Work machine and work system

Abstract

Provided are a work machine and a work system each including an imaging device. The work machine includes: a machine body; an attachment attached to the machine body; and an imaging device (76). The attachment includes a rotational-movement part (32), and the imaging device (76) is attached to the rotational-movement part (32) so as to locate at least a part of the imaging device (76) on the lower side of a ventral surface (32b) of the rotational-movement part (32) in the direction of the rotational movement of the rotational-movement part (32) and on the outer side of an end surface (32s) of the rotational-movement part (32) in an attachment width direction.

Description

Technical Field

[0001] The present invention relates to a work machine and a work system including an imaging device.Background Art

[0002] Each of Patent Documents 1 to 3 discloses a camera that is an imaging device attached to a work machine. Patent Literature 1 discloses a pair of cameras provided on a boom, the pair of cameras arranged to stereo-image the bucket from above with a visual field that allows the image of the situation of the entire bucket in an upward state to be captured. Patent Document 2 discloses a camera attached to an arm of a work machine so as to image a work area substantially from directly above. Patent Literature 3 discloses a camera attached to an arm so as to image the inside of a dug hole.

[0003] However, the camera disclosed in each of Patent Documents 1 to 3, attached to the ventral surface or the side surface of an attachment of a work machine, is hard to give a sufficient visual field. For example, the visual field of a camera attached to the ventral surface of an attachment is likely to be blocked by the ventral surface, and the visual field of the camera attached to the side surface of the attachment is likely to be blocked by the side surface.

[0004] Making an image device include a plurality of cameras in order to secure a large imaging range involves a cost which is increased with an increase in the number of the plurality of cameras.Citation List Patent Literature

[0005] Patent Literature 1: Japanese Unexamined Patent Publication No. 2008-241300 Patent Literature 2: International Publication No. 2013 / 099491 Patent Literature 3: Japanese Unexamined Patent Publication No. 2016-186205 Summary of Invention

[0006] It is an object of the present invention to provide a work machine and a work system each including an imaging device allowed to have a large imaging range.

[0007] Provided is a work machine including a machine body, an attachment attached to the machine body, and an imaging device attached to the attachment to capture an image of a periphery of the work machine. The attachment includes a rotational-movement part, which is rotationally movable upward and downward along a vertical motion plane with respect to the machine body. The imaging device is attached to the rotational-movement part so as to locate at least a part of the imaging device on a lower side of a ventral surface, which is a lower surface of the rotational-movement part in a direction of the rotational movement of the rotational-movement part, and on an outer side of an end surface of the rotational-movement part in an attachment width direction orthogonal to the motion plane.Brief Description of Drawings

[0008] FIG. 1 is a diagram showing a work system according to an embodiment of the present invention. FIG. 2 is a perspective view of a work machine included in the work system as viewed obliquely from above. FIG. 3 is an enlarged view of the part enclosed with a circle III in FIG. 2. FIG. 4 is a side view showing a distal-end-side part of an arm in the work machine. FIG. 5 is a cross-sectional view taken along line V-V in FIG. 4. FIG. 6 is a side view of the work machine, showing a state where the arm of the work machine is in a vertical posture. FIG. 7 is a view showing an image captured by an attachment imaging device attached to the arm in the state shown in FIG. 6. FIG. 8 is a side view of the work machine, showing a state where the arm has been moved in an arm crowd direction from the vertical posture. FIG. 9 is a view showing an image taken by the attachment imaging device in the state shown in FIG. 8. FIG. 10 is a side view of the work machine, showing a state where the arm has been moved from the vertical posture in an arm dump direction. FIG. 11 is a view showing an image taken by the attachment imaging device in the state shown in FIG. 10. FIG. 12 is a side view of the work machine, showing a state where the arm has been further moved in an arm dump direction from the posture shown in FIG. 10. FIG. 13 is a view showing an image captured by the attachment imaging device in the state shown in FIG. 12. FIG. 14 is a front view showing a plurality of monitors included in the work system. FIG. 15 is a block diagram showing functions of the work system. FIG. 16 is a front view showing a monitor included in a simulator. FIG. 17 is an enlarged view of the part enclosed with a rectangle XVII in FIG. 16. Detailed Description

[0009] Hereinafter will be described preferred embodiments of the present invention with reference to the drawings.

[0010] FIG. 1 shows a work system 100 according to an embodiment of the present invention. The work system 100 includes an operation device 1 and a work machine 20. The operation device 1 is a device for operating the work machine 20, for example, a cockpit constituting a remote operation device. The operation device 1 enables an operator to remotely operate the work machine 20 by applying an appropriate operation to the operation device 1. The operation device 1 may be configured to be selectively connected to a plurality of work machines 20. In this case, an operator is allowed to remotely operate the plurality of work machines 20 selectively by appropriate selection of the work machine 20 to be connected to the operation device 1 from among the plurality of work machines 20.

[0011] The work machine 20 illustrated in FIG. 1 is a hydraulic excavator. Specifically, the work machine 20 includes a machine body 24 including a lower traveling body 21 and an upper turning body 22, an attachment 30, and a plurality of cylinders 40.

[0012] The lower traveling body 21 includes a traveling device for performing a traveling motion, and the traveling device, in the present embodiment, includes a pair of a right crawler 21a and a left crawler 21b shown in FIG. 2. The upper turning body 22 is attached to the lower traveling body 21 via a turning device 25 so as to be capable of turning with respect to the lower traveling body 21. The upper turning body 22 includes a cab (operation chamber) 23 forming a front part of the upper turning body 22. In the cab 23 is provided an in-cab operation device for operating the work machine 20, separately from the operation device 1.

[0013] The attachment 30 is attached to the upper turning body 22 so as to be rotationally movable along a vertical motion plane, which is a vertical plane in the state shown in FIG. 1, to be capable of performing a work motion. The attachment 30 includes a boom 31, an arm 32, and a bucket 33. The boom 31 has a boom proximal end and a boom distal end opposite to the boom proximal end, and the boom proximal end is connected to the upper turning body 22 so as to be rotationally movable upward and downward along the motion plane, that is, to be raisable and lowerable. The arm 32 has an arm proximal end and an arm distal end opposite to the arm proximal end, and the arm proximal end is connected to the boom distal end so as to be rotationally movable upward and downward along the motion plane with respect to the boom 31. The bucket 33 is connected to the arm distal end so as to be rotationally movable along the motion plane with respect to the arm 32. The bucket 33 is a distal attachment that forms the distal end of the attachment 30, being a part to be brought into direct contact with earth and sand, which is a work object, in order to perform work such as excavation, leveling, scooping, and the like.

[0014] The bucket 33 has a shape capable of holding the work object in the bucket 33. The work object to be held in the bucket 33 is not limited to earth and sand but also allowed to be either stone or waste (such as industrial waste). The distal attachment is not limited to the bucket 33 but also allowed to be, for example, either of a lifting magnet that holds iron scrap, which is a work object, by magnetic force, a nibbler that sandwiches the work object, and a breaker that crushes the work object.

[0015] The plurality of cylinders 40 are arranged so as to be capable of hydraulically actuating the boom 31, the arm 32, and the bucket 33, respectively. Each of the cylinders 40 is a hydraulic cylinder capable of performing expansion / contraction motion. Each of the cylinders 40, alternatively, may be an electric cylinder.

[0016] The plurality of cylinders 40 include a boom cylinder 41, an arm cylinder 42, and a bucket cylinder 43.

[0017] The boom cylinder 41 is disposed such that the boom 31 is rotationally moved along the motion plane with respect to the upper turning body 22 by the expansion / contraction motion of the boom cylinder 41. The boom cylinder 41 includes a proximal end to be connected to the upper turning body 22 so as to be rotationally movable along the motion plane with respect to the upper turning body 22, and a distal end to be connected to the boom 31 so as to be rotationally movable along the motion plane with respect to the boom 31.

[0018] The arm cylinder 42 is disposed such that the arm 32 is rotationally moved with respect to the boom 31 along the motion plane by the expansion / contraction motion of the arm cylinder 42. The arm cylinder 42 includes a proximal end to be connected to the boom 31 so as to be rotationally movable along the motion plane with respect to the boom 31, and a distal end to be connected to the arm 32 so as to be rotationally movable along the motion plane with respect to the arm 32.

[0019] The bucket cylinder 43 is disposed such that the bucket 33 is rotationally moved along the motion plane with respect to the arm 32 by the expansion / contraction motion of the bucket cylinder 43. The bucket cylinder 43 has a proximal end to be connected to the arm 32 so as to be rotationally movable along the motion plane with respect to the arm 32, and a distal end to be connected to a link member 34 so as to be rotationally movable along the motion plane with respect to the link member 34, which is connected to the bucket 33 so as to be rotationally movable along the motion plane with respect to the bucket 33.

[0020] The work machine 20 further includes a plurality of sensors 50. The plurality of sensors 50 include a turning angle sensor 52, a plurality of oblique angle sensors 60, and an inclination angle sensor 55.

[0021] The turning angle sensor 52 detects a turning angle of the upper turning body 22 with respect to the lower traveling body 21. The turning angle sensor 52 is, for example, an encoder, a resolver, or a gyro sensor.

[0022] The plurality of oblique angle sensors 60 detect the posture of the attachment 30. The plurality of inclination angle sensors 60 include a boom oblique angle sensor 61, an arm oblique angle sensor 62, and a bucket oblique angle sensor 63.

[0023] The boom oblique angle sensor 61 is attached to the boom 31 to detect the posture of the boom 31. The boom oblique angle sensor 61 is a sensor that acquires information on the oblique angle of the boom 31 with respect to a horizontal line, for example, being an inclination (acceleration) sensor. The boom oblique angle sensor 61 may be either a rotation angle sensor that detects a rotation angle of a boom foot pin in a proximal end of the boom 31 or a stroke sensor that detects the stroke of the boom cylinder 41 in the expansion / contraction direction.

[0024] The arm oblique angle sensor 62 is attached to the arm 32 to detect the posture of the arm 32. The arm oblique angle sensor 62 is a sensor that acquires information on the oblique angle of the arm 32 with respect to a horizontal line, for example, being an inclination (acceleration) sensor. The arm oblique angle sensor 62 may be either a rotation angle sensor that detects the rotation angle of an arm connection pin in the proximal end of the arm 32 or a stroke sensor that detects the stroke of the arm cylinder 42 in the expansion / contraction direction.

[0025] The bucket oblique angle sensor 63 is attached to the link member 34 to detect the posture of the bucket 33. The bucket oblique angle sensor 63 is a sensor that acquires information on the oblique angle of the bucket 33 with respect to a horizontal line, for example, being an inclination (acceleration) sensor. The bucket oblique angle sensor 63 may be either a rotation angle sensor that detects the rotation angle of the bucket connection pin in the proximal end of the bucket 33 or a stroke sensor that detects the stroke of the bucket cylinder 43 in the expansion / contraction direction.

[0026] The inclination angle sensor 55 is attached to the upper turning body 22 to detect an inclination angle of the upper turning body 22 with respect to a horizontal surface. The inclination angle sensor 55 is, for example, an inclination (acceleration) sensor or an inertial measurement unit (IMU).

[0027] The work machine 20 further includes at least one imaging device 70. The imaging device 70 captures an image of the periphery of the work machine 20. The imaging device 70 may capture either a two-dimensional image or a three-dimensional image. The imaging device 70 may include either a monocular camera or a stereo camera. The imaging device 70 may include a time of flight (TOF) sensor, which detects the distance to an object based on a time from the radiation of a wave toward the object until the return of the reflected wave that is reflected by the object. The imaging device 70 may include a sensor that detects a distance based on the frequency of the reflected wave. The imaging device 70 may include a device that detects three-dimensional information using light such as laser light, for example, a light detection and ranging (LiDAR). The imaging device 70 may include a device that detects three-dimensional information using radio waves, for example, a millimeter-wave radar.

[0028] The work machine 20 may include either only a single imaging device 70 or a plurality of imaging devices 70. The work machine 20 according to the present embodiment includes a plurality of imaging devices 70, which include a frontward imaging device 71, an upward imaging device 72, a downward imaging device 73, a pair of right imaging device 75R and a left imaging device 75L, and an attachment imaging device 76. Each of the imaging devices 71, 72, 73, 75R, 75L, 76 is a monocular camera.

[0029] As shown in FIGS. 2 and 3, the frontward imaging device 71, the upward imaging device 72, and the downward imaging device 73 are attached to a proper part of the cab 23, for example, an upper part of the cab 23. More specifically, the work machine 20 further includes a support member 77 shown in FIG. 3, the support member 77 fixed to a front end part of a roof plate in the upper part of the cab 23 while supporting the frontward imaging device 71, the upward imaging device 72, and the downward imaging device 73.

[0030] The frontward imaging device 71 is disposed so as to direct the imaging surface of the frontward imaging device 71 frontward of the upper turning body 22 to capture the image of an area frontward of the upper turning body 22. The frontward imaging device 71 is disposed so as to allow at least a part of the attachment 30 to be included in the imaging range of the frontward imaging device 71.

[0031] The upward imaging device 72 is disposed above the frontward imaging device 71. The upward imaging device 72 is disposed so as to direct the imaging surface of the upward imaging device 72 obliquely upward of the upper turning body 22 to capture the image of an area obliquely upward of the upper turning body 22. The upward imaging device 72 is disposed so as to allow at least a part of the boom 31 to be included in the imaging range of the upward imaging device 72.

[0032] The downward imaging device 73 is disposed below the frontward imaging device 71. The downward imaging device 73 is disposed so as to direct the imaging surface of the downward imaging device 73 obliquely downward of the upper turning body 22 to capture the image of an area obliquely downward of the upper turning body 22. The downward imaging device 73 is disposed so as to allow the front surface of the cab 23 to be included in the imaging range of the downward imaging device 73. When the turning angle of the upper turning body 22 with respect to the lower traveling body 21 is within a predetermined angle range, a part of the lower traveling body 21, for example, a part of the pair of crawlers 21a and 21b, is included in the imaging range of the downward imaging device 73.

[0033] As shown in FIG. 1, the pair of right and left imaging devices 75R and 75L are attached to the opposite ends of the machine body 24 in the left-right direction, that is, the left end and the right end, respectively. As shown in FIGS. 1 and 2, the left-right direction of the machine body 24 is a direction orthogonal to the traveling direction of the lower traveling body 21 when the upper turning body 22 is in a reference posture with respect to the lower traveling body 21, the reference posture being a posture where the front-rear direction of the upper turning body 22 coincides with the front-rear direction of the lower traveling body 21; in FIG. 1, the left-right direction of the machine body 24 is a direction orthogonal to the paper surface. The pair of right and left imaging devices 75R and 75L shown in FIG. 2 are attached to the opposite ends of the upper turning body 22 in the left-right direction, that is, the right end and the left end, respectively. The pair of right and left imaging devices 75R and 75L, alternatively, may be attached to the lower traveling body 21. In the present embodiment, the pair of right and left imaging devices 75R and 75L are disposed so as to face frontward of the upper turning body 22. At least one of the pair of right and left imaging devices 75R and 75L, however, may be disposed so as to face rearward of the upper turning body 22.

[0034] As shown in FIG. 2, the right imaging device 75R located on the right side (left side in FIG. 2) in an upper-turning-body left-right direction, which is the left-right direction of the upper turning body 22, is attached to the right end of a housing (guard) constituting the upper turning body 22. The left imaging device 75L located on the left side (right side in FIG. 2) in the upper-turning-body left-right direction is attached to the left end of the upper part of the cab 23. Each of the right and left imaging devices 75R, 75L is disposed so as to face obliquely downward to image an area frontward and downward of the machine body 24 in the reference posture. The imaging ranges of the right and left imaging devices 75R and 75L include respective side surfaces of the left and right front ends of the machine body 24 (that is, respective front ends of the pair of crawlers 21a and 21b) and spaces on respective outer sides of the side surfaces in the left-right direction of the machine body 24. Regarding the height direction of the upper turning body 22, the right imaging device 75R is located at a position lower than the left imaging device 75L.

[0035] The attachment imaging device 76, which corresponds to the imaging device according to the present invention, is attached to the attachment 30. The attachment imaging device 76 according to the present embodiment is attached to the arm 32, which is a rotational-movement part, that is, a part rotationally movable upward and downward along the motion plane with respect to the machine body 24. The attachment imaging device 76 is attached to the arm 32 so as to render the imaging direction of the attachment imaging device 76 coincident with the direction toward the bucket 33, that is, so as to direct the imaging surface of the attachment imaging device 76 to the bucket 33, and images at least a part of the bucket 33. The imaging range of the attachment imaging device 76, thus, includes at least a part of the bucket 33.

[0036] The work machine 20 further includes a support member 78 shown in FIG. 4 and FIG. 5, and the support member 78 is fixed to the ventral surface 32b of the arm 32, which is the rotational-movement part in the present embodiment, while supporting the attachment imaging device 76. In summary, the attachment imaging device 76 is attached to the ventral surface 32b of the arm 32 via the support member 78. The ventral surface 32b is an outer surface of the arm 32, being a surface that faces downward in the rotational-movement direction of the arm 32. The support member 78 includes a main body part 78a and a holding part 78b. The main body part 78a has a shape extending outward (leftward in FIG. 5) along the width direction of the arm 32 from the arm 32, namely, an attachment width direction (left-right direction in FIG. 5) orthogonal to the motion plane, and the holding part 78b is joined with a lower surface of an outer end of the main body part 78a and holds the attachment imaging device 76. Thus, at least the outer end of the main body part 78a and the holding part 78b are located on the lower side of the ventral surface 32b of the arm 32 in the rotational-movement direction of the arm 32 (up-down direction in FIG. 5), and located on the outer side of the outer surface (the left side surface in FIG. 5) of the arm 32 in the attachment width direction.

[0037] As shown in FIG. 5, the arm 32 has a cross section that is hollow and rectangular. Specifically, the arm 32 includes the ventral surface 32b, a back surface 32c, and a pair of side surfaces 32s. The back surface 32c is a surface that faces upward in the rotational-movement direction of the arm 32; the back surface 32c and the ventral surface 32b face opposite sides to each other in the rotational-movement direction, that is, a direction orthogonal to the width direction of the arm 32 that is the attachment width direction. The pair of side surfaces 32s are surfaces facing outward in opposite directions to each other in the attachment width direction, being the opposite end surfaces of the arm 32 in the attachment width direction. The back surface 32c and the ventral surface 32b are joined with an upper end and a lower end of the pair of side surfaces 32s, respectively. The ventral surface 32b is a surface opposable to the cab 23 in the posture shown in FIG. 1.

[0038] As shown in FIG. 5, the attachment imaging device 76 is disposed so as to locate at least a part of the attachment imaging device 76 on the lower side of the ventral surface 32b in the rotational-movement direction of the arm 32. Besides, the attachment imaging device 76 is disposed so as to locate at least a part of the attachment imaging device 76 on the outer side of the end surface of the arm 32, that is, one of the pair of side surfaces 32s, in the attachment width direction. Thus, the attachment imaging device 76 is attached to the arm 32 so as to locate at least a part of the attachment imaging device 76 on the lower side of the ventral surface 32b in the rotational-movement direction of the arm 32 and on the outer side of the one side surface 32s in the arm width direction. In the present embodiment, the attachment imaging device 76 is disposed so as to locate the entire attachment imaging device 76 on the lower side of the ventral surface 32b of the arm 32, and the attachment imaging device 76 is disposed so as to locate the entire attachment imaging device 76 on the outer side of the one side surface 32s in the arm width direction.

[0039] The arm 32 may include a protrusion that locally protrudes outward in the attachment width direction beyond the attachment imaging device 76 at a position deviated from a part to which the attachment imaging device 76 is attached. The protrusion is, for example, a part to which the link member 34 or the bucket 33 is to be attached. In other words, the surface of the protrusion thus protruding locally is not included in the end surface of the arm 32 in the attachment width direction.

[0040] As shown in FIG. 5, the attachment imaging device 76 is attached to the arm 32 so as to locate the center Ci of the imaging range of the attachment imaging device 76 on the outer side of the side surface 32s, which is the end surface of the arm 32 in the attachment width direction. As shown in FIG. 4, the attachment imaging device 76 is disposed so as to locate the center Ci of the imaging range on the lower side of the ventral surface 32b in the rotational-movement direction of the arm 32. Besides, the attachment imaging device 76 is disposed so as to direct the imaging surface to the bucket 33.

[0041] Such disposition of the attachment imaging device 76 reduces the proportion of the part that is blocked by the arm 32 from a visual field in the imaging range of the attachment imaging device 76, thereby allowing the attachment imaging device 76 to have an enlarged imaging range as compared with the case where the entire attachment imaging device 76 is located on the upper side of the ventral surface 32b in the rotational-movement direction of the arm 32 or the case where the entire attachment imaging device 76 is located on the inner side of the end surface (one side surface 32s) of the arm 32 in the attachment width direction.

[0042] In particular, the location of the center Ci of the imaging range of the attachment imaging device 76 on the outer side of the end surface (one side surface 32s) of the arm 32 in the width direction of the arm 32, namely, the attachment width direction, makes it possible to effectively reduce the part blocked by the arm 32 from the visual field in the imaging range of the attachment imaging device 76.

[0043] Besides, attached to the arm 32 so as to direct the imaging surface of the attachment imaging device 76 to the bucket 33, that is, so as to render the imaging direction of the attachment imaging device 76 coincident with the direction toward the bucket 33, the attachment imaging device 76 can capture the image of the bucket 33. Preferred examples thereof are shown below.

[0044] FIG. 6 is a side view of the work machine 20, showing a state where the arm 32 is in a vertical posture immediately rearward of the dump truck 110, and FIG. 7 shows an image captured by the attachment imaging device 76 in the state. As shown in FIG. 7, the attachment imaging device 76 images the bucket 33. Specifically, in the imaging range of the attachment imaging device 76 are included the bucket 33 and a back-side space that is a space farther than the bucket 33, that is, a space on the back side of the bucket 33, when viewed from the machine body 24. Furthermore, when the dump truck 110 is located frontward of the work machine 20 as shown in FIG. 6, the rear end of the dump truck 110 is imaged in the back-side space on the upper side in the imaging range of the attachment imaging device 76. Besides, when the arm 32 is in the vertical posture as shown in FIG. 6, in the imaging range of the attachment imaging device 76 is included a front-side space which is a space nearer than the bucket 33, that is, a space on the front side of the bucket 33, when viewed from the machine body 24; thus, a lower part of the upper turning body 22 and respective front ends of the pair of crawlers 21a, 21b in the back-side space are raised on a lower side in the imaging range of the attachment imaging device 76.

[0045] FIG. 8 is a side view of the work machine 20, showing a state where the arm 32 has been moved from the vertical posture in the arm crowd direction. The arm crowd direction is a direction in which the distal end of the arm 32 approaches the machine body 24. FIG. 9 shows an image that is captured by the attachment imaging device 76 in the state shown in FIG. 8. The movement of the arm 32 in the arm crowd direction from the vertical posture brings the attachment imaging device 76 close to the machine body 24 and separates the attachment imaging device 76 from the dump truck 110. This brings, as shown in FIG. 9, the imaging area of the lower part of the upper turning body 22 and the front end of the pair of crawlers 21a and 21b in the imaging range close to the center side as compared with the imaging range of the attachment imaging device 76 shown in FIG. 7. Specifically, the image of the dump truck 110 is deviated upward from the imaging range of the attachment imaging device 76 shown in FIG. 9; conversely, even the upper end of the upper turning body 22 in the front side space is brought into the imaging range of the attachment imaging device 76.

[0046] FIG. 10 is a side view of the work machine 20, showing a state where the arm 32 has been moved in the arm dump direction from the posture shown in FIG. 6. The arm dump direction is a direction in which the distal end of the arm 32 is separated from the machine body 24. As compared with the state where the arm 32 is in the vertical posture as shown in FIG. 6, the arm 32 is separated from the machine body 24 in the state shown in FIG. 10. FIG. 11 shows an image that is captured by the attachment imaging device 76 in the state shown in FIG. 10. The movement of the arm 32 in the arm dump direction separates the attachment imaging device 76 from the machine body 24 and brings the attachment imaging device 76 close to the dump truck 110. As shown in FIG. 11, this deviates the lower part of the upper turning body 22 and the front ends of the pair of crawlers 21a and 21b from the imaging range of the attachment imaging device 76 and enlarges the imaging area of the dump truck 110 in the imaging range of the attachment imaging device 76.

[0047] FIG. 12 is a side view of the work machine 20, showing a state where the arm 32 has been further moved in the arm dump direction from the state shown in FIG. 10 to locate the bucket 33 above the dump truck 110. FIG. 13 shows an image that is captured by the attachment imaging device 76 in the state shown in FIG. 12. The further movement of the arm 32 in the arm dump direction brings the attachment imaging device 76 close to the loading platform 111 of the dump truck 110, thereby bringing the loading platform 111 into the imaging range of the attachment imaging device 76, as shown in FIG. 13, and locating the image of the bucket 33 above the image of the loading platform 111 in the imaging range. In this state, the work object is released from the bucket 33 to be thereby loaded onto the loading platform 111.

[0048] Thus, the attachment imaging device 76 attached to the arm 32 so as to render the imaging direction of the attachment imaging device 76 coincident with the direction toward the bucket 33 can capture the image of the back-side space, which is a space on the back side of the bucket 33, in addition to the image of the bucket 33. The image thus provided by the attachment imaging device 76 enables an operator who remotely operates the work machine 20 to grasp a sense of distance from the bucket 33 to an object located on the back side of the bucket 33. Besides, the image enables an operator who remotely operates the work machine 20 to check the situation of the work performed by the bucket 33 to easily adjust the relative position of the bucket 33 to the loading target.

[0049] Furthermore, in the imaging range of the attachment imaging device 76 shown in FIG. 7, a distal-end-side part 32a of the arm 32 is included. The distal-end-side part 32a is an imaging target part to be imaged by the attachment imaging device 76 in the arm 32, being a part closer to the distal end of the arm 32 than the position at which the attachment imaging device 76 is attached to the arm 32. As shown in FIG. 9, FIG. 11, and FIG. 13, the image of the distal-end-side part 32a in the imaging range is kept at a fixed position regardless of the posture of the arm 32. The attachment of the attachment imaging device 76 to the arm 32 keeps the position of the image of the distal-end-side part 32a in the imaging range from being changed, regardless of a change in the posture of the arm 32. In contrast, other image than the image of the distal-end-side part 32a in the imaging range of the attachment imaging device 76 is changed with a change in the posture of the arm 32.

[0050] The image captured by the attachment imaging device 76, thus including the image of the distal-end-side part 32a kept at the fixed position regardless of the posture of the arm 32 and the image other than the image of the distal-end-side part 32a, which image is changed with the change of the posture of the arm 32, that is, the image of the bucket 33 and the object located on the back side of the bucket 33, enables an operator who remotely operates the work machine 20 to easily grasp a sense of distance between the distal-end-side part 32a and the object other than the distal-end-side part 32a, which are the objects captured by the attachment imaging device 76, from the change in the image.

[0051] As shown in FIG. 1, the operation device 1 includes an input device 2, an output device 3, and an operation seat 4, and further includes a controller 7 and an operation-device-side communication device 8 shown in FIG. 15. The operation seat 4 includes a seat part and a backrest part, allowing an operator to sit on the seat part to apply an operation to the operation device 1. The input device 2, the output device 3, and the operation seat 4 are disposed on a not-graphically-shown common base.

[0052] The input device 2 allows an operator to input a command to the controller 7 through the input device 2. The input device 2 has a configuration equivalent to the configuration of the in-cab operation device provided in the cab 23 of the work machine 20.

[0053] The input device 2 includes a plurality of operation members disposed around the operation seat 4, allowing an operator sitting on the operation seat 4 to apply an operation for inputting the operation command to the plurality of operation members. In the example shown in FIG. 1, the plurality of operation members include a pair of left and right traveling levers, a pair of left and right traveling pedals, and a pair of left and right operation levers. The pair of traveling levers and the pair of traveling pedals are disposed frontward of the operation seat 4, allowing an operation for designating a traveling direction and a traveling speed provided by the motions of the pair of crawlers 21a, 21b of the lower traveling body 21 to be applied to the pair of traveling levers and the pair of traveling pedals. The pair of operation levers are disposed on a left side frame and a right side frame of the operation seat 4, respectively, allowing an operation for moving the attachment 30 to be applied to the pair of operation levers. The input device 2 further includes a plurality of switches, which are disposed, for example, in the right frame of the operation seat 4. The plurality of switches include a key switch, to which an operation for instructing the start and stop of the engine to be applied.

[0054] The operation device 1 further includes a not-graphically-shown seat inclination device, which changes the inclination angle of the operation seat 4 to a horizontal plane. The seat inclination device enables the inclination of the upper turning body 22 detected by the inclination angle sensor 55 to be reproduced in the operation seat 4. The operation device 1 may further include a device that makes the operation seat 4 face rightward when the upper turning body 22 is judged to be turning rightward on the basis of the turning angle of the upper turning body 22 detected by the turning angle sensor 52, and makes the operation seat 4 face leftward when the upper turning body 22 is judged to be turning leftward.

[0055] The output device 3 outputs necessary information to an operator sitting on the operation seat 4. The output device 3 includes a display device 11 shown in FIG. 14 and the speaker 12 shown in FIG. 15. The display device 11 is disposed frontward of the operation seat 4. The speaker 12 outputs sound that is collected by a microphone installed on the work machine 20.

[0056] The display device 11 includes a plurality of monitors. In the present embodiment, the plurality of monitors are seven monitors shown in FIG. 14, namely, a main monitor 11a, a center upper monitor 11b, a center lower monitor 11c, a right monitor 11d, a left monitor 11e, an upper right monitor 11f, and an upper left monitor 11g. The main monitor 11a is disposed at the center of the monitors 11a to 11g. The main monitor 11a displays an image captured by the frontward imaging device 71. The center upper monitor 11b is disposed on the upper side of the main monitor 11a and displays an image captured by the upward imaging device 72 and an image captured by the attachment imaging device 76 side by side. The center lower monitor 11c is disposed below the main monitor 11a and displays an image captured by the downward imaging device 73. The right monitor 11d is disposed on the right side of the main monitor 11a, and displays an image captured by the right imaging device 75R. The left monitor 11e is disposed on the left side of the main monitor 11a, and displays an image captured by the left imaging device 75L. The upper right monitor 11f is disposed on the right side of the center upper monitor 11b, and displays information about a communication status and a work status of the work machine 20, an analysis report of a status of a work site, and the like. The upper left monitor 11g is disposed on the left side of the center upper monitor 11b, and displays an image captured by a bird's-eye view camera installed at a work site.

[0057] By displaying images captured by the plurality of imaging devices 70, the plurality of monitors 11a to 11g enable an operator sitting on the operation seat 4 to easily remotely operate the work machine 20 while viewing the image. The number and display contents of the plurality of monitors are arbitrarily settable.

[0058] In the example shown in FIG. 14, each of the main monitor 11a, the center upper monitor 11b, and the center lower monitor 11c is a monitor having a horizontally long screen, for example, a 27-size monitor. On the other hand, each of the right monitor 11d, the left monitor 11e, the upper right monitor 11f, and the upper left monitor 11g is a monitor having a vertically long screen, for example, a 15.6-size monitor. The short side of the main monitor 11a has a length equivalent to the length of the long side of each of the right monitor 11d and the left monitor 11e. The short side of the center upper monitor 11b has a length equivalent to the length of the long side of each of the upper right monitor 11f and the upper left monitor 11g.

[0059] The operation seat 4 and the display device 11 are arranged in consideration of an effective visual field of an operator. The effective visual field is an area of the visual field in which there can be a relatively clear perception in a human visual field range, that is, the area of the visual field in which an object can be visually perceived only with the movement of the line of sight involving no motion of a head, being an area of a center of the visual field and the periphery of the center. The effective visual field has spread angles, for example, about 30 degrees on the right side from the center of the visual field, about 30 degrees on the left side from the center of the visual field, about 20 degrees upward from the center of the visual field, and about 20 degrees on the lower side from the center of the visual field. Because of the alignment of the human eyes in the left-right direction, the dimension of the effective visual field in the left-right direction is larger than the dimension thereof in the up-down direction. The outside of the effective visual field is a peripheral view, which is an area with poor perception.

[0060] The operation seat 4 and the monitors 11a to 11g are disposed so as to confine the monitors 11a to 11g of the display device 11 within the effective visual field of an operator sitting on the operation seat 4 with the direction of the line of sight of the operator forward. Specifically, the relative positions of the operation seat 4 and the display device 11 to each other in the left-right direction and the relative positions in the front-rear direction are set to confine the left and right ends and the upper and lower ends of the entire display device 11 including the monitors 11a to 11g within the effective visual field of the operator sitting on the seat part of the operation seat 4. For example, the relative positions of the display device 11 and the operation seat 4 to each other in the left-right direction are adjusted to locate the center position that is equidistant from the left end and the right end of the entire display device 11 on an extension line that is extended forward from a center position of the seat part or the backrest part of the operation seat 4 in the width direction, that is, to match the center position with the line of sight of the operator. Besides, the relative positions of the display device 11 and the operation seat 4 to each other in the front-rear direction are adjusted to confine both the left end and the right end of the display device 11 within the effective visual field of an operator sitting on the seat part of the operation seat 4. Besides, the relative positions of the display device 11 and the operation seat 4 to each other in the up-down direction are adjusted to confine both the upper end and the lower end of the display device 11 within the effective visual field of an operator sitting on the seat part of the operation seat 4. These adjustments can reduce the burden on an operator who views the monitors 11a to 11g of the display device 11.

[0061] The operation seat 4 and the display device 11, mounted on the common base, allow the relative positions of the operation seat 4 and the display device 11 to each other, which positions are adjusted as described above, to be kept constant. Alternatively, the operation seat 4 and the display device 11 may be mounted on the base so as to allow the relative positions of the operation seat 4 and the display device 11 to be adjusted in at least one direction of the left-right direction, the front-rear direction, and the up-down direction.

[0062] The arrangement of the monitors 11a to 11g shown in FIG. 14, where the horizontally long monitors 11a, 11b, 11c are aligned vertically at the center in the left-right direction of the display device 11 and the vertically long monitors 11d, 11e, 11f, 11g are located on the left and right sides of the horizontally long monitors 11a, 11b, 11c, allows all of the monitors 11a to 11g to be easily confined within the effective visual field of an operator, thereby allowing the burden on the operator who views the monitors 11a to 11g to be reduced.

[0063] Besides, the alignment of the center upper monitor 11b for displaying an image of an area above the upper turning body 22, the main monitor 11a for displaying an image of a front surface of the upper turning body 22, and the center lower monitor 11c for displaying an image of an area below the upper turning body 22 in this order from the top to the bottom enables an operator who views the monitors 11a to 11c to easily grasp a situation in an area from above to below the upper turning body 22, thereby allowing a burden on an operator who views the monitors 11a to 11c to be reduced. Besides, the image to be displayed by the monitors 11a, 11b, 11c is an image including a space that an operator operating the work machine 20 in the cab 23 looks at through the front window of the cab 23, that is, a space frontward of the work machine 20, and the positions of the monitors 11a, 11b and 11c are adjusted to make the image match the center position in the left-right direction of the effective visual field of the operator, so that the burden on the operator viewing the monitors 11a to 11c is further reduced.

[0064] Besides, the alignment of the left monitor 11e for displaying an image of the left side of the upper turning body 22, the main monitor 11a for displaying an image of the front surface of the upper turning body 22, and the right monitor 11d for displaying an image of the right side of the upper turning body 22 in this order from the left to the right enables an operator who views the monitors 11e, 11a, and 11d to easily grasp a situation in an area from the left side to the right side of the upper turning body 22, thereby allowing the burden on the operator viewing the monitors 11e, 11a, and 11d to be reduced.

[0065] Besides, the arrangement where the center upper monitor 11b that displays an image captured by the attachment imaging device 76 is located above the main monitor 11a that displays an image captured by the frontward imaging device 71 enables an operator to grasp a situation in the up-down direction of the attachment 30 and a situation in the front-rear direction of the attachment 30 while viewing the main monitor 11a. In addition, the arrangement enables the operator to easily grasp the position of the attachment 30 by viewing the image captured by the frontward imaging device 71 and the image captured by the attachment imaging device 76, thereby allowing the operability for the operator to be improved.

[0066] The image that each of the monitors 11d, 11e, 11f, and 11g displays, although being an image to which an operator who operates the work machine 20 pays an attention with a low frequency as compared with the image that each of the monitors 11a, 11b and 11c displays, that is, an image including a space frontward of the work machine 20, is an image that an operator has to appropriately view according to the operation state of the work machine 20. Hence, the arrangement where the monitors 11a, 11b, 11c are located at the center in the range of the effective visual field and the monitors 11d, 11e, 11f, 11g are located on the left side and the right side of the center of the effective visual field is rational for assisting an operator who operates the work machine 20.

[0067] The work machine according to the present invention is not limited to one to be remotely operated as in the work machine 20 but also allowed to be configured, for example, to be operated exclusively by an operator in the cab 23. In the latter case, preferably, the image captured by the imaging device 70 is displayed on a display provided in the cab 23 or the like.

[0068] The images displayed at respective positions vertically aligned at the center of the display device 11 in the left-right direction does not necessarily have to include all of the images captured by the frontward imaging device 71, the upward imaging device 72, and the downward imaging device 73. Specifically, two images, for example, respective images captured by the frontward imaging device 71 and the upward imaging device 72 or respective images captured by the frontward imaging device 71 and the downward imaging device 73 may be displayed at vertically aligned positions, respectively. This case allows the monitor 11c shown in FIG. 14 to be omitted, thereby eliminating the burden for the operator to direct the visual field downward. Besides, the input device 2 may include a switch for selecting respective images to be displayed by the monitors 11a, 11b between respective images captured by the frontward imaging device 71 and the upward imaging device 72 and respective images captured by the frontward imaging device 71 and the downward imaging device 73.

[0069] As shown in FIG. 15, the work machine 20 further includes a work-machine-side controller 81, a work-machine-side communication device 82, and a storage device 83.

[0070] The work-machine-side communication device 82 communicates with the operation-device-side communication device 8 of the operation device 1. The storage device 83 stores, for example, work content taught by an operation applied to the operation device 1.

[0071] The work-machine-side controller 81 controls the motion of the work machine 20 based on the information detected by the plurality of sensors 50 and a command for remote operation, the command being input through the operation-device-side communication device 8 and the work-machine-side communication device 82. Specifically, to the work-machine-side controller 81 is input information on the turning angle (posture) of the upper turning body 22 with respect to the lower traveling body 21, the information detected by the turning angle sensor 52. To the work-machine-side controller 81 is input information on the posture of the boom 31, the information detected by the boom oblique angle sensor 61. To the work-machine-side controller 81 is input information on the posture of the arm 32, the information detected by the arm oblique angle sensor 62. To the work-machine-side controller 81 is input information on the posture of the bucket 33, the information detected by the bucket oblique angle sensor 63. To the work-machine-side controller 81 is input information on the inclination angle of the upper turning body 22 with respect to the horizontal plane, the information detected by the inclination angle sensor 55.

[0072] Furthermore, to the work-machine-side controller 81 is input image data generated by the imaging device 70.

[0073] The work-machine-side controller 81 controls the motions of the lower traveling body 21, the turning device 25, and the attachment 30 according to a command input from the operation device 1 through the work-machine-side communication device 82, that is, a command for remote operation.

[0074] The work-machine-side controller 81 may be configured to perform automatic control of the work machine 20. In short, the work machine 20 may be operated automatically. If configured to perform the automatic control, for example, the work-machine-side controller 81 makes the upper turning body 22 and the attachment 30 perform a series of motions. Specifically, the work-machine-side controller 81 automatically operates the turning device 25 and the attachment 30 based on detection values provided by the plurality of sensors 50. On the other hand, the display device 11 displays the image captured by the imaging device 70 of the work machine 20 that is thus automatically operated. The input device 2 may further include an interruption device for interrupting the automatic operation of the work machine 20 based on an operation of an operator who monitors the work machine 20, which is automatically operated, through the display device 11, and / or a restart device for resuming the interrupted automatic operation. The operation device 1 may further include a device for selecting from two or more states included in the following states: a state where the work machine 20 is automatically operated; a state where the work machine 20 is remotely operated through the operation device 1; and a state where the work machine 20 is operated by an operator in the cab 23.

[0075] The series of motions to be performed by the work machine 20 include, for example, an excavation motion for the bucket 33 to excavate earth and sand in a not-graphically-shown earth and sand pit, a lifting-and-turning motion for the upper turning body 22 to turn to the dump truck 110 with the excavated earth and sand held, an earth removal motion to release earth and sand in the bucket 33 onto the loading platform 111 of the dump truck 110, and a return turning motion for the upper turning body 22 to turn to return to the earth and sand pit after the earth removal motion, and the series of motions are repeated. The series of motions may be taught by an operation through an operation device provided in the cab 23 or a remote operation through the operation device 1.

[0076] The operation-device-side communication device 8 of the operation device 1 communicates with the work-machine-side communication device 82 of the work machine 20. The controller 7 transmits a motion command that is input from the input device 2 to the work-machine-side controller 81 through the operation-device-side communication device 8 and the work-machine-side communication device 82. The controller 7 receives image data generated by the imaging device 70 through the work-machine-side communication device 82 and the operation-device-side communication device 8, and makes the display device 11 display an image based on the image data. Besides, the controller 7 receives voice data collected by the microphone mounted on the work machine 20 through the work-machine-side communication device 82 and the operation-device-side communication device 8, and makes the speaker 12 output a voice based on the voice data.

[0077] In the remote operation, the image captured by the attachment imaging device 76 effectively assists an operator who performs work in the operation device 1.

[0078] The display device according to the present invention may be included in a simulator that simulatively displays the motion of the work machine 20 in a virtual space in accordance with a motion command that is input from the input device 2. The display device, simulatively displaying an image virtually captured by the attachment imaging device 76 in the virtual space, effectively assists an operator to perform an operation for moving the work machine 20 in the virtual space.

[0079] FIG. 16 shows a display device 90 which is an example of a display device included in the simulator. The display device 90 includes an upper monitor 91 and a lower monitor 92 which are vertically aligned. The upper monitor 91 displays an image corresponding to the image displayed by the center upper monitor 11b, an image corresponding to the image displayed by the upper right monitor 11f, and an image corresponding to the image displayed by the upper left monitor 11g. The upper monitor 91 displays an image corresponding to the upper half of an image displayed by the main monitor 11a, an image corresponding to the upper half of the image displayed by the right monitor 11d, and an image corresponding to the upper half of the image displayed by the left monitor 11e. On the other hand, the lower monitor 92 displays an image corresponding to the lower half of an image displayed by the main monitor 11a, an image corresponding to the lower half of an image displayed by the right monitor 11d, an image corresponding to the lower half of the image displayed by the left monitor 11e, and an image corresponding to an image displayed by the center lower monitor 11c. In summary, the display device 90 included in the simulator shown in FIG. 16 vertically divides the image displayed by the seven monitors 11a to 11g shown in FIG. 14 and displays the divided images on the screens of the two monitors 91 and 92, respectively.

[0080] As shown in FIGS. 16 and 17, the image displayed by the display device 90 included in the simulator, preferably, includes an image of the shadow 95 of an object. The image of the shadow 95 enables an operator to grasp a sense of distance between the object and the ground.

[0081] As has been described, the attachment imaging device 76 of the work machine 20 according to the present embodiment, attached to the arm 32, which is the rotational-movement part of the attachment 30, so as to locate at least a part of the attachment imaging device 76 on the lower side of the rotational-movement part in the rotation direction of the rotational-movement part and on the outer side of the rotational-movement part in the attachment width direction orthogonal to the motion plane, reduces the degree of blocking of the visual field by the attachment 30 in the imaging range of the attachment imaging device 76 as compared with the case where the entire attachment imaging device 76 is located on the upper side of the rotational-movement part in the rotational-movement direction or the case where the entire attachment imaging device 76 is located on the inner side of the rotational-movement part in the attachment width direction, thereby allowing the attachment imaging device 76 to have a large imaging range. Besides, the attachment imaging device 76 can image by itself both an area on the lower side of the rotational-movement part in the rotational-movement direction and an area on the outer side of the rotational-movement part in the attachment width direction. This allows the cost of a device for imaging the periphery of the attachment 30 to be reduced.

[0082] More specifically, the disposition of the attachment imaging device 76 to locate the center Ci of the imaging range of the attachment imaging device 76 on the outer side of the side surface 32s, which is the end surface of the arm 32, in the attachment width direction allows the proportion of the part where the visual field is blocked by the attachment 30 in the imaging range of the attachment imaging device 76 to be effectively reduced.

[0083] Specifically, attached to the arm 32, the attachment imaging device 76 according to the embodiment can image the periphery of the arm 32.

[0084] In particular, the coincidence of the imaging direction of the attachment imaging device 76 with a direction toward the bucket 33 allows the attachment imaging device 76 to image the bucket 33 and the back-side space on the back side of the bucket 33 regardless of the posture of the arm 32, thereby enabling an operator who operates or remotely operates the work machine 20 to grasp a sense of distance between the bucket 33 and an object located on the back side of the bucket 33 from the image captured by the attachment imaging device 76. Besides, the operator can check the situation of the work by the bucket 33 from the image captured by the attachment imaging device 76. Even in a mode not designed to allow the operator to view the image captured by the attachment imaging device 76, the information acquired by the attachment imaging device 76, which is information including the bucket 33 and a space on the back side of the bucket 33, is usable for control of the work machine 20 or the like.

[0085] The imaging range of the attachment imaging device 76 attached to the arm 32 as described above includes, as the imaging target part, the distal-end-side part 32a of the arm 32, that is, a part on the distal end side of the position at which the attachment imaging device 76 is attached in the arm 32, and the image of the distal-end-side part 32a is always kept at a fixed position in the imaging range regardless of the posture of the attachment 30. This enables an operator who operates or remotely operates the work machine 20 to grasp a sense of distance between an object captured by the attachment imaging device 76 and the distal-end-side part 32a from the image captured by the attachment imaging device 76.

[0086] The frontward imaging device 71 that images the front of the machine body 24 in the work machine 20 enables an operator who operates or remotely operates the work machine 20 to grasp a situation in the up-down direction of the attachment 30 from the image captured by the frontward imaging device 71, thereby more effectively assisting the operator to perform work. In particular, the case where the attachment imaging device 76 captures an image of the bucket 33 and a space on the back side of the bucket 33 enables an operator who operates or remotely operates the work machine 20 to grasp a situation in the front-rear direction of the attachment 30 from the image captured by the attachment imaging device 76 in addition to a situation in the up-down direction of the attachment 30, thereby enabling the operator to grasp the position of the attachment 30 more specifically than the case where only the image captured by the attachment imaging device 76 is referred.

[0087] Besides, the display device 11 of the work system 100 according to the present embodiment, displaying the image captured by the attachment imaging device 76, can assist an operator who operates or remotely operates the work machine 20.

[0088] In particular, in the embodiment where the work machine 20 is remotely operated, the image captured by the attachment imaging device 76 is especially effective for assisting an operator who remotely operates the work machine 20.

[0089] Besides, simulatively displaying the operation of the work machine 20 in the virtual space, the display device 90 can assist an operator who operates the work machine 20 in the virtual space.

[0090] Although the embodiment of the present invention has been described, it merely illustrates specific examples, not intending to particularly limit the present invention, and specific configurations and the like is appropriately changeable in design. Besides, the functions and effects described in the embodiments of the present invention are not more than a list of the most suitable actions and effects generated from the present invention, and the actions and effects of the present invention are therefore not limited to those described in the embodiments of the present invention.

[0091] For example, on the monitor of the display device 11 shown in FIG. 14, for example, the upper right monitor 11f, may be displayed a bird's-eye view image of the work machine 20. The bird's-eye view image may be captured, for example, by a camera set at a work site or a flying object such as a drone. The bird's-eye view image, alternatively, may be one created by a known method from images captured by a plurality of cameras that are mounted on the machine body 24 to capture images of the front, rear, left, and right of the machine body 24.

[0092] The display device according to the present invention may include, in place of the plurality of monitors, a screen and a projection device such as a projector to project a captured image on the screen.

[0093] As has been described above, there is provided a work machine and a work system each including an imaging device allowed to have a large imaging range of the imaging device.

[0094] The work machine includes a machine body, an attachment attached to the machine body, and an imaging device attached to the attachment to capture an image of a periphery of the work machine. The attachment includes a rotational-movement part, which is rotationally movable upward and downward along a vertical motion plane with respect to the machine body. The imaging device is attached to the rotational-movement part so as to locate at least a part of the imaging device on a lower side of a ventral surface, which is a lower surface of the rotational-movement part in a direction of a rotational movement of the rotational-movement part, and on an outer side of an end surface of the rotational-movement part in an attachment width direction orthogonal to the motion plane. Such disposition of the imaging device enables the proportion of a part where the visual field is blocked by the attachment in the imaging range of the imaging device to be reduced as compared with a case where the entire imaging device is located on the upper side of the ventral surface of the rotational-movement part in the rotational-movement direction or a case where the entire imaging device is located on the inner side of the end surface of the rotational-movement part in the attachment width direction, thereby allowing the imaging device to have a large imaging range.

[0095] Preferably, the imaging device is attached to the rotational-movement part so as to locate a center of an imaging range of the imaging device on an outer side of the rotational-movement part in the attachment width direction.

[0096] In the case where the attachment includes a boom attached to the machine body so as to be vertically rotationally movable along the motion plane, an arm attached to the boom so as to be vertically rotationally movable along the motion plane, and a distal attachment attached to the arm so as to be rotationally movable, it is preferable that the imaging device is attached to the arm.

[0097] Preferably, the imaging device is attached to the rotational-movement part so as to render an imaging direction of the imaging device coincident with a direction toward a distal end of the attachment.

[0098] Preferably, the imaging device is attached to the rotational-movement part so as to allow an imaging range of the imaging device to include an imaging target part of the attachment and so as to allow an image of the imaging target part to be kept at a fixed position in the imaging range regardless of the posture of the attachment.

[0099] Preferably, the work machine further includes a frontward imaging device that is attached to the machine body to capture an image of an area frontward of the machine body.

[0100] The work system includes the work machine and a display device that displays an image captured by the imaging device.

[0101] The work system may further include a remote operation device for remotely operating the work machine.

[0102] The display device may be configured to simulatively display a motion of the work machine in a virtual space.

Claims

1. A work machine comprising: a machine body; an attachment attached to a machine body, the attachment including a rotational-movement part that is rotationally movable upward and downward along a vertical motion plane with respect to the machine body; and an imaging device attached to the attachment to capture an image of a periphery of the work machine, wherein the imaging device is attached to the rotational-movement part so as to locate at least a part of the imaging device on a lower side of a ventral surface, which is a lower surface of the rotational-movement part in a direction of a rotational movement of the rotational-movement part, and on an outer side of an end surface of the rotational-movement part in an attachment width direction orthogonal to the motion plane.

2. The work machine according to claim 1, wherein the imaging device is attached to the rotational-movement part so as to locate a center of an imaging range of the imaging device on an outer side of the rotational-movement part in the attachment width direction.

3. The work machine according to claim 1, wherein the attachment includes a boom attached to the machine body so as to be vertically rotationally movable along the motion plane, an arm attached to the boom so as to be vertically rotationally movable along the motion plane, and a distal attachment attached to the arm so as to be rotationally movable, and the imaging device is attached to the arm.

4. The work machine according to claim 1, wherein the imaging device is attached to the rotational-movement part so as to render an imaging direction of the imaging device coincident with a direction toward a distal end of the attachment.

5. The work machine according to claim 1, wherein the imaging device is attached to the rotational-movement part so as to allow an imaging range of the imaging device to include an imaging target part of the attachment and so as to allow an image of the imaging target part to be kept at a fixed position in the imaging range regardless of a posture of the attachment.

6. The work machine according to claim 1, further comprising a frontward imaging device that is attached to the machine body to capture an image of an area frontward of the machine body.

7. A work system comprising: a work machine according to any one of claims 1 to 6; and a display device that displays an image captured by the imaging device.

8. The work system according to claim 7, further comprising a remote operation device for remotely operating the work machine.

9. The work system according to claim 7, wherein the display device is configured to simulatively display a motion of the work machine in a virtual space.

Images