# US 2020/0399869 A1 · Image display system for work machine, remote operation system for work machine, and work machine > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2020/0399869 A1 - Document ID: US20200399869A1 - Status: Published application - Kind: A1 - Application number: 17/012,362 - Filed: 2020-09-04 - Published: 2020-12-24 - Earliest claimed: 2015-03-05 - Assignees: Komatsu Ltd.; Osaka University - Applicants: Komatsu Ltd.; Osaka University - Inventors: Hiroshi Yoshinada; Takanobu Tanimoto - Web page: https://patentgrep.com/patent/US20200399869A1 ## CPC - E02F 9/264: {Sensors and their calibration for indicating the position of the work tool} - B60R 1/24: in front of the vehicle - E02F 9/205: {Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence)} - E02F 9/261: {Surveying the work-site to be treated} - B60R 2300/302: combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data - E02F 3/32: working downwardly and towards the machine, e.g. with backhoes - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR ## Abstract An image display system for a work machine includes an imaging device mounted to a work machine including a working unit having a working implement, an attitude detector detecting an attitude of the working unit, a distance detector determining information about distance to an object to be worked by the work machine, and a processor using information about position of the working implement obtained using an attitude of the working unit, and information about position of the object to be worked obtained from the information about distance from the work machine to an object to be worked, determined by the distance detector, generating an image of a portion corresponding to the working implement, on the object to be worked opposing the working implement, combining the generated image with an image of the object to be worked imaged by the imaging device, and displaying the combined image on a display device. ## Claims ### Claim at position 1 1-12. (canceled) ### Claim 13 An image display system for a work machine comprising: a display device; and a processing device configured, by using information about a position of a working implement obtained using an attitude of a working unit having the working implement, and information about a position of an object to be worked of the working unit obtained from information about a distance to the object to be worked by the working unit, determined by a distance detection device included in a work machine including the working unit, to generate an image of a portion corresponding to the working implement, on the object to be worked opposing the working implement, with the imaging device as a reference, and configured to combine generated image with an image of the object to be worked imaged by the imaging device, and configured to display the combined image on the display device, wherein the display device and the processing device are provided to remotely operate the work machine. ### Claim 14 (depends on 13) The image display system for a work machine according to claim 13, wherein the processing device is further configured to generate a line image along a surface of the object to be worked, by using the position of the object to be worked, the processing device is further configured to combine the line image with the image of the object to be worked, and the processing device is further configured to display the combined image on the display device. ### Claim 15 (depends on 14) The image display system for a work machine according to claim 14, wherein the line image includes grids having a plurality of first line images, and a plurality of second line images crossing the plurality of first line images. ### Claim 16 (depends on 13) The image display system for a work machine according to claim 13, wherein the working implement has a bucket, and the processing device is further configured to generate a line image of a portion corresponding to tooth points of the bucket, on the object to be worked, as the image of the portion corresponding to the working implement, on the object to be worked opposing the working implement. ### Claim 17 (depends on 16) The image display system for a work machine according to claim 16, wherein the processing device is further configured to generate an image of a straight line connecting the object to be worked and a side of one end in a width direction of the tooth points of the bucket, and an image of a straight line connecting the object to be worked and a side of another end in the width direction of the tooth points of the bucket, the processing device is further configured to combine the generated image with the image of the object to be worked imaged by the imaging device, and the processing device is further configured to display the combined image on the display device. ### Claim 18 (depends on 13) The image display system for a work machine according to claim 13, wherein the processing device is further configured to determine spatial position information about the working implement or the object to be worked, and the processing device is further configured to display the spatial position information on the display device. ### Claim 19 (depends on 13) The image display system for a work machine according to claim 13, wherein the processing device is further configured to determine at least one of the position of the working implement, the attitude of the working unit, a position of the object to be worked, a relative attitude of the object to be worked, a relative distance between the working implement and the object to be worked, and a relative attitude of the working implement and the object to be worked to be displayed on the display device. ### Claim 20 (depends on 13) The image display system for a work machine according to claim 13, wherein the processing device is further configured to determine an area occupied by the working implement in the image of the object to be worked, by using the attitude of the working unit, and the processing device is further configured to remove the determined area from information about a terrain of the object to be worked. ### Claim 21 (depends on 13) The image display system for a work machine according to claim 13, wherein the imaging device and the distance detection device are provided in the work machine, and the processing device and the display device are provided in a facility including an operation device configured to remotely control the work machine. ### Claim 22 (depends on 13) The image display system for a work machine according to claim 13, wherein the work machine is comprising a upper swing body, and the imaging device and the distance detection device are provided in the upper swing body. ### Claim 23 (depends on 13) A remote operation system for a work machine comprising: the image display system for a work machine according to claim 13; and an operation device configured to operate the working unit included in the work machine.