Display System for Remote Control of Working Machine

1. A display system for remote control of a working machine, comprising: a plurality of camera units attached to a working machine having a working component capable of horizontal rotation and vertical swinging; an image processing device, provided in the working machine, configured to generate a panoramic image based on a plurality of images captured by the plurality of camera units and transmit a part of the generated panoramic image via wireless communication; a display device in a remote control side of the display system; and a remote control device configured to receive the part of the panoramic image from the image processing device and transmit the received part of the panoramic image to the display device, wherein: each camera unit includes a pair of a left-eye camera and a right-eye camera, the image processing device is configured to generate a left-eye panoramic image and a right-eye panoramic image based respectively on left-eye and right-eye images captured by the pairs of cameras and transmit altered left-eye and right-eye panoramic images to the remote control device over wireless communications, the remote control device is configured to receive the altered left-eye and right-eye panoramic images from the image processing device and transmit the altered left-eye and right-eye panoramic images to the display device, the display device, designed to be mounted on the head of an operator, is configured to receive the p altered left-eye and right-eye panoramic images from the remote control device and display the altered left-eye and right-eye panoramic images, the display device includes a line-of-sight detecting section configured to detect movement of eyeballs of the operator and transmit the detected movement of the eyeballs of the operator to the remote control device, the remote control device is configured to transmit, to the image processing device via wireless communication, the movement of the eyeballs of the operator transmitted from the display device, the image processing device is configured to adjust the altered left-eye and right-eye panoramic images that are to be transmitted to the display device according to the movement of the eyeballs of the operator transmitted from the remote control device, and if a response speed of the movement of the eyeballs of the operator is faster than a predetermined response speed, the image processing device is configured to implement an adjusting process or a cut-out process by delaying the response of the line-of-sight detecting section.

2. The display system set forth in claim 1, wherein the display device is configured to display augmented work-assisting information that based on a database includes the locations of gas pipes, water pipes, and other underground piping embedded in the left-eye and right-eye panoramic images, in such a manner that the image processing device adjusts the augmented work-assisting information to coincide with the parts of the left-eye and right-eye panoramic images.

3. The display system as set forth in claim 1, wherein the plurality of camera units are located at disposition positions that correspond horizontally to a position of a seat that could be installed on the working machine, so that the plurality of camera units have centers of lenses thereof at a seated height that corresponds to a height of the eyes of a working person who, having an average physique for a target market of the working machine, is presumably seated on the seat.

4. The display system as set forth in any one of claim 1, wherein the plurality of camera units are provided on a support member capable of upward/downward movement and vertical rotation.

5. The display system as set forth in claim 1, the display system further comprising an illumination device on a periphery of the plurality of camera units.

6. A display system for remote control of a working machine, comprising: a plurality of camera units attached to a working machine having a working component capable of horizontal rotation and vertical swinging; an image processing device, provided in the working machine, configured to generate a panoramic image based on a plurality of images captured by the plurality of camera units and transmit the generated panoramic image over wireless communications; a display device in a remote control side of the display system; and a remote control device configured to receive the panoramic image from the image processing device and transmit a part of the received panoramic image to the display device, wherein: each camera unit includes a pair of a left-eye camera and a right-eye camera, the image processing device is configured to generate a left-eye panoramic image and a right-eye panoramic image based respectively on left-eye and right-eye images captured by the pairs of cameras and transmit the generated left-eye and right-eye panoramic images to the remote control device via wireless communication, the remote control device is configured to receive the left-eye and right-eye panoramic images from the image processing device and transmit parts of the received left-eye and right-eye panoramic images to the display device, the display device, designed to be mounted on the head of an operator, configured to receive the parts of the left-eye and right-eye panoramic images from the remote control device and display the received parts of the left-eye and right-eye panoramic images, the display device includes a line-of-sight detecting section configured to detect movement of eyeballs of the operator and transmit the detected movement of the eyeballs of the operator to the remote control device, the remote control device configured to adjust the parts of the left-eye and right-eye panoramic images that are to be transmitted to the display device according to the movement of the eyeballs of the operator transmitted from the display device, and if a response speed of the movement of the eyeballs of the operator is faster than a predetermined response speed, the remote control device is configured to implement an adjusting process or a cut-out process by delaying the response of the line-of-sight detecting section.

7. The display system as set forth in claim 6, wherein the display device is configured to display, augmented work-assisting information that includes the locations of gas pipes, water pipes, and other underground piping embedded in the left-eye and right-eye panoramic images based on a database, in such a manner that the image processing device adjusts the augmented work-assisting information to coincide with the parts of the left-eye and right-eye panoramic images.

8. The display system as set forth in claim 2, wherein the plurality of camera units are located at disposition positions that correspond horizontally to a position of a seat that could be installed on the working machine, so that the plurality of camera units have centers of lenses thereof at a seated height that corresponds to a height of the eyes of a working person who, having an average physique for a target market of the working machine, is presumably seated on the seat.

9. The display system as set forth in any one of claim 2, wherein the plurality of camera units are provided on a support member capable of upward/downward movement and vertical rotation.

10. The display system as set forth in any one of claim 3, wherein the plurality of camera units are provided on a support member capable of upward/downward movement and vertical rotation.

11. The display system as set forth in any one of claim 8, wherein the plurality of camera units are provided on a support member capable of upward/downward movement and vertical rotation.

12. The display system as set forth in claim 2, the display system further comprising an illumination device on a periphery of the plurality of camera units.

13. The display system as set forth in claim 3, the display system further comprising an illumination device on a periphery of the plurality of camera units.

14. The display system as set forth in claim 4, the display system further comprising an illumination device on a periphery of the plurality of camera units.

15. The display system as set forth in claim 8, the display system further comprising an illumination device on a periphery of the plurality of camera units.

16. The display system as set forth in claim 9, the display system further comprising an illumination device on a periphery of the plurality of camera units.

17. The display system as set forth in claim 1, wherein the line-of-sight detecting section configured to detect a yawing angle around an axis which extends in the vertical direction with respect to the head of the operator, a rolling angle around an axis which extends in the front/back direction with respect to the head of the operator, and a pitching angle around an axis which extends in the left/right direction with respect to the head of the operator.

18. The display system as set forth in claim 17, wherein the altered left-eye and right-eye panoramic images are fragments that have been cut out of the left-eye and right-eye panoramic images.

19. The display system as set forth in claim 17, wherein the altered left-eye and right-eye panoramic images are cut out of the left-eye and right-eye panoramic images to correspond to a view angle of the operator by using a predetermined reference point.

20. The display system as set forth in claim 17, wherein the image processing device is configured to calculate a relative reference point for each left-eye and right-eye panoramic image that is displaced from a predetermined reference point by the movement detected by the line-of-sight detecting section.

21. A working machine comprising: a camera unit; and an image processing device for executing a cut-out process of an image captured by the camera unit by cutting at a predetermined cut-out angle corresponding to a view angle of an operator, and according to movement of the head or the eyeball of the operator received from an external device, performing an adjusting process to adjust the cut-out angle of the image captured, wherein the image processing device is characterized in that when a response of line-of-sight detection of the movement of the head or eyeball of the operator is faster than a predetermined response speed, the response of the line-of-sight detection is delayed to implement the adjusting process or the cut-out process.

22. The working machine according to claim 21, further comprising: a support member provided to support the camera unit with a lens of the camera unit positioned at a height corresponding to a line-of-sight height when the operator of the working machine sits on a seat.

23. A working machine comprising: a camera unit; an image processing device for executing a cut-out process of an image captured by the camera unit by cutting at a predetermined cut-out angle corresponding to a view angle of an operator, and according to movement of the head or the eyeball of the operator received from a display device, when a response of line-of-sight detection of the movement of the head or the eyeball of the operator is faster than a predetermined response speed, the response of the line-of-sight detection is delayed to implement an adjusting process to adjust the cut-out angle of the image captured; and a support member provided to support the camera unit with a lens of the camera unit positioned at a height corresponding to a line-of-sight height when the operator of the working machine sits on a seat.

24. The working machine according to claim 23, wherein the support member is capable of upward and downward movement and rotation in a vertical direction, provided to support the camera unit.

25. The working machine according to claim 23, further comprising: an illumination device provided around the camera unit.

26. A display system for remote control of a working machine, comprising: a camera unit installed on the working machine; an image processing device that performs a cut-out process that cuts a captured image taken by the camera unit at a predetermined cut-out angle corresponding to a view angle of an operator; and a display device that displays the captured image transmitted from the image processing device, detects movement of the head or the eyeball of the operator and transmits the movement to the image processing device, wherein the image processing device performs an adjusting process for adjusting the cut-out angle of a part of the captured image transmitted to the display device according to the movement of the head or the eyeball of the operator sent from the display device, and when a response of the line-of-sight detection of the movement of the head or the eyeball of the operator is faster than a predetermined response speed, the response of the line-of-sight detection is delayed to implement the adjusting process or the cut-out process.

27. A display system for remote control of working machine, comprising: a camera unit installed on the working machine; an image processing device that performs a cut-out process that cuts a captured image taken by the camera unit at a predetermined cut-out angle corresponding to a view angle of an operator; and a display device that displays the captured image transmitted from the image processing device, detects movement of the head or the eyeball of the operator, and transmits the movement to the image processing device, and when a response of line-of-sight detection of the movement of the head or the eyeball of the operator is faster than a predetermined response speed, the image processing device delays the response of the line-of-sight detection to implement an adjusting process or a cut-out process; wherein the image processing device adjusts the cut-out angle of the captured image to be transmitted to the display device according to the movement of the head or the eyeball of the operator sent from the display device, the display device additionally displays the work-assisting information corresponding to the captured image together with the captured image in correspondence with the captured image, and the work-assisting information is a work plan or a working range of the working machine.

28. A display system for remote control of a working machine, comprising: a camera unit installed on the working machine; an image processing device that performs a cut-out process that cuts a captured image taken by the camera unit at a predetermined cut-out angle corresponding to a view angle of an operator; and a display device that displays the captured image transmitted from the image processing device, detects movement of the head or the eyeball of the operator, and transmits the movement to the image processing device, wherein the image processing device adjusts the cut-out angle of the captured image transmitted to the display device according to the movement of the head or the eyeball of the operator sent from the display device, and when a response of line-of-sight detection of the movement of the head or the eyeball of the operator is faster than a predetermined response speed, the response of the line-of-sight detection is delayed to implement an adjusting process or a cut-out process; and a support member provided to support the camera unit with a lens of the camera unit provided at a height position corresponding to a line-of-sight height when the operator of the working machine sits on a seat.

29. The display system for remote control of a working machine according to claim 26, further comprising: a support member capable of upward and downward movement and rotation in a vertical direction, provided to support the camera unit.

30. The display system for remote control of a working machine according to claim 26, further comprising: an illumination device provided around the camera unit.