Image display system, remote operation assistance system, and image display method

Abstract

Provided are a system and the like that can improve the accuracy with which an operator recognizes the positional relationship between a work mechanism constituting a work machine and an object present around the work machine. An operator is allowed to grasp the position of a work mechanism 440 (an attachment 445) constituting a work machine 40 and the position of a second index point p2 on the surface of an object Obj through a work environment image and an index image M superimposed thereon that are output to a remote image output device 221 constituting a remote output interface 220. The second index point p2 is the result of a first index point p1 being projected onto the surface of the object Obj.

1 . An image display system, wherein
 on a work environment image representing a situation of a work mechanism constituting a work machine and an object present around the work machine, an index image indicating a second index point resulting from a first index point of the work mechanism being projected onto a surface of the object in real space is superimposed and output to an output interface of a remote operation device for remotely operating the work machine.   
     
     
         2 . The image display system according to  claim 1 , wherein
 the index image having directivity toward the second index point is superimposed on the work environment image and output to the output interface of the remote operation device.   
     
     
         3 . The image display system according to  claim 1 , wherein
 the index image indicating the second index point resulting from the first index point being projected onto the surface of the object in a direction corresponding to a displacement mode of the work mechanism or a posture mode of the work mechanism is superimposed on the work environment image and output to the output interface of the remote operation device.   
     
     
         4 . The image display system according to  claim 1 , wherein
 the index image indicating the second index point resulting from the first index point, whose position differs depending on a displacement mode of the work mechanism, being projected onto the surface of the object is superimposed on the work environment image and output to the output interface of the remote operation device.   
     
     
         5 . The image display system according to  claim 1 , wherein
 a position of the first index point of the work mechanism that is determined based on an output from a sensor mounted on the work machine is recognized, and then the index image indicating the second index point resulting from the first index point being projected onto the surface of the object is superimposed on the work environment image and output to the output interface of the remote operation device.   
     
     
         6 . The image display system according to  claim 1 , wherein
 the first index point is set at an arm top.   
     
     
         7 . The image display system according to  claim 1 , wherein
 a plurality of the index images indicating a respective plurality of the second index points resulting from a respective plurality of the first index points being projected onto the surface of the object are superimposed on the work environment image and output to the output interface of the remote operation device.   
     
     
         8 . The image display system according to  claim 7 , wherein
 a plurality of the index images directed toward a respective plurality of the second index points corresponding to a respective plurality of the first index points whose relative positions change with motion of the work mechanism are superimposed on the work environment image and output to the output interface of the remote operation device.   
     
     
         9 . An image display composite system, comprising:
 a work machine that has an actual machine image capturing device, an actual machine distance measuring device, and a work mechanism;   a remote operation device that has an output interface and is for remotely operating the work machine; and   an image display system, wherein   the image display system superimposes, on a work environment image representing a situation of a work mechanism constituting a work machine and an object present around the work machine that is acquired through the actual machine image capturing device, an index image indicating a second index point resulting from a first index point of the work mechanism being projected onto a surface of the object, whose three-dimensional shape is measured through the actual machine distance measuring device, in real space, and outputs the work environment image on which the index image is superimposed to an output interface of the remote operation device.   
     
     
         10 . An image display method, comprising
 a step of superimposing, on a work environment image representing a situation of a work mechanism constituting a work machine and an object present around the work machine, an index image indicating a second index point resulting from a first index point of the work mechanism being projected onto a surface of the object in real space, and outputting the work environment image on which the index image is superimposed to an output interface of a remote operation device for remotely operating the work machine.