Image display system of work machine, remote operation system of work machine, work machine, and method for displaying image of work machine

An image display system of a work machine having working equipment, comprising:

• an imaging device provided to a body of the work machine and facing a front of the work machine, the imaging device imaging the working equipment and a working object;
• a position calculator that determines a position of the working equipment;
• a display that displays a route image corresponding to a route through which the working equipment moves or a route through which the working equipment will move as a movement guide;
• a display processor which is capable of both displaying the route image superimposed on the working equipment and displaying, on the basis of a position of the route and a position of the working equipment determined by the position calculator, without causing the display to display the route image corresponding to a portion of the route that is shielded by the working equipment with a predetermined position serving as a viewpoint, the route image corresponding to a portion of the route that is not shielded by the working equipment, wherein the predetermined position is a visual line of the imaging device,
• wherein the display processor is configured to determine a transformation matrix by which a route image and the position of the working equipment are converted into an image viewed from the predetermined position;
• and
• wherein the display processor configured to execute perspective projection transformation for projecting the route image defined in a three-dimensional space, that is, in the imaging device coordinate system, on a two-dimensional plane, and combines a transformed route image and an image of the working equipment captured by the imaging device to cause the display to display the composite image.