A roadway repair vehicle and method of use thereof

Abstract

The application discloses a roadway repairing vehicle and a use method thereof, which comprises a vehicle body, a large arm connected with the vehicle body, and a digging bucket connected with the large arm. The digging bucket is provided with a camera assembly. The camera assembly comprises a mounting base fixedly connected with the digging bucket and a camera movably connected with the mounting base. The camera has two working positions. In a first working position, the camera protrudes outward from the mounting base and is arranged adjacent to a lower digging end of the digging bucket. In a second working position, the camera is arranged in the mounting base, and the side wall of the mounting base is in a sealed state. A cab of the vehicle body is provided with a display screen for presenting a real-time picture of the camera. The roadway repairing vehicle and the use method thereof are reasonable in design, can enable a driver to accurately judge the position of the lower digging end of the digging bucket, avoid misoperation, and improve the roadway repairing efficiency.

Description

Technical Field

[0001] This invention relates to the field of roadway repair vehicle technology. Background Technology

[0002] Coal mine roadways are the core passageways for coal mining. Due to geological pressure, gas erosion, and mining activities, roadways are prone to defects such as sidewall deformation, roof subsidence, floor bulging, and the accumulation of loose coal and gangue. Timely repair work is required using roadway repair machines. As a core piece of equipment in underground coal mines, roadway repair machines typically integrate bucket functions and are mainly used to clear loose coal, break up protruding gangue, refine the roadway profile, and install auxiliary support materials. Their operational precision and safety directly determine the quality of roadway repair and underground production efficiency.

[0003] When operating the bucket, the driver needs to observe the relative position of the bucket teeth tip with the tunnel sidewalls, roof, floor and the material to be cleaned through the cab. However, the visibility inside the tunnel is poor, making it impossible to accurately determine the position.

[0004] In "blind spots" of tunnel repair (such as bulging parts of the tunnel floor or cracks in the sidewalls), the driver cannot directly observe the contact between the bucket and the damaged area, which can easily lead to misoperation.

[0005] Therefore, it is necessary to improve the existing roadway repair vehicles and their usage methods. Summary of the Invention

[0006] The purpose of this invention is to overcome the defects in the existing technology and provide a roadway repair vehicle and its usage method, which allows the driver to accurately judge the position of the excavator bucket, avoid misoperation, and improve the efficiency of roadway repair.

[0007] To address the aforementioned technical problems, this invention provides a roadway repair vehicle, comprising a vehicle body, a boom connected to the vehicle body, and a bucket connected to the boom. The bucket is equipped with a camera assembly, which includes a mounting base fixedly connected to the bucket and a camera movably connected to the mounting base. The camera has two working positions: in a first working position, the camera protrudes from the mounting base and is adjacent to the lower end of the bucket; in a second working position, the camera is disposed within the mounting base, and the sidewall of the mounting base is sealed. The driver's cab of the vehicle body is equipped with a display screen that displays real-time images from the camera.

[0008] According to one embodiment of the present invention, the mounting base is fixedly connected to the side wall of the bucket, and the side wall of the mounting base is provided with a downward shovel slope to facilitate downward shoveling.

[0009] According to one embodiment of the present invention, the inclined surface of the lower shovel is provided with a slot, the camera assembly includes a camera mounting base, the camera mounting base is provided with a sealing plate, in a first working position, the sealing plate is separated from the slot; in a second working position, the sealing plate is sealed to the slot; the camera is connected to the camera mounting base.

[0010] According to one embodiment of the present invention, a switching component for switching the camera mount between a first working position and a second working position is provided between the camera mount and the mounting base.

[0011] According to one embodiment of the present invention, the switching assembly includes a cylinder disposed in the mounting base, the piston rod of the cylinder being vertically oriented in the extension and retraction direction, and a conversion assembly for converting vertical movement into horizontal movement is disposed between the camera mounting base and the cylinder.

[0012] According to one embodiment of the present invention, the conversion assembly includes a first guide groove disposed on the inner wall of the mounting base, the first guide groove being horizontally oriented, the camera mounting base being provided with a vertical extension rod being vertically oriented, and a first slider being slidably connected to the first guide groove on the side wall of the vertical extension rod.

[0013] According to one embodiment of the present invention, the end of the vertical extension rod is provided with a guide slope, the inclination direction of the guide slope is towards the slot, the guide slope is provided with a second guide groove, the extension direction of the second guide groove is parallel to the guide slope, and the piston rod of the cylinder is provided with a second slider that is slidably connected to the second guide groove.

[0014] According to one embodiment of the present invention, in the first working position, the second slider is disposed adjacent to the upper end of the guide slope; in the second working position, the second slider is disposed adjacent to the lower end of the guide slope.

[0015] According to one embodiment of the present invention, a horizontal extension rod is provided between the vertical extension rod and the camera mounting base, the horizontal extension rod being used to prevent interference between the vertical extension rod and the inner wall of the lower shovel slope in the first working position.

[0016] According to one embodiment of the present invention, the mounting base is further provided with a dust blowing assembly, which is used to prevent dust from entering the slot when the camera is switched from the second working position to the first working position.

[0017] According to one embodiment of the present invention, the dust blowing assembly includes an air blowing pipe passing through a cover plate of the mounting base; a stepped layer is provided on the outer periphery of the slot, and a sealing layer is provided on the sealing plate to seal and cooperate with the stepped layer; the thickness of the camera mounting base is greater than the thickness of the stepped layer; and the stepped layer is provided with a plurality of air outlet holes.

[0018] A method of using a roadway repair vehicle includes:

[0019] Step S100: The driver operates the tunnel repair vehicle to move to the location where excavation is required;

[0020] Step S200: The switching component switches the camera from the second working position to the first working position. At this time, the dust blowing component continues to work. When the sealing plate separates from the step layer, the camera mounting base is still located in the slot. The airflow is discharged from the air outlet, and the high-speed airflow blows the dust at the step layer outward. As the camera continues to be exposed, the camera mounting base separates from the slot, and the airflow is mainly blown out from the slot to prevent dust from entering the mounting base from the slot.

[0021] Step S300: The driver accurately determines the position of the excavator bucket by using the footage transmitted from the camera.

[0022] Step S400: When preparing to lower the shovel, the switching component switches the camera from the first working position to the second working position; at this time, the dust blowing component continues to work until the sealing layer and the step layer are sealed together, and then the dust blowing component is turned off.

[0023] Step S500: The driver performs the excavator bucket lowering operation.

[0024] Compared with the prior art, the tunnel repair vehicle and its usage method of the present invention are reasonably designed. By setting a camera component in the bucket, the camera moves to the first working position before the bucket is lowered to provide the driver with a real-time image and determine the lowering position; when the bucket is lowered, the camera moves to the second working position and retracts into the mounting base to protect the camera. Compared with the prior art, this allows the driver to accurately determine the lowering position of the bucket, avoid misoperation, and improve the efficiency of tunnel repair. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the tunnel repair vehicle and its usage method of the present invention;

[0026] Figure 2 This is a structural diagram of the camera in the excavator bucket in its first working position;

[0027] Figure 3 yes Figure 2 Enlarged view of point A in the middle;

[0028] Figure 4This is a schematic diagram of the camera assembly in its second working position.

[0029] Figure 5 yes Figure 4 An explosion diagram;

[0030] Figure 6 yes Figure 4 A sectional view;

[0031] Figure 7 yes Figure 5 A sectional view;

[0032] Figure 8 This is a schematic diagram of the mounting base of another embodiment of the roadway repair vehicle and its usage method of the present invention;

[0033] Figure 9 This is a schematic diagram of the sealing plate of another embodiment of the tunnel repair vehicle and its usage method of the present invention;

[0034] Figure 10 This is a schematic diagram showing the sealing plate in the second working position of another embodiment of the roadway repair vehicle and its usage method of the present invention;

[0035] Figure 11 yes Figure 10 A sectional view (camera and switching components omitted);

[0036] Figure 12 This is a schematic diagram showing the state of the sealing plate switching from the second working position to the first working position in another embodiment of the roadway repair vehicle and its usage method of the present invention.

[0037] Figure 13 yes Figure 12 A sectional view (camera and switching components omitted);

[0038] Figure 14 This is a schematic diagram showing the sealing plate in the first working position in another embodiment of the tunnel repair vehicle and its usage method of the present invention;

[0039] Figure 15 yes Figure 14 A sectional view (camera and switching components omitted);

[0040] In the diagram: 1. Vehicle body; 11. Display screen; 2. Boom; 3. Bucket; 31. Lower shovel end; 4. Mounting base; 41. Lower shovel ramp; 411. Groove; 42. First guide groove; 43. Step layer; 431. Air outlet; 5. Camera; 6. Camera mounting base; 61. Sealing plate; 611. Sealing layer; 62. Vertical extension rod; 621. First slider; 63. Guide ramp; 631. Second guide groove; 64. Horizontal extension rod; 7. Cylinder; 71. Second slider; 8. Air blowing pipe. Detailed Implementation

[0041] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings and examples. The following examples are only used to more clearly illustrate the technical solutions of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0042] like Figure 1-7 As shown, the roadway repair vehicle and its method of use of the present invention include a vehicle body 1, a boom 2 connected to the vehicle body 1, and a bucket 3 connected to the boom 2. The bucket 3 is equipped with a camera assembly, which includes a mounting base 4 fixedly connected to the bucket 3 and a camera 5 movably connected to the mounting base 4. The camera 5 has two working positions: in the first working position, the camera 5 protrudes from the mounting base 4 and is adjacent to the lower shovel end 31 of the bucket 3; in the second working position, the camera 5 is disposed inside the mounting base 4, and the side wall of the mounting base 4 is sealed. The cab of the vehicle body 1 is equipped with a display screen 11 that displays the real-time image of the camera 5.

[0043] This design allows for precise judgment of the bucket's lowering position, avoiding misoperation: with the camera in its first working position, the cab's display screen shows the camera's real-time feed. This design directly addresses the problem in existing technologies where "poor visibility in tunnels prevents drivers from accurately judging the relative position of the bucket and the work area": ​​the driver no longer needs to rely on visual observation; they can clearly see the real-time scene around the lowering end through the display screen, especially in "blind spots" during tunnel repairs, thus accurately controlling the lowering position and significantly reducing misoperation caused by misjudgment.

[0044] Protecting the camera and ensuring long-term stable operation: In the second working position, the camera is "set inside the mounting base, with the sidewalls of the mounting base sealed." During tunnel repair operations, the excavator bucket needs to come into contact with materials such as loose coal and gangue. If the camera is exposed for a long time, it is easily damaged by collisions, wear, or dust contamination, leading to equipment failure. This "retractable + sealed" design allows the camera to be stored inside the mounting base when not in observation mode. The sealed structure isolates it from dust and external impacts, effectively extending the camera's lifespan and preventing equipment damage from affecting the progress of repair work, indirectly ensuring the efficiency of tunnel repair.

[0045] According to one embodiment of the present invention, the mounting base 4 is fixedly connected to the side wall of the bucket 3, and the side wall of the mounting base 4 is provided with a downward shovel inclined surface 41 to facilitate downward shoveling.

[0046] This design ensures stable operation of the camera assembly and guarantees image accuracy: the mounting base is fixedly connected to the side wall of the bucket, allowing the camera assembly to form a stable linkage with the bucket. During bucket positioning and preparation for lowering the shovel, the camera assembly will not shift due to relative movement with the bucket, always capturing images around the lower end of the bucket. This provides a stable and accurate real-time scene to the cab display, helping the driver accurately judge the lowering position and avoiding positional errors caused by camera misalignment.

[0047] Without affecting normal bucket operation and improving roadway repair efficiency: The inclined surface of the lower shovel on the side wall of the mounting base is adapted to the working function of the bucket, and the design for easy lowering of the shovel can be integrated into the bucket's lowering action flow. When the bucket is cleaning loose coal, crushing gangue, etc., the inclined surface of the lower shovel can reduce the resistance of materials to the mounting base, preventing the mounting base from obstructing the bucket's lowering action due to its abrupt structure. This ensures that the bucket can complete its work smoothly without adding extra obstacles, thereby ensuring the normal rhythm of roadway repair work and improving overall repair efficiency.

[0048] According to one embodiment of the present invention, the lower shovel inclined surface 41 is provided with a slot 411, the camera assembly includes a camera mounting base 6, the camera mounting base 6 is provided with a sealing plate 61, in a first working position, the sealing plate 61 is separated from the slot 411; in a second working position, the sealing plate 61 is sealed to the slot 411; the camera 5 is connected to the camera mounting base 6.

[0049] This design enables precise switching between "working observation" and "idle protection" modes for the camera, extending the equipment's lifespan.

[0050] To meet the observation needs during operation: In the first working position, the sealing plate separates from the slot, providing a channel for the camera to extend out of the mounting base. Since the camera is connected to the camera mount, it can protrude out of the slot synchronously with the camera mount and be adjacent to the lower end of the bucket. This allows for close-up capture of real-time images of the lowering position and transmission of the images to the cab display screen, helping the driver accurately determine the lowering point. This solves the problems of poor visibility and blind spots in the tunnel, and avoids misoperation.

[0051] Ensuring equipment safety during idle periods: In the second working position, the sealing plate is sealed to the slot. When the bucket is lowering, the camera retracts into the mounting base along with the camera mount. The sealing plate completely covers the slot, isolating dust, rock fragments, and other impurities in the tunnel. It also prevents materials from colliding with the camera during operation, preventing wear, contamination, or damage, effectively extending the camera's lifespan and reducing the impact of equipment failure on tunnel repair progress.

[0052] According to one embodiment of the present invention, a switching component for switching the camera mounting 6 between a first working position and a second working position is provided between the camera mounting 6 and the mounting base 4.

[0053] This design allows for switching camera positions as needed, meeting the requirements of all operational scenarios.

[0054] According to one embodiment of the present invention, the switching component includes a cylinder 7 disposed in the mounting base 4, the piston rod of the cylinder 7 being vertically oriented in the extension and retraction direction, and a conversion component for converting vertical movement into horizontal movement is disposed between the camera mounting base 6 and the cylinder 7.

[0055] This design utilizes cylinder power to ensure reliable switching actions and adaptability to complex tunnel environments.

[0056] The conversion component enables vertical power to drive horizontal movement, adapting to the spatial layout of the mounting base: The mounting base needs to integrate structures such as the shovel slope and slots, and the internal horizontal space is limited. If the horizontal power component is directly used to drive the camera mounting base, it is easy to interfere with other structures.

[0057] According to one embodiment of the present invention, the conversion assembly includes a first guide groove 42 disposed on the inner wall of the mounting base 4, the first guide groove 42 being horizontally oriented, the camera mounting base 6 being provided with a vertical extension rod 62 being vertically oriented, and a first slider 621 being slidably connected to the first guide groove 42 on the side wall of the vertical extension rod 62.

[0058] This design ensures precise horizontal movement of the camera mount, guaranteeing a stable camera viewing position.

[0059] The first guide groove extends horizontally and is slidably connected to the first slider on the side wall of the vertical extension rod. When the switching component drives the camera mount to move, the first slider slides along the horizontal trajectory of the first guide groove, forcibly constraining the camera mount to move only in the horizontal direction, thus preventing it from shifting up and down or wobbling during the movement.

[0060] According to one embodiment of the present invention, the end of the vertical extension rod 62 is provided with a guide slope 63, the inclination direction of the guide slope 63 is towards the slot 411, the guide slope 63 is provided with a second guide groove 631, the extension direction of the second guide groove 631 is parallel to the guide slope 63, and the piston rod of the cylinder 7 is provided with a second slider 71 that is slidably connected to the second guide groove 631.

[0061] This design allows for precise power transmission and smooth switching of camera positions.

[0062] The piston rod of the cylinder can only move vertically, while the camera mount needs to move the camera horizontally. The guide ramp is inclined towards the slot, and the second guide slot is parallel to the guide ramp. When the cylinder piston rod drives the second slider to move vertically, the second slider will slide in the second guide slot. The inclination angle of the guide ramp "converts" the direction of motion: the vertical power is accurately transmitted into the horizontal power that pushes the vertical extension rod, ultimately realizing the horizontal movement of the camera mount and the camera.

[0063] According to one embodiment of the present invention, in the first working position, the second slider 71 is disposed adjacent to the upper end of the guide slope 63; in the second working position, the second slider 71 is disposed adjacent to the lower end of the guide slope 63.

[0064] This design clearly defines the mechanical limits, improving switching stability and ease of operation.

[0065] The "adjacent positioning" of the second slider with the upper and lower ends of the guide ramp essentially sets clear mechanical limits for the two states of the camera. When the driver controls the cylinder to drive the second slider to move, there is no need to rely on complex position calibration. The driver only needs to move the second slider to a position adjacent to the end of the guide ramp to determine that the camera has switched to the target state, reducing the difficulty of operation and avoiding equipment failure caused by "incomplete switching".

[0066] According to one embodiment of the present invention, a horizontal extension rod 64 is provided between the vertical extension rod 62 and the camera mounting base 6. The horizontal extension rod 64 is used to prevent the vertical extension rod 62 from interfering with the inner wall of the lower shovel inclined surface 41 in the first working position.

[0067] This design eliminates the risk of component interference and ensures that the camera switches stably to the working position.

[0068] When the camera moves to the first working position with the camera mount, the vertical extension rod needs to move synchronously with the camera mount to transmit power and provide guidance. Since the side wall of the mounting base has a downward-sloping surface, and the vertical extension rod is vertically positioned, if the two are directly connected, the vertical extension rod is very likely to collide with the inner wall of the downward-sloping surface during the outward extension of the camera mount. This would prevent the camera mount from moving smoothly, thus preventing the camera from accurately reaching the observation position adjacent to the downward-sloping end, affecting the driver's judgment of the downward-sloping point.

[0069] The working principle of the above embodiments:

[0070] Before the bucket is lowered, the cylinder piston rod moves by switching components, and the vertical movement is converted into horizontal movement by conversion components, so that the camera mount moves the camera to the first working position. The camera captures the surrounding scene of the bucket's lower end and transmits the real-time image to the cab display screen.

[0071] After the driver accurately determines the shovel position based on the display screen, he switches the components again to move the camera to the second working position, where it retracts into the mounting base. The side wall of the mounting base is sealed to protect the camera, and then the shovel operation is carried out.

[0072] It solves the problems of poor visibility and "blind spot" observation in the tunnel, allowing drivers to accurately judge the position of the shovel based on real-time images, greatly reducing misoperation.

[0073] The camera can flexibly switch between working and non-working states, and is effectively protected when not in use, extending the service life of the equipment.

[0074] The overall structural design is reasonable, and the components work together smoothly, which effectively improves the efficiency and quality of tunnel repair operations.

[0075] like Figure 8-15 As shown, in another specific embodiment, the mounting base 4 is also provided with a dust blowing assembly, which is used to prevent dust from entering the slot 411 when the camera 5 is switched from the second working position to the first working position.

[0076] The dust blowing assembly includes an air blowing pipe 8 passing through the cover plate of the mounting base 4; a stepped layer 43 is provided on the outer periphery of the slot 411, and a sealing layer 611 is provided on the sealing plate 61 to seal and cooperate with the stepped layer 43; the thickness of the camera mounting base 6 is greater than the thickness of the stepped layer 43; and the stepped layer 43 is provided with a plurality of air outlet holes 431.

[0077] A method of using a roadway repair vehicle includes:

[0078] Step S100: The driver operates the tunnel repair vehicle to move to the location where excavation is required;

[0079] Step S200: The switching component switches the camera 5 from the second working position to the first working position. At this time, the dust blowing component continues to work. When the sealing plate 61 separates from the step layer 43, the camera mounting base 6 is still located in the slot 411. The airflow is discharged from the air outlet 431 (since the diameter of the air outlet 431 is much smaller than that of the slot 411, the airflow speed from the air outlet 431 is relatively high, which can blow away the dust at the step layer 43). The high-speed airflow blows the dust at the step layer 43 outward. As the camera 5 continues to be exposed, the camera mounting base 6 separates from the slot 411, and the airflow mainly blows out from the slot 411 to prevent dust from entering the mounting base 4 from the slot 411.

[0080] Step S300: The driver accurately determines the position of the bucket's lower shovel based on the image transmitted back by camera 5;

[0081] Step S400: When preparing to lower the shovel, the switching component switches the camera 5 from the first working position back to the second working position; at this time, the dust blowing component continues to work until the sealing layer 611 and the step layer 43 are sealed together, and the dust blowing component is turned off.

[0082] Step S500: The driver performs the excavator bucket lowering operation.

[0083] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A roadway repair vehicle, characterized in that, The device includes a vehicle body (1), a boom (2) connected to the vehicle body (1), and a bucket (3) connected to the boom (2). The bucket (3) is equipped with a camera assembly, which includes a mounting base (4) fixedly connected to the bucket (3) and a camera (5) movably connected to the mounting base (4). The camera (5) has two working positions: in the first working position, the camera (5) protrudes from the mounting base (4) and is adjacent to the lower shovel end (31) of the bucket (3); in the second working position, the camera (5) is located inside the mounting base (4), and the side wall of the mounting base (4) is sealed. The cab of the vehicle body (1) is equipped with a display screen (11) that displays the real-time image of the camera (5). The mounting base (4) is fixedly connected to the side wall of the bucket (3), and the side wall of the mounting base (4) is provided with a shovel slope (41) to facilitate the shovel. The lower shovel slope (41) is provided with a slot (411), the camera assembly includes a camera mounting base (6), the camera mounting base (6) is provided with a sealing plate (61), in the first working position, the sealing plate (61) is separated from the slot (411); in the second working position, the sealing plate (61) is sealed to the slot (411); the camera (5) is connected to the camera mounting base (6); A switching component is provided between the camera mounting base (6) and the mounting base (4) for switching the camera mounting base (6) between a first working position and a second working position; The mounting base (4) is also provided with a dust blowing assembly, which is used to prevent dust from entering the slot (411) when the camera (5) is switched from the second working position to the first working position; The dust blowing assembly includes an air blowing pipe (8) passing through the cover plate of the mounting base (4); a stepped layer (43) is provided on the outer periphery of the slot (411), and a sealing layer (611) is provided on the sealing plate (61) to seal and cooperate with the stepped layer (43); the thickness of the camera mounting base (6) is greater than the thickness of the stepped layer (43); the stepped layer (43) is provided with a plurality of air outlet holes (431).

2. The roadway repair vehicle according to claim 1, characterized in that, The switching component includes a cylinder (7) disposed in the mounting base (4), the piston rod of the cylinder (7) is vertically positioned for extension and retraction, and a switching component for converting vertical movement into horizontal movement is disposed between the camera mounting base (6) and the cylinder (7).

3. The roadway repair vehicle according to claim 2, characterized in that, The conversion component includes a first guide groove (42) disposed on the inner wall of the mounting base (4), the first guide groove (42) being horizontally oriented, the camera mounting base (6) being provided with a vertical extension rod (62), the vertical extension rod (62) being vertically oriented, and a first slider (621) being slidably connected to the first guide groove (42) on the side wall of the vertical extension rod (62).

4. The roadway repair vehicle according to claim 3, characterized in that, The end of the vertical extension rod (62) is provided with a guide slope (63), the inclination direction of the guide slope (63) is towards the slot (411), the guide slope (63) is provided with a second guide groove (631), the extension direction of the second guide groove (631) is parallel to the guide slope (63), and the piston rod of the cylinder (7) is provided with a second slider (71) that is slidably connected to the second guide groove (631).

5. A method of using a roadway repair vehicle, comprising using the roadway repair vehicle as described in claim 4, characterized in that, include: Step S100: The driver operates the tunnel repair vehicle to move to the location where excavation is required; Step S200: The switching component switches the camera (5) from the second working position to the first working position. At this time, the dust blowing component continues to work. When the sealing plate (61) separates from the step layer (43), the camera mounting base (6) is still located in the slot (411). The airflow is discharged from the air outlet (431). The high-speed airflow blows the dust at the step layer (43) outward. As the camera (5) continues to be exposed, the camera mounting base (6) separates from the slot (411). The airflow is mainly blown out from the slot (411) to prevent dust from entering the mounting base (4) from the slot (411). Step S300: The driver accurately judges the position of the bucket under the camera by the image transmitted back by the camera (5); Step S400: When preparing to lower the shovel, the switching component switches the camera (5) from the first working position back to the second working position; at this time, the dust blowing component continues to work until the sealing layer (611) and the step layer (43) are sealed together, and the dust blowing component is turned off. Step S500: The driver performs the excavator bucket lowering operation.

Images