Work machine and work system

Abstract

Provided are a work machine and a work system capable of imaging an end part of a machine main body (24) in a front-rear direction and surroundings of the end part. The work machine includes: the machine main body (24); and at least one of imaging devices (75R and 75L) attached to an end part of the machine main body (24) in a left-right direction. In imaging ranges of the imaging devices (75R and 75L), contained are an end-part side surface that is a side surface of an end part of the machine main body (24) in the front-rear direction and a space on the outer side of the end-part side surface.

Description

Technical Field

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

[0002] Each of Patent Literatures 1 and 2 discloses a camera that is an imaging device to be attached to a work machine. Specifically, Patent Literature 1 discloses a camera that is attached to an upper turning body of a work machine to capture an image frontward of the upper turning body. Patent Literature 2 discloses a camera that is attached to an upper turning body of a work machine to capture an image sideward of the upper turning body.

[0003] Either of the cameras of Patent Literatures 1 and 2, however, cannot capture an image of an end part in a front-rear direction of a machine main body of the work machine and surroundings of the end part. This disables either of the position of an obstacle present around an end part in the front-rear direction, the orientation of a crawler, an installation surface of the crawler, and the like from being easily grasped.Citation List Patent Literature

[0004] Patent Literature 1: JP 2006-219894 A Patent Literature 2: JP 2017-92908 A Summary of Invention

[0005] It is an object of the present invention to provide a work machine and a work system capable of providing information on an end part of a machine main body in a front-rear direction and surroundings of the end part.

[0006] Provided is a work machine, including a machine main body and an imaging device that is attached to an end part of the machine main body in a left-right direction so as to capture an image of an end part of the machine main body in a front-rear direction and captures an image of surroundings of the machine main body. The imaging device is attached to the machine main body so as to make an end-part side surface and an end-part outer space contained in an imaging range of the imaging device. The end-part side surface is a side surface of the end part in the front-rear direction of the machine main body, the side surface facing in the left-right direction, and the end-part outer space is a space on the outer side of the end-part side surface in the left-right direction.Brief Description of Drawings

[0007] 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 showing a portion enclosed with a circle III in FIG. 2. FIG. 4 is a perspective view of a main part of a machine main body of the work machine as viewed obliquely from the front. FIG. 5 is a perspective view of a main part of the machine main body according to a modification as viewed obliquely from the front. FIG. 6 is a right side view showing the position of a right imaging device in the work machine. FIG. 7 is a left side view showing the position of a left imaging device in the work machine. FIG. 8 is a view showing an image captured by the right imaging device. FIG. 9 is a view showing an image captured by the left imaging device. FIG. 10 is a front view showing a plurality of monitors included in the work system. FIG. 11 is a block diagram showing a function of the work system. FIG. 12 is a front view showing a monitor included in a simulator. FIG. 13 is an enlarged view showing the portion enclosed with a rectangle XIII in FIG. 12. Description of Embodiments

[0008] Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings.

[0009] FIG. 1 shows a work system 100 according to an embodiment of the present invention. The work system 100 includes an operation apparatus 1 and a work machine 20. The operation apparatus 1 is an apparatus for operating the work machine 20, for example, a cockpit forming a remote operation apparatus. The operation apparatus 1 enables an operator to apply an appropriate operation to the operation apparatus 1 to thereby remotely operate the work machine 20. The operation apparatus 1 may be configured to be connected selectively to a plurality of work machines 20. This case allows an operator to appropriately select the work machine 20 to be connected to the operation apparatus 1 from among a plurality of work machines 20 to remotely operate a plurality of work machines 20 selectively.

[0010] The work machine 20 shown in FIG. 1 is a hydraulic excavator. Specifically, the work machine 20 includes a machine main body 24 including a lower traveling body 21 and an upper turning body 22, an attachment 30, and a plurality of cylinders 40.

[0011] 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 mounted on 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, and an in-cab operation apparatus for operating the work machine 20 is provided in the cab 23 separately from the operation apparatus 1. The cab 23 includes a cab entrance 23a shown in FIG. 9, which allows an operator to get in and off the cab 23 through the cab entrance 23a.

[0012] The attachment 30 is attached to the upper turning body 22 so as to be rotationally movable along a motion plane in an up-down direction, that is, a vertical plane in a state shown in FIG. 1, in order 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 thereto, and the boom proximal end is connected to the upper turning body 22 so as to be rotationally movable in the up-down direction along the motion plane, that is, so as to be capable of derricking. The arm 32 has an arm proximal end and an arm distal end opposite thereto, and the arm proximal end is connected to the boom distal end so as to be rotationally movable in the up-down direction 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 forming the distal end of the attachment 30, being a part to be directly brought int contact with earth and sand which are work objects to perform work such as excavation, leveling, and scooping.

[0013] The bucket 33 has a shape capable of holding the work object in the bucket 33. The work object to be held by the bucket 33 is not limited to earth and sand, but also allowed to be stones 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 waste or the like as a work object by magnetic force, a nibbler that sandwiches an object, and a breaker that crushes a work object.

[0014] The plurality of cylinders 40 are disposed so as to be capable of hydraulically actuating the boom 31, the arm 32, and the bucket 33 of the attachment 30, respectively. Each of the cylinders 40 is a hydraulic cylinder capable of performing expansion and retraction motions. Alternatively, each of the cylinders 40 may be an electric cylinder.

[0015] The plurality of cylinders 40 include a boom cylinder 41, an arm cylinder 42, and a bucket cylinder 43.

[0016] 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 expansion and retraction motions of the boom cylinder 41. The boom cylinder 41 includes a proximal end 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 connected to the boom 31 so as to be rotationally movable along the motion plane with respect to the boom 31.

[0017] The arm cylinder 42 is disposed such that the arm 32 is rotationally moved along the motion plane with respect to the boom 31 by expansion and retraction motions of the arm cylinder 42. The arm cylinder 42 has a proximal end 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 connected to the arm 32 so as to be rotationally movable along the motion plane with respect to the arm 32.

[0018] 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 expansion and retraction motions of the bucket cylinder 43. The bucket cylinder 43 includes a proximal end 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 connected to a link member 34 so as to be rotationally movable along the motion plane with respect to the link member 34, and the link member 34 is connected to the bucket 33 so as to be rotationally movable along the motion plane with respect to the bucket 33.

[0019] 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 tilt angle sensors 60, and an inclination angle sensor 55.

[0020] 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.

[0021] The plurality of tilt angle sensors 60 detect a posture of the attachment 30. The plurality of tilt angle sensors 60 includes a boom tilt angle sensor 61, an arm tilt angle sensor 62, and a bucket tilt angle sensor 63.

[0022] The boom tilt angle sensor 61 is attached to the boom 31 to detect a posture of the boom 31. The boom tilt angle sensor 61 is a sensor that acquires information on an inclination angle of the boom 31 with respect to a horizontal line, for example, being an inclination (acceleration) sensor or the like. Alternatively, the boom tilt angle sensor 61 may be a rotation angle sensor that detects a rotation angle of a boom foot pin of the boom 31 or a stroke sensor that detects a stroke in the expansion and retraction directions of the boom cylinder 41.

[0023] The arm tilt angle sensor 62 is attached to the arm 32 to detect a posture of the arm 32. The arm tilt angle sensor 62 is a sensor that acquires information on an inclination angle of the arm 32 with respect to the horizontal line, for example, being an inclination (acceleration) sensor. Alternatively, the arm tilt angle sensor 62 may be a rotation angle sensor that detects a rotation angle of an arm connection pin in the proximal end of the arm 32 or a stroke sensor that detects a stroke in the expansion and retraction directions of the arm cylinder 42.

[0024] The bucket tilt angle sensor 63 is attached to the link member 34 to detect a posture of the bucket 33. The bucket tilt angle sensor 63 is a sensor that acquires information on an inclination angle of the bucket 33 with respect to the horizontal line, for example, being an inclination (acceleration) sensor or the like. Alternatively, the bucket tilt angle sensor 63 may be a rotation angle sensor that detects a rotation angle of a bucket connection pin in the proximal end of the bucket 33 or a stroke sensor that detects a stroke in the expansion and retraction directions of the bucket cylinder 43.

[0025] 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 plane. The inclination angle sensor 55 is, for example, an inclination (acceleration) sensor or an IMU (Inertial Measurement Unit).

[0026] The work machine 20 further includes at least one imaging device 70. The imaging device 70 captures an image around 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 TOF (Time Of Flight) sensor, which detects a distance to an object based on time from the emission of a wave to the object to the return of a reflection wave that has been reflected by the object. The imaging device 70 may include a sensor that detects a distance based on a 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 LiDAR (Light Detection and Ranging). The imaging device 70 may include a device that detects three-dimensional information using radio waves, for example, a millimeter wave radar.

[0027] 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 right imaging device 75R, a left imaging device 75L, and an attachment imaging device 76. Each of the imaging devices 71, 72, 73, 75R, 75L, and 76 is a monocular camera.

[0028] As shown in FIGS. 2 and 3, the frontward imaging device 71, the upward imaging device 72, and the downward imaging device 73 are mounted on an appropriate place of the cab 23, for example, an upper portion of the cab 23. More specifically, the work machine 20 further includes a support member 77 shown in FIG. 3, and the support member 77 is fixed to an appropriate part in an upper portion of the cab 23, for example, a front end part of a roof plate of the cab 23, while supporting the frontward imaging device 71, the upward imaging device 72, and the downward imaging device 73.

[0029] The frontward imaging device 71 is disposed so as to direct an imaging surface of the frontward imaging device 71 frontward of the upper turning body 22 to capture an image of an area frontward of the upper turning body 22. The frontward imaging device 71 is disposed so as to make at least a part of the attachment 30 contained in an imaging range of the frontward imaging device 71.

[0030] The upward imaging device 72 is disposed upward of the frontward imaging device 71. The upward imaging device 72 is disposed so as to direct an imaging surface of the upward imaging device 72 obliquely upward of the upper turning body 22 to capture an image of an area obliquely upward of the upper turning body 22. The upward imaging device 72 is disposed so as to make at least a part of the boom 31 contained in an imaging range of the upward imaging device 72.

[0031] The downward imaging device 73 is disposed downward of the frontward imaging device 71. The downward imaging device 73 is disposed so as to direct an imaging surface of the downward imaging device 73 obliquely downward of the upper turning body 22 to capture an image of an area obliquely downward of the upper turning body 22. The downward imaging device 73 is disposed so as to make a front surface of the cab 23 contained in an 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, are contained in the imaging range of the downward imaging device 73.

[0032] As shown in FIG. 1, the attachment imaging device 76 is attached to the attachment 30. In the present embodiment, the attachment imaging device 76 is attached to the arm 32. The attachment imaging device 76 is attached to the arm 32 so as to direct an imaging surface of the attachment imaging device 76 toward the bucket 33 to capture an image of the bucket 33. Hence, in the imaging range of the attachment imaging device 76 is contained the bucket 33.

[0033] The right imaging device 75R and the left imaging device 75L are attached to opposite end parts of the machine main body 24 in a left-right direction of the machine main body 24, namely, a right end part and a left end part of the machine main body 24, respectively. The left-right direction of the machine main body 24 is a direction orthogonal to the traveling direction of the lower traveling body 21, being a direction orthogonal to the plane of FIG. 1, coincident with a left-right direction of the upper turning body 22 when the machine main body 24 is in a reference posture. The reference posture is a posture in which a front-rear direction of the upper turning body 22 is coincident with a front-rear direction of the lower traveling body 21, which is the traveling direction. In the present embodiment, both the right and left imaging devices 75R and 75L are attached to the upper turning body 22. The right and left imaging devices 75R and 75L, however, may be attached to the lower traveling body 21. In the present embodiment, the right and left imaging devices 75R and 75L are disposed so as to be directed frontward of the upper turning body 22, that is, so as to be directed frontward of the machine main body 24 in the reference posture. The right and left imaging devices 75R and 75L, however, may be disposed so as to be directed rearward of the upper turning body 22, that is, so as to be directed rearward of the machine main body 24 in the reference posture.

[0034] As shown in FIG. 4 which is a perspective view of the machine main body 24 as viewed obliquely from the front, the right imaging device 75R is attached to a right end part of a housing (guard) constituting the upper turning body 22. The left imaging device 75L is attached to an upper portion of the cab 23. As for 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 work machine 20 further includes a right support member 79R shown in FIG. 4, which is fixed to a right end part of the housing of the upper turning body 22 while supporting the right imaging device 75R. The right imaging device 75R is, thus, attached to the right end part of the housing of the upper turning body 22 via the right support member 79R. At least a part of the right imaging device 75R protrudes outward beyond a right end of the upper turning body 22 in the left-right direction of the upper turning body 22, that is, the left-right direction of the machine main body 24 in the reference posture. Preferably, the center of the imaging range of the right imaging device 75R is located on the outer side of a right end of the upper turning body 22 in the left-right direction of the upper turning body 22. In the example shown in FIG. 4, the entire right imaging device 75R is located on the outer side of the right end surface of the upper turning body 22 in the left-right direction of the upper turning body 22. Furthermore, the part of the right support member 79R to be in contact with the right imaging device 75R is also located on the outer side of the right end surface of the upper turning body 22 in the left-right direction of the upper turning body 22. The location of the center of the imaging range of the right imaging device 75R on the outer side of the right end surface of the upper turning body 22 in the left-right direction of the upper turning body 22, i.e., the left-right direction of the machine main body 24 in the reference posture, allows the side surface of the front end part of the upper turning body 22, that is, the surface facing in the left-right direction of the upper turning body 22, to be reliably contained in the imaging range of the right imaging device 75R.

[0036] The work machine 20 further includes a left support member 79L shown in FIG. 4, which is fixed to a left end part of the upper portion of the cab 23 while supporting the left imaging device 75L. The left imaging device 75L is, thus, attached to the left end part of the upper portion of the cab 23 via the left support member 79L. The part of the left support member 79L to be in contact with the left imaging device 75L is also located on the outer side of a left side surface which is a left end surface of the cab 23 in the left-right direction of the upper turning body 22, namely, a cab side surface. The center of the imaging range of the left imaging device 75L is also located on the outer side of the left side surface of the cab 23 in the left-right direction of the upper turning body 22. This allows the left side surface of the cab 23 to be reliably contained in the imaging range of the left imaging device 75L.

[0037] The position where the left imaging device 75L is attached is not limited to the upper portion of the cab 23. For example, as shown in FIG. 5, the left imaging device 75L may be attached to a left end part of the housing of the upper turning body 22 on the rear side of the cab 23 via the left support member 79L. Also in this modification, the part of the left support member 79L to be in contact with the left imaging device 75L is located on the outer side of the left end surface of the upper turning body 22 in the left-right direction of the upper turning body 22.

[0038] It is optional either that at least a part of the right imaging device 75R protrudes outward, i.e., rightward, beyond the right end surface of the upper turning body 22 and that at least a part of the left imaging device 75L protrudes outward, i.e., leftward, beyond the left side surface of the cab 23. For example, in a case where the side surface of the front end part of the upper turning body 22, that is, the surface facing in the left-right direction, has a shape that expands outward in the width direction, that is, the left-right direction, of the upper turning body 22 from the upper portion to the lower portion of the side surface, it is also established that at least one of the right imaging device 75R and the left imaging device 75L is attached so as to be restrained from protruding outward beyond the side surface. Also in this case, it is possible to make the side surface of a front end part of the upper turning body 22 contained in the imaging range of the right imaging device 75R or the left imaging device 75L.

[0039] As shown in FIG. 6, the right imaging device 75R is attached to the upper turning body 22 so as to direct an imaging surface of the right imaging device 75R in a direction inclined downward to the front-rear direction of the upper turning body 22, that is, obliquely downward, and the side surface of the front end part of the machine main body 24, namely, a right end-part side surface, and a right end-part outer space which is the space on the outer side of the right end-part side surface are contained in the imaging range of the right imaging device 75R. Hence, the right imaging device 75R can capture an image of the right end-part side surface, which is the right side surface of the front end part of the machine main body 24, and the right end-part outer space, which is the space on the outer side of (on the right side of) the right end-part side surface.

[0040] As shown in FIG. 7, the left imaging device 75L is attached to the cab 23 so as to direct an imaging surface of the left imaging device 75L in a direction inclined downward to the front-rear direction of the upper turning body 22, that is, obliquely downward, wherein a side surface of a front end part of the machine main body 24, namely, a left end-part side surface, and a left end-part outer space which is a space on the outer side of (on the left side of) the left end-part side surface are contained in the imaging range of the left imaging device 75L. Hence, the left imaging device 75L is a cab imaging device that is capable of imaging the left end-part side surface, which is the left side surface of the front end part of the machine main body 24, and the left end-part outer space, which is the space on the outer side of (on the left side of) the left end-part side surface.

[0041] FIG. 8 shows an image captured by the right imaging device 75R. As shown in FIG. 8, in the imaging range of the right imaging device 75R are contained the side surface of the front end part of the upper turning body 22, that is, the right side surface of the front end part of the machine main body 24 shown in FIG. 8, and a right end-part outer space that is a space on the outer side of the right side surface, the right end-part outer space including, as shown in FIG. 8, a right space located on the right side of the right side surface of the front end part, a right front space on the front side of the right space, and a lower right space located on the lower side of the right space. In the imaging range of the right imaging device 75R, therefore, contained is a lower right side space which is a space on the lower side of the upper turning body 22. The lower right side space is a space located on the outer side (right side) of the right side surface of the front end part of the upper turning body 22 and located on the lower side of the lowermost end of the upper turning body 22.

[0042] FIG. 9 shows an image captured by the left imaging device 75L. As shown in FIG. 9, in the imaging range of the left imaging device 75L are contained a side surface of the front end part of the upper turning body 22, namely, a cab side surface that is the left side surface of the cab 23 shown in FIG. 9, and a left end-part outer space that is a space on the outer side of the left side surface, the left end-part outer space including, in the example shown in FIG. 9, a left space located on the left side of the left side surface of the cab 23, a left front space located on the front side of the left space, and a lower left space located on the front side of the left space. In the imaging range of the left imaging device 75L, therefore, contained is a lower left side space which is a space on the lower side of the upper turning body 22. The lower left side space is a space located on the outer side (left side) of the side surface of the front end part of the upper turning body 22, that is, the left side surface of the cab 23 in FIG. 9, and located on the lower side of the lowermost end of the upper turning body 22. Specifically, in the imaging range of the left imaging device 75L are contained the side surface (left side surface) of the cab 23 and a left end-part outer space on the outer side (left side) of the side surface; more specifically, contained are the cab entrance 23a formed on the side surface of the cab 23 and a space on the outer side (left side) of the cab entrance 23a.

[0043] Setting respective imaging ranges of the right and left imaging devices 75R and 75L as described above enables an image containing the end-part side surface that is the side surface of the front end part of the machine main body 24 and the end-part outer space that is the space on the outer side of the end-part side surface to be captured. In short, the front end part of the machine main body 24 and surroundings of the front end part can be image-captured. Thus obtained image, which contains the end-part side surface and the end-part outer space, allows an operator who remotely operates the work machine 20 to grasp a situation of the end-part side surface and an area in the vicinity of the end-part side surface, for example, the orientation of the right crawler 21a or the left crawler 21b.

[0044] The right and left imaging devices 75R and 75L, which are attached to the opposite end parts of the machine main body 24 in the left-right direction of the machine main body 24, namely, the right end part and the left end part, respectively, can capture an image of the front end part of the machine main body 24 and surroundings of the front end part on the opposite sides of the machine main body 24 in the left-right direction, namely, the right side and the left side, respectively.

[0045] Besides, attached to the upper turning body 22, the right and left imaging devices 75R and 75L can always capture an image of the front end part of the upper turning body 22 and surroundings of the front end part regardless of the turning angle of the upper turning body 22. The image enables an operator who remotely operates the work machine 20 to grasp a situation of the front end part of the upper turning body 22 and surroundings of the front end part. For example, the image enables an operator to easily grasp the positional relationship between the front end part of the upper turning body 22 and an obstacle or the like present around the front end part, thereby enabling the operator, for example, to operate the work machine 20 to prevent the front end part of the upper turning body 22 from contact with the obstacle or the like.

[0046] Besides, the containment of a lower space, which is the space on the lower side of the upper turning body 22, in respective imaging ranges of the right and left imaging devices 75R and 75L enables the right and left imaging devices 75R and 75L to capture an image of the lower space, the image enabling an operator who remotely operates the work machine 20 to easily grasp the orientation of a predetermined part of the lower traveling body 21, for example, the right crawler 21a or the left crawler 21b, or an installation surface (ground) in the vicinity of the lower traveling body 21, or the like.

[0047] Besides, since the left imaging device 75L is attached to the upper portion of the cab 23 so as to make the cab side surface that is the side surface (left side surface) of the cab 23 and the cab outer space on the outer side (left side) of the cab side surface contained in the imaging range of the left imaging device 75L, wherein the cab outer space includes the left space on the side (left side) of the cab side surface, the left front space on the front side of the left space, and the lower left space on the lower side of the left space, the image captured by the left imaging device 75L enables an operator who remotely operates the work machine 20 to grasp a situation of the side surface of the cab 23 and surroundings of the side surface. This enables an operator who remotely operates the work machine 20 to easily grasp a positional relationship between the side surface of the cab 23 and an obstacle or the like present around the side surface, thereby enabling the operator, for example, to operate the work machine 20 to prevent the side surface of the cab 23 from contact with the obstacle or the like.

[0048] More specifically, having the imaging range containing the cab entrance 23a formed on the cab side surface and a space on the outer side of the cab entrance 23a, the left imaging device 75L can capture an image of the cab entrance 23a and surroundings of the cab entrance 23a. The image enables an operator to grasp a situation of the cab entrance 23a and surroundings of the cab entrance 23a, thereby enabling the operator, for example, to monitor a worker getting into the cab 23 through the cab entrance 23a.

[0049] As shown in FIG. 1, the operation apparatus 1 includes an input device 2, an output device 3, and an operation seat 4, and further includes a controller 7 and an operation-apparatus-side communication device 8 shown in FIG. 11. The operation seat 4 includes a seat portion and a backrest portion, allowing an operator to sit on the seat portion to apply an operation to the operation apparatus 1. The input device 2, the output device 3, and the operation seat 4 are disposed on a not-graphically-shown base.

[0050] 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 apparatus provided in the cab 23 of the work machine 20.

[0051] 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 to allow an operation for designating a traveling direction and a traveling speed by the motion of the pair of crawlers 21a and 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 frame and a right 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, on a right frame of the operation seat 4. The plurality of switches include a key switch, to which an operation for instructing start and stop of an engine is applied.

[0052] The operation apparatus 1 further includes a not-graphically-shown seat inclination device, which changes the inclination angle of the operation seat 4 with respect 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 apparatus 1 may further include a device for making the operation seat 4 face rightward when the upper turning body 22 is judged to turn rightward based on the turning angle of the upper turning body 22 detected by the turning angle sensor 52 and making the operation seat 4 face leftward when the upper turning body 22 is judged to turn leftward.

[0053] 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. 10 and the speaker 12 shown in FIG. 11. The display device 11 is disposed frontward of the operation seat 4. The speaker 12 outputs voice collected by a microphone mounted on the work machine 20.

[0054] The display device 11 includes a plurality of monitors. In the present embodiment, the plurality of monitors are seven monitors shown in FIG. 10, namely, a main monitor 11a, an upper center monitor 11b, a lower center 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 the image captured by the frontward imaging device 71. The upper center monitor 11b is disposed on the upper side of the main monitor 11a, and displays the image captured by the upward imaging device 72 and the image captured by the attachment imaging device 76 side by side. The lower center monitor 11c is disposed on the lower side of the main monitor 11a and displays the 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 the 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 the image captured by the left imaging device 75L. The upper right monitor 11f is disposed on the right side of the upper center monitor 11b, and displays information on a communication status and a work status of the work machine 20, an analysis report of the situation of a work site, and the like. The upper left monitor 11g is disposed on the left side of the upper center monitor 11b and displays an image captured by an overhead camera installed at a work site.

[0055] The plurality of monitors 11a to 11g, which display the images captured by the plurality of imaging devices 70, enables an operator sitting on the operation seat 4 to remotely operate the work machine 20 easily while viewing the images. The number of the plurality of monitors and their display contents can be optionally set.

[0056] In the example shown in FIG. 10, each of the main monitor 11a, the upper center monitor 11b, and the lower center monitor 11c is a monitor having a horizontally long screen, for example, a 27-inch 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-inch 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 upper center 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.

[0057] 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.

[0058] The operation seat 4 and the monitors 11a to 11g are arranged 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.

[0059] 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 has been 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.

[0060] The arrangement of the monitors 11a to 11g shown in FIG. 10, 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.

[0061] 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 the front 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 containing 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.

[0062] 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 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.

[0063] Besides, viewing both an image captured by the frontward imaging device 71 and images captured by the right and left imaging devices 75R and 75L, an operator can grasp a situation frontward of the machine main body 24 more specifically as compared with a case of viewing only an image captured by the frontward imaging device 71. This makes it possible to more suitably assist an operator to operate the work machine 20.

[0064] The image on the right side of the upper turning body 22 displayed on the right monitor 11d contains the right side surface of the front end part of the upper turning body 22, namely, the right end-part side surface, and the right end-part outer space which is the space on the outer side (right side) of the right end-part side surface, similarly to an image reflected in a right mirror disposed on the right side of the attachment 30 as viewed from an operator operating the work machine 20 in the cab 23, that is, an image reflected by the right mirror to be visible to the operator. The image displayed on the right monitor 11d, therefore, can suitably assist an operator who operates the work machine 20.

[0065] The image on the left side of the upper turning body 22 displayed on the left monitor 11e contains the left end-part side surface that is the left side surface of the front end part of the upper turning body 22, namely, the cab side surface, and the left end-part outer space that is the space on the outer side (left side) of the left end-part side surface, similarly to an image reflected in a left mirror disposed on the left side of a front part of the cab 23 as viewed from an operator operating the work machine 20 in the cab 23, that is, an image reflected by the left mirror to be visible to the operator. The image displayed on the left monitor 11e, therefore, can suitably assist an operator who operates the work machine 20. Besides, the image displayed on the left monitor 11e, including the image of the cab entrance 23a and the image of a space on the outer side (left side) of the cab entrance 23a, the images corresponding to visual information that can be checked by an operator who operates the work machine 20 in the cab 23 through a side window of the cab 23 with the head of the operator turned to the left, can more suitably assist an operator who operates the work machine 20.

[0066] Respective images that the monitors 11d, 11e, 11f, and 11g display are images to be looked at by an operator operating the work machine 20 with low frequently as compared with respective images that the monitors 11a, 11b, and 11c display, that is, images containing a space frontward of the work machine 20, but are necessary images for an operator to appropriately view depending on the operation status 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. In this case, it is also allowable to omit the monitor 11c shown in FIG. 10, which eliminates the burden for an 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. 11, 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 tilt 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 tilt 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 tilt 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, the work-machine-side controller 81, for example, 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 by 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 with the excavated earth and sand held, an earth removal motion to release earth and sand in the bucket 33 onto the loading platform of the dump truck, 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-apparatus-side communication device 8 of the operation apparatus 1 communicates with the work-machine-side communication device 82 of the work machine 20.

[0077] The controller 7 transmits an operation command input from the input device 2 to the work-machine-side controller 81 through the operation-apparatus-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-apparatus-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-apparatus-side communication device 8, and makes the speaker 12 output voice based on the voice data.

[0078] In the remote operation, respective images captured by the right and left imaging devices 75R and 75L effectively assist an operator who works in the operation apparatus 1.

[0079] 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 images virtually captured by the right and left imaging devices 75R, 75L in the virtual space, effectively assists an operator to perform an operation for moving the work machine 20 in the virtual space.

[0080] FIG. 12 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 illustrated in FIG. 12 vertically divides the image displayed by the seven monitors 11a to 11g shown in FIG. 10 and displays the divided images on the screens of the two monitors 91 and 92, respectively.

[0081] As shown in FIGS. 12 and 13, 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.

[0082] As has been described above, according to the work machine 20 of the present embodiment, the right and left imaging devices 75R and 75L are attached to the right end part and the left end part of the machine main body 24, respectively, so as to make the end-part side surface, which is the side surface of the end part in the front-rear direction of the machine main body 24, and the end-part outer space, which is the space on the outer side of the end-part side surface, contained in the imaging ranges of the right and left imaging devices 75R and 75L, thereby allowed to capture an image including the end-part side surface and the end-part outer space. The image enables an operator who operates or remotely operates the work machine 20 to easily grasp the positional relationship between the end part in the front-rear direction of the machine main body 24 and an obstacle present around the end part. Besides, even in a case of no gaze at the image by an operator, the information provided by the image, that is, the information on the end-part side surface of the machine main body 24 and the end-part outer space on the outer side of the end-part side surface can be effectively used for control of the work machine 20 and the like.

[0083] The right and left imaging devices 75R and 75L, thus, captures an image of the end-part side surface, which is the side surface of the end part in the front-rear direction of the machine main body 24, and the end-part outer space on the outer side of the end-part side surface to be thereby enabled to provide information on the end-part side surface and surroundings of the end-part side surface.

[0084] The right and left imaging devices 75R and 75L, attached to the opposite end parts of the machine main body 24 in the left-right direction, namely, the right end part and the left end part, respectively, can capture the image of the end-part side surface of the machine main body 24 and surroundings of the end-part side surface on the right side and the left side of the machine main body 24, respectively.

[0085] The right and left imaging devices 75R and 75L, attached to the upper turning body 22, can capture an image of the front-rear direction end part of the upper turning body 22 and surroundings of the front-rear direction end part regardless of the turning angle of the upper turning body 22. The image enables an operator who operates or remotely operates the work machine 20 to grasp a situation of the front-rear direction end part of the upper turning body 22 and surroundings of the front-rear direction end part. This enables the operator to easily grasp a positional relationship between the front end part of the upper turning body 22 and an obstacle or the like present around the front end part to thereby, for example, operate the work machine 20 so as to prevent the front-rear direction end part of the upper turning body 22 from contact with the obstacle or the like.

[0086] Having respective imaging ranges containing the lower space which is the space below the upper turning body 22, the imaging devices 75R and 75L can capture an image of the lower space. The image enables an operator who operates or remotely operates the work machine 20 to easily grasp a situation of the lower traveling body 21 or surroundings of the lower traveling body 21, for example, the orientations of the right and left crawlers 21a and 21b in the lower traveling body 21 and / or an installation surface (ground) in the vicinity of the lower traveling body 21.

[0087] The left imaging device 75L, attached to the upper portion of the cab 23 so as to make the cab side surface that is the side surface of the cab 23 and the space on the outer side of the cab side surface contained in the imaging range of the left imaging device 75L, can capture an image of the side surface of the cab 23 and surroundings of the side surface. The image enables an operator who operates or remotely operates the work machine 20 to grasp the side surface of the cab 23 and a situation around the side surface, thereby enabling the operator to easily grasp the positional relationship between the side surface of the cab 23 and an obstacle or the like present around the side surface, for example, assisting the operator to operate the work machine 20 so as to prevent the side surface of the cab 23 from contact with the obstacle or the like.

[0088] More specifically, having the imaging range in which the cab entrance 23a and a space on the outer side of the cab entrance 23a is contained, the left imaging device 75L can capture an image of the cab entrance 23a and surroundings of the cab entrance 23a. The image enables an operator to grasp a situation of the cab entrance 23a and surroundings of the cab entrance 23a, for example, assisting an operator to monitor a worker getting into the cab 23 through the cab entrance 23a.

[0089] Since the work machine 20 further includes the frontward imaging device 71 that images an area frontward of the machine main body 24, the image captured by the frontward imaging device 71 can more effectively assist an operator who operates or remotely operates the work machine 20 in cooperation with respective images captured by the right and left imaging devices 75R and 75L. In particular, in a case where at least one of the right and left imaging devices 75R and 75L faces frontward of the machine main body 24, the combination of an image captured by the frontward imaging device 71 and an image captured by the at least one of the imaging devices 75 enables an operator who operates or remotely operates the work machine 20 to grasp a situation frontward of the machine main body 24 in more detail as compared with a case where only an image captured by the frontward imaging device 71 is provided, thereby enabled to more effectively assist the operator.

[0090] Besides, the display device 11 of the work system 100 according to the present embodiment, displaying respective images captured by the right and left imaging devices 75R and 75L, can assist an operator who operates or remotely operates the work machine 20.

[0091] In particular, since the work machine 20 according to the embodiment is remotely operated, respective images captured by the right and left imaging devices 75R and 75L are particularly effective for assisting an operator who remotely operates the work machine 20.

[0092] Besides, the display device 90 shown in FIG. 12, simulatively displaying the motion of the work machine 20 in the virtual space, can assist an operator who operates the work machine 20 in the virtual space.

[0093] The embodiment of the present invention having been described is just specific examples, not intending to limit the present invention particularly to the embodiment, allowing a specific configuration and the like to be appropriately modified in design. Besides, the actions and effects described as to the embodiment of the invention merely recite the most suitable actions and effects resulting from the present invention, not allowing the actions and effects according to the present invention to be limited to those described in the embodiment of the present invention.

[0094] For example, the present invention also encompasses a work machine including only one of the right and left imaging devices 75R and 75L.

[0095] On the monitor of the display device 11 shown in FIG. 10, for example, the upper right monitor 11f, may be displayed a bird's eye image of the work machine 20. The bird's-eye view image may be captured by, for example, a camera installed at a work site or an aircraft such as a drone. Alternatively, the bird's-eye view image may be created by a publicly known method from images captured by a plurality of cameras mounted on the machine main body 24 to capture the front, rear, left, and right of the machine main body 24.

[0096] The display device according to the present invention may include, in place of the plurality of monitors 11a to 11g, a screen and a projection device that projects a captured image on the screen, such as a projector.

[0097] As has been described, there are provided a work machine and a work system capable of providing information on a front-rear direction end part of a machine main body and surroundings of the front-rear direction end part.

[0098] The work machine includes a machine main body and an imaging device that is attached to an end part of the machine main body in a left-right direction so as to capture an image of an end part of the machine main body in a front-rear direction and captures an image of surroundings of the machine main body. The imaging device is attached to the machine main body so as to make an end-part side surface and an end-part outer space contained in an imaging range of the imaging device. The end-part side surface is a side surface of the end part in the front-rear direction of the machine main body, the side surface facing in the left-right direction, and the end-part outer space is a space on the outer side of the end-part side surface in the left-right direction.

[0099] The imaging device, attached to the machine main body so as to make the end-part side surface that is the side surface of an end part in the front-rear direction of the machine main body and the end-part outer space that is the space on the outer side of the end-part side surface in the left-right direction contained in the imaging range of the imaging device, can capture an image containing the end-part side surface of the machine main body and the end-part outer space. The image enables an operator who operates or remotely operates the work machine to grasp a situation on the end-part side surface and in the vicinity of the end-part side surface, for example, the orientation of a crawler constituting the lower traveling body.

[0100] The imaging device is, thus, attached to the machine main body so as to capture an image of the end-part side surface and the end-part outer space.

[0101] Preferably, the at least one imaging device includes a right imaging device that is attached to a right end part of the machine main body to capture an image of the end-part outer space and the end-part side surface on a right side, and a left imaging device that is attached to a left end part of the machine main body to capture an image of the end-part outer space and the end-part side surface on a left side.

[0102] In a case where the machine main body includes a lower traveling body and an upper turning body attached to the lower traveling body so as to be capable of turning, it is preferable that the at least one imaging device includes an imaging device attached to the upper turning body.

[0103] In this case, it is preferable that the imaging device attached to the upper turning body is attached to the upper turning body so as to make a space on a lower side of the upper turning body contained in an imaging range of the imaging device.

[0104] In a case where the upper turning body includes a cab, the at least one imaging device may include a cab imaging device attached to an upper portion of the cab. The end-part side surface contained in the imaging range of the cab imaging device is a cab side surface which is a side surface of the cab and faces in the left-right direction, and the end-part outer space contained in the imaging range of the cab imaging device is a space on the outer side of the cab side surface in the left-right direction.

[0105] Furthermore, in a case where the cab includes a cab entrance formed on the cab side surface, it is preferable that the cab imaging device is attached to an upper portion of the cab so as to make the cab entrance and a space on the outer side of the cab entrance in the left-right direction contained in an imaging range of the cab imaging device.

[0106] Preferably, the work machine further includes a frontward imaging device that is attached to the machine main body to image an area frontward of the machine main body.

[0107] The work system includes the work machine and a display device that displays an image captured by the imaging device.

[0108] Preferably, the work system further includes a remote operation apparatus for remotely operating the work machine.

[0109] 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 main body; and at least one imaging device attached to an end part of the machine main body in a left-right direction so as to capture an image of an end part in a front-rear direction of the machine main body, wherein the imaging device is attached to the machine main body so as to make an end-part side surface, which is a side surface of the end part in the front-rear direction of the machine main body, and an end-part outer space, which is a space on an outer side of the end-part side surface in the left-right direction, contained in an imaging range of the imaging device.

2. The work machine according to claim 1, wherein the imaging device is attached to the machine main body so as to capture an image of the end-part side surface and the end-part outer space.

3. The work machine according to claim 1, wherein the at least one imaging device includes a right imaging device that is attached to a right end part of the machine main body to capture an image of the end-part outer space and the end-part side surface on a right side, and a left imaging device that is attached to a left end part of the machine main body to capture an image of the end-part outer space and the end-part side surface on a left side.

4. The work machine according to claim 1, wherein the machine main body includes a lower traveling body and an upper turning body attached to the lower traveling body so as to be capable of turning, and the at least one imaging device includes an imaging device attached to the upper turning body.

5. The work machine according to claim 4, wherein the imaging device attached to the upper turning body is attached to the upper turning body so as to make a space on a lower side of the upper turning body contained in an imaging range of the imaging device.

6. The work machine according to claim 4, wherein: the upper turning body includes a cab; the at least one imaging device includes a cab imaging device attached to an upper portion of the cab; the end-part side surface contained in the imaging range of the cab imaging device is a cab side surface which is a side surface of the cab and faces in the left-right direction; and the end-part outer space contained in the imaging range of the cab imaging device is a space on an outer side of the cab side surface in the left-right direction.

7. The work machine according to claim 6, wherein the cab includes a cab entrance formed on the cab side surface, and the cab imaging device is attached to an upper portion of the cab so as to make the cab entrance and a space on an outer side of the cab entrance in the left-right direction contained in an imaging range of the cab imaging device.

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

9. A work system comprising: the work machine according to any one of claims 1 to 8; and a display device that displays an image captured by the imaging device.

10. The work system according to claim 9, further comprising a remote operation apparatus for remotely operating the work machine.

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

Images