, as shown in FIG. The composite image 901 may be generated. In the composite image 901 shown in FIG. 10D, a rear mirror image 908 obtained by inverting the left and right of the rear image 308 shown in FIG. A rotated left image 907 obtained by rotating the left image 307 shown in FIG. 10A by 90 ° counterclockwise is arranged on the upper left of the rear mirror image 908. A rotated right image 909 obtained by rotating the right image 309 shown in FIG. 10B by 90 ° in the clockwise direction is arranged on the upper right of the rear mirror image 908. A mark 700 is superimposed on each reference point calculated by the superimposed position calculation unit 103 in the object area of the moving object included in the rotated left image 907 and the rear mirror image 908. Note that the process of superimposing the mark 700 on the rotated left image 907, the rear mirror image 908, and the rotated right image 909 may be continued even after the dump truck 301 starts.

(Modification 2)
In the above embodiment, the display image generation unit 104 outputs display images such as the overhead image 605 and the composite image 701 to the display monitor 111 provided in the cab 310. However, the display image output destination by the display image generation unit 104 is not limited to the display monitor 111 provided in the cab 310. For example, the display image may be transmitted to an external management center that centrally manages the situation of the work site where the dump truck 301 operates, or the display image may be transmitted only to the external management center.

(Modification 3)
In the above embodiment, the surrounding image acquisition unit 101 acquires the surrounding images 306 to 309 from the front camera 302, the left camera 303, the rear camera 304, and the right camera 305, respectively. However, the number of cameras from which the surrounding image acquisition unit 101 acquires image information is not limited to four. For example, cameras may be provided only on the right side and the rear side where it is particularly difficult to visually recognize the surrounding environment from the cab 310, or four or more cameras may be provided.

(Modification 4)
In the above embodiment, the case where the surrounding monitoring apparatus according to the present invention is mounted on a dump truck used for work in a mine has been described. However, the work machine equipped with the surroundings monitoring device according to the present invention is not limited to a dump truck used for work in a mine. For example, the surrounding monitoring device according to the present invention may be mounted on another work machine such as a normal dump truck, a hydraulic excavator, a crane, or a wheel loader.

  Although various embodiments and modifications have been described above, the present invention is not limited to these contents. Other embodiments conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention.

DESCRIPTION OF SYMBOLS 100 ... Perimeter monitoring apparatus, 101 ... Ambient image acquisition part (Ambient image acquisition part), 102 ... Obstacle detection part (detection part), 103 ... Superimposition position calculation part (setting part), 104 ... Display image generation part (Display image) Generation unit), 105 ... speed acquisition unit, 110 ... controller, 111 ... display monitor, 301 ... dump truck, 302 ... front camera, 303 ... left camera, 304 ... rear camera, 305 ... right camera, 306 ... front image 307 ... Left image, 308 ... Rear image, 309 ... Right image, 412 and 413 ... Object region, 601 ... Front extraction region, 602 ... Left extraction region, 603 ... Back extraction region, 604 ... Right extraction region 605 ... overhead image 700 ... mark 701 901 composite image 800 setting screen

Claims (4)

An ambient image acquisition unit that acquires captured images from a plurality of cameras that capture the surrounding environment of the work machine;
A surroundings monitoring device for a working machine and a display image generating unit that generates a display image based on a plurality of captured images acquired by the peripheral image acquisition unit,
Among the plurality of captured images acquired by the peripheral image acquisition unit, a detecting unit for detecting a moving object,
A setting unit that sets a reference point indicating the position of the moving object in the display image to a position of the moving object closest to the work machine in each of the plurality of captured images ,
The display image generation unit superimposes and displays a mark representing the position of the moving object detected by the detection unit on each reference point ,
Mark representing the position of the moving object that is superimposed on the periphery of the working machine size of the moving object in the display image even when the change with time, characterized in that a constant size Monitoring device. In the surrounding monitoring apparatus of the working machine according to claim 1 ,
Presented to the user a plurality of different said mark of display form, further comprising an input unit for accepting Ruizure or one selected by the user,
The display image generation unit may surroundings monitoring apparatus for a working machine, characterized in that superimpose the mark receives the selection by the input unit to the reference point. In the surrounding monitoring apparatus of the working machine according to claim 1 or 2 ,
The display image generation unit may surroundings monitoring device for a working machine and generates an overhead image based on a plurality of captured images acquired by the peripheral image acquiring unit as the display image. In the surrounding monitoring apparatus of the working machine according to claim 1 or 2,
The plurality of cameras include a left camera for photographing the left side of the work machine, a right camera for photographing the right side of the work machine, and a rear camera for photographing the rear side of the work machine,
The surrounding image acquisition unit acquires a left image from the left camera, a right image from the right camera, and a rear image from the rear camera as the captured images,
The display image generation unit reverses the left and right images acquired by the surrounding image acquisition unit, rotates the left image by 90 ° counterclockwise, and rotates the right image by 90 ° clockwise. A work machine surroundings monitoring device characterized in that the display image is generated by arranging them .

Images